From f224d649c2d62d0289f47ba704c7da3509647ff4 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 17 四月 2025 14:26:19 +0800
Subject: [PATCH] 现在的UWB常开1s测距一次(和老免布线基站测距)功耗是95ma一秒上传一次数据
---
keil/include/main/main.c | 262 ++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 194 insertions(+), 68 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 0cc768d..b19613c 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -24,12 +24,6 @@
#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);
@@ -44,6 +38,10 @@
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
+
+//室内外阈值
+#define XINGHAOQIANGDU_VALUE 100
+#define WEIXINGSHULIANG_VALUE 5
extern uint8_t mUsartReceivePack[100];
@@ -102,7 +100,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -126,14 +124,16 @@
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
+// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+ PCA9555_Set_One_Value_Output(MAIN_RI,1);
+ PCA9555_Set_One_Value_Output(MAIN_RI,1);
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();
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//关闭DENG
+ 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");
+// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
sys_reset(0);
int_unlock(lock);
}
@@ -163,11 +163,11 @@
{
//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");
+// 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");
+// 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
}
@@ -183,7 +183,8 @@
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);
+ {
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
mcu_deep_sleep();
}
}
@@ -281,11 +282,26 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
uint8_t input5v_time;
+uint8_t heart_upload_time=0;
extern uint8_t taglist_num;
+//extern uint8_t ceshidata[500];
+extern uint8_t ceshichangdu;
+uint8_t gps_ntripsend;
+
+extern uint8_t lounei_flag;
+extern uint16_t g_spsum_GSV,g_snum_GSV;
+extern uint16_t g_spsum_GSV_sum;
+extern uint16_t g_snum_GSV_sum;
+extern uint8_t ceju_leave_flag;
+extern uint8_t fixed_solution_count_minute;
+uint8_t open_gps_time=0;
+uint16_t uwb_time_count=0;
static void sleep_timer_callback(void *dev, uint32_t time)
{
if(secondtask_count++%2==0)
- {
+ {
+ open_gps_time++;
+ uwb_time_count++;
input5v_time=1;
flag_secondtask = 1;
if(!read_5v_input_pca())
@@ -299,16 +315,84 @@
ledonflag=1;
// ledontime=HIDO_TimerGetTick();
Set4LEDColor(uwbled,rtkled,led4g,powerled);
+// uart_send(UART_ID1, ceshidata, 50,NULL);
}
input5v_time=1;
if(taglist_num==0)
{
- CloseUWB();
+// CloseUWB();
Uwb_init();
- OpenUWB();
+// OpenUWB();
}
- }else{
- flag_secondtask = 0;
+// in_the_room_flag=1;
+ if(30<open_gps_time&&open_gps_time<=90)
+ {
+ Receive_g_spsum_Data(g_spsum_GSV);
+ Receive_g_snum_Data(g_snum_GSV);
+ if((g_spsum_GSV_sum<XINGHAOQIANGDU_VALUE||g_snum_GSV_sum<WEIXINGSHULIANG_VALUE)&&(fixed_solution_count_minute<30))
+ {
+ lounei_flag=1;
+ }
+ if((XINGHAOQIANGDU_VALUE<g_spsum_GSV_sum&&WEIXINGSHULIANG_VALUE<g_snum_GSV_sum)&&(fixed_solution_count_minute>30))
+ {
+ lounei_flag=0;
+ }
+ }
+
+ if(open_gps_time>90)
+ {
+ if(ceju_leave_flag==1)
+ {
+ Receive_g_spsum_Data(g_spsum_GSV);
+ Receive_g_snum_Data(g_snum_GSV);
+
+ if((g_spsum_GSV_sum<XINGHAOQIANGDU_VALUE||g_snum_GSV_sum<WEIXINGSHULIANG_VALUE)&&(fixed_solution_count_minute<30))
+ {
+ lounei_flag=1;
+ }
+ if((XINGHAOQIANGDU_VALUE<g_spsum_GSV_sum&&WEIXINGSHULIANG_VALUE<g_snum_GSV_sum)&&(fixed_solution_count_minute>30))
+ {
+ lounei_flag=0;
+ }
+
+ if(heart_upload_time==60)
+ {
+ ceju_leave_flag=0;
+ fixed_solution_count_minute=0;
+ if(lounei_flag==1)
+ {
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);
+ }
+ }
+ if(heart_upload_time==0||heart_upload_time==60)
+ {
+ heart_upload_time=0;
+ }
+ heart_upload_time++;
+ }
+
+ }
+ if(open_gps_time>149&&lounei_flag==1)
+ {
+
+ if(open_gps_time-90==60)
+ {
+ open_gps_time=90;
+ TCPHeartBeatUpload();
+ }
+
+
+ }
+ uwb_app_poll();
+
+ }
+ else
+ {
+ flag_secondtask = 0;
+ }
+ if(gps_ntripsend==1)
+ {
+ gps_ntripsend=2;
}
if(delaysleep_count>0)
delaysleep_count--;
@@ -317,25 +401,26 @@
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))
+ check_input_change();
+// uint16_t gpio_state;
+// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+// test41++;
+// if(WAKE_UP_POSITION&gpio_state)
// {
-// flag_4G_recdata = 1;
-// delaysleep_count = 3;
-// test21++;
+// nomove_count=0;
+// test11++;
// }
- if((PWR_ON_POSITION&gpio_state))
- {
- PowerTask();
- test31++;
- }
+//// if(!(MAIN_RI_POSITION&gpio_state))
+//// {
+//// flag_4G_recdata = 1;
+//// delaysleep_count = 3;
+//// test21++;
+//// }
+// if((PWR_ON_POSITION&gpio_state))
+// {
+// PowerTask();
+// test31++;
+// }
}
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -362,18 +447,37 @@
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[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]=1102;
+
+// 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)
@@ -395,7 +499,7 @@
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:MK-大工卡 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]);
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{
@@ -413,13 +517,13 @@
{
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;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -462,13 +566,10 @@
}
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();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ //HIDO_InputPoll();
+ DBG_Poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
@@ -480,7 +581,20 @@
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())
@@ -501,7 +615,7 @@
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,1);//输出低电平切换为GPS
}
}
UART_CheckReceive();
@@ -538,6 +652,7 @@
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;
@@ -545,12 +660,14 @@
int test1,test3;
uint32_t test4;
extern uint8_t receive_flag;
+extern uint8_t YUANGPS_ParseGGA_data[256];
+extern uint8_t YUANGPS_ParseGGA_changdu;
int main(void)
{
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -569,7 +686,9 @@
calib_chip();
wdt_close(WDT_ID0);
Uart_Register(UART_ID_4G, UART_ID0);
-// Uart_Register(UART_ID_DBG, UART_ID1);
+ Uart_Register(UART_ID_DBG_GPS, UART_ID1);
+ DBG_Init();
+
Program_Init();
Internet_Init();
TCPClient_Init();
@@ -577,6 +696,10 @@
{
NTRIPClient_Init();
NTRIPApp_Init();
+ }
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Init_1();
}
gpio_open();
LED_output_init();//配置彩色灯引脚
@@ -593,7 +716,7 @@
pca_input_detection_init(pca_handler);//pca检测输入
Uwb_init();
OpenUWB();
- DBG_Init();
+// DBG_SetMode(DBG_MODE_SHELL);
// Shell_Init();
if(!read_5v_input_pca())
@@ -604,18 +727,21 @@
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
while (1)
{
- 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;
--
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