国产UWB芯片工程的仓库
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2025-03-26 928251d0f4e554e66ea2c7453fe06de6675ae16e 
 keil/include/main/main.c


@@ -24,12 +24,6 @@


#include "PCA9555.h"


#include "WS2812.h"


#include "DBG.h"


typedef enum


{


    RTCMMODE_NONE,


    RTCMMODE_TCP,


    RTCMMODE_NTRIP,


}RTCMMode;




//#define DEBUG_MODE


extern int simple_main(void);


@@ -126,14 +120,14 @@


            uint32_t lock;


            trace_flush();


            lock = int_lock();


                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");


//                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");


//                  gps_air780_power_change(0,0);//关闭gps，4G 


            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 


            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");


//                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");


                  sys_reset(0);


            int_unlock(lock);


}


@@ -163,11 +157,11 @@


            {


               //power_low_flag=1;


               //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G 


               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");


//               LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");


            }else{


               //power_low_flag=0;


               //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G


               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");


//               LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");


            }


      PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高


}


@@ -282,6 +276,9 @@


uint8_t uwb_enable_flag=0;


uint8_t input5v_time;


extern uint8_t taglist_num;


extern uint8_t ceshidata[500];


extern uint8_t ceshichangdu;


uint8_t gps_ntripsend;


static void sleep_timer_callback(void *dev, uint32_t time)


{


if(secondtask_count++%2==0)


@@ -299,6 +296,7 @@


        ledonflag=1;


//        ledontime=HIDO_TimerGetTick();


        Set4LEDColor(uwbled,rtkled,led4g,powerled); 


//        uart_send(UART_ID1, ceshidata, 50,NULL);


        }


        input5v_time=1;


        if(taglist_num==0)


@@ -309,6 +307,10 @@


        }


    }else{


        flag_secondtask = 0;


    }


    if(gps_ntripsend==1)


    {


 gps_ntripsend=2;   


    }


 if(delaysleep_count>0)


     delaysleep_count--;


@@ -352,7 +354,7 @@


    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];


@@ -362,18 +364,37 @@


    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[IP_0]=111;


    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[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");


//    g_com_map[IP_0]=111;


//    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[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_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");






    if(g_com_map[BIND_DEV_ID]==0)


@@ -395,7 +416,7 @@


        


        


    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:4G-GPS定位工卡 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)


    {


@@ -413,13 +434,14 @@


    { 


        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;


extern uint8_t ota_flag;


void IdleTask(void)


{


if(read_5v_input_pca())


@@ -442,9 +464,10 @@


            while(1)


            {


                nomove_count = 0;


                if(HIDO_TimerGetTick()-adctick>6000)  //10分钟采样一次 电量


//                adctick = HIDO_TimerGetTick();


                if(HIDO_TimerGetTick()-adctick>60)  //10分钟采样一次 电量


                {


                    chongman_time=chongman_time+6;


                    chongman_time=chongman_time+60;


                    adctick = HIDO_TimerGetTick();


                    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低


                    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样


@@ -454,7 +477,7 @@


                only_one_flag=1;


                chongman_time=0;


                }


                if(bat_percent>=99&&chongman_time>=1800)


                if(bat_percent>=99&&chongman_time>=600)


                {


                    powerled = GREEN;


                }else{


@@ -462,17 +485,27 @@


                }


                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();


                    }


                HIDO_InputPoll();


                Internet_Poll();


                HIDO_TimerPoll();


                HIDO_ATLitePoll();


                TCPClient_Poll();


                        if(ota_flag==1)


                        {


//                            OTA_Poll();


//                            HTTPClient_Poll();  


                        }


                        else


                        {


                        uwb_app_poll();


                        }


                        Internet_Poll();


                        HIDO_TimerPoll();


                        HIDO_ATLitePoll();


                        TCPClient_Poll();


                        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)


                        {TCPClient_Poll_1();}


                        if(flag_secondtask)


                        {


                            flag_secondtask = 0;


                            SecondTask();


                        }


                        UserKeyTask();


                }


                UART_CheckReceive();


                if(flag_secondtask)


@@ -480,7 +513,20 @@


                    flag_secondtask = 0;


                    SecondTask();


                }


                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


                {


                Set4LEDColor(0,0,0,powerled);


                }


                if(input5v_time)


                {


                if(!read_5v_input_pca())


@@ -538,6 +584,7 @@


    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;


@@ -545,6 +592,55 @@


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)


{


    board_clock_run();


@@ -568,9 +664,11 @@


    }


    calib_chip();


    wdt_close(WDT_ID0);


    Uart_Register(UART_ID_4G, UART_ID0);


//    Uart_Register(UART_ID_DBG, UART_ID1);


    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)


@@ -578,6 +676,11 @@


       NTRIPClient_Init();


       NTRIPApp_Init();


    }


    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)


    {


        TCPClient_Init_1();


    }


//    HTTPClient_Init();


    gpio_open();


    LED_output_init();//配置彩色灯引脚


    IIC2_Init();


@@ -593,7 +696,7 @@


    pca_input_detection_init(pca_handler);//pca检测输入


    Uwb_init();


    OpenUWB();    


    DBG_Init();


//    DBG_SetMode(DBG_MODE_SHELL);


//    Shell_Init();




    if(!read_5v_input_pca())


@@ -604,18 +707,31 @@


     delay_ms(500);      


     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       


    }


//                        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


    g_com_map[MODBUS_MODE] = 0;


    state5v=0;


    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


    while (1)


    { 


      uwb_app_poll();


      if(ota_flag==1)


        {


//            OTA_Poll();


//            HTTPClient_Poll();    


        }


        else


        {


            uwb_app_poll();


        }


        Internet_Poll();


        HIDO_TimerPoll();


        HIDO_ATLitePoll();


        TCPClient_Poll();


        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)


        {


            TCPClient_Poll_1();


        }


        if(flag_secondtask)


        {


            flag_secondtask = 0;