#include "mk_trace.h"
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#include "mk_wdt.h"
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#include "mk_calib.h"
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#include "mk_misc.h"
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#include "mk_flash.h"
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#include "libc_rom.h"
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#include <serial_at_cmd_app.h>
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#include <global_param.h>
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#include "board.h"
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#include "wsf_nvm.h"
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#include "mk_power.h"
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#include "Usart.h"
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#include "mk_adc.h"
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#include "mk_sleep_timer.h"
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#include "lis3dh_driver.h"
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#include "sn74hc595.h"
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#include "mk_4G.h"
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#include "UART.h"
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#include "AIR780EDriver.h"
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#include "Internet.h"
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#include "HIDO_ATLite.h"
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#include "HIDO_Timer.h"
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#include "TCPClient.h"
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#include "PCA9555.h"
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#include "WS2812.h"
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#include "DBG.h"
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//#define DEBUG_MODE
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extern int simple_main(void);
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extern int temp_main(void);
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void boot_deinit(void);
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void upload_apppoll();
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#define TEST_UART_POLL_MODE 0
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#define TEST_UART_INTERUPT_MODE 1
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#define TEST_UART_DMA_MODE 2
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#define TEST_UART_MODE TEST_UART_DMA_MODE
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#define NUM_SAMPLES 1
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#define BIND_TRIGGER_TIME 60000
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#define MOTOR_COUNT_TIME 1
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#define WARING_LIMIT_TIME 10
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#define UPDATE_TIME 10
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#define UWB_OPEN_COUNT 1
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#define UWB_MEASUREMENT_INTERVAL 5
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#define UWB_MEASUREMENT_INTERVAL_SLEEP 30
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#define INACTIVE_TIMEOUT 30
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uint8_t input5v_flag=0;
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extern uint8_t mUsartReceivePack[100];
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extern uint8_t mUsart2ReceivePack[150];
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extern uint8_t state5V_prase_flag,gps_prase_flag;
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extern int distance;
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extern uint8_t anchordata_num;
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uint16_t dev_id;
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uint8_t group_id;
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uint16_t tag_frequency;
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uint16_t disoffset;
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uint16_t warning_distance,prewarning_distance;
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int16_t fVoltage_mv,first_search_flag;
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uint8_t bat_percent,g_start_send_flag=1;
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uint8_t link_success_flag,motor_count;
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uint16_t gps_wait_count,gps_wait_count2;
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uint8_t state5v = 1;
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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;
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float nomove_count=0;
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static uint32_t sample[NUM_SAMPLES] = {0};
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uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
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uint8_t flag_4g_usart_rx_state = 1; //4G ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬
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int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
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extern uint8_t pca9555writedata_config[10];//ÔÝ´æ¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_output[10];//ÔÝ´æÊä³ö¸ßµÍµçƽÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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extern uint8_t pca9555writedata_polarity[10];//ÔÝ´æÊäÈ뼫ÐÔ·´×ª¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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uint8_t temp_pca9555writedata_input[10];//ÔÝ´æÉÏÒ»´ÎÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
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typedef enum
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{ UN_BIND=0,
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LINK_SUCCESS,
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SEARCH_DEV,
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} Operation_step;
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Operation_step UWB_work_state;
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uint32_t gpsbaudrate;
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uint32_t uwb_time_count = 0; // ¶¨Ê±Æ÷¼ÆÊýÖµ
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//uint32_t step_count = 0; // ²½Êý¼ÆÊý
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//uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý
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CountState_t current_state = STATE_NORMAL; // µ±Ç°×´Ì¬
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uint32_t state_start_time = 0; // ״̬¿ªÊ¼Ê±¼ä
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Commend_SendDate send_struct;
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struct ADC_CFG_T usr_adc_cfg = {
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.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
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.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
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.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
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.rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
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.channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */
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.channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */
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.int_en = false,
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.dma_en = false, /* DMA support only in continue mode */
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.acc_num = 0,
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.high_pulse_time = 4,
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.settle_time = 1,
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};
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struct UART_CFG_T test_uart_cfg =
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{
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.parity = UART_PARITY_NONE,
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.stop = UART_STOP_BITS_1,
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.data = UART_DATA_BITS_8,
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.flow = UART_FLOW_CONTROL_NONE,
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.rx_level = UART_RXFIFO_CHAR_1,
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.tx_level = UART_TXFIFO_EMPTY,
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.baud = BAUD_9600,
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#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
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.dma_en = false,
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.int_rx = false,
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.int_tx = false,
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#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
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.dma_en = false,
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.int_rx = true,
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.int_tx = true,
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#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
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.dma_en = true,
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.int_rx = false,
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.int_tx = false,
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#endif
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};
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void uart_receive_callback(void *dev, uint32_t err_code)
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{
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uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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}
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uint8_t deep_sleep_falg=1;
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extern uint8_t userkey_state;
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extern uint8_t heartbeasend_flag;
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uint8_t sleepflag;
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uint32_t sleepflagtime;
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uint8_t onlyoneflag=1;
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void mcu_deep_sleep(void)
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{
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uint32_t lock;
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trace_flush();
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lock = int_lock();
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// LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
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// gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G
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PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹Ø±Õgps£¬4G
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PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//¹Ø±Õgps£¬4G
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sleep_timer_stop();
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//adc_close();
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power_enter_power_down_mode(1);
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// LOG_INFO(TRACE_MODULE_APP, "´ÓÐÝÃß³öÀ´\r\n");
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sys_reset(0);
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int_unlock(lock);
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//// uint32_t lock;
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//// trace_flush();
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//// lock = int_lock();
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////// LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
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//// gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G
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// deep_sleep_falg=0;
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// PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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// PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹Ø±Õgps£¬4G
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//// PCA9555_Set_One_Value_Config(MAIN_RI,0);//ÅäÖÃ4G»½ÐÑÒý½ÅΪÊäÈë
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////
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////// PCA9555_Set_One_Value_Output(MAIN_RI,1);
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// boot_deinit();
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// CloseUWB();
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// if(onlyoneflag)
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// {
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// onlyoneflag=0;
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// userkey_state=4;
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// heartbeasend_flag = 1;
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// sleepflag=1;
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// sleepflagtime=HIDO_TimerGetTick();
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// }
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// if(sleepflag)
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// {
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// if(HIDO_TimerGetTick() - sleepflagtime>3)
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// {
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// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//¹Ø±Õgps£¬4G
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// }
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// }
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//
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//// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//¹Ø±Õgps£¬4G
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//
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//// sleep_timer_stop();
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//// //adc_close();
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//// power_enter_power_down_mode(1);
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//// delay_us(200000);
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//// sys_reset(0);
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////// LOG_INFO(TRACE_MODULE_APP, "´ÓÐÝÃß³öÀ´\r\n");
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//// int_unlock(lock);
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}
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uint8_t jiancebat_percent_flag;
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static void adc_callback(void *data, uint32_t number)
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{
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uint32_t *result = (uint32_t *)data;
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for (uint16_t i = 0; i < number; i++)
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{
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// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
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// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
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fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
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fVoltage_mv=fVoltage_mv*2;
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if(fVoltage_mv < 3300)
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{
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bat_percent = 0;
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}
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else if(fVoltage_mv > 4200)
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{
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bat_percent = 100;
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}
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else
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{
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bat_percent = ((fVoltage_mv - 3300) /8);
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}
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}
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if(bat_percent>100)
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bat_percent=100;
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if(bat_percent<0)
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bat_percent=0;
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jiancebat_percent_flag=1;
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// if(fVoltage_mv<3300)
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// {
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// //power_low_flag=1;
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// //gps_air780_power_change(gps_power_state,0);//gpsÔÑù£¬¹Ø±Õ4G
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//// LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n");
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// }else{
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// //power_low_flag=0;
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// //gps_air780_power_change(gps_power_state,1);//gpsÔÑù,¿ªÆô4G
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//// LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n");
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// }
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PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//À¸ß
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}
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extern uint8_t gps_uwb_flag,gps_need_data_flag;
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uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
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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;
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int need_open_gps_count;
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uint32_t keystarttime,keystarttime2,keystarttime3;
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extern uint32_t get_in_num,get_out_num;
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uint8_t flag_4G_recdata;
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uint8_t ledonflag;
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uint32_t ledontime;
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extern uint8_t flag_first_TCPconnect;
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void IMUTask(void)
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{
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if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
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{//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
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if(onlyoneflag)
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{
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onlyoneflag=0;
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nomove_count=0;
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userkey_state=4;
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heartbeasend_flag = 1;
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sleepflag=1;
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sleepflagtime=HIDO_TimerGetTick();
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}
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}
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if(sleepflag)
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{
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if(HIDO_TimerGetTick() - sleepflagtime>3)
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{
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power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
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mcu_deep_sleep();
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}
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}
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}
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void powerON_Task(void)
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{
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if(deep_sleep_falg==0)
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{
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PCA9555_Set_One_Value_Output(PWR_ENABLE,1);
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}
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}
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uint16_t gaodu;
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uint8_t guanjiflag;
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uint8_t heartbeasend_flag;
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uint32_t guanjiflagtime;
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void UserKeyTask(void)
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{
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if(!read_userkey_input_pca())
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{
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delay_ms(1000);
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if(!read_userkey_input_pca())
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{
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userkey_state = 1;
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keystarttime3 = HIDO_TimerGetTick();
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flag_first_TCPconnect = 1;
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//UDPClient_UploadGPS();
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}
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// if(HIDO_TimerGetTick() - keystarttime2>10)
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// {
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//
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// g_com_map[CNT_RESTART] = 1;
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// }
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}else
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{
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keystarttime3 = HIDO_TimerGetTick();
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}
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}
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void PowerTask(void)
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{
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if(read_powerkey_input_pca())
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{
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delay_ms(1000);
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if(read_powerkey_input_pca())
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{
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rtkled=WHITE;
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uwbled=WHITE;
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led4g=WHITE;
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powerled=WHITE;
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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delay_ms(500);
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// keystarttime = HIDO_TimerGetTick();
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// PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
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// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
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// PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
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// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
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heartbeasend_flag = 1;
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guanjiflag=1;
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userkey_state = 2;
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guanjiflagtime=HIDO_TimerGetTick();
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}
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}else
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{
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keystarttime = HIDO_TimerGetTick();
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keystarttime2 = HIDO_TimerGetTick();
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}
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}
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void MinuteTask(void)
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{
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PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
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delay_ms(100);
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adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
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}
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void SecondTask(void)
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{static uint8_t second_count;
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if(second_count++>120)
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{
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second_count = 0;
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MinuteTask();
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}
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//UWB״̬¼ì²â
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if(!power_low_flag)//µÍ¹©µçϲ»ÐèÒª¼ì²âÖØÁ¬
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{
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if(IfTCPConnected())
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{
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TCP_reconnect_timer =0;
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flag_TCP_reconnectting = 0;
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} else {
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if(TCP_reconnect_timer<30)//Èç¹ûTCPûÓÐÁ¬½Ó£¬Ã¿¸ô10·ÖÖÓ³¢ÊÔÁ¬½Ó30Ãë
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{
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flag_TCP_reconnectting = 1;
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} else {
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flag_TCP_reconnectting = 0;
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}
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if(TCP_reconnect_timer++>600)
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{
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TCP_reconnect_timer = 0;
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}
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}
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}
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HIDO_TimerTick();
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// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//·ÀÖ¹Òç³ö
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nomove_count++;
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gaodu=GetPressAndHeight()*100;
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// else{
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// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
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// }
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}
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uint8_t tt=1;
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uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
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uint8_t uwb_offtime_count=0;
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uint8_t input5v_time;
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extern uint8_t taglist_num;
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uint8_t gps_ntripsend;
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static void sleep_timer_callback(void *dev, uint32_t time)
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{
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// powerON_Task();
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if(secondtask_count++%2==0)
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{
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input5v_time=1;
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flag_secondtask = 1;
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if(g_com_map[UWBFrequency]>1)
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{uwb_time_count++;}
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// #endif
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uwb_offtime_count++;
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if(uwb_offtime_count>60)
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{
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uwb_offtime_count=0;
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current_state = STATE_SLEEP;
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}
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if(!read_5v_input_pca())
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{
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if(bat_percent>15)
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{
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powerled = BLUE;
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}else{
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powerled = RED;
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}
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ledonflag=1;
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// ledontime=HIDO_TimerGetTick();
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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// uart_send(UART_ID1, ceshidata, 50,NULL);
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}
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input5v_time=1;
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if(taglist_num==0&&g_com_map[UWBFrequency]==1&&g_com_map[UWBENBLE]==1)
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{
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CloseUWB();
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Uwb_init();
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OpenUWB();
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}
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if(g_com_map[UWBENBLE]==1)
|
{
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upload_apppoll();
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}
|
}else{
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flag_secondtask = 0;
|
}
|
|
if(delaysleep_count>0)
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delaysleep_count--;
|
}
|
|
#ifdef JIBU_XIUMIAN
|
|
uint16_t sleep_time=0;
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uint32_t state_start_time_jibu=0;
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uint8_t exercise_state=0;
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uint32_t step_count = 0; // ²½Êý¼ÆÊý
|
uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý
|
void check_step_and_update_state(void)
|
{
|
if ((step_count != last_step_count))
|
{
|
// ²½ÊýÓб仯£¬ÖØÖÃ״̬ΪÕý³£×´Ì¬
|
last_step_count = step_count;
|
|
if(current_state == STATE_SLEEP)
|
{
|
state_start_time_jibu = uwb_time_count;
|
state_start_time=uwb_time_count;
|
}
|
// if (current_state != STATE_NORMAL)
|
// {
|
// // ¹Ø±Õ¿ÉÄÜÕýÔÚÔËÐеÄUWB
|
// if (uwb_is_on) {
|
// CloseUWB();
|
// UWB_LED_OFF;
|
// uwb_is_on = false;
|
// }
|
// current_state = STATE_NORMAL;
|
// state_start_time = uwb_time_count; // ÖØÖòâ¾àÖÜÆÚ
|
// }
|
current_state = STATE_NORMAL;
|
exercise_state=1;
|
last_step_count = step_count;
|
|
}
|
else
|
{
|
// ²½ÊýûÓб仯£¬¼ì²éÊÇ·ñÐèÒªÇл»µ½ÐÝÃß״̬
|
if (current_state == STATE_NORMAL)
|
{
|
uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
|
if (inactive_time >= INACTIVE_TIMEOUT)
|
{ // 30ÃëºóÇл»µ½ÐÝÃß״̬
|
current_state = STATE_SLEEP;
|
exercise_state=2;
|
state_start_time_jibu=uwb_time_count;
|
}
|
}
|
}
|
}
|
#endif
|
static void pca_handler(enum IO_PIN_T pin)
|
{
|
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ
|
check_input_change();
|
// uint16_t gpio_state;
|
// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
|
|
}
|
|
void _4gUsart_handler(enum IO_PIN_T pin)
|
{
|
//LOG_INFO(TRACE_MODULE_APP, "4G RX »½ÐÑ\r\n");
|
flag_4G_recdata = 1;
|
delaysleep_count = 3;
|
}
|
extern uint16_t ip0,ip1,ip2,ip3,port;
|
extern uint8_t gps_4g_flag;
|
uint8_t gps_need_data_flag,gps_open_flag;
|
void Program_Init(void)
|
{
|
uint32_t gpsbaudrate1;
|
Usart1ParseDataCallback = UsartParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬UsartParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
|
parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
|
dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
|
// g_com_map[GROUP_ID]=9;
|
group_id=g_com_map[GROUP_ID];//×éID
|
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
|
warning_distance=g_com_map[ALARM_DISTANCE1];
|
prewarning_distance=g_com_map[ALARM_DISTANCE2];
|
send_struct.warnDistence=warning_distance;
|
send_struct.alarmDistence=prewarning_distance;//¸üб¨¾¯¾àÀë
|
memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//¸üаó¶¨ID
|
send_struct.tagId=dev_id;//¸üÐÂÉ豸ID
|
g_com_map[MOTOR_ONTIME_INDEX]=10;
|
tag_frequency = 1000/g_com_map[COM_INTERVAL];
|
gpsbaudrate=(g_com_map[GPSBAUDRATE1_INDEX]<<16)|g_com_map[GPSBAUDRATE2_INDEX];
|
if(gpsbaudrate==9600)
|
{
|
gpsbaudrate = 3;
|
gpsbaudrate1=9600;
|
}
|
else if(gpsbaudrate==115200)
|
{
|
gpsbaudrate = 7;
|
gpsbaudrate1=115200;
|
}
|
else
|
{
|
gpsbaudrate = 3;
|
gpsbaudrate1=9600;
|
}
|
if(g_com_map[GPSENBLE]>1)
|
{
|
g_com_map[GPSENBLE]=1;
|
}
|
if(g_com_map[UWBENBLE]>1)
|
{
|
g_com_map[UWBENBLE]=1;
|
}
|
if(g_com_map[UWBFrequency]>10)
|
{
|
g_com_map[UWBFrequency]=1;
|
}
|
// 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[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)
|
{
|
UWB_work_state = UN_BIND;
|
}else{
|
UWB_work_state = SEARCH_DEV;
|
}
|
//g_com_map[SEND_4G_SECOND]
|
// if(g_com_map[SEND_4G_SECOND]<30)
|
// {
|
// gps_open_flag=0;
|
// }else{
|
// gps_open_flag=1;
|
// }
|
g_com_map[MODBUS_MODE] = 0;
|
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
|
g_com_map[VERSION] = (1<<8)|23;
|
|
|
LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
|
LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:4G-GPS¶¨Î»¹¤¿¨ V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
|
LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %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]);
|
LOG_INFO(TRACE_MODULE_APP,"É豸UWB״̬: %x .\r\n",g_com_map[UWBENBLE]);
|
LOG_INFO(TRACE_MODULE_APP,"É豸GPS״̬: %x .\r\n",g_com_map[GPSENBLE]);
|
LOG_INFO(TRACE_MODULE_APP,"É豸UWB¹¤×÷¼ä¸ô: %x .\r\n",g_com_map[UWBFrequency]);
|
LOG_INFO(TRACE_MODULE_APP,"É豸GPS¹¤×÷¼ä¸ô: %x .\r\n",g_com_map[GPSFrequency]);
|
LOG_INFO(TRACE_MODULE_APP,"µ±Ç°GPS¹¤×÷²¨ÌØÂÊ: %d .\r\n",gpsbaudrate1);
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"TCP_RTCMģʽ,·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
|
}
|
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
|
LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
|
}
|
else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
|
{
|
LOG_INFO(TRACE_MODULE_APP,"µ¥µã¶¨Î»Ä£Ê½Ä£Ê½. \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;
|
extern uint8_t ota_flag;
|
uint8_t bat_percent_only_one=1;
|
extern uint8_t jiancebat_percent_flag;
|
void IdleTask(void)
|
{
|
if(read_5v_input_pca())
|
{
|
if(input5v_flag==0)
|
{
|
NVIC_SystemReset();
|
}
|
if(state5v==0)
|
{
|
state5v=1;
|
state5V_prase_flag=state5v;
|
gps_prase_flag=0;//½â³ýgps½âÎö
|
uart1_change_from_gps_to_debug();//²âÊÔ
|
PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
|
}
|
chongman_time=0;
|
only_one_flag=0;
|
uwbled=0;
|
rtkled=0;
|
led4g=0;
|
powerled=0;
|
// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
|
while(1)
|
{
|
nomove_count = 0;
|
wdt_ping(WDT_ID0);//ι¹·
|
// adctick = HIDO_TimerGetTick();
|
if(HIDO_TimerGetTick()-adctick>600) //10·ÖÖÓ²ÉÑùÒ»´Î µçÁ¿
|
{
|
chongman_time=chongman_time+60;
|
adctick = HIDO_TimerGetTick();
|
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
|
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
|
}
|
if(bat_percent>=99&&!only_one_flag)
|
{
|
only_one_flag=1;
|
chongman_time=0;
|
}
|
if(bat_percent>=99&&chongman_time>=180)
|
{
|
powerled = GREEN;
|
}else{
|
powerled = RED;
|
}
|
if(DBG_GetMode() == DBG_MODE_SHELL)
|
{
|
if(ota_flag==1)
|
{
|
// OTA_Poll();
|
// HTTPClient_Poll();
|
}
|
else
|
{
|
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;
|
SecondTask();
|
}
|
UserKeyTask();
|
}
|
UART_CheckReceive();
|
if(flag_secondtask)
|
{
|
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())
|
{
|
break;
|
}
|
}
|
}
|
// NVIC_SystemReset();
|
// PCA9555_Set_One_Value_Output(PWR_ENABLE,0);
|
input5vflag=1;
|
}
|
else
|
{
|
if(state5v==1)
|
{
|
g_com_map[MODBUS_MODE] = 0;
|
state5v=0;
|
state5V_prase_flag=state5v;
|
gps_prase_flag=1;//»Ö¸´gps½âÎö
|
uart1_change_from_debug_to_gps();//²âÊÔ
|
// PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
|
PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
|
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
|
PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
|
PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
|
delay_us(1000000);
|
|
}
|
}
|
UART_CheckReceive();
|
if(g_com_map[CNT_RESTART]==1)
|
{
|
g_com_map[CNT_RESTART]=0;
|
NVIC_SystemReset();
|
|
}
|
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
|
{
|
NVIC_SystemReset();
|
}
|
HIDO_TimerPoll();
|
if(ledonflag==1)
|
{
|
ledonflag=0;
|
uwbled=0;
|
rtkled=0;
|
led4g=0;
|
powerled=0;
|
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
|
}
|
if(bat_percent<1&&bat_percent_only_one&&jiancebat_percent_flag)
|
{
|
userkey_state=3;
|
heartbeasend_flag = 1;
|
guanjiflag=1;
|
guanjiflagtime=HIDO_TimerGetTick();
|
bat_percent_only_one=0;
|
}
|
if(guanjiflag)
|
{
|
rtkled=WHITE;
|
uwbled=WHITE;
|
led4g=WHITE;
|
powerled=WHITE;
|
Set4LEDColor(uwbled,rtkled,led4g,powerled);
|
if(HIDO_TimerGetTick() - guanjiflagtime>3)
|
{
|
PCA9555_Set_One_Value_Output(LED_POWER,0);//Êä³öµÍµçƽ¹Ø±ÕLED
|
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
|
PCA9555_Set_One_Value_Output(GPS_POWER,0);//¹ØGPS
|
PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//µÍµçƽ¹Ø±Õ
|
}
|
|
}
|
}
|
void boot_deinit(void)
|
{
|
//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
|
// UART0 TX/RX
|
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
|
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
|
gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
|
gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
|
// 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);//½â°óÔÀ´´®¿Ú1
|
uart_close(UART_ID0);//½â°óÔÀ´´®¿Ú0
|
}
|
|
extern uint32_t uwb_time_count;
|
uint8_t GPS_UPLOAD_FLAG=0;
|
uint32_t elapsed_time_jibu;
|
void upload_apppoll()
|
{
|
|
if(current_state==STATE_NORMAL)
|
{
|
if(g_com_map[UWBFrequency]>1)
|
{
|
elapsed_time_jibu = uwb_time_count - state_start_time;
|
if(elapsed_time_jibu==1)
|
{
|
CloseUWB();
|
UWBSendUDPTask();
|
}
|
else if(elapsed_time_jibu==g_com_map[UWBFrequency])
|
{
|
taglist_num = 0;
|
CloseUWB();
|
Uwb_init();
|
OpenUWB();
|
state_start_time = uwb_time_count;
|
}
|
}
|
else
|
{}
|
}
|
else if(current_state==STATE_SLEEP)
|
{
|
elapsed_time_jibu = uwb_time_count - state_start_time;
|
switch(elapsed_time_jibu)
|
{
|
case UWB_OPEN_COUNT:
|
CloseUWB();
|
UWBSendUDPTask();
|
break;
|
|
case UWB_MEASUREMENT_INTERVAL_SLEEP:
|
taglist_num = 0;
|
CloseUWB();
|
Uwb_init();
|
OpenUWB();
|
state_start_time = uwb_time_count;
|
break;
|
}
|
}
|
// switch (current_state)
|
// {
|
////#ifdef UWB_1_5HZ
|
// if(g_com_map[UWBFrequency]>1)
|
// {
|
// case STATE_NORMAL:
|
// elapsed_time_jibu = uwb_time_count - state_start_time;
|
// if(elapsed_time_jibu)
|
// {
|
// CloseUWB();
|
// UWBSendUDPTask();
|
// }
|
// else if(elapsed_time_jibu==g_com_map[UWBFrequency])
|
// {
|
// taglist_num = 0;
|
// CloseUWB();
|
// Uwb_init();
|
// OpenUWB();
|
// state_start_time = uwb_time_count;
|
// }
|
// }
|
// else
|
// {}
|
////#endif
|
// case STATE_SLEEP:
|
// elapsed_time_jibu = uwb_time_count - state_start_time;
|
// switch(elapsed_time_jibu)
|
// {
|
// case UWB_OPEN_COUNT:
|
// CloseUWB();
|
// UWBSendUDPTask();
|
// break;
|
//
|
// case UWB_MEASUREMENT_INTERVAL_SLEEP:
|
// taglist_num = 0;
|
// CloseUWB();
|
// Uwb_init();
|
// OpenUWB();
|
// state_start_time = uwb_time_count;
|
// break;
|
// }
|
// break;
|
// }
|
|
}
|
|
uint8_t flag_4guart_needinit=0;
|
uint8_t index1,index2,index3;
|
int16_t Voltage_input;
|
int tt2;
|
int test1,test3;
|
uint32_t test4;
|
extern uint8_t receive_flag;
|
static void app_wdt_callback(void *dev, uint32_t status)
|
{
|
ASSERT(status, "WDT TIMEOUT£¬³ÌÐò¸´Î»");
|
//LOG_INFO(TRACE_MODULE_APP, "³ÌÐò¿¨ËÀ£¬¿´ÃŹ·¸´Î»");
|
}
|
struct WDT_CFG_T app_wdt_cfg = {
|
.timeout = 32768 * 30,
|
.rst_en = true,
|
.int_en = true,
|
.callback = app_wdt_callback,
|
};
|
int main(void)
|
{
|
__enable_irq();
|
board_clock_run();
|
boot_deinit();
|
board_pins_config();
|
gpio_open();
|
IIC2_Init();
|
Accelerometer_Init();
|
|
// delay_ms(100);
|
BarInit();
|
// delay_ms(100);
|
// gaodu=GetPressAndHeight();
|
PCA9555_init();
|
board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_921600);
|
pca_input_detection_init(pca_handler);//pca¼ì²âÊäÈë
|
// while(1);
|
// Reset reason
|
reset_cause_get();
|
reset_cause_clear();
|
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
|
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
|
if (internal_flash || external_flash == 1)
|
{
|
WsfNvmInit();
|
board_calibration_params_load();
|
flash_close(FLASH_ID0);
|
}
|
else
|
{
|
board_calibration_params_default();
|
}
|
calib_chip();
|
wdt_close(WDT_ID0);
|
Program_Init();
|
Uart_Register(UART_ID_4G, UART_ID0);
|
|
Uart_Register(UART_ID_DBG_GPS, UART_ID1);
|
DBG_Init();
|
|
Internet_Init();
|
TCPClient_Init();
|
// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
|
// {
|
// NTRIPClient_Init();
|
// NTRIPApp_Init();
|
// }
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{
|
TCPClient_Init_1();
|
}
|
// HTTPClient_Init();
|
wdt_open(WDT_ID0,&app_wdt_cfg);//30s¼ì²âι¹·
|
LED_output_init();//ÅäÖòÊÉ«µÆÒý½Å
|
|
|
WT588E02B_Init();
|
adc_open(&usr_adc_cfg);
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
power_init();
|
Uwb_init();
|
if(g_com_map[UWBFrequency]&&g_com_map[UWBENBLE])
|
{
|
OpenUWB();
|
}
|
if(!read_5v_input_pca())
|
{
|
Set4LEDColor(BLUE,GREEN,WHITE,RED);
|
delay_ms(500);
|
Set4LEDColor(RED,WHITE,RED,WHITE);
|
delay_ms(500);
|
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
|
}
|
|
g_com_map[MODBUS_MODE] = 0;
|
state5v=0;
|
state5V_prase_flag=state5v;
|
gps_prase_flag=1;//»Ö¸´gps½âÎö
|
uart1_change_from_debug_to_gps();//²âÊÔ
|
PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
|
if(g_com_map[UWBENBLE]==0)
|
{
|
CloseUWB();
|
}
|
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
|
sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
|
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
|
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
|
|
gaodu=GetPressAndHeight()*100;
|
if(read_init_5v_input_pca())
|
{input5v_flag=1;}
|
while (1)
|
{
|
|
uwb_app_poll();
|
Internet_Poll();
|
HIDO_TimerPoll();
|
HIDO_ATLitePoll();
|
TCPClient_Poll();
|
wdt_ping(WDT_ID0);//ι¹·
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{
|
TCPClient_Poll_1();
|
}
|
if(flag_secondtask)
|
{
|
flag_secondtask = 0;
|
SecondTask();
|
}
|
SC7A22H_get_Pedo_task();
|
IMUTask();
|
IdleTask();
|
check_step_and_update_state();
|
}
|
}
|
