移植了外国sx1268lora模块代码。等板子再调，刚把error解决

WXK

2025-02-18 50bba4559b0c7846613efd6bf9ec8a9c3b1982ce

 keil/include/main/main.c

@@ -66,7 +66,7 @@
#include "mk_timer.h"
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
#include "Lora.h"
#include "pan_rf.h"
#include "PCA9555.h"
#define DEBUG_MODE
@@ -84,7 +84,8 @@
#define UPDATE_TIME 10

#define SOS_DIO  IO_PIN_5

uint16_t wg_report_freq,wg_report_id;
extern uint8_t wg_report_sf;
void test_Delay_us(uint16_t time);
void Lora_UploadHeartBeartPoll(void);
extern uint8_t mUsartReceivePack[100];
@@ -92,7 +93,7 @@
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;   //bat_percent
uint32_t dev_id;
uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -182,18 +183,6 @@
    }
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
//static void timer_callback(void *dev, uint32_t time)
//{
//    enum TIMER_DEV_T id = *(enum TIMER_DEV_T *)dev;
//    LOG_INFO(TRACE_MODULE_APP, "Timer %d elapsed time %d\r\n", id, time);
//}
//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;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
@@ -292,7 +281,7 @@
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
uint8_t  lora_wg_up=0;
extern uint8_t lora_tx_flag;
uint8_t lora_tx_flag;
uint32_t maintime;
static void sleep_timer_callback(void *dev, uint32_t time)
{
@@ -302,7 +291,7 @@
////      gpio_pin_clr(IO_PIN_5);//测试
   //   gpio_pin_set(IO_PIN_5);//测试
     // lora_wg_up=1;
      lora_tx_flag++;
      lora_tx_flag=1;
//      lora_qiehuan++;
//    IO_control_init();
//    UWBPoll();
@@ -552,16 +541,15 @@
/********************************************************************************************************/
/********************************************************************************************************/
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 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;
//uint16_t wangguan_up_id;
uint8_t LoraUp_flag;
uint16_t rec_wenjian_daxiao;
uint16_t recnum[3];
@@ -569,10 +557,12 @@
uint16_t tx_flag=0;
uint16_t CRC16=0;
uint16_t DEST_ID=0;
uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
//uint16_t rec_value,rec_delaytime,datalen_offset;
uint16_t Loratx_flag=0;
uint16_t Lorarx_flag=0;
uint16_t Lorarx_time_out_flag=0;
uint16_t Lorarx_time_error_flag=0;
uint16_t Lorairq_time_flag=0;
uint8_t tx_buf[5]={0,1,0,1,1};
uint32_t sleep_time_count=0;
uint32_t uwb_ceju_count=0;
@@ -583,219 +573,7 @@
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
{
	    
         uint16_t checksum1;	
         rf_irq_process();
       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)
        {
             rf_set_recv_flag(RADIO_FLAG_IDLE);
				
             memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
               BufferSize=RxDoneParams.Size;
                lora_huanxing_count++;
             if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
                  {
                     checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
							
              memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
                     memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
                     if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
                     if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
                     {
                        memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2); 
                        if(wg_state==WG_Lost)
                           {
                            wg_state = WG_Connected;
                            wg_report_id = source_id;
                           }
                        if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
                        {
                              wg_lost_count = 0;
                              switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
                              {
                                    case WGRSP_RWTAG_NONE:
//                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                                     // 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;
//                        }
                        //*3.2768
                        sleep_time_count = (rec_delaytime*32.768 - delaytime-datalen_offset)/10;
//                                    while(sleep_time_count>=1000)
//                                    {
//                                     sleep_time_count-=1000;
//                                    }	
                                    sleep_timer_start(sleep_time_count);
//                        while(sleep_time_count>=32768)
//                            sleep_time_count-=32768;
//                                  sleep_timer_start(sleep_time_count);
                       // __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;
                                    case WGRSP_RWTAG_READ:
                                             no_rx_flag = 1;
                                             LoraSendComMap(WGRSP_RWTAG_READ);
                                             break;
                                    case WGRSP_RWTAG_WRITE:
                                          rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
                                       switch(rec_index)
                                             {
                                                   case 0xdd:  //语音下发
                                                         break;
//                        case 0x20:  //蜂鸣
//                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
//                            motor_keeptime = rec_value;
//                            break;
                        default :
                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
                            g_com_map[rec_index/2] = rec_value;
                            save_com_map_to_flash();
                            LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
                            //flag_writepara_needreset = 1;
                            no_rx_flag = 1;                           
                                             }

                                             break; 
                                    case WGRSP_RWTAG_UPDATE:
                                    rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
                                    switch(rec_index)
                                    {
                                          case 0xaa:  //升级下发
                                          memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
                                          if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
                                          {}//文件过大，超出范围
                                          else
                                          {
                                                memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
                                                shengji_flag=1;
                                                LoraUp_flag=1;   
                                                imu_enable=0;                            
                                          }
//                            LoraUp_Poll();
                                                break;                        
                                    }
                                          break; 
                              }
                           }
                        }

                     }						
    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();
		
//         mode_change = !mode_change; 
//         if(mode_change)
//         {
//         //rf_init();	
//        rf_set_mode(RF_MODE_STB3);
//        para=4810 * 100000;
//      rf_set_freq(para);	
//      rf_set_sf(5);

//         //dis_set_mode(TX_cnt);
////         rf_enter_continous_rx();
//         rf_single_tx_data(tx_buf, 10,0);
//	
//         }
//         else
//         {
////        rf_init();
//         rf_set_mode(RF_MODE_STB3);
//         para=4910 * 100000;
//      rf_set_freq(para);	
//      rf_set_sf(7);	
//         //dis_set_mode(TX_cnt);
////         rf_enter_continous_rx();
//         rf_single_tx_data(tx_buf, 10,0);

//         }				
         //LoraReportPoll();
        }
        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();
                }
            }
				
    RadioIrqProcess();
}
static void Sos_irq_handler(enum IO_PIN_T pin)
{
@@ -806,165 +584,6 @@
   BT_LED_QF_state(state);
   MOTOR_QA_state(state);
}

//

//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
//       tx_flag=rf_get_transmit_flag();
//       recv_flag=rf_get_recv_flag();
//         if(recv_flag == RADIO_FLAG_RXDONE)
//        {
//             rf_set_recv_flag(RADIO_FLAG_IDLE);
//				
//             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();
//                     UwbRange();
//                   //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);
//							
//              memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
//                     memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
//                     if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
//                     if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
//                     {
//                        memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2); 
//                        if(wg_state==WG_Lost)
//                           {
//                            wg_state = WG_Connected;
//                            wg_report_id = source_id;
//                           }
//                        if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
//                        {
//                              wg_lost_count = 0;
//                              switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
//                              {
//                                    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);
//                       // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
//                     //   printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
//                        break;
//                                    case WGRSP_RWTAG_READ:
//                                             no_rx_flag = 1;
//                                             LoraSendComMap(WGRSP_RWTAG_READ);
//                                             break;
//                                    case WGRSP_RWTAG_WRITE:
//                                          rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
//                                       switch(rec_index)
//                                             {
//                                                   case 0xdd:  //语音下发
//                                                         break;
////                        case 0x20:  //蜂鸣
////                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
////                            motor_keeptime = rec_value;
////                            break;
//                        default :
//                            memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
//                            g_com_map[rec_index/2] = rec_value;
//                            save_com_map_to_flash();
//                            LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
//                            //flag_writepara_needreset = 1;
//                            no_rx_flag = 1;                           
//                                             }

//                                             break; 
//                                    case WGRSP_RWTAG_UPDATE:
//                                    rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
//                                    switch(rec_index)
//                                    {
//                                          case 0xaa:  //升级下发
//                                          memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
//                                          if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
//                                          {}//文件过大，超出范围
//                                          else
//                                          {
//                                                memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
//                                                shengji_flag=1;
//                                                LoraUp_flag=1;   
//                                                imu_enable=0;                            
//                                          }
////                            LoraUp_Poll();
//                                                break;                        
//                                    }
//                                          break; 
//                              }
//                           }
//                        }

//                     }						

//				
//      }
//         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();

//        }
//        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_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);
//            }
//				
//}



void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler)  //LORA 中断配置
{
@@ -1056,14 +675,8 @@
      Board_SOS_NVIC_Init(Sos_irq_handler);
      //pca_input_detection_init(pca_handler);
     //gpio_pin_clr(LORA_CS);
    Lora_init();
//    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);
//     rf_set_default_para(478,7);
		
      rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
      //IC2_Init();
      IO_control_init();   

@@ -1073,33 +686,6 @@
   //   gps_air780_power_change(0,1);
//    Accelerometer_Init();
//      PCA9555_init();
     // rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
      //rf_enter_continous_rx();
      // rf_enter_continous_rx();
      //rf_enter_continous_tx();
//      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);

@@ -1153,8 +739,9 @@
    { 
//      gpio_pin_clr(IO_PIN_9);
//       Lora_Tx_Poll();
     uwb_app_poll();
       // UwbRange();
//            rf_irq_process();                                       //轮询中断标志

//     uwb_app_poll();
   
//        if(flag_TCP_reconnectting||IfTCPConnected())
//        {