1.6，加入版本号。

WXK

2025-02-19 83d414d07af1f5330fcbd7612eb7b0c312d2598f

 keil/include/main/main.c

@@ -49,63 +49,55 @@
#include "board.h"
#include "wsf_nvm.h"
#include "mk_power.h"
#include "mk_sleep_timer.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"

//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
extern int TagRange(void);
extern void parameter_init(void);
uint8_t trx_buf[10] = {0};
#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

#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
#define SLEEP_START_TIME 10
#define FREQ_LOST_TIME 5
#define NOTAG_FREQ  1
#define BATTERY_GET_TIME 3600
uint8_t enable_sleep_count,sleep_flag;
uint32_t battery_get_count;
//#define DEBUG_MODE


extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
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;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
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,
#endif
      };
static void app_wdt_callback(void *dev, uint32_t status)
{
    ASSERT(status, "WDT TIMEOUT，程序复位");
      //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
}
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 UWB_work_state;


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 */
@@ -119,39 +111,101 @@
    .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,
#endif
};
 struct WDT_CFG_T app_wdt_cfg = {
        .timeout = 32768 * 30,
        .rst_en = true,
        .int_en = true,
        .callback = app_wdt_callback,
    };

uint8_t state5v = 1;
uint8_t bat_percent=0,g_start_send_flag=1;
int16_t fVoltage_mv;
uint8_t bat_percent;
extern uint32_t dev_id;
extern uint8_t group_id;
extern float freqlost_count;
uint8_t tag_frequency;
void UartDeinit(void);
void UartInit(void);
void Program_Init(void);
void IdleTask(void);
void boot_deinit(void);
void Get_batterty_Voltage(void);
void Calculate_battery_percent(void);
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);
}
void UartInit(void)
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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);
}
void UartDeinit(void)
{
uart_close(UART_ID0);
uart_close(UART_ID1);
}
void Get_batterty_Voltage(void)
{
    battery_monitor_open();
    fVoltage_mv=battery_monitor_get();
   battery_monitor_close();  
   Calculate_battery_percent();
}
void Calculate_battery_percent(void)
{
            if(fVoltage_mv < 3000)
        {
            bat_percent = 0;
        }
        else if(fVoltage_mv > 3500)
        {
            bat_percent = 100;
        }
        else
        {
            bat_percent = ((fVoltage_mv - 3000) /8);
        }
            //LOG_INFO(TRACE_MODULE_APP, "The voltage is %d ,percent is %%%d \r\n",fVoltage_mv,bat_percent);
}
static void sleep_timer_callback(void *dev, uint32_t time)
{
    //sleep_timer_start(__MS_TO_32K_CNT(1000));
   static uint8_t lost_jumpcount=0;
      enable_sleep_count++;
   if(enable_sleep_count==SLEEP_START_TIME){

      enable_sleep_count=0;
      sleep_flag=1;
   }
   if(battery_get_count++>=BATTERY_GET_TIME)
   {
   Get_batterty_Voltage();
   battery_get_count=0;
   }
//   if(freqlost_count++>FREQ_LOST_TIME)
//   {
//            tag_frequency = NOTAG_FREQ;
//        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
//        {
//            lost_jumpcount = 0;
//            g_start_send_flag=1;
//        }
//   }else{
//      g_start_send_flag=1;
//   }
   g_start_send_flag=1;
}
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",
//        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;
@@ -168,205 +222,45 @@
            bat_percent = ((fVoltage_mv - 3300) /8);
        }
    }
    LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
       //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);
//}
extern gps_uwb_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
{
    if(UWB_work_state==UN_BIND) {
        gps_uwb_flag=0;//关闭GPS
        moter_open_uwb_flag=0;//关闭震动
        need_open_gps_count=0;//清0计数gps
    } else { //绑定状态下
        if(anchordata_num==1) {
            if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
                need_open_gps_count=0;
                moter_open_uwb_flag=0;//关闭震动
                gps_uwb_flag=0;//关闭GPS
            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
                need_open_gps_count++;
                moter_open_uwb_flag=1;//开启震动
                if(need_open_gps_count>=20) {
                    gps_uwb_flag=1;//开启gps测距流程
                    need_open_gps_count=0;
                }
            }
        } else if(anchordata_num==0) {

            gps_uwb_flag=1;//开启gps测距流程
            moter_open_uwb_flag=1;//开启震动
            need_open_gps_count=0;
        }
    }
}
void SecondTask(void)
{
    //UWB更新列表
    TagListUpdate();
    GPS_Poll();
    g_com_map[ALARM_DISTANCE1]=30;//测试
    g_com_map[ALARM_DISTANCE2]=40;
    //UWB状态检测

    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++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
    UWBPoll();
 //   MotorPoll();
    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
    }else{
        flag_secondtask = 0;
    }

    flag_sleeptimer = 1;

    //马达震动逻辑
    if(motor_open_air_flag||moter_open_uwb_flag)
    {
       if (motor_count++%2==0)
       {
        motor_power_state = 1;
       }else{
        motor_power_state = 0;
       }
    } else {
        motor_power_state=1;
    }

    //GPS工作逻辑

}
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();
//LOG_INFO(TRACE_MODULE_APP, "中断唤醒\r\n");
}
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);
    g_com_map[ALARM_DISTANCE1] = 40;
    g_com_map[ALARM_DISTANCE2] = 40;
    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[BIND_DEV_ID] = 0x1234;
    if(g_com_map[BIND_DEV_ID]==0)
    {
        UWB_work_state = UN_BIND;
    }else{
        UWB_work_state = SEARCH_DEV;
    }
{	
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();//g_com_map表初始化
group_id=g_com_map[GROUP_ID];
memcpy(&dev_id ,&g_com_map[DEV_ID],2);
tag_frequency=1000/g_com_map[COM_INTERVAL];	
g_com_map[VERSION] = (1<<8)|6;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
}



void IdleTask(void)
{
    if(gpio_pin_get_val(INPUT_5V_Pin))
    {

        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 {
{ UART0_CheckReceive();
   if(gpio_pin_get_val(INPUT_5V_Pin))
   {
        	
   
      //UART_CheckSend();
// bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
      }	
   }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();
               //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
        UWB_work_state=LINK_SUCCESS;
    } else { //否则进入搜索模式
        UWB_work_state=SEARCH_DEV;
        if(first_search_flag==0)
            first_search_flag=1;
    }
	
}
void boot_deinit(void)
{
@@ -380,17 +274,15 @@
    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;
int main(void)
{
    board_clock_run();
      boot_deinit();
    board_pins_config();
    board_pins_config(); 
    board_debug_console_open(TRACE_PORT_UART0);
    // Reset reason
       // Reset reason
    reset_cause_get();
    reset_cause_clear();

    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
@@ -404,99 +296,73 @@
    {
        board_calibration_params_default();
    }

		
    // Chip calibration
    calib_chip();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    //  LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");

      wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
    //LOG_INFO(TRACE_MODULE_APP, "UWB qiang  test example\r\n");
		
    // open system timer
    //sys_timer_open();

    // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
    Internet_Init();
    TCPClient_Init();

		
    gpio_open();
    //board_led_init();

//      adc_open(&usr_adc_cfg);
    IIC2_Init();
    Accelerometer_Init();
    IO_control_init();
    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
    io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
    gps_air780_power_change(1,1);//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
    board_led_init();
		
       //uart_open(UART_ID0, &test_uart_cfg);
		
         Program_Init();
       //power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)POWER_WAKEUP_BY_GPIO_0, POWER_WAKEUP_LEVEL_LOW);
       uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
      // Initialize low power mode
    power_init();
    //  LOG_INFO(TRACE_MODULE_APP, "测试数据");
   

      Get_batterty_Voltage();//获取当前内部电压
      //Calculate_battery_percent();
      //adc_open(&usr_adc_cfg);
      //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    // Enable sleep timer
      Tag_uwb_init();
    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(SLEEP_TIMER_NUM));//测试
    board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
    //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
      //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
      sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT));//测试
      //board_5V_input_init(voltage_input_handler);//有修改3.3V会一直高电平导致无法进入休眠
      #ifdef BOXING 
            io_pin_mux_set(IO_PIN_5, IO_FUNC0);//波形测试
         gpio_pin_set_dir( IO_PIN_5, GPIO_DIR_OUT, 0);
         io_pull_set(IO_PIN_5 , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
   #endif
      //Serial0_PutString("进入app测试\r\n");
    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();
        }
        if(flag_secondtask)
        {
            flag_secondtask = 0;
            SecondTask();
        }
        IdleTask();
        //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;
        //}
    {  wdt_ping(WDT_ID0);//喂狗
         if(g_start_send_flag)
         {
         //LOG_INFO(TRACE_MODULE_APP, "测距ing");
			
         g_start_send_flag = 0;
         gpio_pin_set(LED_PIN);//亮
         TagRange();
         gpio_pin_clr(LED_PIN);//灭
         IdleTask();	
         }else{
         IdleTask();	
         }
         LoraUp_Poll();
#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);
        }
//         if(sleep_flag){//开始一段时间无休眠
//                  trace_flush();
//            uint32_t lock = int_lock();
//                  //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//                  //唤醒源设置MK8000修改
//                  //board_5V_input_init(voltage_input_handler);
//                  //sleep_timer_start(g_com_map[COM_INTERVAL]);
//            power_enter_power_down_mode(0);
//                  uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//               //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
//            int_unlock(lock);
//         }
#endif
    }

}