国产UWB芯片工程的仓库
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zhangbo
2025-04-02 652158f9e454819fc17364f90d727706e298d4f1 
 keil/include/main/main.c


@@ -176,7 +176,7 @@


uint32_t ledontime;


void IMUTask(void)


{


   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)


   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==2)


   {//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);


      mcu_deep_sleep();


   }


@@ -275,10 +275,18 @@


uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;


uint8_t uwb_enable_flag=0;


uint8_t input5v_time;


uint8_t heart_upload_time=0;


extern uint8_t taglist_num;


extern uint8_t ceshidata[500];


//extern uint8_t ceshidata[500];


extern uint8_t fixed_solution_count_minute;


extern uint8_t ceshichangdu;


uint8_t gps_ntripsend;


extern uint8_t in_the_room_flag;


extern uint8_t lounei_flag;


extern uint16_t g_spsum_GSV,g_snum_GSV;


extern uint16_t g_spsum_GSV_sum;


extern uint16_t g_snum_GSV_sum;


extern uint8_t ceju_leave_flag;


static void sleep_timer_callback(void *dev, uint32_t time)


{


if(secondtask_count++%2==0)


@@ -303,8 +311,43 @@


        {


        CloseUWB();


        Uwb_init();


        OpenUWB();


//        OpenUWB();


        }


//            in_the_room_flag=1;	


         if(ceju_leave_flag==1)


         {


         Receive_g_spsum_Data(g_spsum_GSV);


         Receive_g_snum_Data(g_snum_GSV);


			


         if((g_spsum_GSV_sum<200&&g_snum_GSV_sum<3)||(fixed_solution_count_minute<30))				


//         if((g_spsum_GSV_sum<200&&g_snum_GSV_sum<3)&&(ceju_leave_flag==1))


         {


         lounei_flag=1;


         Switch_low_power_mode(lounei_flag);


         }


         if((200<g_spsum_GSV_sum&&2<g_snum_GSV_sum)&&(fixed_solution_count_minute>30))			


//         if((200<g_spsum_GSV_sum&&3<g_snum_GSV_sum)&&(ceju_leave_flag==1))


         {


         lounei_flag=0;


         Switch_low_power_mode(lounei_flag);


         }


         if(heart_upload_time==0||heart_upload_time==60)


         {


            TCPHeartBeatUpload();	


            heart_upload_time=0;


            if(lounei_flag==1)


            {


//               PCA9555_Set_One_Value_Output(LED_POWER,0);


               PCA9555_Set_One_Value_Output(GPS_POWER,0);


            }


               if(heart_upload_time==60)


               {


                  ceju_leave_flag=0;


                  fixed_solution_count_minute=0;


               }


         }


         heart_upload_time++;


         }			


    }else{


        flag_secondtask = 0;


    }


@@ -354,7 +397,7 @@


    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


    dev_id=g_com_map[DEV_ID];//这里不太对


//    g_com_map[GROUP_ID]=9;


    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];


@@ -368,33 +411,33 @@


//    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[PORT]=1102;


    


    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_TCP;


//    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)


@@ -416,7 +459,7 @@


        


        


    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,"固件版本:MK-大工卡 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)


    {


@@ -434,13 +477,13 @@


    { 


        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \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;


uint8_t kai_4g_flag;


void IdleTask(void)


{


if(read_5v_input_pca())


@@ -483,15 +526,10 @@


                }


                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();


                //HIDO_InputPoll();


                DBG_Poll();


                Internet_Poll();


                HIDO_TimerPoll();


                HIDO_ATLitePoll();


@@ -506,6 +544,12 @@


                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


                {


@@ -531,7 +575,7 @@


                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


                PCA9555_Set_One_Value_Output(MCU_A,1);//输出低电平切换为GPS


            }


        }


      UART_CheckReceive();


@@ -568,6 +612,7 @@


    uart_close(UART_ID1);//解绑原来串口1


    uart_close(UART_ID0);//解绑原来串口0


}




uint8_t flag_4guart_needinit=0;


uint8_t index1,index2,index3;


int16_t Voltage_input;


@@ -582,7 +627,7 @@


    board_clock_run();


    boot_deinit();


    board_pins_config();


   board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);


      board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);


    // Reset reason


    reset_cause_get();


    reset_cause_clear();


@@ -601,7 +646,9 @@


    calib_chip();


    wdt_close(WDT_ID0);


    Uart_Register(UART_ID_4G, UART_ID0);


//    Uart_Register(UART_ID_DBG, UART_ID1);


    Uart_Register(UART_ID_DBG_GPS, UART_ID1);


    DBG_Init();


    


    Program_Init();


    Internet_Init();


    TCPClient_Init();


@@ -628,8 +675,7 @@


    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_Init();


//    OpenUWB();    


//    DBG_SetMode(DBG_MODE_SHELL);


//    Shell_Init();




@@ -649,20 +695,13 @@


                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS


    while (1)


    { 


      uwb_app_poll();


           uwb_app_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)


//        {


//            gps_ntripsend=0;


//            NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);


//            memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);


//            YUANGPS_ParseGGA_changdu=0;


//        }    


        if(flag_secondtask)


        {


            flag_secondtask = 0;