From e71ce2771abe8afff42768a0ad74784da44c708e Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 13 九月 2024 09:37:56 +0800
Subject: [PATCH] 更新一些DMAGPS数据判断逻辑
---
keil/include/main/main.c | 355 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 219 insertions(+), 136 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 33830ab..e033776 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -72,9 +72,16 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
+#define MOTOR_COUNT_TIME 1
+#define WARING_LIMIT_TIME 10
+#define UPDATE_TIME 10
+
+
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
+extern int distance;
+extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -82,9 +89,10 @@
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;
-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;
+uint8_t link_success_flag,motor_count;
+uint16_t gps_wait_count;
+uint8_t state5v = 1;
+uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_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;
@@ -94,7 +102,7 @@
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step Operation_state;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
@@ -134,7 +142,7 @@
.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);
}
@@ -160,7 +168,7 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//void UartInit(void)
//{
@@ -169,21 +177,94 @@
//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;
-void SecondTask(void)
+extern uint8_t gps_uwb_flag;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
+uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
+int need_open_gps_count;
+void MotorPoll(void)
{
+ 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
+ if(flag_alam_state)
+ {
+ flag_alam_state = 0;
+ _4GAlarmUpload(2);
+ }
+ 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;
+ _4GAlarmUpload(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;
+ _4GAlarmUpload(1);
+ }
+ gps_uwb_flag=1;//开启gps测距流程
+ need_open_gps_count=0;
+ }
+ }
+ } else if(anchordata_num==0) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
+ distance = -1;
+ 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;
+ }
+ }
+}
+void MinuteTask(void)
+{
+ //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();
+ }
+ //UWB更新列表
+ TagListUpdate();
+ //GPS_Poll();
+ GPS_Poll_1h();
+ //UWB状态检测
+
if(IfTCPConnected())
{
TCP_reconnect_timer =0;
flag_TCP_reconnectting = 0;
- }else{
+ } 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{
+ } else {
flag_TCP_reconnectting = 0;
}
- if(TCP_reconnect_timer++>600)
+ if(TCP_reconnect_timer++>600)
{
TCP_reconnect_timer = 0;
}
@@ -192,39 +273,29 @@
HIDO_TimerTick();
nomove_count++;
}
-uint8_t flag_sleeptimer;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,delaysleep_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
-
- SecondTask();
- // IO_control_init();
- uwb_led_on();
- delay_us(1000);
- uwb_led_off();
- flag_sleeptimer = 1;
-// send_messgae_count+=g_com_map[COM_INTERVAL];
-// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
-// //send_message_count=0;
-// //send_flag=1;
-// //}
-
-// if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
-// link_error_count=0;
-// g_start_send_flag=1;
-// }
-// if(Operation_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==60)
-// link_error_count=0;
-// //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
-// }
+ //IO_control_init();
+ // UWBPoll();
+
+ //MotorPoll();
+
+ if(secondtask_count++%2==0)
+ {
+ flag_secondtask = 1;
+ }else{
+ flag_secondtask = 0;
+ }
+
+ flag_sleeptimer = 1;
+
+ if(delaysleep_count>0)
+ delaysleep_count--;
+ //GPS工作逻辑
+
+update_led_power_state();//更新灯状态测试
}
static void voltage_input_handler(enum IO_PIN_T pin)
{
@@ -234,13 +305,20 @@
{
nomove_count=0;
}
-uint8_t flag_4G_recdata;
-static void _4gUsart_handler(enum IO_PIN_T pin)
+uint8_t flag_4G_recdata,flag_entersleep;
+void _4gUsart_handler(enum IO_PIN_T pin)
{
- LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
- // flag_4G_recdata = 1;
- // AIR780EUartInit();
+ // if(!gpio_pin_get_val(_4G_USART_RX_Pin))
+ {
+ 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;
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
@@ -249,12 +327,33 @@
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
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;
+ }
+ if(g_com_map[SEND_4G_SECOND]<60)
+ g_com_map[SEND_4G_SECOND]=60;
+ g_com_map[MODBUS_MODE] = 0;
+ 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)|6;
+ LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-4G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);
}
@@ -270,7 +369,7 @@
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
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartInit();
}
@@ -278,15 +377,16 @@
} 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartDeinit();
}
- UART_CheckReceive();
}
+ UART_CheckReceive();
}
int bind_check(void)
{
@@ -302,18 +402,30 @@
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
- Operation_state=LINK_SUCCESS;
+ UWB_work_state=LINK_SUCCESS;
} else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
+ UWB_work_state=SEARCH_DEV;
if(first_search_flag==0)
first_search_flag=1;
}
}
-
-uint8_t flag_4guart_needinit=0;
+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,tt2;
int main(void)
{
board_clock_run();
+ boot_deinit();
board_pins_config();
board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
@@ -339,12 +451,12 @@
// 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
+// // TODO 4G
Uart_Register(UART_ID_4G, UART_ID0);
Internet_Init();
TCPClient_Init();
@@ -352,110 +464,81 @@
gpio_open();
//board_led_init();
-// adc_open(&usr_adc_cfg);
+// adc_open(&usr_adc_cfg);
IIC2_Init();
Accelerometer_Init();
IO_control_init();
- // gps_air780_power_change(0,1);//开启gps，4G
+ #ifdef DEBUG_BOXING
+ 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);
+ #endif
+ 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);
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ //uart_open(UART_ID1, &test_uart_cfg);
Program_Init();
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ // 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;
-// Operation_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
+ //gps_air780_power_change(0,0);//测试
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(1000));//测试
- //board_5V_input_init(voltage_input_handler);
+ 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);
- // board_4GUsart_detection_init(_4gUsart_handler);
- AIR780E_Reset(); //4G模块重启，耗时1.5秒
+//// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
+ board_4GUsart_detection_init(_4gUsart_handler);
+// tt2 = gpio_pin_get_val(_4G_USART_RX_Pin);
while (1)
{
if(flag_TCP_reconnectting||IfTCPConnected())
{
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
- if(flag_4guart_needinit)
+ if(flag_4G_recdata==1)
{
- flag_4guart_needinit = 0;
- AIR780EUartInit();
+ flag_4G_recdata = 2;
+
+ LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll\r\n");
+ Socket_RecvAll();
}
+ // air780_led_on();
+//LOG_INFO(TRACE_MODULE_APP, "处理4G\r\n");
Internet_Poll();
HIDO_ATLitePoll();
HIDO_TimerPoll();
TCPClient_Poll();
+ // air780_led_off();
}
-// switch(Operation_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(link_error_count==0||first_search_flag) {
-// first_search_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)
-// Operation_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;
- //}
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ IdleTask();
+
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
-if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //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);
+ // if(!gpio_pin_get_val(INPUT_5V_Pin))//AIR780E_IsIPIdle() Socket_IsSendQueueEmpty(0)
+ // if(flag_4G_recdata!=2)
+ //if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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(delaysleep_count==0)
+ if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&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。
+ {
+ uint32_t lock;
+
+ // power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW);
+ //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ // delay_us(300000);
+ trace_flush();
+ lock = int_lock();
+ power_enter_power_down_mode(0);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ int_unlock(lock);
}
#endif
}
--
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