From f34293f18e4fbfe4d0d025657d2bda505861066a Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 15 八月 2025 19:51:53 +0800
Subject: [PATCH] 初步调好demo，升级未测试
---
keil/include/main/main.c | 141 +++++++++++++----------------------------------
1 files changed, 39 insertions(+), 102 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 53488c6..7aa9d35 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -91,7 +91,7 @@
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
-uint16_t tag_frequency;
+uint8_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
@@ -100,7 +100,7 @@
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;
+uint16_t nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
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
@@ -266,9 +266,11 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
+extern uint8_t motor_state;
+extern int8_t motor_keeptime;
void SecondTask(void)
{static uint8_t second_count;
if(second_count++>60)
@@ -277,45 +279,39 @@
MinuteTask();
}
-// 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(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime-->0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ switch(motor_state)
+ {case 0:
+ pwm_ch_disable(PWM_ID3);
+ break;
+ case 1:
+ break;
+ case 2:
+ pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
+ break;
+ case 3:
+ break;
+ }
+ }
HIDO_TimerTick();
+ if(motor_keeptime<0)
+ {
+ motor_keeptime=-1;//防止溢出
+ }
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 tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
@@ -425,70 +421,11 @@
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);
}
-extern uint8_t motor_state;
-extern float motor_keeptime;
+
uint8_t test1;
void IdleTask(void)
{
- if(g_com_map[MOTOR_ENABLE])
- {
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- //motor_state=2;
- switch(motor_state)
- {case 0:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
-// delay_ms(10000);
- pwm_ch_disable(PWM_ID3);
- break;
- case 1:
-// if(current_time<MOTOR_ONTIME)
-// {
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
-// }else{
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
- break;
- case 2:
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
- pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
- break;
- case 3:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
- break;
- }
- }
+
UART0_CheckReceive();
test1=gpio_pin_get_val(INPUT_5V_Pin);
if(gpio_pin_get_val(INPUT_5V_Pin))
@@ -659,7 +596,7 @@
IIC2_Init();
SC7A22H_Motion_Detection_Init();
gpio_pin_clr(ADC_GND_ENABLE);
- Program_Init();
+ //Program_Init();
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
@@ -672,8 +609,8 @@
board_5V_input_init(voltage_input_handler);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
- Uwb_init();
- Dw1000_App_Init();
+ Tag_uwb_init();
+// Dw1000_App_Init();
while (1)
{
if(flag_secondtask)
@@ -684,12 +621,12 @@
if(g_start_send_flag)
{
g_start_send_flag = 0;
- gpio_pin_set(IO_PIN_7);//亮
- SwitchTagState();
+ gpio_pin_set(IO_PIN_7);//亮
+ TagRange();
gpio_pin_clr(IO_PIN_7);//灭
}
// PowerTask();
- IMUTask();
+ //IMUTask();
// UserKeyTask();
IdleTask();
LoraUp_Poll();
--
Gitblit v1.9.3