ChinaUWBProject.git

			@@ -28,6 +28,8 @@
			//#define DEBUG_MODE
			extern int simple_main(void);
			extern int temp_main(void);
			void boot_deinit(void);
			void upload_apppoll();
			#define TEST_UART_POLL_MODE 0
			#define TEST_UART_INTERUPT_MODE 1
			#define TEST_UART_DMA_MODE 2
			@@ -39,6 +41,10 @@
			#define WARING_LIMIT_TIME 10
			#define UPDATE_TIME 10


			#define UWB_OPEN_COUNT 1
			#define UWB_MEASUREMENT_INTERVAL 5
			#define UWB_MEASUREMENT_INTERVAL_SLEEP 60

			extern uint8_t mUsartReceivePack[100];
			extern uint8_t mUsart2ReceivePack[150];
			@@ -71,8 +77,20 @@
			LINK_SUCCESS,
			SEARCH_DEV,
			} Operation_step;
			Operation_step UWB_work_state;

			Operation_step UWB_work_state;
			// 定义状态
			typedef enum {
			STATE_NORMAL, // 正常状态，3秒测距上传一次
			STATE_SLEEP // 休眠状态，1分钟测距上传一次
			} CountState_t;

			uint32_t uwb_time_count = 0; // 定时器计数值
			//uint32_t step_count = 0; // 步数计数
			//uint32_t last_step_count = 0; // 上一次步数

			CountState_t current_state = STATE_NORMAL; // 当前状态
			uint32_t state_start_time = 0; // 状态开始时间

			Commend_SendDate send_struct;
			struct ADC_CFG_T usr_adc_cfg = {
			@@ -96,7 +114,7 @@
			.flow = UART_FLOW_CONTROL_NONE,
			.rx_level = UART_RXFIFO_CHAR_1,
			.tx_level = UART_TXFIFO_EMPTY,
			.baud = BAUD_115200,
			.baud = BAUD_9600,
			#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
			.dma_en = false,
			.int_rx = false,
			@@ -115,21 +133,31 @@
			{
			uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			}
			uint8_t deep_sleep_falg=1;
			void mcu_deep_sleep(void)
			{
			uint32_t lock;
			trace_flush();
			lock = int_lock();
			// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
			// uint32_t lock;
			// trace_flush();
			// lock = int_lock();
			//// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
			// gps_air780_power_change(0,0);//关闭gps，4G
			deep_sleep_falg=0;
			PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
			PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
			PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
			// PCA9555_Set_One_Value_Output(MAIN_RI,1);
			boot_deinit();
			CloseUWB();
			PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
			sleep_timer_stop();
			//adc_close();
			power_enter_power_down_mode(1);
			// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
			sys_reset(0);
			int_unlock(lock);

			// sleep_timer_stop();
			// //adc_close();
			// power_enter_power_down_mode(1);
			// delay_us(200000);

			// sys_reset(0);
			//// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
			// int_unlock(lock);
			}
			static void adc_callback(void *data, uint32_t number)
			{
			@@ -144,7 +172,7 @@
			{
			bat_percent = 0;
			}
			else if(fVoltage_mv > 4100)
			else if(fVoltage_mv > 4200)
			{
			bat_percent = 100;
			}
			@@ -174,10 +202,12 @@
			uint8_t flag_4G_recdata;
			uint8_t ledonflag;
			uint32_t ledontime;
			extern uint8_t flag_first_TCPconnect;
			void IMUTask(void)
			{
			if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
			{//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
			power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
			mcu_deep_sleep();
			}
			}
			@@ -185,10 +215,12 @@
			{
			if(!read_userkey_input_pca())
			{
			if(HIDO_TimerGetTick() - keystarttime3>2)
			delay_ms(1000);
			if(!read_userkey_input_pca())
			{
			userkey_state = 1;
			keystarttime3 = HIDO_TimerGetTick();
			flag_first_TCPconnect = 1;
			//UDPClient_UploadGPS();
			}
			// if(HIDO_TimerGetTick() - keystarttime2>10)
			@@ -205,7 +237,8 @@
			{
			if(read_powerkey_input_pca())
			{
			if(HIDO_TimerGetTick() - keystarttime>2)
			delay_ms(1000);
			if(read_powerkey_input_pca())
			{
			rtkled=WHITE;
			uwbled=WHITE;
			@@ -233,12 +266,13 @@
			}
			void MinuteTask(void)
			{
			PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
			PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
			delay_ms(100);
			adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			}
			void SecondTask(void)
			{static uint8_t second_count;
			if(second_count++>60)
			if(second_count++>120)
			{
			second_count = 0;
			MinuteTask();
			@@ -283,6 +317,9 @@
			{
			input5v_time=1;
			flag_secondtask = 1;
			#ifdef UWB_1_5HZ
			uwb_time_count++;
			#endif
			if(!read_5v_input_pca())
			{
			if(bat_percent>15)
			@@ -299,43 +336,26 @@
			input5v_time=1;
			if(taglist_num==0)
			{
			CloseUWB();
			Uwb_init();
			OpenUWB();
			// CloseUWB();
			// Uwb_init();
			// OpenUWB();
			}
			upload_apppoll();
			}else{
			flag_secondtask = 0;
			}
			if(gps_ntripsend==1)
			{
			gps_ntripsend=2;
			}

			if(delaysleep_count>0)
			delaysleep_count--;
			}
			uint8_t test11,test21,test31,test41,test51;

			static void pca_handler(enum IO_PIN_T pin)
			{
			PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
			uint16_t gpio_state;
			gpio_state=(uint16_t)pca9555writedata_input[0]<<8\|pca9555writedata_input[1];
			test41++;
			if(WAKE_UP_POSITION&gpio_state)
			{
			nomove_count=0;
			test11++;
			}
			// if(!(MAIN_RI_POSITION&gpio_state))
			// {
			// flag_4G_recdata = 1;
			// delaysleep_count = 3;
			// test21++;
			// }
			if((PWR_ON_POSITION&gpio_state))
			{
			PowerTask();
			test31++;
			}
			check_input_change();
			// uint16_t gpio_state;
			// gpio_state=(uint16_t)pca9555writedata_input[0]<<8\|pca9555writedata_input[1];

			}

			void _4gUsart_handler(enum IO_PIN_T pin)
			@@ -361,6 +381,7 @@
			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
			tag_frequency = 1000/g_com_map[COM_INTERVAL];

			// g_com_map[IP_0]=111;
			// g_com_map[IP_1]=198;
			@@ -410,8 +431,8 @@
			}
			g_com_map[MODBUS_MODE] = 0;
			log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
			g_com_map[VERSION] = (1<<8)\|5;

			g_com_map[VERSION] = (1<<8)\|10;


			LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
			LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
			@@ -463,7 +484,7 @@
			{
			nomove_count = 0;
			// adctick = HIDO_TimerGetTick();
			if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次电量
			if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次电量
			{
			chongman_time=chongman_time+60;
			adctick = HIDO_TimerGetTick();
			@@ -475,7 +496,7 @@
			only_one_flag=1;
			chongman_time=0;
			}
			if(bat_percent>=99&&chongman_time>=600)
			if(bat_percent>=99&&chongman_time>=180)
			{
			powerled = GREEN;
			}else{
			@@ -519,6 +540,7 @@
			g_com_map[CNT_RESTART]=0;
			save_com_map_to_flash();
			NVIC_SystemReset();

			}
			}
			else
			@@ -553,7 +575,7 @@
			{
			g_com_map[CNT_RESTART]=0;
			NVIC_SystemReset();


			}
			if(g_com_map[MAP_SIGN_INDEX]!=0x55AA\|\|g_com_map[COM_INTERVAL]==0)
			{
			@@ -576,11 +598,63 @@
			// UART0 TX/RX
			io_pin_mux_set(IO_PIN_5, IO_FUNC0);
			io_pin_mux_set(IO_PIN_6, IO_FUNC0);
			gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
			gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
			// UART1 RX/TX
			io_pin_mux_set(IO_PIN_10, IO_FUNC0);
			io_pin_mux_set(IO_PIN_9, IO_FUNC0);

			uart_close(UART_ID1);//解绑原来串口1
			uart_close(UART_ID0);//解绑原来串口0
			}

			extern uint32_t uwb_time_count;
			uint8_t GPS_UPLOAD_FLAG=0;
			void upload_apppoll()
			{
			uint32_t elapsed_time_jibu;
			#ifdef UWB_1_5HZ


			switch (current_state)
			{
			case STATE_NORMAL:
			elapsed_time_jibu = uwb_time_count - state_start_time;
			switch(elapsed_time_jibu)
			{
			case UWB_OPEN_COUNT:
			CloseUWB();
			// uwbled = LEDOFF;
			UWBSendUDPTask();
			GPS_UPLOAD_FLAG=1;
			break;

			case UWB_MEASUREMENT_INTERVAL:
			OpenUWB();
			// uwbled = WHITE;
			state_start_time = uwb_time_count;

			break;
			}
			break;
			case STATE_SLEEP:
			elapsed_time_jibu = uwb_time_count - state_start_time;
			switch(elapsed_time_jibu)
			{
			case UWB_OPEN_COUNT:

			CloseUWB();
			break;

			case UWB_MEASUREMENT_INTERVAL_SLEEP:

			OpenUWB();
			state_start_time = uwb_time_count;
			break;
			}
			break;
			}
			#endif
			}

			uint8_t flag_4guart_needinit=0;
			@@ -590,61 +664,13 @@
			int test1,test3;
			uint32_t test4;
			extern uint8_t receive_flag;
			//extern uint8_t YUANGPS_ParseGGA_data[256];
			//extern uint8_t YUANGPS_ParseGGA_changdu;
			//static HIDO_CHAR url[256 + 1];
			//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();
			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();
			@@ -664,16 +690,17 @@
			wdt_close(WDT_ID0);
			Program_Init();
			Uart_Register(UART_ID_4G, UART_ID0);

			Uart_Register(UART_ID_DBG_GPS, UART_ID1);
			DBG_Init();

			Internet_Init();
			TCPClient_Init();
			if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
			{
			NTRIPClient_Init();
			NTRIPApp_Init();
			}
			// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
			// {
			// NTRIPClient_Init();
			// NTRIPApp_Init();
			// }
			if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
			{
			TCPClient_Init_1();
			@@ -684,6 +711,7 @@
			IIC2_Init();
			Accelerometer_Init();
			PCA9555_init();
			WT588E02B_Init();
			adc_open(&usr_adc_cfg);
			uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			power_init();
			@@ -693,7 +721,9 @@
			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();
			#ifdef UWB_CK
			OpenUWB();
			#endif
			// DBG_SetMode(DBG_MODE_SHELL);
			// Shell_Init();

			@@ -713,15 +743,7 @@
			PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
			while (1)
			{
			if(ota_flag==1)
			{
			// OTA_Poll();
			// HTTPClient_Poll();
			}
			else
			{
			uwb_app_poll();
			}
			uwb_app_poll();
			Internet_Poll();
			HIDO_TimerPoll();
			HIDO_ATLitePoll();
			@@ -735,9 +757,7 @@
			flag_secondtask = 0;
			SecondTask();
			}
			PowerTask();
			IMUTask();
			UserKeyTask();
			IMUTask();
			IdleTask();
			}
			}