From deaaa18131675b17ef4fa49befa80cfb09778898 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 13 六月 2025 18:09:02 +0800
Subject: [PATCH] 这是工卡机测试版本
---
keil/include/main/main.c | 670 ++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 539 insertions(+), 131 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index dd85189..070b989 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -24,16 +24,12 @@
#include "PCA9555.h"
#include "WS2812.h"
#include "DBG.h"
-typedef enum
-{
- RTCMMODE_NONE,
- RTCMMODE_TCP,
- RTCMMODE_NTRIP,
-}RTCMMode;
//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
+void boot_deinit(void);
+void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -46,6 +42,13 @@
#define UPDATE_TIME 10
+#define UWB_OPEN_COUNT 1
+#define UWB_MEASUREMENT_INTERVAL 5
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 30
+
+#define INACTIVE_TIMEOUT 30
+
+uint8_t input5v_flag=0;
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -77,8 +80,16 @@
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
+
Operation_step UWB_work_state;
+uint32_t gpsbaudrate;
+uint32_t uwb_time_count = 0; // 定时器计数值
+//uint32_t step_count = 0; // 步数计数
+//uint32_t last_step_count = 0; // 上一次步数
+
+CountState_t current_state = STATE_NORMAL; // 当前状态
+uint32_t state_start_time = 0; // 状态开始时间
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -121,22 +132,70 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+uint8_t deep_sleep_falg=1;
+extern uint8_t userkey_state;
+extern uint8_t heartbeasend_flag;
+uint8_t sleepflag;
+uint32_t sleepflagtime;
+uint8_t onlyoneflag=1;
void mcu_deep_sleep(void)
{
- uint32_t lock;
+
+ uint32_t lock;
trace_flush();
lock = int_lock();
- LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
// gps_air780_power_change(0,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
sleep_timer_stop();
//adc_close();
power_enter_power_down_mode(1);
- LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
- sys_reset(0);
+// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+ sys_reset(0);
int_unlock(lock);
+//// 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
+// deep_sleep_falg=0;
+// PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+// PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
+//// PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
+////
+////// PCA9555_Set_One_Value_Output(MAIN_RI,1);
+// boot_deinit();
+// CloseUWB();
+// if(onlyoneflag)
+// {
+// onlyoneflag=0;
+// userkey_state=4;
+// heartbeasend_flag = 1;
+// sleepflag=1;
+// sleepflagtime=HIDO_TimerGetTick();
+// }
+// if(sleepflag)
+// {
+// if(HIDO_TimerGetTick() - sleepflagtime>3)
+// {
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
+// }
+// }
+//
+//// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
+//
+//// sleep_timer_stop();
+//// //adc_close();
+//// power_enter_power_down_mode(1);
+//// delay_us(200000);
+
+//// sys_reset(0);
+////// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+//// int_unlock(lock);
}
+uint8_t jiancebat_percent_flag;
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -150,7 +209,7 @@
{
bat_percent = 0;
}
- else if(fVoltage_mv > 4100)
+ else if(fVoltage_mv > 4200)
{
bat_percent = 100;
}
@@ -159,16 +218,21 @@
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");
- }
+ if(bat_percent>100)
+ bat_percent=100;
+ if(bat_percent<0)
+ bat_percent=0;
+ jiancebat_percent_flag=1;
+// 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");
+// }
PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
@@ -180,21 +244,52 @@
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
+extern uint8_t flag_first_TCPconnect;
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();
+ if(onlyoneflag)
+ {
+ onlyoneflag=0;
+ nomove_count=0;
+ userkey_state=4;
+ heartbeasend_flag = 1;
+ sleepflag=1;
+ sleepflagtime=HIDO_TimerGetTick();
+ }
}
+ if(sleepflag)
+ {
+ if(HIDO_TimerGetTick() - sleepflagtime>3)
+ {
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
+ mcu_deep_sleep();
+ }
+ }
}
+void powerON_Task(void)
+{
+if(deep_sleep_falg==0)
+{
+PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
+}
+
+}
+uint16_t gaodu;
+uint8_t guanjiflag;
+uint8_t heartbeasend_flag;
+uint32_t guanjiflagtime;
void UserKeyTask(void)
{
if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime3>2)
+ delay_ms(1000);
+ if(!read_userkey_input_pca())
{
userkey_state = 1;
keystarttime3 = HIDO_TimerGetTick();
+ flag_first_TCPconnect = 1;
//UDPClient_UploadGPS();
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
@@ -211,26 +306,25 @@
{
if(read_powerkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>2)
+ delay_ms(1000);
+ if(read_powerkey_input_pca())
{
rtkled=WHITE;
uwbled=WHITE;
led4g=WHITE;
powerled=WHITE;
Set4LEDColor(uwbled,rtkled,led4g,powerled);
- delay_ms(500);
- keystarttime = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
- PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
- PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
- PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
-
+ delay_ms(500);
+// keystarttime = HIDO_TimerGetTick();
+// PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+// PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ heartbeasend_flag = 1;
+ guanjiflag=1;
+ userkey_state = 2;
+ guanjiflagtime=HIDO_TimerGetTick();
}
-// if(HIDO_TimerGetTick() - keystarttime2>10)
-// {
-//
-// g_com_map[CNT_RESTART] = 1;
-// }
}else
{
keystarttime = HIDO_TimerGetTick();
@@ -239,12 +333,13 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ delay_ms(100);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
- if(second_count++>60)
+ if(second_count++>120)
{
second_count = 0;
MinuteTask();
@@ -273,21 +368,33 @@
HIDO_TimerTick();
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+ gaodu=GetPressAndHeight()*100;
// 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;
+uint8_t uwb_offtime_count=0;
uint8_t input5v_time;
extern uint8_t taglist_num;
+uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
+// powerON_Task();
if(secondtask_count++%2==0)
{
input5v_time=1;
flag_secondtask = 1;
+ if(g_com_map[UWBFrequency]>1)
+ {uwb_time_count++;}
+// #endif
+ uwb_offtime_count++;
+ if(uwb_offtime_count>60)
+ {
+ uwb_offtime_count=0;
+ current_state = STATE_SLEEP;
+ }
if(!read_5v_input_pca())
{
if(bat_percent>15)
@@ -299,43 +406,85 @@
ledonflag=1;
// ledontime=HIDO_TimerGetTick();
Set4LEDColor(uwbled,rtkled,led4g,powerled);
+// uart_send(UART_ID1, ceshidata, 50,NULL);
}
input5v_time=1;
- if(taglist_num==0)
+ if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1)
{
CloseUWB();
Uwb_init();
OpenUWB();
}
+ if(g_com_map[UWBENBLE]==1)
+ {
+ upload_apppoll();
+ }
}else{
flag_secondtask = 0;
}
+
if(delaysleep_count>0)
delaysleep_count--;
}
-uint8_t test11,test21,test31,test41,test51;
+
+#ifdef JIBU_XIUMIAN
+
+uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
+uint8_t exercise_state=0;
+uint32_t step_count = 0; // 步数计数
+uint32_t last_step_count = 0; // 上一次步数
+void check_step_and_update_state(void)
+{
+ if ((step_count != last_step_count))
+ {
+ // 步数有变化，重置状态为正常状态
+ last_step_count = step_count;
+
+ if(current_state == STATE_SLEEP)
+ {
+ state_start_time_jibu = uwb_time_count;
+ state_start_time=uwb_time_count;
+ }
+// if (current_state != STATE_NORMAL)
+// {
+// // 关闭可能正在运行的UWB
+// if (uwb_is_on) {
+// CloseUWB();
+// UWB_LED_OFF;
+// uwb_is_on = false;
+// }
+// current_state = STATE_NORMAL;
+// state_start_time = uwb_time_count; // 重置测距周期
+// }
+ current_state = STATE_NORMAL;
+ exercise_state=1;
+ last_step_count = step_count;
+
+ }
+ else
+ {
+ // 步数没有变化，检查是否需要切换到休眠状态
+ if (current_state == STATE_NORMAL)
+ {
+ uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
+ if (inactive_time >= INACTIVE_TIMEOUT)
+ { // 30秒后切换到休眠状态
+ current_state = STATE_SLEEP;
+ exercise_state=2;
+ state_start_time_jibu=uwb_time_count;
+ }
+ }
+ }
+}
+#endif
static void pca_handler(enum IO_PIN_T pin)
{
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
- uint16_t gpio_state;
- gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
- test41++;
- if(WAKE_UP_POSITION&gpio_state)
- {
- nomove_count=0;
- test11++;
- }
-// if(!(MAIN_RI_POSITION&gpio_state))
-// {
-// flag_4G_recdata = 1;
-// delaysleep_count = 3;
-// test21++;
-// }
- if((PWR_ON_POSITION&gpio_state))
- {
- PowerTask();
- test31++;
- }
+ check_input_change();
+// uint16_t gpio_state;
+// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+
}
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -349,10 +498,11 @@
uint8_t gps_need_data_flag,gps_open_flag;
void Program_Init(void)
{
+ uint32_t gpsbaudrate1;
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
- g_com_map[GROUP_ID]=9;
+// g_com_map[GROUP_ID]=9;
group_id=g_com_map[GROUP_ID];//组ID
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
warning_distance=g_com_map[ALARM_DISTANCE1];
@@ -361,19 +511,67 @@
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
-
- g_com_map[IP_0]=111;
- g_com_map[IP_1]=198;
- g_com_map[IP_2]=60;
- g_com_map[IP_3]=6;
- g_com_map[PORT]=6666;
- g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
- snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
- g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
-// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
- snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
- snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
- snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+ g_com_map[MOTOR_ONTIME_INDEX]=10;
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
+ if(gpsbaudrate==9600)
+ {
+ gpsbaudrate = 3;
+ gpsbaudrate1=9600;
+ }
+ else if(gpsbaudrate==115200)
+ {
+ gpsbaudrate = 7;
+ gpsbaudrate1=115200;
+ }
+ else
+ {
+ gpsbaudrate = 3;
+ gpsbaudrate1=9600;
+ }
+ if(g_com_map[GPSENBLE]>1)
+ {
+ g_com_map[GPSENBLE]=1;
+ }
+ if(g_com_map[UWBENBLE]>1)
+ {
+ g_com_map[UWBENBLE]=1;
+ }
+ if(g_com_map[UWBFrequency]>10)
+ {
+ g_com_map[UWBFrequency]=1;
+ }
+// g_com_map[IP_0]=111;
+// g_com_map[IP_1]=198;
+// g_com_map[IP_2]=60;
+// g_com_map[IP_3]=6;
+// g_com_map[PORT]=6666;
+
+// g_com_map[IP_0]=117;
+// g_com_map[IP_1]=72;
+// g_com_map[IP_2]=111;
+// g_com_map[IP_3]=237;
+// g_com_map[PORT]=7000;
+//
+// g_com_map[TCP_IP_0]=111;
+// g_com_map[TCP_IP_1]=198;
+// g_com_map[TCP_IP_2]=60;
+// g_com_map[TCP_IP_3]=6;
+// g_com_map[TCP_PORT]=1234;
+ /*
+ RTCMMODE_NONE,
+ RTCMMODE_TCP,
+ RTCMMODE_NTRIP,
+ */
+// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
+
+
+// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+// snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+// snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+// snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
if(g_com_map[BIND_DEV_ID]==0)
@@ -383,20 +581,25 @@
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;
- }
+// 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];
- g_com_map[VERSION] = (1<<8)|3;
-
+ g_com_map[VERSION] = (1<<8)|23;
+
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,"固件版本:4G-GPS定位工卡 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ LOG_INFO(TRACE_MODULE_APP,"设备UWB状态: %x .\r\n",g_com_map[UWBENBLE]);
+ LOG_INFO(TRACE_MODULE_APP,"设备GPS状态: %x .\r\n",g_com_map[GPSENBLE]);
+ LOG_INFO(TRACE_MODULE_APP,"设备UWB工作间隔: %x .\r\n",g_com_map[UWBFrequency]);
+ LOG_INFO(TRACE_MODULE_APP,"设备GPS工作间隔: %x .\r\n",g_com_map[GPSFrequency]);
+ LOG_INFO(TRACE_MODULE_APP,"当前GPS工作波特率: %d .\r\n",gpsbaudrate1);
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
@@ -413,17 +616,24 @@
{
LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
}
+ delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
-uint8_t kai_4g_flag;
+extern uint8_t ota_flag;
+uint8_t bat_percent_only_one=1;
+extern uint8_t jiancebat_percent_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
{
+ if(input5v_flag==0)
+ {
+ NVIC_SystemReset();
+ }
if(state5v==0)
{
state5v=1;
@@ -442,9 +652,11 @@
while(1)
{
nomove_count = 0;
- if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+ wdt_ping(WDT_ID0);//喂狗
+// adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
{
- chongman_time=chongman_time+6;
+ chongman_time=chongman_time+60;
adctick = HIDO_TimerGetTick();
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -454,7 +666,7 @@
only_one_flag=1;
chongman_time=0;
}
- if(bat_percent>=99&&chongman_time>=1800)
+ if(bat_percent>=99&&chongman_time>=180)
{
powerled = GREEN;
}else{
@@ -462,17 +674,27 @@
}
if(DBG_GetMode() == DBG_MODE_SHELL)
{
- if(kai_4g_flag==0)
- {
- kai_4g_flag=1;
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
- Shell_Init();
- }
- HIDO_InputPoll();
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- TCPClient_Poll();
+ if(ota_flag==1)
+ {
+// OTA_Poll();
+// HTTPClient_Poll();
+ }
+ else
+ {
+ uwb_app_poll();
+ }
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ UserKeyTask();
}
UART_CheckReceive();
if(flag_secondtask)
@@ -480,7 +702,21 @@
flag_secondtask = 0;
SecondTask();
}
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ NVIC_SystemReset();
+
+ }
+ }
+ else
+ {
Set4LEDColor(0,0,0,powerled);
+ }
if(input5v_time)
{
if(!read_5v_input_pca())
@@ -489,7 +725,8 @@
}
}
}
- NVIC_SystemReset();
+// NVIC_SystemReset();
+// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
input5vflag=1;
}
else
@@ -501,7 +738,13 @@
state5V_prase_flag=state5v;
gps_prase_flag=1;//恢复gps解析
uart1_change_from_debug_to_gps();//测试
- PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+// PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ delay_us(1000000);
+
}
}
UART_CheckReceive();
@@ -509,7 +752,7 @@
{
g_com_map[CNT_RESTART]=0;
NVIC_SystemReset();
-
+
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
@@ -525,6 +768,30 @@
powerled=0;
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
+ if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
+ {
+ userkey_state=3;
+ heartbeasend_flag = 1;
+ guanjiflag=1;
+ guanjiflagtime=HIDO_TimerGetTick();
+ bat_percent_only_one=0;
+ }
+ if(guanjiflag)
+ {
+ rtkled=WHITE;
+ uwbled=WHITE;
+ led4g=WHITE;
+ powerled=WHITE;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(HIDO_TimerGetTick() - guanjiflagtime>3)
+ {
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ }
+
+ }
}
void boot_deinit(void)
{
@@ -532,12 +799,109 @@
// UART0 TX/RX
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
// 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
}
+
+extern uint32_t uwb_time_count;
+uint8_t GPS_UPLOAD_FLAG=0;
+uint32_t elapsed_time_jibu;
+void upload_apppoll()
+{
+
+ if(current_state==STATE_NORMAL)
+ {
+ if(g_com_map[UWBFrequency]>1)
+ {
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ if(elapsed_time_jibu==1)
+ {
+ CloseUWB();
+ UWBSendUDPTask();
+ }
+ else if(elapsed_time_jibu==g_com_map[UWBFrequency])
+ {
+ taglist_num = 0;
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ }
+ }
+ else
+ {}
+ }
+ else if(current_state==STATE_SLEEP)
+ {
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ UWBSendUDPTask();
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+ taglist_num = 0;
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ break;
+ }
+ }
+// switch (current_state)
+// {
+////#ifdef UWB_1_5HZ
+// if(g_com_map[UWBFrequency]>1)
+// {
+// case STATE_NORMAL:
+// elapsed_time_jibu = uwb_time_count - state_start_time;
+// if(elapsed_time_jibu)
+// {
+// CloseUWB();
+// UWBSendUDPTask();
+// }
+// else if(elapsed_time_jibu==g_com_map[UWBFrequency])
+// {
+// taglist_num = 0;
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
+// state_start_time = uwb_time_count;
+// }
+// }
+// else
+// {}
+////#endif
+// case STATE_SLEEP:
+// elapsed_time_jibu = uwb_time_count - state_start_time;
+// switch(elapsed_time_jibu)
+// {
+// case UWB_OPEN_COUNT:
+// CloseUWB();
+// UWBSendUDPTask();
+// break;
+//
+// case UWB_MEASUREMENT_INTERVAL_SLEEP:
+// taglist_num = 0;
+// CloseUWB();
+// Uwb_init();
+// OpenUWB();
+// state_start_time = uwb_time_count;
+// break;
+// }
+// break;
+// }
+
+}
+
uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
@@ -545,12 +909,34 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
-int main(void)
+static void app_wdt_callback(void *dev, uint32_t status)
{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
+ struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+ };
+int main(void)
+ {
+ __enable_irq();
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ gpio_open();
+ IIC2_Init();
+ Accelerometer_Init();
+// delay_ms(100);
+ BarInit();
+// delay_ms(100);
+// gaodu=GetPressAndHeight();
+ PCA9555_init();
+ board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
+ pca_input_detection_init(pca_handler);//pca检测输入
+// while(1);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -564,38 +950,41 @@
}
else
{
- board_calibration_params_default();
+ board_calibration_params_default();
}
calib_chip();
wdt_close(WDT_ID0);
- Uart_Register(UART_ID_4G, UART_ID0);
-// Uart_Register(UART_ID_DBG, UART_ID1);
Program_Init();
+ Uart_Register(UART_ID_4G, UART_ID0);
+
+ Uart_Register(UART_ID_DBG_GPS, UART_ID1);
+ DBG_Init();
+
Internet_Init();
TCPClient_Init();
- if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+// {
+// NTRIPClient_Init();
+// NTRIPApp_Init();
+// }
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
- NTRIPClient_Init();
- NTRIPApp_Init();
+ TCPClient_Init_1();
}
- gpio_open();
+// HTTPClient_Init();
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s检测喂狗
LED_output_init();//配置彩色灯引脚
- IIC2_Init();
- Accelerometer_Init();
- PCA9555_init();
+
+
+ WT588E02B_Init();
adc_open(&usr_adc_cfg);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
- sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- pca_input_detection_init(pca_handler);//pca检测输入
Uwb_init();
- OpenUWB();
- DBG_Init();
-// Shell_Init();
-
+ if(g_com_map[UWBFrequency]&&g_com_map[UWBENBLE])
+ {
+ OpenUWB();
+ }
if(!read_5v_input_pca())
{
Set4LEDColor(BLUE,GREEN,WHITE,RED);
@@ -604,26 +993,45 @@
delay_ms(500);
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
-// state5v=1;
-// state5V_prase_flag=state5v;
-// gps_prase_flag=0;//解除gps解析
-// uart1_change_from_gps_to_debug();//测试
-// PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
+
+ 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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+ if(g_com_map[UWBENBLE]==0)
+ {
+ CloseUWB();
+ }
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+
+ gaodu=GetPressAndHeight()*100;
+ if(read_init_5v_input_pca())
+ {input5v_flag=1;}
while (1)
{
- uwb_app_poll();
+
+ uwb_app_poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
+ wdt_ping(WDT_ID0);//喂狗
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Poll_1();
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
- IMUTask();
- UserKeyTask();
+ IMUTask();
IdleTask();
+ check_step_and_update_state();
}
}
--
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