完全将免布线标签代码移植过来版本

chen

2025-05-15 67ca69985af9109a0603a1cde71f21b940c059ff

 keil/include/main/main.c

@@ -40,289 +40,103 @@

#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
#include "mk_reset.h"
#include "mk_gpio.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 "mk_power.h"
#include "mk_uwb.h"
#include "mk_calib.h"
#include "mk_uart.h"
#include "mk_spi.h"
#include "mk_flash.h"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#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
#include "board.h"

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
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;
int link_success_flag;
uint8_t state5v,link_error_count;
uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
uint8_t flag_4g_usart_rx_state = 1;  //4G 串口RX当前是 RX状态，不是GPIO状态
typedef enum
{      UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
Operation_step Operation_state;
#include "pal_sys.h"
#include "wsf_os.h"
#include "wsf_timer.h"
#include "wsf_buf.h"
#include "wsf_nvm.h"

#include "app.h"
#include "ranging_fira.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "uci_tl_task.h"
#include "libc_rom.h"

Commend_SendDate send_struct;
static 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_115200,
#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,
#ifdef UWB_UCI_TEST_EN
#include "uwb_test.h"
#endif
};
static 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);
}
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);
        }
    }
    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);
//}
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
void SecondTask(void)
{
    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();
    nomove_count++;
#ifdef CELL_PHONE_EN
#include "mk_efuse.h"

#define EFUSE_FLASH_EN_ADDR (0x67)
#define EFUSE_FLASH_EN_BIT (0x80)

bool check_flash_bit_of_efuse(void);
bool program_efuse(void);

bool check_flash_bit_of_efuse(void)
{
    uint8_t val;
    val = efuse_read_byte(EFUSE_FLASH_EN_ADDR);
    return ((val & EFUSE_FLASH_EN_BIT) ? true : false);
}
uint8_t flag_sleeptimer;

bool program_efuse(void)
{
    efuse_program_byte(EFUSE_FLASH_EN_ADDR, EFUSE_FLASH_EN_BIT);
    if (check_flash_bit_of_efuse())
    {
        LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit successfully.\r\n");
        return true;
    }
    else
    {
        LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit failed.\r\n");
        return false;
    }
    return true;
}
#endif

//*****************************************************************************
//
// WSF buffer pools.
//
//*****************************************************************************
#define WSF_BUF_POOLS 5
void Fira_Change_Task(void);
// Default pool descriptor.
static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
    {32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
};

static void sleep_timer_callback(void *dev, uint32_t time)
{

    SecondTask();
   // IO_control_init();
    uwb_led_on();
    delay_us(1000);
    uwb_led_off();
    flag_sleeptimer = 1;
//    send_messgae_count+=g_com_map[COM_INTERVAL];
//    //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
//    //send_message_count=0;
//    //send_flag=1;
//    //}

//    if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
//        link_error_count=0;
//        g_start_send_flag=1;
//    }
//    if(Operation_state==SEARCH_DEV) {
////      if(first_search_flag){//当第一次连接断开产生时才开始计数
//        //link_error_count=0;
////      }
//        link_error_count++;
//        if(link_error_count==60)
//            link_error_count=0;
//        //link_error_count+=g_com_map[COM_INTERVAL];
//        //if(link_error_count>=g_com_map[4G_INTERNAL])
//        //link_error_count=0;
//        update_led_power_state();//更新灯状态
//    }
    
}
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)
{
    LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n"); 
   // flag_4G_recdata = 1;
   // AIR780EUartInit();
}
void Program_Init(void)
{
    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
    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
    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
    // LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}



void IdleTask(void)
static void board_init(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;

        if(state5v==0)
        {
            state5v=1;
            state5V_prase_flag=state5v;
            gps_prase_flag=0;//解除gps解析
            uart1_change_from_gps_to_debug();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartInit();
        }

        //UART_CheckSend();
    } else {
        if(state5v==1)
        {
            state5v=0;
            state5V_prase_flag=state5v;
            gps_prase_flag=1;//恢复gps解析
            uart1_change_from_debug_to_gps();
            uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
            //UartDeinit();
        }
        UART_CheckReceive();
    }
}
int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
    {
        return 1;
//绑定信息为1说明设备已经被下发绑定
    } else {
        return 0;
//绑定信息为0说明设备未被绑定
    }
}
void check_if_in_search(void)
{
    if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
        Operation_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        Operation_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
}

uint8_t flag_4guart_needinit=0;
int main(void)
{
    // Clock configuration
    board_clock_run();
    // Pin configuration
    board_pins_config();
    // Trace configuration
    board_debug_console_open(TRACE_PORT_UART1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();

#ifndef CELL_PHONE_EN
    // 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();
@@ -333,130 +147,159 @@
    {
        board_calibration_params_default();
    }
#else
    if (internal_flash)
    {
        program_efuse();
    }
    board_calibration_params_default();
#endif

    // Chip calibration
    calib_chip();

    gpio_open();
#ifdef CELL_PHONE_EN
    // Configure IO_04 for RF Switch
    gpio_pin_set_dir(IO_PIN_4, GPIO_DIR_OUT, 0);
#else
    // led
    board_led_init();
//    board_led_on(BOARD_LED_1);
#endif
    board_configure();
}

void app_process_handle(uint8_t msg_id, const void *param)
{
    switch (msg_id)
    {
        case APP_TEST_TIMER1_MSG:
        {
#if ANT_DELAY_CAL_EN
            // stop calibration
            uwbapi_session_stop(uwb_app_config.session_id);
            uwbapi_session_deinit(uwb_app_config.session_id);

            // restart UCI RX
            uci_tl_rx_restart();
#endif
        }
        break;

        default:
            break;
    }
}

void Fira_Change_Task(void)
{
}
extern uint8_t normal_flag;
int main(void)
{
    // Initialize MCU system
    board_init();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    //  LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
    LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
		
      // Platform init for WSF
    PalSysInit();

    // open system timer
    //sys_timer_open();
    // Initialize os

    // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
    TCPClient_Init();
    //
    // Set up timers for the WSF scheduler.
    //
    WsfOsInit();
    WsfTimerInit();
    sys_tick_callback_set(WsfTimerUpdateTicks);

    gpio_open();
    //board_led_init();
    //
    // Initialize a buffer pool for WSF dynamic memory needs.
    //
    uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);

//      adc_open(&usr_adc_cfg);
    IIC2_Init();
    Accelerometer_Init();
    IO_control_init();
  //  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
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
   // uart_open(UART_ID1, &test_uart_cfg);
    Program_Init();
  //  uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
    if (wsfBufMemLen > FREE_MEM_SIZE)
    {
        LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
    }
//
    // Create app task
    //
   wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
    app_init(handlerId);

    //
    // Create ranging task or test task
    //
    handlerId = WsfOsSetNextHandler(ranging_handler);
    ranging_init(handlerId);

#ifdef UWB_UCI_TEST_EN
    // Create test task
    handlerId = WsfOsSetNextHandler(uwb_test_handler);
    uwb_test_init(handlerId);
#endif

    uwb_open();

    // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config =
    {
        // RPM0: 40, RPM3: 60
        .thres_fap_detect = 60,
        // RPM0: 4, RPM3: 8
        .nth_scale_factor = 8,
        // RFrame SP0: 0/1, Others: 0/1/2/3
        .ranging_performance_mode = 3,
#if RX_ANT_PORTS_NUM == 4
        .skip_weakest_port_en = 1,
#else
        .skip_weakest_port_en = 0,
#endif
    };
    phy_adv_params_configure(&adv_config);

    // which RX ports will be used for AoA/PDoA
    phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

    uwbs_init();
    uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
    uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
    uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
    uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
   

    //
    // Create UCI transmission layer task
    //
    handlerId = WsfOsSetNextHandler(uci_tl_handler);
    uci_tl_init(handlerId);

    // Initialize low power mode
    power_init();
  //  LOG_INFO(TRACE_MODULE_APP, "测试数据");
//         g_com_map[BIND_DEV_ID]=0x1122;//测试
//    if(bind_check())//绑定后才提前开启测距
//    {   link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
//        check_if_in_search();
//    } else {
//        send_struct.bindState=false;
//        Operation_state=UN_BIND;
//    }
    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
    //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
    sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
    //board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
  //  board_4GUsart_detection_init(_4gUsart_handler); 
    AIR780E_Reset(); //4G模块重启，耗时1.5秒
#if LOW_POWER_EN
    power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
    uwb_app_config.low_power_en = 1;
#else
    power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
    uwb_app_config.low_power_en = 0;
#endif

    // Enable sleep timer
    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);

    while (1)
    {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
         //   LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");  
            if(flag_4guart_needinit)
            {
                flag_4guart_needinit = 0;
                AIR780EUartInit();
            }
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();
        }
//        switch(Operation_state) {
//        case LINK_SUCCESS:
//        {   //连接成功进行轮询测距
//            if(g_start_send_flag) {
//                g_start_send_flag = 0;
//                uwb_led_on();
//                simple_main();
//                uwb_led_off();
//                IdleTask();
//            } else {
//                IdleTask();
//            }
//        }
//        break;
//        case SEARCH_DEV:
//        {   //接包不成功或者通讯失败进入搜索模式
//            if(link_error_count==0||first_search_flag) {
//                first_search_flag=0;
//                uwb_led_on();
//                link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
//                uwb_led_off();
//                if(link_success_flag)
//                    Operation_state=LINK_SUCCESS;
//            }
//            IdleTask();
//        }
//        break;
//        case UN_BIND:
//        {   uwb_led_off();//关闭uwb指示灯
//            IdleTask();
//        }
//        break;
//        }

        //3种情况后都要发包和休眠
        //if(send_flag){
        //message_construct();
        //send_udp;
        //air780_success_state=0;//关闭4G成功发送灯
        //blink_led(&air780_success_state);//成功测距闪烁4G状态灯
        //air780_success_state=0;
        //}
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //进入休眠条件（与关系，全满足才进）：1.没有5V输入 2 TCP已连接时发送队列为空||TCP无连接时不在重连状态。
            { 
           //     if(!flag_4guart_needinit)
            {
     //           LOG_INFO(TRACE_MODULE_APP, "4G RX 中断打开\r\n");
   //             board_4GUsart_detection_init(_4gUsart_handler); 
//            
            }
//               flag_sleeptimer =0;        
//            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");  
        //    flag_4guart_needinit = 1;
//            
//        trace_flush();
//        uint32_t lock = int_lock();
//        //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//        power_enter_power_down_mode(0);
//        int_unlock(lock);
        }
#endif
        wsfOsDispatcher();
        power_manage();
    }
    
}

void app_restore_from_power_down(void)
{
}