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 | 687 +++++++++++++++++++++++++++++++++-----------------------
1 files changed, 403 insertions(+), 284 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index cd5ebe2..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
@@ -72,13 +72,11 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
-#define MOTOR_COUNT_TIME 1
+#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-#define GPS_OPEN_TIME_OUT 240
-#define GPS_RESTART_TIME1 1200
-#define GPS_RESTART_TIME2 120
-#define SEARCH_TIMESTEMP 120
+
+
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -91,22 +89,25 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
-int link_success_flag,motor_count,gps_wait_count;
-uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
+uint8_t link_success_flag,motor_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,gps_need_data_flag,gps_timeout_flag,search_open_flag;
+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
{ UN_BIND=0,
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step UWB_Work_State;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
-static struct ADC_CFG_T usr_adc_cfg = {
+struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
@@ -142,9 +143,23 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+void uart_receive_callback(void *dev, uint32_t err_code)
{
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)
{
@@ -168,7 +183,18 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ 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);
}
//void UartInit(void)
//{
@@ -177,163 +203,195 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
-uint8_t gps_enable_flag,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_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;
-void SecondTask(void)
+uint32_t keystarttime,keystarttime2;
+extern uint32_t get_in_num,get_out_num;
+void MotorPoll(void)
{
- //UWB更新列表
- TagListUpdate();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
- //UWB状态检测
- if(UWB_Work_State==UN_BIND){
- gps_uwb_flag=0;//关闭GPS
- moter_open_uwb_flag=0;//关闭震动
- need_open_gps_count=0;//清0计数gps
- }else{//绑定状态下
- if(anchordata_num==1){
- if(distance<g_com_map[ALARM_DISTANCE1]){//小于预警距离
- need_open_gps_count=0;
- moter_open_uwb_flag=0;//关闭震动
- gps_uwb_flag=0;//关闭GPS
- }else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]){//大于预警距离小于报警距离
- need_open_gps_count++;
- moter_open_uwb_flag=1;//开启震动
- if(need_open_gps_count>=20){
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
- }else if(distance>=g_com_map[ALARM_DISTANCE2]){//大于报警距离
- need_open_gps_count++;
- moter_open_uwb_flag=1;//开启震动
- if(need_open_gps_count>=20){
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
- }
- }else if(anchordata_num==0){
-
- gps_uwb_flag=1;//开启gps测距流程
- moter_open_uwb_flag=1;//开启震动
- need_open_gps_count=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;
- }
+ if(UWB_work_state==UN_BIND) {
+ gps_uwb_flag=0;//关闭GPS
+ moter_open_uwb_flag=0;//关闭震动
+ need_open_gps_count=0;//清0计数gps
+ } else { //绑定状态下
+ if(anchordata_num==1) {
+ if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ fenli_alarm_count = 0;
+ if(flag_fenli_alarm)
+ {
+ flag_fenli_alarm = 0;
+ fenli_alarm_count = 0;
+ _4GAlarmUpload(2);
+ }
+ }
+ }
+ if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
+ {
+ if(fenli_alarm_count++>20)
+ {
+ if(!flag_fenli_alarm)
+ {
+ flag_fenli_alarm = 1;
+ _4GAlarmUpload(1);
+ }
+ }
+ }
+ if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ if(flag_alam_state)
+ {
+ flag_alam_state = 0;
+ }
+
+ need_open_gps_count=0;
+ moter_open_uwb_flag=0;//关闭震动
+ gps_uwb_flag=0;//关闭GPS
+ } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
+ need_open_gps_count++;
+ moter_open_uwb_flag=1;//开启震动
+ if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ }
+ gps_uwb_flag=1;//开启gps测距流程
+ need_open_gps_count=0;
+ }
+ } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
+ need_open_gps_count++;
+ moter_open_uwb_flag=1;//开启震动
+ if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ }
+ gps_uwb_flag=1;//开启gps测距流程
+ need_open_gps_count=0;
+ }
+
+ }
+ if(anchordata_num==0) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ }
+ distance = 0x1ffff;
+ gps_uwb_flag=1;//开启gps测距流程
+ moter_open_uwb_flag=1;//开启震动
+ need_open_gps_count=0;
+ }
}
- HIDO_TimerTick();
- nomove_count++;
+ }
+void IMUTask(void)
+{
+ 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)
+ {
+ if(!GET_USERKEY)
+ {
+ if(HIDO_TimerGetTick() - keystarttime>3)
+ {
+ userkey_state = 1;
+ keystarttime = HIDO_TimerGetTick();
+ UDPClient_UploadGPS();
+ }
+ if(HIDO_TimerGetTick() - keystarttime2>10)
+ {
+ g_com_map[CNT_RESTART] = 1;
+ }
+ }else
+ {
+ keystarttime = HIDO_TimerGetTick();
+ keystarttime2 = HIDO_TimerGetTick();
+ }
+ }
+void MinuteTask(void)
+{ gpio_pin_clr(ADC_GND_ENABLE);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
+ 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;
+// }
+
+// }
+// }
+ 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)
{
-
- SecondTask();
- // IO_control_init();
-// uwb_led_on();
-// delay_us(1000);
-// uwb_led_off();
-// send_messgae_count+=g_com_map[COM_INTERVAL];
-// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
-// //send_message_count=0;
-// //send_flag=1;
-// //}
- //马达震动逻辑
- if(motor_open_air_flag||moter_open_uwb_flag){
- if(first_motor_in_flag==0){
- first_motor_in_flag=1;
- motor_power_state=0;
- motor_count=0;
- }
- motor_count++;
- if(motor_count>=MOTOR_COUNT_TIME){
- motor_count=0;
- motor_power_state^=1;
-
+ IO_control_init();
+ if(enbale_blink_flag)
+ {
+ green_charge_state=0;
+ charge_red_on();
}
- }else{
- motor_power_state=1;
- motor_count=0;
- first_motor_in_flag=0;
- }
- //GPS工作逻辑
- if(gps_air_flag||gps_uwb_flag){
- gps_power_state=1;//开启GPS
- if(!gps_timeout_flag){
- if(gps_need_data_flag){
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
- gps_timeout_flag=1;//串口添加改变timeout逻辑
- gps_wait_count=0;
- gps_need_data_flag=0;//切换为关闭模式
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME2){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
- }else{//超时工作状态
- if(gps_need_data_flag){
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT){//超时切换工作状态
- gps_timeout_flag=1;
- gps_need_data_flag=0;
- gps_wait_count=0;
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME1){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
-
- }
- }else{
- gps_power_state=0;//关闭gps
- gps_wait_count=0;
- gps_timeout_flag=0;
- gps_need_data_flag=1;
- }
-
- if(UWB_Work_State==LINK_SUCCESS) { //成功时清0错误计数
- link_error_count=0;
- g_start_send_flag=1;
+
+ charge_state_change();//充电状态判断
+if(secondtask_count++%2==0)
+ {
+ flag_secondtask = 1;
+ }else{
+ flag_secondtask = 0;
}
- if(UWB_Work_State==SEARCH_DEV) {
-// if(first_search_flag){//当第一次连接断开产生时才开始计数
- //link_error_count=0;
-// }
- link_error_count++;
- if(link_error_count==SEARCH_TIMESTEMP){
- link_error_count=0;
- search_open_flag=1;
- }
- //link_error_count+=g_com_map[COM_INTERVAL];
- //if(link_error_count>=g_com_map[4G_INTERNAL])
- //link_error_count=0;
- update_led_power_state();//更新灯状态
- }
-
+ if(enbale_blink_flag)
+ {
+ delay_us(5000);
+ green_charge_state=0;
+ charge_red_off();
+ }
+ if(delaysleep_count>0)
+ delaysleep_count--;
+ //GPS工作逻辑
}
+
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -342,58 +400,90 @@
{
nomove_count=0;
}
-
-static void _4gUsart_handler(enum IO_PIN_T pin)
+uint8_t flag_4G_recdata;
+void _4gUsart_handler(enum IO_PIN_T pin)
{
- io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
- AIR780EUartInit();
+ //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
}
+extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_flag;
+extern uint8_t gps_need_data_flag,gps_open_flag;
void Program_Init(void)
{
Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
parameter_init_anchor();//g_com_map表初始化角色默认为基站
dev_id=g_com_map[DEV_ID];//这里不太对
group_id=g_com_map[GROUP_ID];//组ID
- tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
+// tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
+// g_com_map[ALARM_DISTANCE1] = 40;
+// g_com_map[ALARM_DISTANCE2] = 40;
warning_distance=g_com_map[ALARM_DISTANCE1];
prewarning_distance=g_com_map[ALARM_DISTANCE2];
send_struct.warnDistence=warning_distance;
send_struct.alarmDistence=prewarning_distance;//更新报警距离
memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
send_struct.tagId=dev_id;//更新设备ID
+
+ if(g_com_map[BIND_DEV_ID]==0)
+ {
+ UWB_work_state = UN_BIND;
+ }else{
+ UWB_work_state = SEARCH_DEV;
+ }
+ //g_com_map[SEND_4G_SECOND]
+ if(g_com_map[SEND_4G_SECOND]<30)
+ {
+ gps_open_flag=0;
+ }else{
+ gps_open_flag=1;
+ }
+ g_com_map[MODBUS_MODE] = 0;
+ log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
+ ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
+ ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
+ 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)|0;
+ LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
+ 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);
}
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();
- 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)
- {
- state5v=0;
- state5V_prase_flag=state5v;
- gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
- }
- UART_CheckReceive();
- }
+// //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)
{
@@ -409,20 +499,38 @@
void check_if_in_search(void)
{
if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
- UWB_Work_State=LINK_SUCCESS;
+ UWB_work_state=LINK_SUCCESS;
} else { //否则进入搜索模式
- UWB_Work_State=SEARCH_DEV;
+ UWB_work_state=SEARCH_DEV;
if(first_search_flag==0)
first_search_flag=1;
}
}
-
+void boot_deinit(void)
+{
+ //将boot中串口返回普通gpio
+// UART0 TX/RX
+ io_pin_mux_set(IO_PIN_5, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ // UART1 RX/TX
+ io_pin_mux_set(IO_PIN_10, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ uart_close(UART_ID1);//解绑原来串口1
+ uart_close(UART_ID0);//解绑原来串口0
+}
uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int16_t Voltage_input;
+int tt2;
+int test1,test3;
+uint32_t test4;
+
int main(void)
{
board_clock_run();
+ boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
+ board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -446,120 +554,131 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
// open system timer
//sys_timer_open();
// TODO 4G
Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
+// Internet_Init();
+// TCPClient_Init();
gpio_open();
- //board_led_init();
-
-// adc_open(&usr_adc_cfg);
-// IIC2_Init();
-// Accelerometer_Init();
+ 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();
+ Accelerometer_Init();
IO_control_init();
- io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
- gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
- io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
- gps_air780_power_change(0,1);//开启gps，4G
+ 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
//加速度计初始化必须在IO_control_init之前因为复用SDA引脚
- //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- uart_open(UART_ID1, &test_uart_cfg);
- Program_Init();
+ gpio_pin_clr(ADC_GND_ENABLE);
+
+ Program_Init();
+ //uart_open(UART_ID1, &test_uart_cfg);
+
+ // uart1_change_from_gps_to_debug();
+ //Uart1GpsRecDebugSend();
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+
// Initialize low power mode
power_init();
- // LOG_INFO(TRACE_MODULE_APP, "测试数据");
- g_com_map[BIND_DEV_ID]=0x1122;//测试
- if(bind_check())//绑定后才提前开启测距
- { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
- check_if_in_search();
- } else {
- send_struct.bindState=false;
- UWB_Work_State=UN_BIND;
- }
+ //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);
-// board_acceleration_detection_init(move_handler);
-
- //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ // 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)
- {
- if(flag_TCP_reconnectting||IfTCPConnected())
+ { test4=gpio_pin_get_val(SCL_PIN);
+ 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)
+//// {
+//// 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();
+// }
+// }
+ if(flag_secondtask)
{
- if(flag_4guart_needinit)
- {
- flag_4guart_needinit = 0;
- AIR780EUartInit();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
+ flag_secondtask = 0;
+ SecondTask();
+
}
- switch(UWB_Work_State) {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
- if(g_start_send_flag) {
- g_start_send_flag = 0;
- uwb_led_on();
- simple_main();
- uwb_led_off();
- IdleTask();
- } else {
- IdleTask();
- }
- }
- break;
- case SEARCH_DEV:
- { //接包不成功或者通讯失败进入搜索模式
- if(search_open_flag||first_search_flag) {
- first_search_flag=0;
- search_open_flag=0;
- uwb_led_on();
- link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
- uwb_led_off();
- if(link_success_flag)
- UWB_Work_State=LINK_SUCCESS;
- }
- IdleTask();
- }
- break;
- case UN_BIND:
- { uwb_led_off();//关闭uwb指示灯
- IdleTask();
- }
- break;
- }
-
- //3种情况后都要发包和休眠
- //if(send_flag){
- //message_construct();
- //send_udp;
- //air780_success_state=0;//关闭4G成功发送灯
- //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
- //air780_success_state=0;
- //}
+// UserKeyTask();
+// IMUTask();
+ IdleTask();
#ifndef DEBUG_MODE
-if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
- {
- board_4GUsart_detection_init(_4gUsart_handler);
- // LOG_INFO(TRACE_MODULE_APP, "进入休眠");
- flag_4guart_needinit = 1;
+//if(flag_sleeptimer)
+// if(!gps_need_data_flag&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
+// {
+// if(!flag_4guart_needinit)
+// {
+// LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
+// board_4GUsart_detection_init(_4gUsart_handler);
+
+// }
+// flag_sleeptimer =0;
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+// flag_4guart_needinit = 1;
+
+// trace_flush();
+// uint32_t lock = int_lock();
+// //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+// power_enter_power_down_mode(0);
+// int_unlock(lock);
+// }//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())||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();
+
+ // delay_us(300000);
trace_flush();
- uint32_t lock = int_lock();
- //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ lock = int_lock();
power_enter_power_down_mode(0);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
int_unlock(lock);
}
+
#endif
}
}
--
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