适配最新boot，适配4g工卡

WXK

2025-04-17 1cf09c6c4a137d29f63fd8df3c0ca16b9329079e

 keil/include/main/main.c

@@ -237,36 +237,37 @@
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
    if(second_count++>60)
    {
        second_count = 0;
        MinuteTask();
    }
    //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;
        }
{
//    static uint8_t second_count;
//    if(second_count++>60)
//    {
//        second_count = 0;
//        MinuteTask();
//    }
//    //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++;
//    nomove_count++;
//      else{
//      nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
//      }
@@ -355,14 +356,14 @@
    parameter_init_anchor();//g_com_map表初始化角色默认为基站
    dev_id=g_com_map[DEV_ID];//这里不太对
//    g_com_map[GROUP_ID]=9;
    group_id=g_com_map[GROUP_ID];//组ID
    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;//更新报警距离
    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
    send_struct.tagId=dev_id;//更新设备ID
//    group_id=g_com_map[GROUP_ID];//组ID
//    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;//更新报警距离
//    memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
//    send_struct.tagId=dev_id;//更新设备ID

//    g_com_map[IP_0]=111;
//    g_com_map[IP_1]=198;
@@ -370,192 +371,191 @@
//    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;
//    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;
//    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");
//    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;
      }
//    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)|3;
        
        
    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
    LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    LOG_INFO(TRACE_MODULE_APP,"服务器地址: %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]);
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {
    LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %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,"单点定位模式模式. \r\n");
    }
    LOG_INFO(TRACE_MODULE_APP,"跳转OTA升级固件启动成功\r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//    LOG_INFO(TRACE_MODULE_APP,"服务器地址: %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]);
    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;
uint8_t kai_4g_flag;
extern uint8_t ota_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
      {
            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
                PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
            } 
            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;
                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量
                {
                    chongman_time=chongman_time+6;
                    adctick = HIDO_TimerGetTick();
                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
                }
                if(bat_percent>=99&&!only_one_flag)
                {
                only_one_flag=1;
                chongman_time=0;
                }
                if(bat_percent>=99&&chongman_time>=1800)
                {
                    powerled = GREEN;
                }else{
                    powerled = RED;
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                    if(kai_4g_flag==0)
                    {
                    kai_4g_flag=1;    
//                    PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
                    //Shell_Init();
                    }
                    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
                    {TCPClient_Poll_1();}
                //HIDO_InputPoll();
                DBG_Poll();
                Internet_Poll();
                HIDO_TimerPoll();
                HIDO_ATLitePoll();
                TCPClient_Poll();
                }
                UART_CheckReceive();
                if(flag_secondtask)
                {
                    flag_secondtask = 0;
                    SecondTask();
                }
                if(DBG_GetMode() == DBG_MODE_SHELL)
                {
                Set4LEDColor(uwbled,rtkled,led4g,powerled);
                }
                else
                {
                Set4LEDColor(0,0,0,powerled);
                }
                if(input5v_time)
                {
                if(!read_5v_input_pca())
                {
                break;
                }
                }
            }
            NVIC_SystemReset();
            input5vflag=1;
      }
        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
                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
            }
        }
      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(read_5v_input_pca())
//      {
//            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
//                PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
//            } 
//            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;
////                adctick = HIDO_TimerGetTick();
//                if(HIDO_TimerGetTick()-adctick>60)  //10分钟采样一次 电量
//                {
//                    chongman_time=chongman_time+60;
//                    adctick = HIDO_TimerGetTick();
//                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
//                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
//                }
//                if(bat_percent>=99&&!only_one_flag)
//                {
//                only_one_flag=1;
//                chongman_time=0;
//                }
//                if(bat_percent>=99&&chongman_time>=600)
//                {
//                    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();
//            input5vflag=1;
//      }
//        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
//                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
//            }
//        }
//      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); 
//        }
}
void boot_deinit(void)
{
@@ -579,8 +579,57 @@
extern uint8_t receive_flag;
extern uint8_t YUANGPS_ParseGGA_data[256];
extern uint8_t YUANGPS_ParseGGA_changdu;
static HIDO_CHAR url[256 + 1]/*="http://123.57.87.125:7001/hfs/MK8000-4G工卡V1.2.Bin"*/;
//static HIDO_CHAR url[256 + 1]="http://123.57.87.125:7001/hfs/MK4G工卡-V1.6.Bin";
//void OTA_MODE(void)
//{
//    if(g_com_map[OTA_FLAG])
//    {
//        Uart_Register(UART_ID_4G, UART_ID0);
//        Uart_Register(UART_ID_DBG_GPS, UART_ID1);
//        DBG_Init();
//        DBG_SetMode(DBG_MODE_SHELL);
//        Internet_Init();
//    //    TCPClient_Init();
//        HTTPClient_Init();
//        gpio_open();
//        LED_output_init();//配置彩色灯引脚
//        IIC2_Init();
//    //    Accelerometer_Init();
//        PCA9555_init();
//        uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//        power_init();
//        sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
//        sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
//        pca_input_detection_init(pca_handler);//pca检测输入
//        state5v=1;
//        state5V_prase_flag=state5v;
//        gps_prase_flag=0;//解除gps解析
//        uart1_change_from_gps_to_debug();//测试
//        PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
//        memcpy((HIDO_UINT8 *)url,g_com_map+OTA_URL_INDEX,g_com_map[OTA_URL_CHANGDU]);
//        OTA_Start((HIDO_UINT8 *)url);
//        
////        g_com_map[OTA_FLAG]=0;
////        save_com_map_to_flash();
////        delay_us(100000);
////        NVIC_SystemReset(); //软复位回到bootloader
//    
//    
//        while (1)
//        { 
//            OTA_Poll();
//            HTTPClient_Poll();    
//            Internet_Poll();
//            HIDO_TimerPoll();
//            HIDO_ATLitePoll();
////            IdleTask();
//        }
//    }
//}
int main(void)
{
    __enable_irq();
    board_clock_run();
    boot_deinit();
    board_pins_config();
@@ -602,26 +651,18 @@
    }
    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();
    
    Program_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();
    }
//    TCPClient_Init();
    HTTPClient_Init();
    gpio_open();
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
    Accelerometer_Init();
//    Accelerometer_Init();
    PCA9555_init();
    adc_open(&usr_adc_cfg);
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
@@ -631,49 +672,36 @@
    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    pca_input_detection_init(pca_handler);//pca检测输入
    Uwb_init();
    OpenUWB();    
//    DBG_SetMode(DBG_MODE_SHELL);
//    Shell_Init();

    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;//恢复gps解析
                uart1_change_from_debug_to_gps();//测试
                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
    DBG_SetMode(DBG_MODE_SHELL);
    state5v=1;
    state5V_prase_flag=state5v;
    gps_prase_flag=0;//解除gps解析
    uart1_change_from_gps_to_debug();//测试
    PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
    
    memcpy(/*(HIDO_UINT8 *)*/url,(void *)APP_CONFIG_IAP_PARAM_MAP,256);
    OTA_Start((HIDO_UINT8 *)url);
    LOG_INFO(TRACE_MODULE_APP,"获取固件地址为:%s\r\n",url);
    while (1)
    { 
      uwb_app_poll();
        OTA_Poll();
        HTTPClient_Poll();    
        Internet_Poll();
        HIDO_TimerPoll();
        HIDO_ATLitePoll();
        TCPClient_Poll();
        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
        {TCPClient_Poll_1();}
//        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)
//        TCPClient_Poll();
//        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//        {
//            gps_ntripsend=0;
//            NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);
//            memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);
//            YUANGPS_ParseGGA_changdu=0;
//        }    
//            TCPClient_Poll_1();
//        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
      PowerTask();
      IMUTask();
      UserKeyTask();
        IdleTask();
//      PowerTask();
//      IMUTask();
//      UserKeyTask();
//        IdleTask();
    }
}