国产UWB芯片工程的仓库
blame | 历史 | 补丁 | 提交 | 提交对比 | 忽略空白
zhangbo
2025-04-16 e9fc03943f7a429c6c9d0e7123ba637f317805be 
 keil/include/main/main.c


@@ -39,6 +39,10 @@


#define WARING_LIMIT_TIME 10


#define UPDATE_TIME 10




//室内外阈值


#define XINGHAOQIANGDU_VALUE 100


#define WEIXINGSHULIANG_VALUE 5






extern uint8_t mUsartReceivePack[100];


extern uint8_t mUsart2ReceivePack[150];


@@ -96,7 +100,7 @@


    .flow = UART_FLOW_CONTROL_NONE,


    .rx_level = UART_RXFIFO_CHAR_1,


    .tx_level = UART_TXFIFO_EMPTY,


    .baud = BAUD_115200,


    .baud = BAUD_9600,


#if (TEST_UART_MODE == TEST_UART_POLL_MODE)


    .dma_en = false,


    .int_rx = false,


@@ -121,10 +125,12 @@


            trace_flush();


            lock = int_lock();


//                  LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");


//                  gps_air780_power_change(0,0);//关闭gps，4G 


             PCA9555_Set_One_Value_Output(MAIN_RI,1);


             PCA9555_Set_One_Value_Output(MAIN_RI,1);	


            PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G 


            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G 


                     sleep_timer_stop();	


             PCA9555_Set_One_Value_Output(LED_POWER,0);//关闭DENG 


            PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G         


                  sleep_timer_stop();	


                  //adc_close();


            power_enter_power_down_mode(1);


//                  LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");


@@ -177,7 +183,8 @@


void IMUTask(void)


{


   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)


   {//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);


   {


      power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);


      mcu_deep_sleep();


   }


}


@@ -275,14 +282,26 @@


uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;


uint8_t uwb_enable_flag=0;


uint8_t input5v_time;


uint8_t heart_upload_time=0;


extern uint8_t taglist_num;


extern uint8_t ceshidata[500];


//extern uint8_t ceshidata[500];


extern uint8_t ceshichangdu;


uint8_t gps_ntripsend;




extern uint8_t lounei_flag;


extern uint16_t g_spsum_GSV,g_snum_GSV;


extern uint16_t g_spsum_GSV_sum;


extern uint16_t g_snum_GSV_sum;


extern uint8_t ceju_leave_flag;


extern uint8_t fixed_solution_count_minute;


uint8_t open_gps_time=0;


uint16_t uwb_time_count=0;


static void sleep_timer_callback(void *dev, uint32_t time)


{


if(secondtask_count++%2==0)


    {   


    {  


        open_gps_time++;	


        uwb_time_count++;			


        input5v_time=1;


        flag_secondtask = 1;


        if(!read_5v_input_pca())


@@ -303,14 +322,77 @@


        {


        CloseUWB();


        Uwb_init();


        OpenUWB();


//        OpenUWB();


        }


    }else{


        flag_secondtask = 0;


//            in_the_room_flag=1;	


      if(30<open_gps_time&&open_gps_time<=90)


         {


         Receive_g_spsum_Data(g_spsum_GSV);


         Receive_g_snum_Data(g_snum_GSV);			


         if((g_spsum_GSV_sum<XINGHAOQIANGDU_VALUE||g_snum_GSV_sum<WEIXINGSHULIANG_VALUE)&&(fixed_solution_count_minute<30))


         {


         lounei_flag=1;


         }


         if((XINGHAOQIANGDU_VALUE<g_spsum_GSV_sum&&WEIXINGSHULIANG_VALUE<g_snum_GSV_sum)&&(fixed_solution_count_minute>30))				


         {


         lounei_flag=0;


         }


         }




         if(open_gps_time>90)


         {


         if(ceju_leave_flag==1)


         {


         Receive_g_spsum_Data(g_spsum_GSV);


         Receive_g_snum_Data(g_snum_GSV);


				


         if((g_spsum_GSV_sum<XINGHAOQIANGDU_VALUE||g_snum_GSV_sum<WEIXINGSHULIANG_VALUE)&&(fixed_solution_count_minute<30))


         {


         lounei_flag=1;


         }


         if((XINGHAOQIANGDU_VALUE<g_spsum_GSV_sum&&WEIXINGSHULIANG_VALUE<g_snum_GSV_sum)&&(fixed_solution_count_minute>30))				


         {


         lounei_flag=0;


         }




         if(heart_upload_time==60)


         {


         ceju_leave_flag=0;


         fixed_solution_count_minute=0;


         if(lounei_flag==1)


         {


            PCA9555_Set_One_Value_Output(GPS_POWER,0);	


         }


         }


         if(heart_upload_time==0||heart_upload_time==60)


         {


            heart_upload_time=0;


         }


         heart_upload_time++;


         }




      }


         if(open_gps_time>149&&lounei_flag==1)


         {




         if(open_gps_time-90==60)


         {


            open_gps_time=90;


            TCPHeartBeatUpload();	


         }


			


	


         }			


      uwb_app_poll();




    }


      else


      {


       flag_secondtask = 0;


    }


    if(gps_ntripsend==1)


    {


 gps_ntripsend=2;   


     gps_ntripsend=2;   


    }


 if(delaysleep_count>0)


     delaysleep_count--;


@@ -319,25 +401,26 @@


static void pca_handler(enum IO_PIN_T pin)


{


   PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值


   uint16_t gpio_state;


   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];


    test41++;


   if(WAKE_UP_POSITION&gpio_state)


   {


      nomove_count=0;


        test11++;


   }


//   if(!(MAIN_RI_POSITION&gpio_state))


   check_input_change();


//   uint16_t gpio_state;


//   gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];


//    test41++;


//   if(WAKE_UP_POSITION&gpio_state)


//   {


//       flag_4G_recdata = 1;


//     delaysleep_count = 3;


//        test21++;


//      nomove_count=0;


//        test11++;


//   }


    if((PWR_ON_POSITION&gpio_state))


   {


        PowerTask();


        test31++;


   }


////   if(!(MAIN_RI_POSITION&gpio_state))


////   {


////       flag_4G_recdata = 1;


////     delaysleep_count = 3;


////        test21++;


////   }


//    if((PWR_ON_POSITION&gpio_state))


//   {


//        PowerTask();


//        test31++;


//   }


}




void _4gUsart_handler(enum IO_PIN_T pin)


@@ -354,7 +437,7 @@


    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;


    g_com_map[GROUP_ID]=9;


    group_id=g_com_map[GROUP_ID];//组ID


    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);


    warning_distance=g_com_map[ALARM_DISTANCE1];


@@ -368,33 +451,33 @@


//    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[PORT]=1102;


    


    g_com_map[IP_0]=117;


    g_com_map[IP_1]=72;


    g_com_map[IP_2]=111;


    g_com_map[IP_3]=237;


    g_com_map[PORT]=7000;


    


    g_com_map[TCP_IP_0]=111;


    g_com_map[TCP_IP_1]=198;


    g_com_map[TCP_IP_2]=60;


    g_com_map[TCP_IP_3]=6;


    g_com_map[TCP_PORT]=1234;


//    g_com_map[IP_0]=117;


//    g_com_map[IP_1]=72;


//    g_com_map[IP_2]=111;


//    g_com_map[IP_3]=237;


//    g_com_map[PORT]=7000;


//    


//    g_com_map[TCP_IP_0]=111;


//    g_com_map[TCP_IP_1]=198;


//    g_com_map[TCP_IP_2]=60;


//    g_com_map[TCP_IP_3]=6;


//    g_com_map[TCP_PORT]=1234;


    /*


    RTCMMODE_NONE,


    RTCMMODE_TCP,


    RTCMMODE_NTRIP,


    */


    g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;


//    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");


//    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)


@@ -416,7 +499,7 @@


        


        


    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,"固件版本:MK-大工卡 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",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)


    {


@@ -434,13 +517,13 @@


    { 


        LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");


    }


    delay_ms(500);


}


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())


@@ -483,12 +566,6 @@


                }


                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();


                    }


                    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)


                    {TCPClient_Poll_1();}


                //HIDO_InputPoll();


@@ -507,6 +584,12 @@


                if(DBG_GetMode() == DBG_MODE_SHELL)


                {


                Set4LEDColor(uwbled,rtkled,led4g,powerled);


                    if(g_com_map[CNT_RESTART]==1)


                    {


                        g_com_map[CNT_RESTART]=0;


                        save_com_map_to_flash();


                        NVIC_SystemReset();


                    }


                }


                else


                {


@@ -532,7 +615,7 @@


                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,1);//输出低电平切换为GPS


            }


        }


      UART_CheckReceive();


@@ -584,7 +667,7 @@


    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();


@@ -652,20 +735,13 @@


                PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS


    while (1)


    { 


      uwb_app_poll();


			  


        Internet_Poll();


        HIDO_TimerPoll();


        HIDO_ATLitePoll();


        TCPClient_Poll();


        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)


        {TCPClient_Poll_1();}


//        if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)


//        {


//            gps_ntripsend=0;


//            NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);


//            memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);


//            YUANGPS_ParseGGA_changdu=0;


//        }    


        if(flag_secondtask)


        {


            flag_secondtask = 0;