ChinaUWBProject.git

			@@ -61,8 +61,17 @@
			#include "HIDO_ATLite.h"
			#include "HIDO_Timer.h"
			#include "TCPClient.h"

			//#define DEBUG_MODE
			#include "mk_spi.h"
			//#include "pan_port.h"
			#include "mk_timer.h"
			//#include "pan_param.h"
			//#include "pan_rf.h"
			#include "lora_1268.h"
			//#include "pan_rf.h"
			#include "PCA9555.h"
			#include "mk_phy.h"
			#include "HIDO_Timer.h"
			#define DEBUG_MODE
			extern int simple_main(void);
			extern int temp_main(void);
			#define TEST_UART_POLL_MODE 0
			@@ -76,12 +85,22 @@
			#define WARING_LIMIT_TIME 10
			#define UPDATE_TIME 10

			/**************************************************************引脚宏定义************************************************/
			#define ADC_PIN IO_PIN_0
			#define UART0_TX IO_PIN_5
			#define UART0_RX IO_PIN_6
			#define UART1_TX IO_PIN_1
			#define UART1_RX IO_PIN_14


			/**************************************************************引脚宏定义************************************************/
			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;
			@@ -89,6 +108,7 @@
			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;
			@@ -97,6 +117,7 @@
			static uint32_t sample[NUM_SAMPLES] = {0};
			uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
			uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
			int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
			typedef enum
			{ UN_BIND=0,
			LINK_SUCCESS,
			@@ -146,6 +167,7 @@
			{
			uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			}

			static void adc_callback(void *data, uint32_t number)
			{
			uint32_t result = (uint32_t )data;
			@@ -170,6 +192,11 @@
			}
			// 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();
			@@ -177,8 +204,8 @@
			//board_debug_console_open(TRACE_PORT_UART0);
			//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
			//}
			extern gps_uwb_flag;
			uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
			extern uint8_t gps_uwb_flag;
			uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
			uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
			int need_open_gps_count;
			void MotorPoll(void)
			@@ -190,6 +217,11 @@
			} else { //绑定状态下
			if(anchordata_num==1) {
			if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
			if(flag_alam_state)
			{
			flag_alam_state = 0;
			_4GAlarmUpload(2);
			}
			need_open_gps_count=0;
			moter_open_uwb_flag=0;//关闭震动
			gps_uwb_flag=0;//关闭GPS
			@@ -197,6 +229,11 @@
			need_open_gps_count++;
			moter_open_uwb_flag=1;//开启震动
			if(need_open_gps_count>=20) {
			if(!flag_alam_state)
			{
			flag_alam_state = 1;
			_4GAlarmUpload(1);
			}
			gps_uwb_flag=1;//开启gps测距流程
			need_open_gps_count=0;
			}
			@@ -204,12 +241,22 @@
			need_open_gps_count++;
			moter_open_uwb_flag=1;//开启震动
			if(need_open_gps_count>=20) {
			if(!flag_alam_state)
			{
			flag_alam_state = 1;
			_4GAlarmUpload(1);
			}
			gps_uwb_flag=1;//开启gps测距流程
			need_open_gps_count=0;
			}
			}
			} else if(anchordata_num==0) {

			if(!flag_alam_state)
			{
			flag_alam_state = 1;
			_4GAlarmUpload(1);
			}
			distance = -1;
			gps_uwb_flag=1;//开启gps测距流程
			moter_open_uwb_flag=1;//开启震动
			need_open_gps_count=0;
			@@ -229,7 +276,8 @@
			}
			//UWB更新列表
			TagListUpdate();
			GPS_Poll();
			//GPS_Poll();
			gps_power_state=1;//测试gps长开
			//UWB状态检测

			if(IfTCPConnected())
			@@ -253,45 +301,71 @@
			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();
			if(g_com_map[MOTOR_ENABLE])
			MotorPoll();
			if(secondtask_count++%2==0)
			{
			flag_secondtask = 1;
			}else{
			flag_secondtask = 0;
			}
			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++;
			// lora_qiehuan++;
			// IO_control_init();
			// UWBPoll();
			//
			//
			// MotorPoll();

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

			// flag_sleeptimer = 1;

			//马达震动逻辑
			if(motor_open_air_flag\|\|moter_open_uwb_flag)
			if(g_com_map[MOTOR_ENABLE])
			{
			if (motor_count++%2==0)
			{
			motor_power_state = 1;
			}else{
			motor_power_state = 0;
			}
			} else {
			if(motor_open_air_flag\|\|moter_open_uwb_flag)
			{
			if (motor_count++%2==0)
			{
			motor_power_state = 1;
			}else{
			motor_power_state = 0;
			}
			} else {
			motor_power_state=1;
			}
			}else{
			motor_power_state=1;
			}


			//GPS工作逻辑

			}

			void phy_timer_callback(uint32_t time)
			{
			lora_tx_flag++;
			}

			void uart0_receive_callback()
			{
			uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
			}


			static void voltage_input_handler(enum IO_PIN_T pin)
			{

			}
			static void move_handler(enum IO_PIN_T pin)
			{
			nomove_count=0;
			}

			uint8_t flag_4G_recdata;
			static void _4gUsart_handler(enum IO_PIN_T pin)
			{
			@@ -300,10 +374,13 @@
			// AIR780EUartInit();
			}
			extern uint16_t ip0,ip1,ip2,ip3,port;
			extern uint8_t gps_4g_flag;
			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
			g_com_map[DEV_ID]=0x1234;
			// 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
			@@ -316,7 +393,7 @@
			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


			if(g_com_map[BIND_DEV_ID]==0)
			{
			UWB_work_state = UN_BIND;
			@@ -331,44 +408,19 @@
			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)\|2;
			LOG_INFO("设备ID: %x .\r\n",dev_id);
			LOG_INFO("固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
			LOG_INFO("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
			g_com_map[VERSION] = (1<<8)\|11;
			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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
			}



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

			if(state5v==0)
			{
			state5v=1;
			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)
			{
			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();
			// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
			//UartDeinit();
			}
			}
			UART_CheckReceive();
			{
			UART0_CheckReceive();
			}

			int bind_check(void)
			{
			if(g_com_map[BIND_DEV_ID]!=0x00)
			@@ -402,126 +454,193 @@
			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
			#define TEST_SPI_DMA_MODE 2
			#define TEST_SPI_MODE TEST_SPI_POLL_MODE

			void Board_gpio_init()
			{
			//SPI0/MOSI/MISO/CLK/CS
			io_pin_mux_set(LORA_CS, IO_FUNC0);
			gpio_pin_set_dir(LORA_CS , GPIO_DIR_OUT, 0);
			io_pull_set(LORA_CS, IO_HIGH_Z, IO_PULL_UP_NONE);

			io_pin_mux_set(LORA_MOSI, IO_FUNC2);
			io_pin_mux_set(LORA_MISO, IO_FUNC2);
			io_pin_mux_set(LORA_CLK, IO_FUNC2);
			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);

			//串口0
			io_pin_mux_set(UART0_RX, IO_FUNC4);
			io_pin_mux_set(UART0_TX, IO_FUNC4);

			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

			//串口1
			io_pin_mux_set(UART1_RX, IO_FUNC4);
			io_pin_mux_set(UART1_TX, IO_FUNC4);
			}
			void spi_init()
			{
			struct SPI_CFG_T usr_spi_cfg =
			{
			.bit_rate = 1000000,
			.data_bits = 8,
			//#if TEST_SPI_MASTER
			.slave = 0,
			//#else
			// .slave = 1,
			//#endif
			.clk_phase = 0,
			.clk_polarity = 0,
			.ti_mode = 0,
			//#if (TEST_SPI_MODE == TEST_SPI_POLL_MODE)
			.dma_rx = false,
			.dma_tx = false,
			.int_rx = false,
			.int_tx = false,
			//#elif (TEST_SPI_MODE == TEST_SPI_INTERUPT_MODE)
			// .dma_rx = false,
			// .dma_tx = false,
			// .int_rx = true,
			// .int_tx = true,
			//#elif (TEST_SPI_MODE == TEST_SPI_DMA_MODE)
			// .dma_rx = true,
			// .dma_tx = true,
			// .int_rx = false,
			// .int_tx = false,
			//#endif
			};

			spi_open(SPI_ID0, &usr_spi_cfg);
			}
			uint8_t ceshi;
			uint32_t error_cnt=0;
			uint32_t successful_cnt=0;
			uint8_t flag_4guart_needinit=0;
			#define TX_LEN 10
			#define RX_LEN 200

			extern uint8_t RX_Buffer[RX_LEN];
			extern uint16_t BufferSize;
			static uint16_t source_id;
			extern struct RxDoneMsg RxDoneParams;


			extern uint16_t current_count;
			extern uint8_t rec_index,rec_secdelay;
			extern uint8_t yuyin_no_sleep_flag,no_rx_flag;


			/********************************************************************************************************/
			/********************************************************************************************************/
			/********************************************************************************************************/
			//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)
			{
			RadioIrqProcess();
			}






			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
			gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
			io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
			gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
			}
			extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
			static void pca_handler(enum IO_PIN_T pin)
			{
			PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
			check_input_change();
			}
			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();
			boot_deinit();
			board_pins_config();
			board_debug_console_open(TRACE_PORT_UART1);
			// boot_deinit();
			// board_debug_console_open(TRACE_PORT_UART1);
			// Reset reason
			reset_cause_get();
			reset_cause_clear();

			// 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)
			{
			WsfNvmInit();
			board_calibration_params_load();
			flash_close(FLASH_ID0);
			}
			else
			{
			board_calibration_params_default();
			}

			reset_cause_clear();
			// 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);
			Internet_Init();
			TCPClient_Init();

			gpio_open();
			Board_gpio_init();
			//board_led_init();

			adc_open(&usr_adc_cfg);
			IIC2_Init();
			spi_init();
			Board_LORA_NVIC_Init(Lora_irq_handler);
			IIC2_Init();
			Accelerometer_Init();
			IO_control_init();
			io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
			gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
			io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
			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
			// uart_open(UART_ID1, &test_uart_cfg);
			Program_Init();
			// 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();
			PCA9555_init();
			Lora_1268_Init();
			SwitchLoraSettings(478,7,22);
			Program_Init();

			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
			// board_5V_input_init(voltage_input_handler);
			board_acceleration_detection_init(move_handler);
			// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
			AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
			sleep_timer_start(__MS_TO_32K_CNT(1000));//测试


			Uwbinit();
			while (1)
			{
			if(flag_TCP_reconnectting\|\|IfTCPConnected())
			{

			// LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
			air780_led_on();
			if(flag_4guart_needinit)
			{
			flag_4guart_needinit = 0;
			AIR780EUartInit();
			}
			Internet_Poll();
			HIDO_ATLitePoll();
			HIDO_TimerPoll();
			TCPClient_Poll();
			air780_led_off();
			}
			if(flag_secondtask)
			{
			flag_secondtask = 0;
			SecondTask();
			}
			IdleTask();
			//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;
			//}
			#ifndef DEBUG_MODE
			//if(flag_sleeptimer)
			// if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))\|\|!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //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);
			}
			#endif
			{
			Lora_Tx_Poll();
			IdleTask();
			}
			}