From d1c92185a660f4779d6eca2154d7234b6bf61325 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 26 十一月 2024 17:50:59 +0800
Subject: [PATCH] 成功和2个标签测距并且加入只删除出车的id和num逻辑，距离修复两者一直同一个距离相差不多的问题
---
keil/include/main/main.c | 241 ++++++++++++++++++++++++++++-------------------
1 files changed, 142 insertions(+), 99 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 8184386..521a520 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -90,12 +90,12 @@
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
uint8_t link_success_flag,motor_count;
-uint16_t gps_wait_count;
+uint16_t gps_wait_count,gps_wait_count2;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
+uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
@@ -147,6 +147,20 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+void mcu_deep_sleep(void)
+{
+ uint32_t lock;
+ trace_flush();
+ lock = int_lock();
+ LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ gps_air780_power_change(0,0);//关闭gps，4G
+ sleep_timer_stop();
+ //adc_close();
+ power_enter_power_down_mode(1);
+ //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ sys_reset(0);
+ int_unlock(lock);
+}
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -169,6 +183,16 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
+ if(fVoltage_mv<3300)
+ {
+ power_low_flag=1;
+ gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
+ LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
+ }else{
+ power_low_flag=0;
+ gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
+ LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
+ }
gpio_pin_set(ADC_GND_ENABLE);//在拉高
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
@@ -179,11 +203,12 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-extern uint8_t gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state,deep_sleep_flag;
+extern uint8_t gps_uwb_flag,gps_need_data_flag;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
uint32_t keystarttime,keystarttime2;
+extern uint32_t get_in_num,get_out_num;
void MotorPoll(void)
{
if(UWB_work_state==UN_BIND) {
@@ -261,12 +286,10 @@
}
void IMUTask(void)
{
-if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
- {
- deep_sleep_flag=1;
- }else{
- deep_sleep_flag=0;
- }
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
+ {power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
+ mcu_deep_sleep();
+ }
}
void UserKeyTask(void)
{
@@ -299,43 +322,58 @@
second_count = 0;
MinuteTask();
}
- //UWB更新列表
- TagListUpdate();
- Gps_change();
- //GPS_Poll();
- //UWB状态检测
+ TagListUpdate_person_num();
+ LOG_INFO(TRACE_MODULE_APP,"车内：%d 人,车外: %d 人\r\n",get_in_num,get_out_num);
+// if(!power_low_flag)
+// Gps_change();
+// else{
+// gps_power_state=0;//关闭GPS
+// update_led_power_state();
+// //初始化GPS计数数据
+// gps_need_data_flag=1;
+// gps_wait_count2=0;
+// gps_wait_count=0;
+// }
+// //UWB状态检测
+//if(!power_low_flag)//低供电下不需要检测重连
+// {
+// if(IfTCPConnected())
+// {
+// TCP_reconnect_timer =0;
+// flag_TCP_reconnectting = 0;
+// } else {
+// if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
+// {
+// flag_TCP_reconnectting = 1;
+// } else {
+// flag_TCP_reconnectting = 0;
+// }
+// if(TCP_reconnect_timer++>600)
+// {
+// TCP_reconnect_timer = 0;
+// }
- if(IfTCPConnected())
- {
- TCP_reconnect_timer =0;
- flag_TCP_reconnectting = 0;
- } else {
- if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
- {
- flag_TCP_reconnectting = 1;
- } else {
- flag_TCP_reconnectting = 0;
- }
- if(TCP_reconnect_timer++>600)
- {
- TCP_reconnect_timer = 0;
- }
-
- }
+// }
+// }
HIDO_TimerTick();
+ if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+ else{
+ nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+ }
}
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- // IO_control_init();
+ IO_control_init();
if(enbale_blink_flag)
{
green_charge_state=0;
charge_red_on();
}
+
charge_state_change();//充电状态判断
if(secondtask_count++%2==0)
{
@@ -345,6 +383,7 @@
}
if(enbale_blink_flag)
{
+ delay_us(5000);
green_charge_state=0;
charge_red_off();
}
@@ -394,6 +433,7 @@
}else{
UWB_work_state = SEARCH_DEV;
}
+ //g_com_map[SEND_4G_SECOND]
if(g_com_map[SEND_4G_SECOND]<30)
{
gps_open_flag=0;
@@ -407,9 +447,9 @@
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
port = g_com_map[TCP_PORT];
- g_com_map[VERSION] = (1<<8)|10;
+ g_com_map[VERSION] = (1<<8)|0;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G车载手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
@@ -417,32 +457,32 @@
void IdleTask(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
+// if(gpio_pin_get_val(INPUT_5V_Pin))
+// {
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartInit();
- }
+// if(state5v==0)
+// {
+// state5v=1;
+// state5V_prase_flag=state5v;
+// gps_prase_flag=0;//解除gps解析
+// uart1_change_from_gps_to_debug();//测试
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartInit();
+// }
- //UART_CheckSend();
- } else {
- if(state5v==1)
- {
- g_com_map[MODBUS_MODE] = 0;
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
- }
- }
+// //UART_CheckSend();
+// } else {
+// if(state5v==1)
+// {
+// g_com_map[MODBUS_MODE] = 0;
+// state5v=0;
+// state5V_prase_flag=state5v;
+// gps_prase_flag=1;//恢复gps解析
+// uart1_change_from_debug_to_gps();//测试
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartDeinit();
+// }
+// }
UART_CheckReceive();
}
int bind_check(void)
@@ -480,7 +520,7 @@
}
uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
-
+int16_t Voltage_input;
int tt2;
int test1,test3;
uint32_t test4;
@@ -521,11 +561,14 @@
// TODO 4G
Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
+// Internet_Init();
+// TCPClient_Init();
gpio_open();
board_output_init();//配置adcGND引脚
+// battery_monitor_open();
+// Voltage_input=battery_monitor_get();
+// battery_monitor_close();
adc_open(&usr_adc_cfg);
IIC2_Init();
@@ -534,10 +577,10 @@
io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
- gps_air780_power_change(0,1);//开启gps，4G
+ //gps_air780_power_change(0,1);//开启gps，4G
//加速度计初始化必须在IO_control_init之前因为复用SDA引脚
gpio_pin_clr(ADC_GND_ENABLE);
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+
Program_Init();
//uart_open(UART_ID1, &test_uart_cfg);
@@ -547,42 +590,43 @@
// Initialize low power mode
power_init();
- AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
// board_5V_input_init(voltage_input_handler);
-
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
board_4GUsart_detection_init(_4gUsart_handler);
while (1)
{ test4=gpio_pin_get_val(SCL_PIN);
-// if(!deep_sleep_flag)//确认是否休眠下才开启功能
+ UWBPoll();
+// if(!power_low_flag)//确认是否休眠下才开启功能
// {
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
-
-// if(flag_4guart_needinit)
+// if(flag_TCP_reconnectting||IfTCPConnected())
+// {
+// // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+//
+//// if(flag_4guart_needinit)
+//// {
+//// flag_4guart_needinit = 0;
+//// AIR780EUartInit();
+//// }//yuan
+// if(flag_4G_recdata==1)
// {
-// flag_4guart_needinit = 0;
-// AIR780EUartInit();
-// }//yuan
- if(flag_4G_recdata==1)
- {
- flag_4G_recdata = 2;
-
- //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
- Socket_RecvAll();
- }
-// air780_led_on();
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
-// air780_led_off();
- }
+// flag_4G_recdata = 2;
+//
+// //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
+// Socket_RecvAll();
+// }
+//// air780_led_on();
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
+//// air780_led_off();
+// }
// }
if(flag_secondtask)
{
@@ -590,8 +634,8 @@
SecondTask();
}
- UserKeyTask();
- IMUTask();
+// UserKeyTask();
+// IMUTask();
IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
@@ -615,16 +659,15 @@
// }//yuan
if(delaysleep_count==0)
- if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())))
+ if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
{
// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
uint32_t lock;
//flag_4guart_needinit = 1;
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- // power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
// delay_us(300000);
trace_flush();
--
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