From f9199bf56082288137ac7620f6dc1020417a1bd1 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 09 十月 2024 14:08:15 +0800
Subject: [PATCH] 一对一免布线方案纯uwb调通，先提交，接下来lora uwb联调
---
keil/include/main/main.c | 176 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 88 insertions(+), 88 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 84f4d6d..a5b8c7f 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -63,11 +63,12 @@
#include "TCPClient.h"
#include "mk_spi.h"
#include "pan_port.h"
+#include "dw_app.h"
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
#define DEBUG_MODE
-extern int simple_main(void);
+//extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
@@ -186,61 +187,61 @@
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 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
@@ -253,9 +254,9 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
- gps_power_state=1;//测试gps长开
+// gps_power_state=1;//测试gps长开
//UWB状态检测
if(IfTCPConnected())
@@ -281,12 +282,12 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
+// IO_control_init();
+// UWBPoll();
- MotorPoll();
-
+// MotorPoll();
+ g_start_send_flag=1;
if(secondtask_count++%2==0)
{
flag_secondtask = 1;
@@ -337,9 +338,12 @@
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
+ parameter_init_anchor();//g_com_map表初始化角色默认为基站
+ g_com_map[DEV_ID]=0x6688;
+ g_com_map[GROUP_ID]=9;
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
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
// g_com_map[ALARM_DISTANCE1] = 40;
@@ -610,15 +614,15 @@
// 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
-// Program_Init();
+ Program_Init();
// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//
//// Initialize low power mode
// power_init();
// 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_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
// board_acceleration_detection_init(move_handler);
@@ -626,38 +630,34 @@
while (1)
{
-// rf_irq_process();
-// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
-// {
+ if(g_start_send_flag)
+ {
+ //LOG_INFO(TRACE_MODULE_APP, "测距ing");
+
+ g_start_send_flag = 0;
+
+ simple_main();
+ IdleTask();
+ }else{
+ IdleTask();
+ }
+
+//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
+// rf_enter_continous_tx();
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
// {
-// error_cnt++;
+
// }
// else
// {
// successful_cnt ++;
-//// DDL_Printf("Tx cnt %d\r\n", cnt );
// }
-// }
-//
-
-// io14_state=gpio_pin_get_val(LORA_DIO);
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_delay_ms(1000);
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
- {
-// rf_enter_continous_rx();
- }
- else
- {
- successful_cnt ++;
- }
+
+
// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
--
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