/*
|
* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
|
* its subsidiaries and affiliates (collectly called MKSEMI).
|
*
|
* All rights reserved.
|
*
|
* Redistribution and use in source and binary forms, with or without
|
* modification, are permitted provided that the following conditions are met:
|
*
|
* 1. Redistributions of source code must retain the above copyright notice,
|
* this list of conditions and the following disclaimer.
|
*
|
* 2. Redistributions in binary form, except as embedded into an MKSEMI
|
* integrated circuit in a product or a software update for such product,
|
* must reproduce the above copyright notice, this list of conditions and
|
* the following disclaimer in the documentation and/or other materials
|
* provided with the distribution.
|
*
|
* 3. Neither the name of MKSEMI nor the names of its contributors may be used
|
* to endorse or promote products derived from this software without
|
* specific prior written permission.
|
*
|
* 4. This software, with or without modification, must only be used with a
|
* MKSEMI integrated circuit.
|
*
|
* 5. Any software provided in binary form under this license must not be
|
* reverse engineered, decompiled, modified and/or disassembled.
|
*
|
* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
|
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
|
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
*/
|
|
#include "mk_trace.h"
|
#include "mk_wdt.h"
|
#include "mk_calib.h"
|
#include "mk_misc.h"
|
#include "mk_flash.h"
|
#include "libc_rom.h"
|
#include <serial_at_cmd_app.h>
|
#include <global_param.h>
|
#include "board.h"
|
#include "wsf_nvm.h"
|
#include "mk_power.h"
|
#include "Usart.h"
|
#include "mk_adc.h"
|
#include "mk_sleep_timer.h"
|
#include "lis3dh_driver.h"
|
#include "sn74hc595.h"
|
#include "mk_4G.h"
|
#include "UART.h"
|
#include "AIR780EDriver.h"
|
#include "Internet.h"
|
#include "HIDO_ATLite.h"
|
#include "HIDO_Timer.h"
|
#include "TCPClient.h"
|
#include "PCA9555.h"
|
|
#define DEBUG_MODE
|
extern int simple_main(void);
|
extern int temp_main(void);
|
void uart_change_check(uint16_t gpio_state);
|
#define TEST_UART_POLL_MODE 0
|
#define TEST_UART_INTERUPT_MODE 1
|
#define TEST_UART_DMA_MODE 2
|
#define TEST_UART_MODE TEST_UART_DMA_MODE
|
|
#define NUM_SAMPLES 1
|
#define BIND_TRIGGER_TIME 60000
|
#define MOTOR_COUNT_TIME 1
|
#define WARING_LIMIT_TIME 10
|
#define UPDATE_TIME 10
|
|
|
extern uint8_t mUsartReceivePack[100];
|
extern uint8_t mUsart2ReceivePack[150];
|
extern uint8_t state5V_prase_flag,gps_prase_flag;
|
extern int distance;
|
extern uint8_t anchordata_num;
|
uint32_t dev_id;
|
uint8_t group_id;
|
uint16_t tag_frequency;
|
uint16_t disoffset;
|
uint16_t warning_distance,prewarning_distance;
|
int16_t fVoltage_mv,first_search_flag;
|
uint8_t bat_percent,g_start_send_flag=1;
|
uint8_t link_success_flag,motor_count;
|
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;
|
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 ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬
|
int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
|
extern uint8_t pca9555writedata_config[10];//ÔÝ´æ¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
|
extern uint8_t pca9555writedata_output[10];//ÔÝ´æÊä³ö¸ßµÍµçƽÅäÖõÄÊý×é
|
extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
|
extern uint8_t pca9555writedata_polarity[10];//ÔÝ´æÊäÈ뼫ÐÔ·´×ª¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
|
uint8_t temp_pca9555writedata_input[10];//ÔÝ´æÉÏÒ»´ÎÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é
|
typedef enum
|
{ UN_BIND=0,
|
LINK_SUCCESS,
|
SEARCH_DEV,
|
} Operation_step;
|
Operation_step UWB_work_state;
|
|
|
Commend_SendDate send_struct;
|
struct ADC_CFG_T usr_adc_cfg = {
|
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
|
.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
|
.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
|
.rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
|
.channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */
|
.channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */
|
.int_en = false,
|
.dma_en = false, /* DMA support only in continue mode */
|
.acc_num = 0,
|
.high_pulse_time = 4,
|
.settle_time = 1,
|
};
|
struct UART_CFG_T test_uart_cfg =
|
{
|
.parity = UART_PARITY_NONE,
|
.stop = UART_STOP_BITS_1,
|
.data = UART_DATA_BITS_8,
|
.flow = UART_FLOW_CONTROL_NONE,
|
.rx_level = UART_RXFIFO_CHAR_1,
|
.tx_level = UART_TXFIFO_EMPTY,
|
.baud = BAUD_9600,
|
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
|
.dma_en = false,
|
.int_rx = false,
|
.int_tx = false,
|
#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
|
.dma_en = false,
|
.int_rx = true,
|
.int_tx = true,
|
#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
|
.dma_en = true,
|
.int_rx = false,
|
.int_tx = false,
|
#endif
|
};
|
void uart_receive_callback(void *dev, uint32_t err_code)
|
{
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
}
|
void mcu_deep_sleep(void)
|
{
|
uint32_t lock;
|
trace_flush();
|
lock = int_lock();
|
LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
|
gps_air780_power_change(0,0);//¹Ø±Õgps£¬4G
|
sleep_timer_stop();
|
//adc_close();
|
power_enter_power_down_mode(1);
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëÉî¶ÈÐÝÃß\r\n");
|
sys_reset(0);
|
int_unlock(lock);
|
}
|
static void adc_callback(void *data, uint32_t number)
|
{
|
uint32_t *result = (uint32_t *)data;
|
for (uint16_t i = 0; i < number; i++)
|
{
|
// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
|
// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
|
fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
|
fVoltage_mv=fVoltage_mv*2;
|
if(fVoltage_mv < 3300)
|
{
|
bat_percent = 0;
|
}
|
else if(fVoltage_mv > 4100)
|
{
|
bat_percent = 100;
|
}
|
else
|
{
|
bat_percent = ((fVoltage_mv - 3300) /8);
|
}
|
}
|
if(fVoltage_mv<3300)
|
{
|
power_low_flag=1;
|
gps_air780_power_change(gps_power_state,0);//gpsÔÑù£¬¹Ø±Õ4G
|
//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n");
|
}else{
|
power_low_flag=0;
|
gps_air780_power_change(gps_power_state,1);//gpsÔÑù,¿ªÆô4G
|
//LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n");
|
}
|
PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//À¸ß
|
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
|
}
|
//void UartInit(void)
|
//{
|
//board_pins_config();
|
//uart_open(UART_ID1, &test_uart_cfg);
|
//board_debug_console_open(TRACE_PORT_UART0);
|
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
//}
|
extern uint8_t gps_uwb_flag,gps_need_data_flag;
|
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
|
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) {
|
gps_uwb_flag=0;//¹Ø±ÕGPS
|
moter_open_uwb_flag=0;//¹Ø±ÕÕð¶¯
|
need_open_gps_count=0;//Çå0¼ÆÊýgps
|
} else { //°ó¶¨×´Ì¬ÏÂ
|
if(anchordata_num==1) {
|
if(distance<g_com_map[ALARM_DISTANCE1]) { //СÓÚÔ¤¾¯¾àÀë
|
fenli_alarm_count = 0;
|
if(flag_fenli_alarm)
|
{
|
flag_fenli_alarm = 0;
|
fenli_alarm_count = 0;
|
_4GAlarmUpload(2);
|
}
|
}
|
}
|
if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
|
{
|
if(fenli_alarm_count++>20)
|
{
|
if(!flag_fenli_alarm)
|
{
|
flag_fenli_alarm = 1;
|
_4GAlarmUpload(1);
|
}
|
}
|
}
|
if(distance<g_com_map[ALARM_DISTANCE1]) { //СÓÚÔ¤¾¯¾àÀë
|
if(flag_alam_state)
|
{
|
flag_alam_state = 0;
|
|
}
|
|
need_open_gps_count=0;
|
moter_open_uwb_flag=0;//¹Ø±ÕÕð¶¯
|
gps_uwb_flag=0;//¹Ø±ÕGPS
|
} else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //´óÓÚÔ¤¾¯¾àÀëСÓÚ±¨¾¯¾àÀë
|
need_open_gps_count++;
|
moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
|
if(need_open_gps_count>=20) {
|
if(!flag_alam_state)
|
{
|
flag_alam_state = 1;
|
}
|
gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
|
need_open_gps_count=0;
|
}
|
} else if(distance>=g_com_map[ALARM_DISTANCE2]) { //´óÓÚ±¨¾¯¾àÀë
|
need_open_gps_count++;
|
moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
|
if(need_open_gps_count>=20) {
|
if(!flag_alam_state)
|
{
|
flag_alam_state = 1;
|
}
|
gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
|
need_open_gps_count=0;
|
}
|
|
}
|
if(anchordata_num==0) {
|
if(!flag_alam_state)
|
{
|
flag_alam_state = 1;
|
}
|
distance = 0x1ffff;
|
gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì
|
moter_open_uwb_flag=1;//¿ªÆôÕð¶¯
|
need_open_gps_count=0;
|
}
|
}
|
}
|
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);
|
mcu_deep_sleep();
|
}
|
}
|
void UserKeyTask(void)
|
{
|
if(!GET_USERKEY)
|
{
|
if(HIDO_TimerGetTick() - keystarttime>3)
|
{
|
userkey_state = 1;
|
keystarttime = HIDO_TimerGetTick();
|
UDPClient_UploadGPS();
|
}
|
if(HIDO_TimerGetTick() - keystarttime2>10)
|
{
|
g_com_map[CNT_RESTART] = 1;
|
}
|
}else
|
{
|
keystarttime = HIDO_TimerGetTick();
|
keystarttime2 = HIDO_TimerGetTick();
|
}
|
}
|
void MinuteTask(void)
|
{
|
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
|
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
|
}
|
void SecondTask(void)
|
{static uint8_t second_count;
|
if(second_count++>60)
|
{
|
second_count = 0;
|
MinuteTask();
|
}
|
|
// if(!power_low_flag)
|
// Gps_change();
|
// else{
|
// gps_power_state=0;//¹Ø±ÕGPS
|
// update_led_power_state();
|
// //³õʼ»¯GPS¼ÆÊýÊý¾Ý
|
// gps_need_data_flag=1;
|
// gps_wait_count2=0;
|
// gps_wait_count=0;
|
// }
|
// //UWB״̬¼ì²â
|
//if(!power_low_flag)//µÍ¹©µçϲ»ÐèÒª¼ì²âÖØÁ¬
|
// {
|
// if(IfTCPConnected())
|
// {
|
// TCP_reconnect_timer =0;
|
// flag_TCP_reconnectting = 0;
|
// } else {
|
// if(TCP_reconnect_timer<30)//Èç¹ûTCPûÓÐÁ¬½Ó£¬Ã¿¸ô10·ÖÖÓ³¢ÊÔÁ¬½Ó30Ãë
|
// {
|
// 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])//·ÀÖ¹Òç³ö
|
nomove_count++;
|
else{
|
nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
|
}
|
}
|
uint8_t tt=1;
|
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
|
uint8_t uwb_enable_flag=0;
|
void check_input_change(void)
|
{
|
uint16_t gpio_state;
|
gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
|
if(WAKE_UP_POSITION&gpio_state)
|
{
|
nomove_count=0;
|
}
|
uart_change_check(gpio_state);
|
}
|
static void sleep_timer_callback(void *dev, uint32_t time)
|
{
|
//IO_control_init();
|
if(enbale_blink_flag)
|
{
|
green_charge_state=0;
|
charge_red_on();
|
}
|
|
charge_state_change();//³äµç״̬ÅжÏ
|
if(secondtask_count++%2==0)
|
{
|
flag_secondtask = 1;
|
}else{
|
flag_secondtask = 0;
|
}
|
if(enbale_blink_flag)
|
{
|
//delay_us(5000);
|
green_charge_state=0;
|
charge_red_off();
|
}
|
if(delaysleep_count>0)
|
delaysleep_count--;
|
//GPS¹¤×÷Âß¼
|
}
|
|
static void voltage_input_handler(enum IO_PIN_T pin)
|
{
|
|
}
|
static void move_handler(enum IO_PIN_T pin)
|
{
|
nomove_count=0;
|
}
|
static void pca_handler(enum IO_PIN_T pin)
|
{
|
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ
|
check_input_change();
|
}
|
uint8_t flag_4G_recdata;
|
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;
|
extern uint8_t gps_need_data_flag,gps_open_flag;
|
void Program_Init(void)
|
{
|
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
|
group_id=g_com_map[GROUP_ID];//×éID
|
// tag_frequency = 1000/g_com_map[COM_INTERVAL];//²â¾àƵÂÊÕâ¸ö´æµÄÊDzâ¾àʱ¼ä
|
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
|
// g_com_map[ALARM_DISTANCE1] = 40;
|
// g_com_map[ALARM_DISTANCE2] = 40;
|
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
|
|
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];
|
ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
|
ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
|
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
|
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
|
port = g_com_map[TCP_PORT];
|
g_com_map[VERSION] = (1<<8)|0;
|
LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
|
LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:4G-GPS¶¨Î»ÊÖ»· 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",ip0,ip1,ip2,ip3,port);
|
}
|
|
|
void uart_change_check(uint16_t gpio_state)
|
{
|
if(INPUT_5V_POSITION&gpio_state)
|
{
|
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
|
}
|
}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
|
}
|
}
|
}
|
void IdleTask(void)
|
{
|
// if(gpio_pin_get_val(INPUT_5V_Pin))
|
// {
|
|
// if(state5v==0)
|
// {
|
// state5v=1;
|
// state5V_prase_flag=state5v;
|
// gps_prase_flag=0;//½â³ýgps½âÎö
|
// uart1_change_from_gps_to_debug();//²âÊÔ
|
// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma
|
// //UartInit();
|
// }
|
|
// //UART_CheckSend();
|
// } 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
|
// // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma
|
// //UartDeinit();
|
// }
|
// }
|
UART_CheckReceive();
|
}
|
int bind_check(void)
|
{
|
if(g_com_map[BIND_DEV_ID]!=0x00)
|
{
|
return 1;
|
//°ó¶¨ÐÅϢΪ1˵Ã÷É豸ÒѾ±»Ï·¢°ó¶¨
|
} else {
|
return 0;
|
//°ó¶¨ÐÅϢΪ0˵Ã÷É豸δ±»°ó¶¨
|
}
|
}
|
void check_if_in_search(void)
|
{
|
if(link_success_flag==1) { //Èç¹ûµÚÒ»´Î²â¾àÊÕ°ü³É¹¦ÄÇôÔò½øÈëÁ¬½Ó²â¾àģʽ
|
UWB_work_state=LINK_SUCCESS;
|
} else { //·ñÔò½øÈëËÑË÷ģʽ
|
UWB_work_state=SEARCH_DEV;
|
if(first_search_flag==0)
|
first_search_flag=1;
|
}
|
}
|
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);
|
// 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
|
}
|
uint8_t flag_4guart_needinit=0;
|
uint8_t index1,index2,index3;
|
int16_t Voltage_input;
|
int tt2;
|
int test1,test3;
|
uint32_t test4;
|
|
int main(void)
|
{
|
board_clock_run();
|
boot_deinit();
|
board_pins_config();
|
board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
|
// Reset reason
|
reset_cause_get();
|
reset_cause_clear();
|
//×¢Òâ´®¿ÚÒ»²¨ÌØÂʸÄΪ9600ÁËΪÁËÄܺÍGPSͨÐÅÉÏ
|
// Load calibration parameters from NVM
|
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();
|
}
|
|
// Chip calibration
|
calib_chip();
|
|
// Disable watchdog timer
|
wdt_close(WDT_ID0);
|
LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
|
|
// open system timer
|
//sys_timer_open();
|
|
// TODO 4G
|
Uart_Register(UART_ID_4G, UART_ID0);
|
// Internet_Init();
|
// TCPClient_Init();
|
|
gpio_open();
|
//board_output_init();//ÅäÖÃadcGNDÒý½Å
|
// battery_monitor_open();
|
// Voltage_input=battery_monitor_get();
|
// battery_monitor_close();
|
|
adc_open(&usr_adc_cfg);
|
|
IIC2_Init();
|
Accelerometer_Init();
|
PCA9555_init();
|
//IO_control_init();
|
// io_pin_mux_set(SCL_PIN, IO_FUNC0);//²âÊÔ²â¾à²¨ÐÎ
|
// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
|
// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
|
//gps_air780_power_change(0,1);//¿ªÆôgps£¬4G
|
//¼ÓËٶȼƳõʼ»¯±ØÐëÔÚIO_control_init֮ǰÒòΪ¸´ÓÃSDAÒý½Å
|
gpio_pin_clr(ADC_GND_ENABLE);
|
|
Program_Init();
|
//uart_open(UART_ID1, &test_uart_cfg);
|
// uart1_change_from_gps_to_debug();
|
//Uart1GpsRecDebugSend();
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
|
// Initialize low power mode
|
power_init();
|
//AIR780E_Reset(); //4GÄ£¿éÖØÆô£¬ºÄʱ1.5Ãë,Õâ¸öÊÇÎÞ·¨Í¬²½µÄ¹Ø¼ü
|
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
|
sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//²âÊÔ
|
//sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//²âÊÔ
|
// board_5V_input_init(voltage_input_handler);
|
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//ÀµÍ
|
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù
|
board_acceleration_detection_init(move_handler);
|
pca_input_detection_init(pca_handler);//pca¼ì²âÊäÈë
|
Uwb_init();
|
OpenUWB();
|
|
//board_4GUsart_detection_init(_4gUsart_handler);
|
while (1)
|
{
|
uwb_app_poll();
|
//test4=gpio_pin_get_val(SCL_PIN);
|
//UWBPoll();
|
// if(!power_low_flag)//È·ÈÏÊÇ·ñÐÝÃßϲſªÆô¹¦ÄÜ
|
// {
|
// if(flag_TCP_reconnectting||IfTCPConnected())
|
// {
|
// // LOG_INFO(TRACE_MODULE_APP, "´¦Àí4GÈÎÎñ\r\n");
|
//
|
//// if(flag_4guart_needinit)
|
//// {
|
//// flag_4guart_needinit = 0;
|
//// AIR780EUartInit();
|
//// }//yuan
|
// if(flag_4G_recdata==1)
|
// {
|
// flag_4G_recdata = 2;
|
//
|
// //LOG_INFO(TRACE_MODULE_APP, "ÔËÐÐSocket_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();
|
IdleTask();
|
#ifndef DEBUG_MODE
|
//if(flag_sleeptimer)
|
// if(!gps_need_data_flag&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //½øÈëÐÝÃßÌõ¼þ£¨Óë¹Øϵ£¬È«Âú×ã²Å½ø£©£º1.ûÓÐ5VÊäÈë 2 TCPÒÑÁ¬½Óʱ·¢ËͶÓÁÐΪ¿Õ||TCPÎÞÁ¬½Óʱ²»ÔÚÖØÁ¬×´Ì¬¡£
|
// {
|
// if(!flag_4guart_needinit)
|
// {
|
// LOG_INFO(TRACE_MODULE_APP, "4G RX Öжϴò¿ª\r\n");
|
// board_4GUsart_detection_init(_4gUsart_handler);
|
|
// }
|
// flag_sleeptimer =0;
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n");
|
// flag_4guart_needinit = 1;
|
|
// trace_flush();
|
// uint32_t lock = int_lock();
|
// //LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ");
|
// power_enter_power_down_mode(0);
|
// int_unlock(lock);
|
// }//yuan
|
|
if(delaysleep_count==0)
|
if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
|
{
|
// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
|
uint32_t lock;
|
//flag_4guart_needinit = 1;
|
// Internet_Poll();
|
// HIDO_ATLitePoll();
|
// HIDO_TimerPoll();
|
// TCPClient_Poll();
|
|
// delay_us(300000);
|
trace_flush();
|
lock = int_lock();
|
power_enter_power_down_mode(0);
|
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
|
// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n");
|
int_unlock(lock);
|
}
|
|
#endif
|
}
|
}
|
