国产UWB芯片工程的仓库
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zhangbo
2025-05-15 950676ea7305bb90e08ec88bcac40e4c47fcefca 
 keil/include/main/main.c


@@ -94,12 +94,15 @@






/****************************************************************引脚宏定义**************************************************/


#define UWB_OPEN_COUNT 1


#define UWB_MEASUREMENT_INTERVAL 3


#define UWB_MEASUREMENT_INTERVAL_SLEEP 60


#define UWB_OPEN_COUNT 1                                              // UWB每次开启持续时间（秒）


#define UWB_MEASUREMENT_INTERVAL 3                               // 正常状态测距周期


#define UWB_MEASUREMENT_INTERVAL_SLEEP 60                      // 休眠状态测距周期


#define INACTIVE_TIMEOUT  30                           // 无步数变化超时时间（秒）


bool uwb_is_on = false;                                // UWB当前状态标记




void test_Delay_us(uint16_t time);


void Lora_UploadHeartBeartPoll(void);


void upload_apppoll();


extern uint8_t mUsartReceivePack[100];


extern uint8_t mUsart2ReceivePack[150];


extern uint8_t state5V_prase_flag,gps_prase_flag;


@@ -152,7 +155,7 @@


    .flow = UART_FLOW_CONTROL_NONE,


    .rx_level = UART_RXFIFO_CHAR_1,


    .tx_level = UART_TXFIFO_EMPTY,


    .baud = BAUD_115200,


    .baud = BAUD_921600,


#if (TEST_UART_MODE == TEST_UART_POLL_MODE)


    .dma_en = false,


    .int_rx = false,


@@ -194,7 +197,17 @@


            bat_percent = ((fVoltage_mv - 3300) /8);


        }


    }


  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);


            if(fVoltage_mv<3300)


            {


               //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");


            }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");


            }


      PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高


}


//static void timer_callback(void *dev, uint32_t time)


//{


@@ -269,7 +282,8 @@


}


void MinuteTask(void)


{


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


         PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低


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


}


void SecondTask(void)


{static uint8_t second_count;


@@ -315,36 +329,47 @@


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




uint8_t led_state;


uint8_t  stationary_flag;


extern uint8_t lora_tx_flag;


extern uint16_t sleep_time;


uint8_t input5v_time;


static void sleep_timer_callback(void *dev, uint32_t time)


{


	


     input5v_time=1;


//    g_start_send_flag=1;


     HIDO_TimerTick();


//     lora_tx_flag++;


     uwb_time_count++;


     if(uwb_time_count>10000)


      {


       uwb_time_count=0;


      }


     upload_apppoll();


      step_count = mir3da_get_step(); // 获取步数




      if (current_state == STATE_NORMAL)


     {


       sleep_time++;


      }


      step_count = mir3da_get_step(); // 获取步数


//      if(yundong_bushu<mir3da_get_step())


//      {


//         yundong_bushu=mir3da_get_step();


//         onemin_onesecond_flag=1;


//      }


//      else


//      {


//         yundong_bushu=mir3da_get_step();


//         onemin_onesecond_flag=0;


//      }


		




      if(!read_5v_input_pca())


    {


       if(bat_percent>15)


        {


               led_state=!led_state;


               if(led_state)


                 GREEN_LED_ON;


               else


               {


                 GREEN_LED_OFF;


               }




        }


         else


            {


            RED_LED_ON;


                 GREEN_LED_OFF;


        }


      }


      input5v_time=1;


    //马达震动逻辑


    if(g_com_map[MOTOR_ENABLE])


    {


@@ -367,28 +392,43 @@


      


}


uint16_t sleep_time=0;


uint32_t state_start_time_jibu=0;


void check_step_and_update_state(void)


{


    if ((step_count != last_step_count))


      {


        // 步数有变化，重置状态为正常状态


      last_step_count = step_count;


         if(current_state == STATE_SLEEP)


         {


            state_start_time = uwb_time_count;


            state_start_time_jibu = uwb_time_count;


            state_start_time=uwb_time_count;


         }


        current_state = STATE_NORMAL;


        last_step_count = step_count;


//         if (current_state != STATE_NORMAL) 


//            {


//            // 关闭可能正在运行的UWB


//            if (uwb_is_on) {


//                CloseUWB();


//                UWB_LED_OFF;


//                uwb_is_on = false;


//            }


//            current_state = STATE_NORMAL;


//            state_start_time = uwb_time_count; // 重置测距周期


//        }


         current_state = STATE_NORMAL;


         last_step_count = step_count;


			


    } 


      else


      {


        // 步数没有变化，检查是否需要切换到休眠状态


        if (current_state == STATE_NORMAL)


               {


//            sleep_time = uwb_time_count - state_start_time;


            if (sleep_time >= 30)


            uint32_t inactive_time = uwb_time_count - state_start_time_jibu;


            if (inactive_time >= INACTIVE_TIMEOUT)


                  { // 30秒后切换到休眠状态


                current_state = STATE_SLEEP;


                sleep_time = 0;


                       state_start_time_jibu=uwb_time_count;


            }


          }


     }


@@ -426,7 +466,7 @@


     g_com_map[STATIONARY_TIME] = 10;


//    g_com_map[GROUP_ID]=1;


    dev_id=g_com_map[DEV_ID];//这里不太对


//    group_id=g_com_map[GROUP_ID];//组ID


    group_id=g_com_map[GROUP_ID];//组ID


     group_id=0x04;


    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);


@@ -453,17 +493,61 @@


    ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);


    ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);


    port = g_com_map[TCP_PORT];


    g_com_map[VERSION] = (1<<8)|11;


    g_com_map[VERSION] = (1<<8)|12;


    LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);


    LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);


    LOG_INFO(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙薄工卡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",ip0,ip1,ip2,ip3,port);


}








uint32_t adctick = 0;


uint16_t chongman_time;


void IdleTask(void)


{   


 UART0_CheckReceive();


if(read_5v_input_pca())


   {


            chongman_time=0;


                  RED_LED_OFF;


                  GREEN_LED_OFF;


                  UWB_LED_OFF;


                  BT_LED_OFF;


                  LORA_LED_OFF;


            while(1)


            {


                nomove_count = 0;


                adctick = HIDO_TimerGetTick();


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


                {


                    chongman_time=chongman_time+60;


                    adctick = HIDO_TimerGetTick();


                    PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低


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


                }


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


                {


                   GREEN_LED_ON;


                            RED_LED_OFF;


                }


                        else


                        {


//                   RED_LED_ON;


                            GREEN_LED_OFF;


                }


								


               if(!read_5v_input_pca())


                {


                break;


                }


            }


                     sys_reset(0);


//            NVIC_SystemReset();


//            input5vflag=1;


      }


   else


   {


	


//    sys_reset(0);


   }


}




int bind_check(void)


@@ -491,11 +575,16 @@


{


   //将boot中串口返回普通gpio


// UART0 TX/RX


    io_pin_mux_set(IO_PIN_5, IO_FUNC0);


    io_pin_mux_set(IO_PIN_6, IO_FUNC0);


    io_pin_mux_set(UART0_RX, IO_FUNC0);


    io_pin_mux_set(UART0_TX, IO_FUNC0);


	


      gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);


     gpio_pin_set_dir(UART0_TX , 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);


    io_pin_mux_set(UART1_RX, IO_FUNC0);


    io_pin_mux_set(UART1_TX, IO_FUNC0);






    uart_close(UART_ID1);//解绑原来串口1


    uart_close(UART_ID0);//解绑原来串口0


}


@@ -515,6 +604,7 @@


            uint32_t lock;


            trace_flush();


            lock = int_lock();


             boot_deinit();


                  LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");


             //关闭蓝牙 灯


                  LORA_LED_OFF;


@@ -523,6 +613,8 @@


                  RED_LED_OFF;


                  BT_LED_OFF;            


             PCA9555_Set_One_Value_Output(BT_EN,0);


              PCA9555_Set_One_Value_Config(BT_IRQ,0);        //设置BT_IRQ为输出拉低


             PCA9555_Set_One_Value_Output(BT_IRQ,0);


                  sleep_timer_stop();   


            power_enter_power_down_mode(1);


                  sys_reset(0);


@@ -530,7 +622,7 @@


}


void IMUTask(void)


{


   if(nomove_count>10&&g_com_map[IMU_ENABLE]==2)


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


   {


      power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);


      mcu_deep_sleep();


@@ -556,24 +648,26 @@


     io_pin_mux_set(LORA_DIO, IO_FUNC0);


   


   


//     //ADC


//     io_pin_mux_set(ADC_PIN, IO_FUNC1);


//      io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);


     //ADC


     io_pin_mux_set(ADC_PIN, IO_FUNC1);


      io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);


   


//    //串口0


//      io_pin_mux_set(UART0_RX, IO_FUNC4);


//    io_pin_mux_set(UART0_TX, IO_FUNC4);


	


      io_pin_mux_set(UART0_RX, IO_FUNC0);


     gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);


    io_pin_mux_set(UART0_TX, IO_FUNC0);


     gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);	


    //串口0


      io_pin_mux_set(UART0_RX, IO_FUNC4);


    io_pin_mux_set(UART0_TX, IO_FUNC4);


    uart_open(UART_ID0, &test_uart_cfg);	


//      io_pin_mux_set(UART0_RX, IO_FUNC0);


//     gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);


//    io_pin_mux_set(UART0_TX, IO_FUNC0);


//     gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);	


//     board_debug_console_open(TRACE_PORT_UART0);


//     uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma


     uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma




     //串口1


//      io_pin_mux_set(UART1_RX, IO_FUNC4);


//    io_pin_mux_set(UART1_TX, IO_FUNC4);


      io_pin_mux_set(UART1_RX, IO_FUNC4);


    io_pin_mux_set(UART1_TX, IO_FUNC4);


		


      board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);


}


void spi_init()


{


@@ -630,31 +724,7 @@


/********************************************************************************************************/


/********************************************************************************************************/


/********************************************************************************************************/


//static uint16_t delaytime = 771;


//extern uint16_t wg_report_freq,wg_report_id;


//extern uint32_t wg_lost_count;


//extern uint8_t shengji_flag;


//extern uint8_t lora_jianting_flag,report_ancnum;


//uint8_t imu_enable,motor_enable;


//uint32_t time_flag_lorarx=0;


//uint32_t lora_huanxing_count=0;


//uint16_t Lora_wangguanid=0;


//wg_state_enum wg_state = WG_Lost;


//uint16_t wangguan_up_id;


//uint8_t LoraUp_flag;


//uint16_t rec_wenjian_daxiao;


//uint16_t recnum[3];


//uint16_t recv_flag=0;


//uint16_t tx_flag=0;


//uint16_t CRC16=0;


//uint16_t DEST_ID=0;


//uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;


//uint16_t Loratx_flag=0;


//uint16_t Lorarx_flag=0;


//uint16_t Lorarx_time_out_flag=0;


//uint8_t tx_buf[5]={0,1,0,1,1};


//uint32_t sleep_time_count=0;


//uint32_t uwb_ceju_count=0;




wg_state_enum wg_state = WG_Lost;


/********************************************************************************************************/


static void Lora_irq_handler(enum IO_PIN_T pin)


@@ -688,13 +758,14 @@


                  {


                     case UWB_OPEN_COUNT:


                                 UWB_LED_OFF;


                             LORA_LED_OFF;


                             LoraReportPoll();


                                 CloseUWB();   


                     break;


                     


                     case UWB_MEASUREMENT_INTERVAL:


                                 UWB_LED_ON;


                                 OpenUWB();	


                                 LoraReportPoll();


                              PCA9555_Set_One_Value_Output(BT_IRQ ,0);	


                                 OpenUWB();						


                      state_start_time = uwb_time_count;                     


                     break;                  


                  }


@@ -706,13 +777,14 @@


                  {


                     case UWB_OPEN_COUNT:


                                 UWB_LED_OFF;


                             LORA_LED_OFF;


                             LoraReportPoll();


                                 CloseUWB();   


                     break;


                     


                     case UWB_MEASUREMENT_INTERVAL_SLEEP:


                                 UWB_LED_ON;


                                 OpenUWB();	


                                 LoraReportPoll();


                              PCA9555_Set_One_Value_Output(BT_IRQ ,0);


                                 OpenUWB();											


                      state_start_time = uwb_time_count;                     


                     break;                  


                  }


@@ -729,7 +801,7 @@


{


    board_clock_run();


     boot_deinit();


    //  board_debug_console_open(TRACE_PORT_UART1);


    


    // Reset reason


    reset_cause_get();


    reset_cause_clear(); 


@@ -739,6 +811,7 @@


    wdt_close(WDT_ID0);


    gpio_open();


    Board_gpio_init();


  	


    //board_led_init();


    spi_init();


   


@@ -749,27 +822,48 @@


    Accelerometer_Init();




      PCA9555_init();


      adc_open(&usr_adc_cfg);


      Lora_1268_Init();


    SwitchLoraSettings(478,7,22);


      Program_Init();


     power_init();


    sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);


      sleep_timer_start(__MS_TO_32K_CNT(1000));//测试


    


#ifdef DEBUG_BOXING


      io_pin_mux_set(BOXING_PIN,IO_FUNC0);


      gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);


      io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);


#endif


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


//#ifdef DEBUG_BOXING


//      io_pin_mux_set(BOXING_PIN,IO_FUNC0);


//      gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);


//      io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);


//#endif


    Uwbinit();


//      OpenUWB();


//      boot_deinit();


    while (1)


    { 


         BT_LED_OFF;


//       Lora_Tx_Poll();


//         uwb_app_poll();


         check_step_and_update_state();


         upload_apppoll();


			


      IdleTask();


         IMUTask();


//         if(1) 


//       {


////               test1=gpio_pin_get_val(_4G_USART_RX_Pin);


//            uint32_t lock;


//            //flag_4guart_needinit = 1;


////            Internet_Poll();


////            HIDO_ATLitePoll();


////            HIDO_TimerPoll();


////            TCPClient_Poll();


//            


//           // delay_us(300000);


//            trace_flush();


//            lock = int_lock();            


//            power_enter_power_down_mode(0);


//                  uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);


////               test3=gpio_pin_get_val(_4G_USART_RX_Pin);


//               //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");


//            int_unlock(lock);


//       }


    }


}