时间同步BUG修复

zhangbo

2025-03-20 de542f653793306c903085bc3a1b590ce29caec8

 keil/include/main/main.c

@@ -62,14 +62,15 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "mk_spi.h"
#include "pan_port.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 "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);
@@ -274,7 +275,7 @@
        MinuteTask();
    }
    //UWB更新列表
    TagListUpdate();
//    TagListUpdate();
    //GPS_Poll();
      gps_power_state=1;//测试gps长开
    //UWB状态检测
@@ -297,14 +298,19 @@

    }
    HIDO_TimerTick();
    nomove_count++;

}
uint8_t  stationary_flag;
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)
{

	
    g_start_send_flag=1;
//     HIDO_TimerGetTick();
     HIDO_TimerTick();
   //      #ifdef DEBUG_BOXING
////      gpio_pin_clr(IO_PIN_5);//测试
   //   gpio_pin_set(IO_PIN_5);//测试
@@ -346,52 +352,29 @@
    }
 
    //GPS工作逻辑

      if(nomove_count++>g_com_map[STATIONARY_TIME])
    {
     stationary_flag = 1;
    } else 
      {
     stationary_flag = 0;
    }
//    nomove_count++;
      #ifdef DEBUG_BOXING
//      gpio_pin_clr(BOXING_PIN);//测试
      gpio_pin_set(BOXING_PIN);//测试
      #endif
      delay_us(1000);
}

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

 
//void uart0_receive_callback()
//void phy_timer_callback(uint32_t time)
//{
//  uint8_t buff[buff_lenth]={0};
//   uint8_t lenth=0;
// 
//   uart_receive(UART_ID0,Forward_BT_buff,buff_lenth,uart0_receive_callback);
//   memcpy(buff,Forward_BT_buff,1024);
//   for(int n=0;n<1024;n++)
//   {
//      if(buff[n]==0x55)
//      {
//         if(buff[n+1]==0xAA)
//         {
//            if(buff[n+2]==0x41)
//            {
//               lenth=buff[n+4];
//               memcpy(DMA_RXBuf_BT,&buff[n+4],lenth);				
//            }
//         }
//		
//      }
//   }
//   memset(buff, 0, buff_lenth);
//   memset(DMA_RXBuf_BT, 0, buff_lenth);
//   if(buff[0]==0x55||buff[1]==0xAA||buff[2]==0x41)
//   {
//     uint8_t lenth=0;
//      lenth=((buff[4]*2)+(buff[4]*2)+1);
//      memcpy(DMA_RXBuf_BT,&buff[4],lenth);
//   }
// lora_tx_flag++;
//}

//uint8_t base_station_count = 0;
//uint8_t last_ids[MAX_BASE_STATIONS] = {0};
void uart0_receive_callback()
{
      uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
   uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
    

@@ -414,9 +397,11 @@
    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[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);
//    g_com_map[ALARM_DISTANCE1] = 40;
@@ -444,7 +429,7 @@
    port = g_com_map[TCP_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:UWB-4G手环 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);
}

@@ -454,6 +439,7 @@
{   
 UART0_CheckReceive();
}

int bind_check(void)
{
    if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -503,14 +489,10 @@
#define TEST_SPI_INTERUPT_MODE 1
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
//#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

void Board_gpio_init()
{
    // SPI0 MOSI/MISO/CLK/CS 
    //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);
@@ -524,19 +506,17 @@
//     //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,Forward_BT_buff,buff_lenth,uart0_receive_callback);
     uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
//     uart_receive(UART_ID0,&uart0_buffer,1024,uart0_receive_callback);
//     uart_receive(UART_ID0,DMA_RXBuf_BT,buff_lenth,uart0_receive_callback);
	

     //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);
}
void spi_init()
{
@@ -578,7 +558,7 @@
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;
@@ -593,235 +573,44 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
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;
//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;
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;

//ceshi
//uint8_t no_rx_flag=0;
//xtal_38m4_off_time(sleep_time_count);
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
{
	    
         uint16_t checksum1;	
         rf_irq_process();
//       gpio_pin_set(IO_PIN_5);//测试
         no_rx_flag=0;
       tx_flag=rf_get_transmit_flag();
       recv_flag=rf_get_recv_flag();
         if(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[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
    {
		            
                  uwb_open();

                     UwbRange();
				      
                  uwb_ceju_count++;
      }
//       if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
//       {
//              gpio_pin_set(IO_PIN_5);//测试
////                     time_flag_lorarx=phy_timer_count_get();
//                  uwb_open();
//                  gpio_pin_clr(IO_PIN_5);
//                     UwbRange();
//				      
//                  uwb_ceju_count++;
//                   //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:

//                        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;
//                        }
//                    
//                        sleep_time_count = rec_delaytime*3.2768 - delaytime-datalen_offset;
//                        while(sleep_time_count>=32768)
//                            sleep_time_count-=32768;
//                                    sleep_timer_start(sleep_time_count);

                        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(!no_rx_flag)
    {
        if(lora_jianting_flag)
        {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
        }
    }
				
      }
         if(tx_flag == RADIO_FLAG_TXDONE)
        {
             //rf_set_mode(RF_MODE_STB3);
             rf_set_transmit_flag(RADIO_FLAG_IDLE);
             Loratx_flag++;
              rf_enter_single_timeout_rx(100);
        }
        if((recv_flag == RADIO_FLAG_RXTIMEOUT))
        {
               //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_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
                  rf_set_sf(UWB_CHANNEL_SF);
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
               //  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);
               if(lora_jianting_flag)
               {
                  uint32_t para;
//            SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
            rf_set_mode(RF_MODE_STB3);
                  para=(UWB_CHANNEL_FRQ+group_id)*1000000;
                  rf_set_freq(para);	
                  rf_set_sf(UWB_CHANNEL_SF);
            rf_enter_continous_rx();
                }
            }
				
   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);
    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)
@@ -844,113 +633,41 @@
    reset_cause_clear(); 
    // Chip calibration
    calib_chip();

    // Disable watchdog timer
    wdt_close(WDT_ID0);

    gpio_open();

    Board_gpio_init();
    //board_led_init();
    spi_init();
//      gpio_pin_clr(LORA_CS);
//      gpio_pin_clr(LORA_MOSI);
//      gpio_pin_clr(LORA_MISO);
//      gpio_pin_clr(LORA_CLK);
//      gpio_pin_set(LORA_CLK);
//      gpio_pin_set(LORA_DIO);
	

    Board_LORA_NVIC_Init(Lora_irq_handler);
      Lora_init();
      rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
     pca_input_detection_init(pca_handler);
      IIC2_Init();
    Accelerometer_Init();
      //LIS3DH_Data_Init();
      PCA9555_init();
      Lora_1268_Init();
    SwitchLoraSettings(478,7,22);
      Program_Init();

//    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
         Program_Init();
//#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_single_tx_data(TXBuffer,10,2);
//    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_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(1000));//测试
//      sleep_time_count=xtal_38m4_off_time();    


		


    
#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();
    while (1)
    { 
//      RED_LED_OFF;
//      BT_LED_OFF;
//      //   gpio_pin_clr(IO_PIN_5);
			
         #ifdef DEBUG_BOXING
      gpio_pin_clr(BOXING_PIN);//测试
//      gpio_pin_set(BOXING_PIN);//测试
      #endif	
       Lora_Tx_Poll();
         uwb_app_poll();
      IdleTask();
       // UwbRange();
   
//        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();
//        }

//        //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())) //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
    }
}