对比更改通讯参数

zhangbo

2025-02-17 14ab6568e654336568c4f116526657ef8a415647

 keil/include/main/main.c

@@ -69,6 +69,7 @@
#include "lora_3029.h"
#include "pan_rf.h"
#include "PCA9555.h"
#include "mk_phy.h"
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
@@ -83,6 +84,15 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10

/****************************************************************引脚宏定义**************************************************/
#define ADC_PIN                              IO_PIN_0
#define UART0_TX                                  IO_PIN_5
#define UART0_RX                                           IO_PIN_6
#define UART1_TX                                          IO_PIN_1
#define UART1_RX                                           IO_PIN_14


/****************************************************************引脚宏定义**************************************************/
void test_Delay_us(uint16_t time);
void Lora_UploadHeartBeartPoll(void);
extern uint8_t mUsartReceivePack[100];
@@ -156,6 +166,7 @@
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}

static void adc_callback(void *data, uint32_t number)
{
    uint32_t *result = (uint32_t *)data;
@@ -298,7 +309,9 @@
////      gpio_pin_clr(IO_PIN_5);//测试
   //   gpio_pin_set(IO_PIN_5);//测试
     // lora_wg_up=1;
	   
      lora_tx_flag++;
//      lora_qiehuan++;
//    IO_control_init();
//    UWBPoll();
//    
@@ -335,14 +348,28 @@
    //GPS工作逻辑

}

void phy_timer_callback(uint32_t time)
{
 lora_tx_flag++;
}
uint8_t DMA_RXBuf_BT[200]={0};
void uart0_receive_callback()
{
   uint8_t buff[200]={0};
   memcpy(buff,m_EUART_DMA_RXBuf,100);
   if(buff[0]==0x55||buff[1]==0xAA||buff[2]==0x41)
   {
     uint8_t lenth=0;
      lenth=((buff[4]*2)+(buff[4]*2)+1);
      memcpy(DMA_RXBuf_BT,&buff[4],lenth);
   }
}
static void voltage_input_handler(enum IO_PIN_T pin)
{

}
static void move_handler(enum IO_PIN_T pin)
{
    nomove_count=0;
}

uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
@@ -356,8 +383,8 @@
{
    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
    g_com_map[DEV_ID]=0x6789;
    g_com_map[GROUP_ID]=1;
    g_com_map[DEV_ID]=0x1234;
//    g_com_map[GROUP_ID]=1;
    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
@@ -472,17 +499,44 @@
#define TEST_SPI_INTERUPT_MODE 1
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
void spi_gpio_init()
//#define ADC_PIN                              IO_PIN_0
//#define UART0_TX                                  IO_PIN_5
//#define UART0_RX                                           IO_PIN_6
//#define UART1_TX                                          IO_PIN_1
//#define UART1_RX
void Board_gpio_init()
{
    // SPI0 MOSI/MISO/CLK/CS
    // SPI0 MOSI/MISO/CLK/CS 
    io_pin_mux_set(LORA_CS, IO_FUNC0);
    gpio_pin_set_dir(LORA_CS , GPIO_DIR_OUT, 0);
    io_pull_set(LORA_CS, IO_HIGH_Z, IO_PULL_UP_NONE);
    
	
    io_pin_mux_set(LORA_MOSI, IO_FUNC2);
    io_pin_mux_set(LORA_MISO, IO_FUNC2);
    io_pin_mux_set(LORA_CLK, IO_FUNC2);
    io_pin_mux_set(LORA_DIO, IO_FUNC0);//spi中断
     io_pin_mux_set(LORA_DIO, IO_FUNC0);
	
//    io_pin_mux_set(LORA_DIO, IO_FUNC0);
//    gpio_pin_set_dir(LORA_DIO , GPIO_DIR_OUT, 0);
//    io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);	
	
	
//    io_pin_mux_set(LORA_CS2, IO_FUNC0);
//    gpio_pin_set_dir(LORA_CS2 , GPIO_DIR_OUT, 0);
//    io_pull_set(LORA_CS2, IO_HIGH_Z, IO_PULL_UP_NONE);
	
//     //ADC
//     io_pin_mux_set(ADC_PIN, IO_FUNC1);
//      io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
//    //串口0
//      io_pin_mux_set(UART0_RX, IO_FUNC4);
//    io_pin_mux_set(UART0_TX, IO_FUNC4);
//     board_debug_console_open(TRACE_PORT_UART0);
//     uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
//	
//     //串口1
//      io_pin_mux_set(UART1_RX, IO_FUNC4);
//    io_pin_mux_set(UART1_TX, IO_FUNC4);
}
void spi_init()
{
@@ -529,19 +583,28 @@
extern uint16_t BufferSize;
static uint16_t source_id;
extern struct RxDoneMsg RxDoneParams;
uint32_t time_flag_lorarx=0;
uint32_t lora_huanxing_count=0;
uint16_t Lora_wangguanid=0;
extern uint16_t wg_report_freq,wg_report_id;
extern uint32_t wg_lost_count;
wg_state_enum wg_state = WG_Lost;


extern uint16_t current_count;
extern uint8_t rec_index,rec_secdelay;
extern uint8_t  yuyin_no_sleep_flag,no_rx_flag;


/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
static uint16_t delaytime = 771;
extern uint16_t wg_report_freq,wg_report_id;
extern uint32_t wg_lost_count;
extern uint8_t shengji_flag;
extern uint8_t lora_jianting_flag,report_ancnum;
uint8_t imu_enable,motor_enable;
uint32_t time_flag_lorarx=0;
uint32_t lora_huanxing_count=0;
uint16_t Lora_wangguanid=0;
wg_state_enum wg_state = WG_Lost;
uint16_t wangguan_up_id;
uint8_t LoraUp_flag;
uint8_t imu_enable,motor_enable;
extern uint8_t shengji_flag;
uint16_t rec_wenjian_daxiao;
uint16_t recnum[3];
uint16_t recv_flag=0;
@@ -549,16 +612,24 @@
uint16_t CRC16=0;
uint16_t DEST_ID=0;
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;

//
uint16_t Loratx_flag=0;
uint16_t Lorarx_flag=0;
uint16_t Lorarx_time_out_flag=0;
uint8_t tx_buf[5]={0,1,0,1,1};
uint32_t sleep_time_count=0;
uint32_t uwb_ceju_count=0;

//ceshi
//uint8_t no_rx_flag=0;
//xtal_38m4_off_time(sleep_time_count);
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
{
	    
         uint16_t checksum1;   
         rf_irq_process();
         //这里根据SDK的那个逻辑 用你的接口看看
//       gpio_pin_set(IO_PIN_5);//测试
         no_rx_flag=0;
       tx_flag=rf_get_transmit_flag();
       recv_flag=rf_get_recv_flag();
         if(recv_flag == RADIO_FLAG_RXDONE)
@@ -568,14 +639,28 @@
             memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
               BufferSize=RxDoneParams.Size;
                lora_huanxing_count++;
               if(RX_Buffer[0]==0x04&&RX_Buffer[1]=='I'&&RX_Buffer[2]=='N'&&RX_Buffer[3]=='G')
                  {
             
                     time_flag_lorarx=phy_timer_count_get();
         if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
    {
		            
//                     time_flag_lorarx=phy_timer_count_get();
                  uwb_open();
                  //gpio_pin_clr(IO_PIN_5);//测试
                     UwbRange();
                   //rf_enter_continous_rx(); //重新进入接收模式
                   //LORA_REV_uwb_up=1;
                  }
				      
                  uwb_ceju_count++;
      }
//       if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
//       {
//              gpio_pin_set(IO_PIN_5);//测试
////                     time_flag_lorarx=phy_timer_count_get();
//                  uwb_open();
//                  gpio_pin_clr(IO_PIN_5);
//                     UwbRange();
//				      
//                  uwb_ceju_count++;
//                   //rf_enter_continous_rx(); //重新进入接收模式
//                   //LORA_REV_uwb_up=1;
//                  }
             if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
                  {
                     checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
@@ -598,24 +683,28 @@
                              {
                                    case WGRSP_RWTAG_NONE:
//                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
//                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
//                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
//                        if(report_ancnum<2)
//                        {
//                            datalen_offset = report_ancnum*85;
//                        }else{
//                            datalen_offset = (report_ancnum-1)*46+85;
//                        }
//                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
//                        if(BufferSize!=13||rec_secdelay>20)
//                        {
//                            rec_secdelay = 0;
//                        }
//                    
//                        target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
//                        while(target_count>=32768)
//                            target_count-=32768;
//                        __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
                                     // sleep_time_count=xtal_38m4_off_time();
                        wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
                        memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
                        if(report_ancnum<2)
                        {
                            datalen_offset = report_ancnum*85;
                        }else{
                            datalen_offset = (report_ancnum-1)*46+85;
                        }
                        rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
                        if(BufferSize!=13||rec_secdelay>20)
                        {
                            rec_secdelay = 0;
                        }
                    
                        sleep_time_count = rec_delaytime*3.2768 - delaytime-datalen_offset;
                        while(sleep_time_count>=32768)
                            sleep_time_count-=32768;
                                    sleep_timer_start(sleep_time_count);
                                  //sleep_timer_start(sleep_time_count);sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
//                                    #define __MS_TO_32K_CNT(ms) ((uint32_t)((float)(ms)*32768.0f / 1000.0f))
                       // __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
                       // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
                     //   printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
                        break;
@@ -667,47 +756,69 @@
                        }

                     }                  

    if(!no_rx_flag)
    {
        if(lora_jianting_flag)
        {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
        }
    }
            
      }
         if(tx_flag == RADIO_FLAG_TXDONE)
        {
             //rf_set_mode(RF_MODE_STB3);
             rf_set_transmit_flag(RADIO_FLAG_IDLE);
               Loratx_flag++;

//            #ifdef DEBUG_BOXING
//          //gpio_pin_clr(IO_PIN_5);//测试
//          gpio_pin_set(IO_PIN_5);//测试
//            #endif
            rf_enter_single_timeout_rx(100);
          // rf_enter_single_rx();
         //      rf_enter_continous_rx();

             Loratx_flag++;
              rf_enter_single_timeout_rx(100);
        }
        if((recv_flag == RADIO_FLAG_RXTIMEOUT))
        {
//                     #ifdef DEBUG_BOXING
//                     gpio_pin_clr(IO_PIN_5);//测试
//            //      gpio_pin_set(IO_PIN_5);//测试
//                     #endif
					
               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
                 rf_set_mode(RF_MODE_STB3);
               //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
					
                  Lorarx_time_out_flag++;
                 rf_set_recv_flag(RADIO_FLAG_IDLE);
					
                  rf_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
                  rf_set_sf(UWB_CHANNEL_SF);
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
               //  rf_clr_irq(REG_IRQ_RX_TIMEOUT);
             //  rf_enter_single_timeout_rx(100);
        }
            if((recv_flag == RADIO_FLAG_RXERR))
            {
                rf_set_recv_flag(RADIO_FLAG_IDLE);
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
            }
            
}






@@ -715,10 +826,15 @@
{
//        io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
      gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
      io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
      io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_LEVEL4);
        gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}

extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
static void pca_handler(enum IO_PIN_T pin)
{
      PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
      check_input_change();
}
uint8_t io14_state;
uint16_t  lora_freq=0;
uint16_t  lora_up_count=0;
@@ -727,100 +843,44 @@
int main(void)
{
    board_clock_run();
//    boot_deinit();
//    board_pins_config();
      //    boot_deinit();
    board_debug_console_open(TRACE_PORT_UART1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
    
    // 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();
//    }
    
    reset_cause_clear(); 
    // 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();
    
//    struct TIMER_CFG_T timer_cfg = {
//        .extin_type = TIMER_EXTIN_NONE,
//        .load = 0x1000000,
//        .int_en = true,
//        .callback = timer_callback,
//    };

//    timer_open(TIMER_ID0, &timer_cfg);
    spi_gpio_init();
    Board_gpio_init();
    //board_led_init();

    spi_init();
      //PCA9555_init();
//      gpio_pin_clr(LORA_CS);
//      gpio_pin_clr(LORA_MOSI);
//      gpio_pin_clr(LORA_MISO);
//      gpio_pin_clr(LORA_CLK);
//      gpio_pin_set(LORA_CLK);
//      gpio_pin_set(LORA_DIO);

    Board_LORA_NVIC_Init(Lora_irq_handler);
    Lora_init();
      //lora_freq=DEFAULT_up_FREQ+g_com_map[GROUP_ID];
    // rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
      Lora_init();
      rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
      //rf_enter_continous_rx();
   //   rf_enter_continous_rx();
//      if((rf_single_tx_data(TXBuffer,10,0))!= OK)
//    {
//        
//    }
      //rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
   //   rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
//    
    //rf_enter_continous_tx();
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
//    if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
//    {
//        error_cnt++;
//    }
//    else
//    {
//        successful_cnt ++;
//    }     
    
    
//  while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//   
//  rf_set_transmit_flag(RADIO_FLAG_IDLE);
    
//    adc_open(&usr_adc_cfg);
//    IIC2_Init();
//      IIC2_Init();
//    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_OUT, 0);
//    io_pull_set(SCL_PIN , IO_PULL_DOWN, 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
      //LIS3DH_Data_Init();
//      PCA9555_init();

//    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
         Program_Init();
			 
//#ifdef DEBUG_BOXING
//      io_pin_mux_set(IO_PIN_5,IO_FUNC0);
//      gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
//      io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
//#endif			 

      // rf_single_tx_data(TXBuffer,10,2);
//    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
@@ -829,94 +889,28 @@
//    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_start(__MS_TO_32K_CNT(1000));//测试
#ifdef DEBUG_BOXING
      io_pin_mux_set(IO_PIN_5,IO_FUNC0);
      gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
      io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
#endif
    //rf_enter_single_timeout_rx(1000);
//    board_acceleration_detection_init(move_handler);
        //rf_enter_single_timeout_rx(900);
      //rf_enter_single_timeout_rx(500);
     //rf_enter_single_rx();
//      sleep_time_count=xtal_38m4_off_time();    


		
//     pca_input_detection_init(pca_handler);
//#ifdef DEBUG_BOXING
//      io_pin_mux_set(IO_PIN_5,IO_FUNC0);
//      gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
//      io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
//#endif

    Uwbinit();
    while (1)
    { 
//     rf_irq_process();

     //rf_enter_single_rx();
     
//      RED_LED_OFF;
//      BT_LED_OFF;
//      //   gpio_pin_clr(IO_PIN_5);
       Lora_Tx_Poll();
//      if((rf_single_tx_data(TXBuffer,10,0))!= OK)
//    {
//        
//    }
         //      #ifdef DEBUG_BOXING
//        gpio_pin_clr(IO_PIN_5);//测试
//      gpio_pin_set(IO_PIN_5);//测试
			
//      test_Delay_us(1000);
//      gpio_pin_set(IO_PIN_5);//测试
//        test_Delay_us(100000);
//          test_Delay_us(100000);
//          test_Delay_us(100000);
//      gpio_pin_clr(IO_PIN_5);//测试
//      test_Delay_us(2000);
//      gpio_pin_set(IO_PIN_5);//测试
//      test_Delay_us(1000);
//      gpio_pin_clr(IO_PIN_5);//测试
//         if(LORA_REV_uwb_up)
//         {
//           LORA_REV_uwb_up=0;
//            UwbRange();
//         }



        
  
       // UwbRange();
//        rf_irq_process();
//        if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
//        {
//            rf_set_transmit_flag(RADIO_FLAG_IDLE);
//            rf_delay_ms(1000);
//            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
//            {
//                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);
        
   
//        if(flag_TCP_reconnectting||IfTCPConnected())
//        {
//