ChinaUWBProject.git

			@@ -52,26 +52,44 @@
			#include "Usart.h"
			#include "mk_adc.h"
			#include "mk_sleep_timer.h"
			#include "lis3dh_driver.h"
			#include "sn74hc595.h"
			#include "mk_4G.h"
			extern int simple_main(void);
			uint8_t trx_buf[10] = {0};
			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

			#define NUM_SAMPLES 1
			#define BIND_TRIGGER_TIME 60000
			extern uint8_t mUsartReceivePack[100];
			extern uint8_t mUsart2ReceivePack[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;
			int16_t fVoltage_mv;
			uint16_t warning_distance,prewarning_distance;
			int16_t fVoltage_mv,first_search_flag;
			uint8_t bat_percent,g_start_send_flag=1;
			uint8_t state5v = 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;

			typedef enum
			{ UN_BIND=0,
			LINK_SUCCESS,
			SEARCH_DEV,
			}Operation_step;
			Operation_step Operation_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 */
			@@ -112,33 +130,6 @@
			{
			uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			}
			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);
			}
			static void sleep_timer_callback(void *dev, uint32_t time)
			{
			g_start_send_flag=1;
			//LOG_INFO(TRACE_MODULE_APP, "Sleep timer interrupt callback\r\n");
			}
			static void voltage_input_handler(enum IO_PIN_T pin)
			{

			}
			void Program_Init(void)
			{
			Usart1ParseDataCallback = UsartParseDataHandler;
			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[STATIONARY_TIME];
			}

			static void adc_callback(void *data, uint32_t number)
			{
			uint32_t result = (uint32_t )data;
			@@ -163,31 +154,123 @@
			}
			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);
			//}
			static void sleep_timer_callback(void *dev, uint32_t time)
			{

			nomove_count++;
			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;
			updata_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;
			}
			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[STATIONARY_TIME];
			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
			}



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

			UART_CheckReceive();
			//UART_CheckSend();
			{

			if(state5v==0)
			{
			state5v=1;
			UartInit();
			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=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;
			}
			}


			int main(void)
			{
			board_clock_run();
			board_pins_config();

			board_debug_console_open(TRACE_PORT_UART0);
			// Reset reason
			reset_cause_get();
			@@ -218,29 +301,81 @@
			//sys_timer_open();

			gpio_open();
			board_led_init();
			adc_open(&usr_adc_cfg);
			//adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			//board_led_init();

			//flash_open(FLASH_ID0, NULL);
			uart_open(UART_ID1, &test_uart_cfg);
			Program_Init();
			// adc_open(&usr_adc_cfg);
			// IIC2_Init();
			// Accelerometer_Init(); //加速度计初始化必须在IO_control_init之前因为复用SDA引脚
			IO_control_init();
			//adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
			uart_open(UART_ID1, &test_uart_cfg);
			gps_air780_power_change(1,1);//开启gps，4G
			Program_Init();
			uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			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
			// Initialize low power mode
			power_init();
			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);
			while (1)
			{
			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();
			UART_CheckReceive();
			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;
			//}
			#ifdef DEBUG_MODE
			if(!gpio_pin_get_val(INPUT_5V_Pin)){
			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(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));
			//LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
			power_enter_power_down_mode(0);
			int_unlock(lock);
			}