ChinaUWBProject.git

			@@ -63,9 +63,12 @@
			#include "TCPClient.h"
			#include "mk_spi.h"
			#include "pan_port.h"
			#include "mk_timer.h"
			//#include "pan_param.h"
			//#include "pan_rf.h"
			#include "lora_3029.h"
			#include "pan_rf.h"
			#include "PCA9555.h"
			#define DEBUG_MODE
			extern int simple_main(void);
			extern int temp_main(void);
			@@ -80,12 +83,13 @@
			#define WARING_LIMIT_TIME 10
			#define UPDATE_TIME 10


			void test_Delay_us(uint16_t time);
			void Lora_UploadHeartBeartPoll(void);
			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;
			extern uint8_t anchordata_num; //bat_percent
			uint32_t dev_id;
			uint8_t group_id;
			uint16_t tag_frequency;
			@@ -93,6 +97,7 @@
			uint16_t warning_distance,prewarning_distance;
			int16_t fVoltage_mv,first_search_flag;
			uint8_t bat_percent,g_start_send_flag=1;
			uint8_t LORA_REV_uwb_up =0;
			uint8_t link_success_flag,motor_count;
			uint16_t gps_wait_count;
			uint8_t state5v = 1;
			@@ -175,6 +180,11 @@
			}
			// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
			}
			//static void timer_callback(void *dev, uint32_t time)
			//{
			// enum TIMER_DEV_T id = (enum TIMER_DEV_T )dev;
			// LOG_INFO(TRACE_MODULE_APP, "Timer %d elapsed time %d\r\n", id, time);
			//}
			//void UartInit(void)
			//{
			//board_pins_config();
			@@ -279,22 +289,30 @@
			nomove_count++;
			}
			uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
			uint8_t lora_wg_up=0;
			extern uint8_t lora_tx_flag;
			static void sleep_timer_callback(void *dev, uint32_t time)
			{
			IO_control_init();
			UWBPoll();


			MotorPoll();
			g_start_send_flag=1;
			// #ifdef DEBUG_BOXING
			//// gpio_pin_clr(IO_PIN_5);//测试
			// gpio_pin_set(IO_PIN_5);//测试
			// lora_wg_up=1;
			lora_tx_flag++;
			// IO_control_init();
			// UWBPoll();
			//
			//
			// MotorPoll();

			if(secondtask_count++%2==0)
			{
			flag_secondtask = 1;
			}else{
			flag_secondtask = 0;
			}
			// if(secondtask_count++%2==0)
			// {
			// flag_secondtask = 1;
			// }else{
			// flag_secondtask = 0;
			// }

			flag_sleeptimer = 1;
			// flag_sleeptimer = 1;

			//马达震动逻辑
			if(g_com_map[MOTOR_ENABLE])
			@@ -338,6 +356,8 @@
			{
			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
			g_com_map[DEV_ID]=0x6789;
			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
			tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
			@@ -436,6 +456,17 @@
			uart_close(UART_ID1);//解绑原来串口1
			uart_close(UART_ID0);//解绑原来串口0
			}
			void test_Delay_us(uint16_t time)
			{
			for(int i=time;i>0;i--)
			{
			for(int j=1;j>0;j--)
			{
			__NOP();
			}
			}

			}
			#define TEST_SPI_MASTER 0
			#define TEST_SPI_POLL_MODE 0
			#define TEST_SPI_INTERUPT_MODE 1
			@@ -492,47 +523,194 @@
			uint32_t successful_cnt=0;
			uint8_t flag_4guart_needinit=0;
			#define TX_LEN 10
			#define RX_LEN 200
			uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
			extern uint8_t RX_Buffer[RX_LEN];
			extern uint16_t BufferSize;
			static uint16_t source_id;
			extern struct RxDoneMsg RxDoneParams;
			uint32_t time_flag_lorarx=0;
			uint32_t lora_huanxing_count=0;
			uint16_t Lora_wangguanid=0;
			extern uint16_t wg_report_freq,wg_report_id;
			extern uint32_t wg_lost_count;
			wg_state_enum wg_state = WG_Lost;
			extern uint16_t current_count;
			extern uint8_t rec_index,rec_secdelay;
			extern uint8_t yuyin_no_sleep_flag,no_rx_flag;
			uint16_t wangguan_up_id;
			uint8_t LoraUp_flag;
			uint8_t imu_enable,motor_enable;
			extern uint8_t shengji_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;
			static void Lora_irq_handler(enum IO_PIN_T pin)
			{
			ceshi++;
			rf_irq_process();
			if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
			{
			uint16_t checksum1;
			rf_irq_process();
			//这里根据SDK的那个逻辑用你的接口看看
			tx_flag=rf_get_transmit_flag();
			recv_flag=rf_get_recv_flag();
			if(recv_flag == RADIO_FLAG_RXDONE)
			{
			rf_set_transmit_flag(RADIO_FLAG_IDLE);
			rf_enter_continous_rx();
			// rf_delay_ms(1000);
			// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
			// {
			//// DDL_Printf("tx fail \r\n");
			//// rf_enter_continous_rx();
			// }
			// else
			// {
			// error_cnt ++;
			//// DDL_Printf("Tx cnt %d\r\n", cnt );
			// }
			}
			if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
			rf_set_recv_flag(RADIO_FLAG_IDLE);

			memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
			BufferSize=RxDoneParams.Size;
			lora_huanxing_count++;
			if(RX_Buffer[0]==0x04&&RX_Buffer[1]=='I'&&RX_Buffer[2]=='N'&&RX_Buffer[3]=='G')
			{

			time_flag_lorarx=phy_timer_count_get();
			UwbRange();
			//rf_enter_continous_rx(); //重新进入接收模式
			//LORA_REV_uwb_up=1;
			}
			if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
			{
			checksum1=Checksum_u16(RX_Buffer,BufferSize-2);

			memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
			memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
			if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
			if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
			{
			memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
			if(wg_state==WG_Lost)
			{
			wg_state = WG_Connected;
			wg_report_id = source_id;
			}
			if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
			{
			wg_lost_count = 0;
			switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
			{
			case WGRSP_RWTAG_NONE:
			// current_count = HAL_LPTIM_ReadCounter(&hlptim1);
			// wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
			// memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
			// if(report_ancnum<2)
			// {
			// datalen_offset = report_ancnum*85;
			// }else{
			// datalen_offset = (report_ancnum-1)*46+85;
			// }
			// rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
			// if(BufferSize!=13\|\|rec_secdelay>20)
			// {
			// rec_secdelay = 0;
			// }
			//
			// target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
			// while(target_count>=32768)
			// target_count-=32768;
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
			// rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
			// printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
			break;
			case WGRSP_RWTAG_READ:
			no_rx_flag = 1;
			LoraSendComMap(WGRSP_RWTAG_READ);
			break;
			case WGRSP_RWTAG_WRITE:
			rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
			switch(rec_index)
			{
			case 0xdd: //语音下发
			break;
			// case 0x20: //蜂鸣
			// memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
			// motor_keeptime = rec_value;
			// break;
			default :
			memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
			g_com_map[rec_index/2] = rec_value;
			save_com_map_to_flash();
			LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
			//flag_writepara_needreset = 1;
			no_rx_flag = 1;
			}

			break;
			case WGRSP_RWTAG_UPDATE:
			rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
			switch(rec_index)
			{
			case 0xaa: //升级下发
			memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
			if(rec_wenjian_daxiao>0XAC00\|\|rec_wenjian_daxiao==0)
			{}//文件过大，超出范围
			else
			{
			memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
			shengji_flag=1;
			LoraUp_flag=1;
			imu_enable=0;
			}
			// LoraUp_Poll();
			break;
			}
			break;
			}
			}
			}

			}


			}
			if(tx_flag == RADIO_FLAG_TXDONE)
			{
			rf_set_recv_flag(RADIO_FLAG_IDLE);
			// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
			int i=0;
			// for(i = 0; i < RxDoneParams.Size; i++)
			// {
			// printf("0x%02x ", RxDoneParams.Payload[i]);
			// }
			// DDL_Printf("\r\n");
			error_cnt ++;
			// DDL_Printf("###Rx cnt %d##\r\n", cnt);
			//rf_set_mode(RF_MODE_STB3);
			rf_set_transmit_flag(RADIO_FLAG_IDLE);
			Loratx_flag++;

			// #ifdef DEBUG_BOXING
			// //gpio_pin_clr(IO_PIN_5);//测试
			// gpio_pin_set(IO_PIN_5);//测试
			// #endif
			rf_enter_single_timeout_rx(100);
			// rf_enter_single_rx();
			// rf_enter_continous_rx();

			}
			if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) \|\| (rf_get_recv_flag() == RADIO_FLAG_RXERR))
			if((recv_flag == RADIO_FLAG_RXTIMEOUT))
			{
			rf_set_recv_flag(RADIO_FLAG_IDLE);
			// DDL_Printf("Rxerr\r\n");
			// #ifdef DEBUG_BOXING
			// gpio_pin_clr(IO_PIN_5);//测试
			// // gpio_pin_set(IO_PIN_5);//测试
			// #endif

			//这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
			rf_set_mode(RF_MODE_STB3);
			//这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态

			Lorarx_time_out_flag++;
			rf_set_recv_flag(RADIO_FLAG_IDLE);

			// rf_clr_irq(REG_IRQ_RX_TIMEOUT);
			// rf_enter_single_timeout_rx(100);
			}
			if((recv_flag == RADIO_FLAG_RXERR))
			{
			rf_set_recv_flag(RADIO_FLAG_IDLE);
			}

			}



			void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
			{
			// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
			@@ -540,7 +718,12 @@
			io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
			gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
			}

			uint8_t io14_state;
			uint16_t lora_freq=0;
			uint16_t lora_up_count=0;
			uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
			uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
			int main(void)
			{
			board_clock_run();
			@@ -582,27 +765,46 @@

			gpio_open();

			// struct TIMER_CFG_T timer_cfg = {
			// .extin_type = TIMER_EXTIN_NONE,
			// .load = 0x1000000,
			// .int_en = true,
			// .callback = timer_callback,
			// };

			// timer_open(TIMER_ID0, &timer_cfg);
			spi_gpio_init();
			//board_led_init();

			spi_init();
			//PCA9555_init();
			Board_LORA_NVIC_Init(Lora_irq_handler);
			Lora_init();
			rf_set_default_para();
			//lora_freq=DEFAULT_up_FREQ+g_com_map[GROUP_ID];
			// rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
			rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
			//rf_enter_continous_rx();
			// rf_enter_continous_rx();
			// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
			// {
			//
			// }
			//rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
			// rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
			//
			//rf_enter_continous_tx();
			// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
			// {
			// error_cnt++;
			// }
			// else
			// {
			// successful_cnt ++;
			// }

			rf_enter_continous_tx();
			// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
			{
			error_cnt++;
			// printf("LORA Init Fail");
			}
			else
			{
			successful_cnt ++;
			// printf("LORA Init OK\r\n");
			}

			// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
			//
			// rf_set_transmit_flag(RADIO_FLAG_IDLE);
			@@ -617,22 +819,64 @@
			// gps_air780_power_change(0,1);//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
			// Program_Init();
			Program_Init();


			// rf_single_tx_data(TXBuffer,10,2);
			// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			//
			//
			//// Initialize low power mode
			// power_init();
			// AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
			// sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
			sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);

			// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试

			sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
			#ifdef DEBUG_BOXING
			io_pin_mux_set(IO_PIN_5,IO_FUNC0);
			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
			//rf_enter_single_timeout_rx(1000);
			// board_acceleration_detection_init(move_handler);



			//rf_enter_single_timeout_rx(900);
			//rf_enter_single_timeout_rx(500);
			//rf_enter_single_rx();
			Uwbinit();
			while (1)
			{
			{
			// rf_irq_process();

			//rf_enter_single_rx();

			Lora_Tx_Poll();
			// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
			// {
			//
			// }
			// #ifdef DEBUG_BOXING
			// gpio_pin_clr(IO_PIN_5);//测试
			// gpio_pin_set(IO_PIN_5);//测试

			// test_Delay_us(1000);
			// gpio_pin_set(IO_PIN_5);//测试
			// test_Delay_us(100000);
			// test_Delay_us(100000);
			// test_Delay_us(100000);
			// gpio_pin_clr(IO_PIN_5);//测试
			// test_Delay_us(2000);
			// gpio_pin_set(IO_PIN_5);//测试
			// test_Delay_us(1000);
			// gpio_pin_clr(IO_PIN_5);//测试
			// if(LORA_REV_uwb_up)
			// {
			// LORA_REV_uwb_up=0;
			// UwbRange();
			// }




			// UwbRange();
			// rf_irq_process();
			// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
			// {
			@@ -650,23 +894,25 @@
			// }


			//

			// io14_state=gpio_pin_get_val(LORA_DIO);
			rf_set_transmit_flag(RADIO_FLAG_IDLE);
			rf_delay_ms(1000);
			rf_enter_continous_tx();
			// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
			{
			// DDL_Printf("tx fail \r\n");
			// rf_enter_continous_rx();
			}
			else
			{
			successful_cnt ++;
			// DDL_Printf("Tx cnt %d\r\n", cnt );
			}
			////
			//
			//// io14_state=gpio_pin_get_val(LORA_DIO);
			// rf_set_transmit_flag(RADIO_FLAG_IDLE);
			// rf_delay_ms(1000);
			// rf_enter_continous_tx();
			//// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
			// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
			// {
			//// rf_enter_continous_rx();
			// }
			// else
			// {
			// successful_cnt ++;
			// }




			// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
			//
			// rf_set_transmit_flag(RADIO_FLAG_IDLE);