加入shell模式跟ntrip。目前没有调试好，等外包改一下

WXK

2025-03-12 d5d1ca2ebf9087415d3d11907cd79ba58162760e

 keil/include/main/main.c

@@ -1,43 +1,3 @@
/*
 * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
 * its subsidiaries and affiliates (collectly called MKSEMI).
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into an MKSEMI
 *    integrated circuit in a product or a software update for such product,
 *    must reproduce the above copyright notice, this list of conditions and
 *    the following disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. Neither the name of MKSEMI nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    MKSEMI integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be
 *    reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
@@ -63,6 +23,13 @@
#include "TCPClient.h"
#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);
@@ -84,7 +51,7 @@
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
uint32_t dev_id;
uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -135,7 +102,7 @@
    .flow = UART_FLOW_CONTROL_NONE,
    .rx_level = UART_RXFIFO_CHAR_1,
    .tx_level = UART_TXFIFO_EMPTY,
    .baud = BAUD_9600,
    .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
    .dma_en = false,
    .int_rx = false,
@@ -203,7 +170,6 @@
               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
  //  LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
@@ -275,35 +241,6 @@
{      
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void Air780eTask(void)
{
//         if(!power_low_flag)//确认是否休眠下才开启功能
//         {
        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();
////            }//yuan
         if(flag_4G_recdata==1)
            {
                flag_4G_recdata = 2;
               
                //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
                Socket_RecvAll();
            }
            Internet_Poll();
            HIDO_ATLitePoll();
            HIDO_TimerPoll();
            TCPClient_Poll();

        }
//      }

}
void SecondTask(void)
{static uint8_t second_count;
@@ -415,17 +352,29 @@
    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;
    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[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");


    if(g_com_map[BIND_DEV_ID]==0)
    {
@@ -442,21 +391,35 @@
      }
    g_com_map[MODBUS_MODE] = 0;
      log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
    ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
    ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
    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)|1;
    g_com_map[VERSION] = (1<<8)|3;
        
        
    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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
    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)
    {
    LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
    }
    else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
        LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
        LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
    }
    else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
    { 
        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
    }
}
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;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -497,11 +460,21 @@
                }else{
                    powerled = RED;
                }
                UART_CheckReceive();
                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();
                }
                UART_CheckReceive();
                if(flag_secondtask)
                {
                    flag_secondtask = 0;
@@ -528,24 +501,18 @@
                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
                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
            }
//            input5vflag=0;
        }
      UART_CheckReceive();
        if(g_com_map[CNT_RESTART]==1)
        {
            g_com_map[CNT_RESTART]=0;
//            printf("%s URTRestart",__debug_info__);
//            URTRestart(); 
            NVIC_SystemReset();
            
        }
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
        {
//            printf("%s URTRestart",__debug_info__);
//            URTRestart();
//              //  SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
            NVIC_SystemReset();
        }
        HIDO_TimerPoll();
@@ -577,18 +544,16 @@
int tt2;
int test1,test3;
uint32_t test4;

extern uint8_t receive_flag;
int main(void)
{
    board_clock_run();
    boot_deinit();
    board_pins_config();
      board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
   board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
    // Reset reason
    reset_cause_get();
    reset_cause_clear();
//注意串口一波特率改为9600了为了能和GPS通信上
    // Load calibration parameters from NVM
    uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
    uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
    if (internal_flash || external_flash == 1)
@@ -601,31 +566,36 @@
    {
        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");

    // open system timer
    //sys_timer_open();
      // TODO 4G
    Uart_Register(UART_ID_4G, UART_ID0);
//    Uart_Register(UART_ID_DBG, UART_ID1);
    Program_Init();
    Internet_Init();
    TCPClient_Init();
    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
       NTRIPClient_Init();
       NTRIPApp_Init();
    }
    gpio_open();
    LED_output_init();//配置彩色灯引脚
    IIC2_Init();
    Accelerometer_Init();
    PCA9555_init();
 
		
      //AIR780E_Reset(); 
	
    adc_open(&usr_adc_cfg);
		
    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
    PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    pca_input_detection_init(pca_handler);//pca检测输入
    Uwb_init();
    OpenUWB();    
    DBG_Init();
//    Shell_Init();

    if(!read_5v_input_pca())
    {
     Set4LEDColor(BLUE,GREEN,WHITE,RED);
@@ -634,28 +604,11 @@
     delay_ms(500);      
     Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);       
    }
//    io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
//    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
//    io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
         Program_Init();
    //uart_open(UART_ID1, &test_uart_cfg);
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    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_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
    sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
      PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
       adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
    //board_acceleration_detection_init(move_handler);
      pca_input_detection_init(pca_handler);//pca检测输入
      //board_4GUsart_detection_init(_4gUsart_handler);
      Uwb_init();
      OpenUWB();
//                        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
    while (1)
    { 
      uwb_app_poll();
@@ -672,48 +625,5 @@
      IMUTask();
      UserKeyTask();
        IdleTask();
#ifndef DEBUG_MODE
////if(flag_sleeptimer)
////        if(!gps_need_data_flag&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())) //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);
////        }//yuan

//            if(delaysleep_count==0)
//        if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag)) 
//        {
////               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_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_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);
//        }

#endif
    }
}