From fef76b2f74d65ae80a890bbc8ce2be8e591cdd03 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 06 五月 2025 15:38:04 +0800
Subject: [PATCH] 修改为AOA跟随模块测试基站，成功输出角度和距离一直测距版本
---
keil/include/main/main.c | 185 ++++++++++++++++++++++++----------------------
1 files changed, 96 insertions(+), 89 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 1345438..ad0570f 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,7 +62,7 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -208,6 +208,7 @@
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
uint32_t keystarttime,keystarttime2;
+extern uint32_t get_in_num,get_out_num;
void MotorPoll(void)
{
if(UWB_work_state==UN_BIND) {
@@ -321,37 +322,40 @@
second_count = 0;
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;
- }
+ TagListUpdate_person_num_car();
+ //in_table_log();
+
+// 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;
+// }
- }
- }
+// }
+// }
HIDO_TimerTick();
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
@@ -370,6 +374,7 @@
green_charge_state=0;
charge_red_on();
}
+
charge_state_change();//充电状态判断
if(secondtask_count++%2==0)
{
@@ -379,7 +384,7 @@
}
if(enbale_blink_flag)
{
- delay_us(5000);
+ //delay_us(5000);
green_charge_state=0;
charge_red_off();
}
@@ -453,32 +458,32 @@
void IdleTask(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
+// if(gpio_pin_get_val(INPUT_5V_Pin))
+// {
- if(state5v==0)
- {
- state5v=1;
- state5V_prase_flag=state5v;
- gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartInit();
- }
+// if(state5v==0)
+// {
+// state5v=1;
+// state5V_prase_flag=state5v;
+// gps_prase_flag=0;//解除gps解析
+// uart1_change_from_gps_to_debug();//测试
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartInit();
+// }
- //UART_CheckSend();
- } 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();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
- }
- }
+// //UART_CheckSend();
+// } 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();//测试
+// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+// //UartDeinit();
+// }
+// }
UART_CheckReceive();
}
int bind_check(void)
@@ -526,7 +531,7 @@
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ board_debug_console_open(TRACE_PORT_UART0);
// Reset reason
reset_cause_get();
reset_cause_clear();
@@ -557,10 +562,12 @@
// TODO 4G
Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
- TCPClient_Init();
+// Internet_Init();
+// TCPClient_Init();
gpio_open();
+
+
board_output_init();//配置adcGND引脚
// battery_monitor_open();
// Voltage_input=battery_monitor_get();
@@ -571,7 +578,7 @@
Accelerometer_Init();
IO_control_init();
io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
- gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
+ gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
//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
@@ -596,42 +603,42 @@
// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
board_4GUsart_detection_init(_4gUsart_handler);
while (1)
- { test4=gpio_pin_get_val(SCL_PIN);
-
- if(!power_low_flag)//确认是否休眠下才开启功能
- {
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
- // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
-
-// if(flag_4guart_needinit)
+ {
+ UWBPoll();
+// if(!power_low_flag)//确认是否休眠下才开启功能
+// {
+// if(flag_TCP_reconnectting||IfTCPConnected())
+// {
+// // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
+//
+//// if(flag_4guart_needinit)
+//// {
+//// flag_4guart_needinit = 0;
+//// AIR780EUartInit();
+//// }//yuan
+// if(flag_4G_recdata==1)
// {
-// flag_4guart_needinit = 0;
-// AIR780EUartInit();
-// }//yuan
- if(flag_4G_recdata==1)
- {
- flag_4G_recdata = 2;
-
- //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
- Socket_RecvAll();
- }
-// air780_led_on();
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
-// air780_led_off();
- }
- }
+// flag_4G_recdata = 2;
+//
+// //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
+// Socket_RecvAll();
+// }
+//// air780_led_on();
+// Internet_Poll();
+// HIDO_ATLitePoll();
+// HIDO_TimerPoll();
+// TCPClient_Poll();
+//// air780_led_off();
+// }
+// }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- UserKeyTask();
- IMUTask();
+// UserKeyTask();
+// IMUTask();
IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
--
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