代码暂时提交，已经改完成lora uwb配合版本 还没测，标签那边没改

WXK

2024-10-28 ff5cfcabc63d16cafa0f3f1b8fcadcc03d74bb81

 keil/include/main/main.c

@@ -61,9 +61,14 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"

#include "mk_spi.h"
#include "pan_port.h"
#include "dw_app.h"
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
#define DEBUG_MODE
extern int simple_main(void);
//extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
@@ -182,61 +187,61 @@
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)
{
    if(UWB_work_state==UN_BIND) {
        gps_uwb_flag=0;//关闭GPS
        moter_open_uwb_flag=0;//关闭震动
        need_open_gps_count=0;//清0计数gps
    } 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
            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
                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(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
                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;
        }
    }
}
//void MotorPoll(void)
//{
//    if(UWB_work_state==UN_BIND) {
//        gps_uwb_flag=0;//关闭GPS
//        moter_open_uwb_flag=0;//关闭震动
//        need_open_gps_count=0;//清0计数gps
//    } 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
//            } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
//                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(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
//                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;
//        }
//    }
//}
void MinuteTask(void)
{
    adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -249,9 +254,9 @@
        MinuteTask();
    }
    //UWB更新列表
    TagListUpdate();
//    TagListUpdate();
    //GPS_Poll();
      gps_power_state=1;//测试gps长开
//      gps_power_state=1;//测试gps长开
    //UWB状态检测

    if(IfTCPConnected())
@@ -277,12 +282,12 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
    IO_control_init();
    UWBPoll();
//    IO_control_init();
//    UWBPoll();
    
    
    MotorPoll();

//    MotorPoll();
    g_start_send_flag=1;
    if(secondtask_count++%2==0)
    {
        flag_secondtask = 1;
@@ -333,9 +338,12 @@
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
    parameter_init_anchor();//g_com_map表初始化角色默认为基站    
    g_com_map[DEV_ID]=0x6688;
    g_com_map[GROUP_ID]=9;
    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
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
//    g_com_map[ALARM_DISTANCE1] = 40;
@@ -361,7 +369,7 @@
    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)|9;
    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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
@@ -432,128 +440,278 @@
    uart_close(UART_ID1);//解绑原来串口1
    uart_close(UART_ID0);//解绑原来串口0
}
#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 spi_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);//spi中断
}
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
uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
extern struct RxDoneMsg RxDoneParams;
static void Lora_irq_handler(enum IO_PIN_T pin)
{   
   ceshi++;
        rf_irq_process();
        if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
        {
            rf_set_transmit_flag(RADIO_FLAG_IDLE);
            rf_enter_continous_rx();
//            rf_delay_ms(1000);
//            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
//            {
////                rf_enter_continous_rx();
//            }
//            else
//            {
//                error_cnt ++;
//            }
        }
        if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
        {
            rf_set_recv_flag(RADIO_FLAG_IDLE);
//            DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
            int i=0;
//            for(i = 0; i < RxDoneParams.Size; i++)
//            {
//                printf("0x%02x ", RxDoneParams.Payload[i]);
//            }
            error_cnt ++;
        }
        if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
        {
            rf_set_recv_flag(RADIO_FLAG_IDLE);
        }
}
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);
}
uint8_t io14_state;
int main(void)
{
    board_clock_run();
    boot_deinit();
    board_pins_config();
//    boot_deinit();
//    board_pins_config();
    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();
    }

//    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();
//    }
    
    // Chip calibration
    calib_chip();

    // Disable watchdog timer
    wdt_close(WDT_ID0);
    LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
//    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();
//    // TODO 4G
//    Uart_Register(UART_ID_4G, UART_ID0);
//    Internet_Init();
//    TCPClient_Init();

    gpio_open();
    
    spi_gpio_init();
    //board_led_init();

    adc_open(&usr_adc_cfg);
    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
    spi_init();
    Board_LORA_NVIC_Init(Lora_irq_handler);
    Lora_init();
    rf_set_default_para();
    
    rf_enter_continous_tx();
//    rf_set_transmit_flag(RADIO_FLAG_TXDON E);
//    rf_set_transmit_flag(RADIO_FLAG_TXDONE);
    if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
    {
        error_cnt++;
    }
    else
    {
        successful_cnt ++;
    }     
//  while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//   
//  rf_set_transmit_flag(RADIO_FLAG_IDLE);
    
//    adc_open(&usr_adc_cfg);
//    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
         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
//    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
 //   board_5V_input_init(voltage_input_handler);
    board_acceleration_detection_init(move_handler);
//       LOG_INFO(TRACE_MODULE_APP, "测试进入app");
  

    sleep_timer_start(__MS_TO_32K_CNT(1000));//测试

//    board_acceleration_detection_init(move_handler);

    
    
    while (1)
    {
        if(flag_TCP_reconnectting||IfTCPConnected())
        {
         if(g_start_send_flag)
         {
         //LOG_INFO(TRACE_MODULE_APP, "测距ing");
         g_start_send_flag = 0;
            rf_delay_ms(1);
            Lora_uwb_wakeup();
         simple_main();
         IdleTask();	
         }else{
         IdleTask();	
         }
            
        //    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())) //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);
//            
//            rf_set_transmit_flag(RADIO_FLAG_IDLE);
//            rf_delay_ms(1000);
//            rf_enter_continous_tx();
//            if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
//            {

            }
               flag_sleeptimer =0;
            LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
                flag_4guart_needinit = 1;
//            }
//            else
//            {
//                successful_cnt ++;
//            }
            
            
            
            
//          while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//           
//          rf_set_transmit_flag(RADIO_FLAG_IDLE);
        
//        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())) //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);

        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
//            }
//               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
    }
}