测试阶段：可以跟多个UWB基站测距，以及蓝牙协议转发，现在上传协议是强制写进去的，然后还有那个基站，标签时间同步没有调试正常，

zhangbo

2025-02-24 e54166d028ed6c32324d24fc28c54c8194906c60

 keil/include/main/main.c

@@ -353,18 +353,48 @@
{
 lora_tx_flag++;
}
uint8_t DMA_RXBuf_BT[200]={0};

 
//void uart0_receive_callback()
//{
//  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);
//   }
//}

//uint8_t base_station_count = 0;
//uint8_t last_ids[MAX_BASE_STATIONS] = {0};
void uart0_receive_callback()
{
   uint8_t buff[200]={0};
   memcpy(buff,m_EUART_DMA_RXBuf,100);
   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);
   }
      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)
{

@@ -421,34 +451,8 @@


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();//测试
         //   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();//测试
          //  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)
{
@@ -516,27 +520,23 @@
    io_pin_mux_set(LORA_CLK, IO_FUNC2);
     io_pin_mux_set(LORA_DIO, IO_FUNC0);
   
//    io_pin_mux_set(LORA_DIO, IO_FUNC0);
//    gpio_pin_set_dir(LORA_DIO , GPIO_DIR_OUT, 0);
//    io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);	
	
	
//    io_pin_mux_set(LORA_CS2, IO_FUNC0);
//    gpio_pin_set_dir(LORA_CS2 , GPIO_DIR_OUT, 0);
//    io_pull_set(LORA_CS2, IO_HIGH_Z, IO_PULL_UP_NONE);
   
//     //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);
    //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);
}
void spi_init()
{
@@ -642,9 +642,8 @@
         if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
    {
                  
//                     time_flag_lorarx=phy_timer_count_get();
                  uwb_open();
                  //gpio_pin_clr(IO_PIN_5);//测试

                     UwbRange();
                  
                  uwb_ceju_count++;
@@ -682,31 +681,26 @@
                              switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
                              {
                                    case WGRSP_RWTAG_NONE:
//                        current_count = HAL_LPTIM_ReadCounter(&hlptim1);
                                     // sleep_time_count=xtal_38m4_off_time();
                        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);
                                  //sleep_timer_start(sleep_time_count);sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
//                                    #define __MS_TO_32K_CNT(ms) ((uint32_t)((float)(ms)*32768.0f / 1000.0f))
                       // __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);

//                        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;
@@ -826,7 +820,7 @@
{
//        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_LEVEL4);
      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
@@ -843,8 +837,8 @@
int main(void)
{
    board_clock_run();
      //    boot_deinit();
    board_debug_console_open(TRACE_PORT_UART1);
      //  boot_deinit();
    //  board_debug_console_open(TRACE_PORT_UART1);
    // Reset reason
    reset_cause_get();
    reset_cause_clear(); 
@@ -869,10 +863,10 @@
    Board_LORA_NVIC_Init(Lora_irq_handler);
      Lora_init();
      rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
//      IIC2_Init();
//    Accelerometer_Init();
      IIC2_Init();
    Accelerometer_Init();
      //LIS3DH_Data_Init();
//      PCA9555_init();
      PCA9555_init();

//    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
         Program_Init();
@@ -883,7 +877,7 @@
//#endif          

      // rf_single_tx_data(TXBuffer,10,2);
//    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
//    
//// Initialize low power mode
//    power_init();
@@ -894,12 +888,7 @@


      
//     pca_input_detection_init(pca_handler);
//#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


    Uwbinit();
    while (1)
@@ -907,8 +896,9 @@
//      RED_LED_OFF;
//      BT_LED_OFF;
//      //   gpio_pin_clr(IO_PIN_5);
			
       Lora_Tx_Poll();
  
      IdleTask();
       // UwbRange();
   
//        if(flag_TCP_reconnectting||IfTCPConnected())
@@ -932,7 +922,7 @@
//            flag_secondtask = 0;
//            SecondTask();
//        }
//        IdleTask();

//        //3种情况后都要发包和休眠
//        //if(send_flag){
//        //message_construct();