| keil/JLinkLog.txt | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Listings/uwb_simple_example.map | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.build_log.htm | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.hex | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example.htm | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/Objects/uwb_simple_example_MK8000 Release.dep | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/board/board.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/drivers/PCA9555.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/main/main.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/include/src/TCPClient.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/uwb_app.c | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/uwb_simple_example.uvguix.WXK | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| keil/uwb_simple_example.uvoptx | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
keil/JLinkLog.txt
ÎļþÌ«´ó keil/Listings/uwb_simple_example.map
ÎļþÌ«´ó keil/Objects/uwb_simple_example.build_log.htm
@@ -42,7 +42,7 @@ C:\Keil_v5\ARM\PACK\MKSEMI\MK800X_DFP\1.0.3\Device\Include <h2>Collection of Component Files used:</h2> Build Time Elapsed: 00:00:01 Build Time Elapsed: 00:00:00 </pre> </body> </html> keil/Objects/uwb_simple_example.hex
ÎļþÌ«´ó keil/Objects/uwb_simple_example.htm
ÎļþÌ«´ó keil/Objects/uwb_simple_example_MK8000 Release.dep
@@ -481,7 +481,7 @@ I (include\drivers\mk_io.h)(0x67206CDC) F (.\sn74hc595.h)(0x67B456FF)() F (.\mk_4G.h)(0x672050F0)() F (.\include\drivers\PCA9555.c)(0x67B541FD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/pca9555.o -MD) F (.\include\drivers\PCA9555.c)(0x67C7EEA8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/drivers -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/pca9555.o -MD) I (include\drivers\PCA9555.h)(0x67B541FD) I (include\board\board.h)(0x67B456FF) I (include\drivers\mk_common.h)(0x67B456FF) @@ -690,7 +690,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72) I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\mk_io.h)(0x67206CDC) F (.\include\board\board.c)(0x67B4570A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/board.o -MD) F (.\include\board\board.c)(0x67C16F09)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/board.o -MD) I (include\board\board.h)(0x67B456FF) I (include\drivers\mk_common.h)(0x67B456FF) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72) @@ -742,7 +742,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72) I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\Usart.h)(0x672050F0) F (.\include\main\main.c)(0x67BC0C0D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD) F (.\include\main\main.c)(0x67C7F949)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/main.o -MD) I (include\drivers\mk_trace.h)(0x67206CDC) I (include\drivers\mk_common.h)(0x67B456FF) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72) @@ -797,7 +797,7 @@ I (include\src\TCPClient.h)(0x672050F0) I (include\drivers\PCA9555.h)(0x67B541FD) I (include\drivers\WS2812.h)(0x67BBEBA7) F (.\include\src\TCPClient.c)(0x67BC1A12)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/tcpclient.o -MD) F (.\include\src\TCPClient.c)(0x67C5215A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/tcpclient.o -MD) I (include\src\TCPClient.h)(0x672050F0) I (include\components\hido\Include\HIDO_TYpeDef.h)(0x672050F0) I (include\components\internet\inc\Socket.h)(0x672050F0) @@ -835,7 +835,7 @@ I (..\keil\dw_app_anchor.h)(0x67B4570A) I (include\drivers\PCA9555.h)(0x67B541FD) I (include\drivers\WS2812.h)(0x67BBEBA7) F (.\uwb_app.c)(0x67BBDB52)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD) F (.\uwb_app.c)(0x67C7C487)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/uwb_app.o -MD) I (include\drivers\mk_trace.h)(0x67206CDC) I (include\drivers\mk_common.h)(0x67B456FF) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72) @@ -899,7 +899,7 @@ I (include\drivers\mk_gpio.h)(0x67206CDC) I (include\drivers\mk_io.h)(0x67206CDC) I (include\drivers\mk_calib.h)(0x67B456FF) F (.\include\src\GPS.c)(0x67BC14F1)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/gps.o -MD) F (.\include\src\GPS.c)(0x67BC2068)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c -fno-rtti -funsigned-char -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter -I./RTE/_MK8000_Release -IC:/Keil_v5/ARM/PACK/MKSEMI/MK800X_DFP/1.0.3/Device/Include -IC:/Keil_v5/ARM/CMSIS/Include -D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC -o ./objects/gps.o -MD) I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x5DDFFD72) I (C:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72) I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x5DDFFD6A) keil/include/board/board.c
@@ -423,7 +423,7 @@ gpio_pin_set_dir(_4G_USART_RX_Pin , GPIO_DIR_IN, 0); io_pull_set(_4G_USART_RX_Pin, IO_PULL_UP, IO_PULL_UP_LEVEL2); gpio_enable_irq(_4G_USART_RX_Pin, GPIO_IRQ_TYPE_FALLING_EDGE, _4Gusart_irq_handler); power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW); // power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)_4G_USART_RX_Pin, POWER_WAKEUP_LEVEL_LOW); } void pca_input_detection_init(GPIO_IRQ_HANDLER_T irq_handler) { @@ -493,8 +493,8 @@ uci_tl_resume(); #else // button - restore interrupt type gpio_enable_irq(PCA_INPUT_DETECT, GPIO_IRQ_TYPE_FALLING_EDGE, pca_input_detect_irq_handler); gpio_enable_irq(ACCLERATE_DETECT_Pin, GPIO_IRQ_TYPE_RISING_EDGE, accelerate_irq_handler); gpio_enable_irq(PCA_INPUT_DETECT, GPIO_IRQ_TYPE_RISING_EDGE, pca_input_detect_irq_handler); // gpio_enable_irq(ACCLERATE_DETECT_Pin, GPIO_IRQ_TYPE_RISING_EDGE, accelerate_irq_handler); // if (button_irq_handler) // { // gpio_enable_irq(BOARD_SW_1, GPIO_IRQ_TYPE_FALLING_EDGE, button_irq_handler); keil/include/drivers/PCA9555.c
@@ -457,15 +457,29 @@ /*读å5Vå¼èçè¾å ¥é«ä½çµå¹³ è¿åå¼ é«1 ä½0 çµå¹³ */ uint16_t gpio_state111; extern uint8_t input5v_time; int read_5v_input_pca(void) {PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读è¾å ¥å¯åå¨çå¼ { if(input5v_time) { input5v_time=0; PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读è¾å ¥å¯åå¨çå¼ uint16_t gpio_state; gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1]; gpio_state111=gpio_state; if(gpio_state==0xFFFF) {return 0;} if(INPUT_5V_POSITION&gpio_state) return 1; else { return 0; } } else { return 0; } } /*读åä¾çµå¼èçè¾å ¥é«ä½çµå¹³ è¿åå¼ é«1 ä½0 çµå¹³ @@ -506,6 +520,7 @@ PCA9555_Set_One_Value_Config(GPS_POWER,0);//设置GPS为è¾åº PCA9555_Set_One_Value_Output(GPS_POWER,1);//æé«GPS // while(1) PCA9555_Set_One_Value_Config(ADC_MINIUS,0);//设置ADCè¾åº PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//é»è®¤æé« PCA9555_Set_One_Value_Config(MCU_A,0);//设置串å£å¤ç¨è¯çåæ¢ @@ -520,9 +535,12 @@ PCA9555_Set_One_Value_Config(AIR780E_ENBALE,0);//é ç½®4Gä¾çµ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);//æå¼4G PCA9555_Set_One_Value_Config(MAIN_RI,1);//é ç½®4Gå¤éå¼è为è¾å ¥ // PCA9555_Set_One_Value_Config(MAIN_RI,1);//é ç½®4Gå¤éå¼è为è¾å ¥ PCA9555_Set_One_Value_Config(SOS_ENBALE,1);//设置SOSæé®è¾å ¥ PCA9555_Set_One_Value_Config(WAKE_UP,1); // PCA9555_Set_One_Value_Output(PWR_ON,0);//æä½ //PCA9555_readdata_from_output_register(PCA9555_DEVICE_ADDR,pca9555writedata_input); //PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0); keil/include/main/main.c
@@ -166,7 +166,7 @@ sleep_timer_stop(); //adc_close(); power_enter_power_down_mode(1); //LOG_INFO(TRACE_MODULE_APP, "è¿å ¥æ·±åº¦ä¼ç \r\n"); LOG_INFO(TRACE_MODULE_APP, "ä»ä¼ç åºæ¥\r\n"); sys_reset(0); int_unlock(lock); } @@ -312,23 +312,23 @@ // //UWBç¶ææ£æµ //if(!power_low_flag)//ä½ä¾çµä¸ä¸éè¦æ£æµéè¿ // { if(IfTCPConnected()) { TCP_reconnect_timer =0; flag_TCP_reconnectting = 0; } else { if(TCP_reconnect_timer<30)//å¦æTCP没æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§ { flag_TCP_reconnectting = 1; } else { flag_TCP_reconnectting = 0; } if(TCP_reconnect_timer++>600) { TCP_reconnect_timer = 0; } // if(IfTCPConnected()) // { // TCP_reconnect_timer =0; // flag_TCP_reconnectting = 0; // } else { // if(TCP_reconnect_timer<30)//å¦æTCP没æè¿æ¥ï¼æ¯é10åéå°è¯è¿æ¥30ç§ // { // flag_TCP_reconnectting = 1; // } else { // flag_TCP_reconnectting = 0; // } // if(TCP_reconnect_timer++>600) // { // TCP_reconnect_timer = 0; // } } // } // } HIDO_TimerTick(); // if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//é²æ¢æº¢åº @@ -340,10 +340,13 @@ uint8_t tt=1; uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag; uint8_t uwb_enable_flag=0; uint8_t input5v_time; extern uint8_t taglist_num; static void sleep_timer_callback(void *dev, uint32_t time) { if(secondtask_count++%2==0) { { input5v_time=1; flag_secondtask = 1; if(!read_5v_input_pca()) { @@ -357,29 +360,41 @@ // ledontime=HIDO_TimerGetTick(); Set4LEDColor(uwbled,rtkled,led4g,powerled); } input5v_time=1; if(taglist_num==0) { CloseUWB(); Uwb_init(); OpenUWB(); } }else{ flag_secondtask = 0; } if(delaysleep_count>0) delaysleep_count--; } uint8_t test11,test21,test31,test41,test51; static void pca_handler(enum IO_PIN_T pin) { PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读è¾å ¥å¯åå¨çå¼ 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)) { flag_4G_recdata = 1; delaysleep_count = 3; } // if(!(MAIN_RI_POSITION&gpio_state)) // { // flag_4G_recdata = 1; // delaysleep_count = 3; // test21++; // } if((PWR_ON_POSITION&gpio_state)) { PowerTask(); test31++; } } @@ -429,7 +444,7 @@ 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)|0; g_com_map[VERSION] = (1<<8)|1; LOG_INFO(TRACE_MODULE_APP,"设å¤ID: %x .\r\n",dev_id); LOG_INFO(TRACE_MODULE_APP,"åºä»¶çæ¬:4G-GPSå®ä½æç¯ V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff); LOG_INFO(TRACE_MODULE_APP,"æå¡å¨å°å: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port); @@ -451,39 +466,47 @@ uart1_change_from_gps_to_debug();//æµè¯ PCA9555_Set_One_Value_Output(MCU_A,1);//è¾åºé«çµå¹³åæ¢ä¸º5Vè¾å ¥ } // chongman_time=0; // only_one_flag=0; // uwbled=0; // rtkled=0; // led4g=0; // powerled=0; // while(read_5v_input_pca()) // { // nomove_count = 0; // if(HIDO_TimerGetTick()-adctick>6000) //10åééæ ·ä¸æ¬¡ çµé // { // chongman_time=chongman_time+6; // adctick = HIDO_TimerGetTick(); // PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//æä½ // adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adcéæ · // } // if(bat_percent>=99&&!only_one_flag) // { // only_one_flag=1; // chongman_time=0; // } // if(bat_percent>=99&&chongman_time>=1800) // { // powerled = GREEN; // }else{ // powerled = RED; // } // UART_CheckReceive(); // delay_ms(100); // Internet_Poll(); // Set4LEDColor(0,0,0,powerled); // } // NVIC_SystemReset(); chongman_time=0; only_one_flag=0; uwbled=0; rtkled=0; led4g=0; powerled=0; PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0); while(1) { nomove_count = 0; if(HIDO_TimerGetTick()-adctick>6000) //10åééæ ·ä¸æ¬¡ çµé { chongman_time=chongman_time+6; adctick = HIDO_TimerGetTick(); PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//æä½ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adcéæ · } if(bat_percent>=99&&!only_one_flag) { only_one_flag=1; chongman_time=0; } if(bat_percent>=99&&chongman_time>=1800) { powerled = GREEN; }else{ powerled = RED; } UART_CheckReceive(); delay_ms(100); Internet_Poll(); Set4LEDColor(0,0,0,powerled); if(input5v_time) { if(!read_5v_input_pca()) { break; } } } NVIC_SystemReset(); input5vflag=1; } else @@ -519,6 +542,10 @@ if(ledonflag==1) { ledonflag=0; uwbled=0; rtkled=0; led4g=0; powerled=0; Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF); } } @@ -579,10 +606,10 @@ Internet_Init(); TCPClient_Init(); gpio_open(); LED_output_init();//é 置彩è²ç¯å¼è IIC2_Init(); LED_output_init();//é 置彩è²ç¯å¼è IIC2_Init(); Accelerometer_Init(); PCA9555_init(); PCA9555_init(); //AIR780E_Reset(); @@ -622,7 +649,6 @@ while (1) { uwb_app_poll(); // Air780eTask(); Internet_Poll(); HIDO_TimerPoll(); HIDO_ATLitePoll(); keil/include/src/TCPClient.c
@@ -296,7 +296,40 @@ // userkey_state = 0; Socket_Send(l_i32TCPClientID, (HIDO_UINT8 *)GPS_ParseGGA_data, GPS_ParseGGA_changdu); } char senddata[2048]; void HexToAsciiSendUDP(uint8_t* data,uint8_t len) { static HIDO_CHAR l_acUploadBuff[2048]; static HIDO_UINT32 l_u32UploadBuffLen = 0; static HIDO_UINT32 l_u32UdpsendTick = 0; uint8_t i,temp; for(i=0;i<len;i++) { temp = *data++; sprintf(&senddata[2*i],"%x",temp>>4); sprintf(&senddata[2*i+1],"%x",temp&0xf); } senddata[2*len] = 0x0d; senddata[2*len+1] = 0x0a; // if(DBG_GetMode() == DBG_MODE_CFG) // Uart_Send(0, (HIDO_UINT8 *) senddata, 2*len+2); // UDPClient_Uploadhex(senddata,2*len+2); if(TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState) { memcpy(l_acUploadBuff + l_u32UploadBuffLen, senddata, 2*len+2); l_u32UploadBuffLen += 2*len+2; // if((l_u32UploadBuffLen + u32Len )> sizeof(l_acUploadBuff)) // if((HIDO_TimerGetTick() - l_u32UdpsendTick) >= 200) // { // l_u32UdpsendTick = HIDO_TimerGetTick(); Socket_Send(l_i32TCPClientID, (HIDO_UINT8 *)l_acUploadBuff, l_u32UploadBuffLen); l_u32UploadBuffLen = 0; // } } } void TCPHeartBeatUpload(void) { HIDO_CHAR acHeart[200]; keil/uwb_app.c
@@ -279,14 +279,15 @@ /* RX done process handler. */ int8_t rssi; uint32_t range_timeout_us = 2000000;//yuan5000 uint32_t range_timeout_us = 1000000;//yuan5000 uint8_t flag_temp2,flag_temp1; uint16_t uwb_losttimer; uint32_t rxnum; static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report) { uint8_t valid_sts=0; // Power off radio power_off_radio(); rxnum++; /** UWB RX success */ if (rx_report->err_code == UWB_RX_OK) { @@ -331,7 +332,10 @@ rx_length = 0; // OpenUWB();//å次å¼å¯UWBæ¥æ¶ } // CloseUWB(); OpenUWB();//å次å¼å¯UWBæ¥æ¶ // Uwb_init(); // OpenUWB(); } /* TX done process handler. */ @@ -354,7 +358,7 @@ uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS]; static uint8_t anchordata_bat[TAG_NUM_IN_SYS]; uint8_t anchordata_num = 0; static int32_t tagdist_list[TAG_NUM_IN_SYS]; static int16_t tagdist_list[TAG_NUM_IN_SYS]; uint16_t random_time; //anchor int32_t hist_dist; @@ -571,6 +575,10 @@ } } uint16_t g_com_receive_id; uint8_t usart_send[400]; extern uint8_t userkey_state; extern uint8_t bat_percent; uint16_t tagseq; void CloseUWB(void) { uwb_rx_force_off(1); @@ -579,8 +587,11 @@ } void OpenUWB(void) { // while(!mac_is_busy()) // { flag_temp1=uwb_rx(0, 0,range_timeout_us);//æ交æ¥æ¶è¯·æ± uwb_rx_flag=1; // } //LOG_INFO(TRACE_MODULE_APP,"æå¼uwb_rx\r\n"); } void UWBOneSecondTask(void) @@ -590,6 +601,68 @@ if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME]) uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//é²æ¢æº¢åº } void UWBSendUDPTask(void) { uint16_t checksum,tempdistarray[20]; // UDP_TEST(); for(uint16_t i=0;i<taglist_num-1;i++) { for(uint16_t j=0;j<taglist_num-1-i;j++) { if(tagdist_list[j]>tagdist_list[j+1]) { uint16_t id,dist; uint8_t bat; id = tagid_list[j]; dist = tagdist_list[j]; bat = anchordata_bat[j]; tagid_list[j] = tagid_list[j+1]; tagdist_list[j] = tagdist_list[j+1]; anchordata_bat[j] = anchordata_bat[j+1]; tagid_list[j+1] = id; tagdist_list[j+1] = dist; anchordata_bat[j+1] = bat; } } } // if(taglist_num>0) // { // if(uwbled==LEDOFF) // { // uwbled = BLUE; // }else{ // uwbled = LEDOFF; // } // } // Set4LEDColor(uwbled,rtkled,led4g,powerled); if(taglist_num>20) //æå¤ä¸ä¼ 20个åºç«æ°æ®ï¼è·ç¦»æè¿ç20个 taglist_num = 20; usart_send[0]= 0x55; usart_send[1]= 0xaa; usart_send[2] = 0x12;//æ£å¸¸æ¨¡å¼ usart_send[3] = 15+5*(taglist_num);//æ°æ®æ®µé¿åº¦ memcpy(&usart_send[4],&dev_id,2); usart_send[6] = tagseq; usart_send[7] = (tagseq++)>>8; usart_send[8] = bat_percent; usart_send[9] = userkey_state|0<<1|0<<2|0<<5|uwb_state<<6; // memcpy(&usart_send[10],&rec_tagheight,2); usart_send[12] = 0; usart_send[13] = 0; usart_send[14] = 0; usart_send[15] = 0; usart_send[16] = taglist_num; memcpy(&usart_send[17],&tagid_list,2*taglist_num); memcpy(&usart_send[17+taglist_num*2],&tagdist_list,2*taglist_num); memcpy(&usart_send[17+taglist_num*4],&anchordata_bat,taglist_num); checksum = Checksum_u16(&usart_send[2],15+5*taglist_num); memcpy(&usart_send[17+5*taglist_num],&checksum,2); HexToAsciiSendUDP(usart_send,19+5*taglist_num); taglist_num = 0; } void UWBIdleTask(void) { @@ -597,50 +670,11 @@ { uwbtasktimer = HIDO_TimerGetTick(); UWBOneSecondTask(); UWBSendUDPTask(); } } int uwb_app_poll(void) { // switch(wltag_state) // { // case RANGE: // if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0) // { // wltag_uwbtimer = HIDO_TimerGetTick(); // OpenUWB(); // } // else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1) // { // wltag_uwbtimer = HIDO_TimerGetTick(); // CloseUWB(); // } // if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME]) // { // wltag_statetimer = HIDO_TimerGetTick(); // if(uwb_rx_flag==0)//è¥è¦åæ¢å°æ索模å¼æ¶æ²¡æå¼å¯åå¼å¯UWB // { // OpenUWB(); // } // wltag_state = SEARCH; // } // break; // case SEARCH: // if(HIDO_TimerGetTick()-wltag_statetimer>1) // { // wltag_statetimer = HIDO_TimerGetTick(); // wltag_state = CLOSE; // CloseUWB(); // } // break; // case CLOSE: // if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME]) // { // wltag_statetimer = HIDO_TimerGetTick(); // wltag_state = SEARCH; // OpenUWB(); // } // break; // } UWBIdleTask(); } int Anchor_App(void) @@ -713,141 +747,7 @@ } int UwbRange(void) { uint8_t i; uint16_t tempid; // The following peripherals will be initialized in the uwb_open function // phy/mac/aes/lsp/phy timers initialized //uwb_open(); // // Set calibration parameters // uwb_calibration_params_set(config.phy_cfg.ch_num); // // set advanced parameters // struct PHY_ADV_CONFIG_T adv_config = { // .thres_fap_detect = 40, // .nth_scale_factor = 4, // .ranging_performance_mode = 0, // .skip_weakest_port_en = 0, // }; // phy_adv_params_configure(&adv_config); // // uwb configure // uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg); // ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg); // Register rx interrupt callback function //mac_register_process_handler(tx_int_callback, rx_int_callback); receive_flag = 0; flag_recsuccess = 0; temp_count3=phy_timer_count_get(); gpio_pin_set(SCL_PIN); sts_lsp_store(); flag_temp1=uwb_rx(0, 0, range_timeout_us);//å¼å¯æ¥æ¶ // while(mac_is_busy()); // temp_count2=phy_timer_count_get(); start_receive_count=phy_timer_count_get(); poll_timeout=US_TO_PHY_TIMER_COUNT(range_timeout_us);//å¤ä¸ä¸ªå¤0.4msé»è®¤0.4ms计ç®ä¸º0.125*4*100000,é»è®¤å¼å¯1mss end_receive_count=start_receive_count+poll_timeout; if(end_receive_count>=UINT32_MAX) {end_receive_count-=UINT32_MAX;} current_count=phy_timer_count_get(); while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循ç¯æ¥åå ä½,è¥ä¸º124.8Kåæ¯+62400000 { current_count=phy_timer_count_get(); while(mac_is_busy()) { Calibration_Time(); IdleTask(); current_count=phy_timer_count_get(); if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME) { break; } } sts_lsp_store_stop(); if(receive_flag==1)//æåæ¥æ¶ { //if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå { flag_recsuccess = 1; memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2); // sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//æµè¯ temp_count2=phy_timer_count_get(); frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åå åº battary = rx_buf[BATTARY_IDX]; rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //æ ç¾ä¼ è¿æ¥çä»ä¸åºç«äº¤äºçåºç«idæ°ç® memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2); memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num); memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num); memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2); for(i=0; i<rec_nearbase_num; i++) { if(rec_ancidlist[i] == dev_id) { temp_recdist_before_offset=rec_ancdistlist[i]; rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET]; PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary); } } for(i=0; i<rec_nearbase_num; i++) { memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2); if(tempid==dev_id)//ä¹æ¯æ¯idå¦ææå°±æ´æ°æ²¡æå°±æ¢å { seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸ Anchor_RecNearPoll(i); break; } } if(i==rec_nearbase_num) { seize_anchor=1; //æ¢å anchor Anchor_RecNearPoll(i); } recev_error_num=0; //range_timeout_us=5000;//æ¢å¤ä¸º5000è¿å ¥rangeå //LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d å åº%d\r\n",g_com_receive_id,distance,frame_seq_nb2); gpio_pin_clr(SCL_PIN); //break;å»æbreakå为ä¸å¯¹å¤ } } sts_lsp_store(); break; //失败æè æ¥å被é«åå°æºææé½ä¼å次å¼å¯æ¥æ¶ //flag_temp1=uwb_rx(0, 0, range_timeout_us); } delay_us(1); sts_lsp_store_stop(); uwb_rx_force_off(1); // if(!flag_recsuccess) // { // //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//æµè¯ // //LOG_INFO(TRACE_MODULE_APP,"æµè·å¤±è´¥ï¼è®¡æ°ï¼%d\r\n",recev_error_num); // if(recev_error_num++>5) // { // recev_error_num=0; // UWB_work_state=SEARCH_DEV; // uwb_searchcount = 0; // search_open_flag = 1; // } //} return 0; } void Uwb_init(void) { uwb_open(); @@ -894,219 +794,5 @@ phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0); #endif mac_register_process_handler(tx_int_callback, rx_int_callback);//åå§ååè° } //主å½æ°ç»å®æ¥åé»è¾ int UwbSearch(void) { uint8_t i; uint16_t tempid; // The following peripherals will be initialized in the uwb_open function // phy/mac/aes/lsp/phy timers initialized uwb_open(); #ifdef STS_MODE // Set STS key and IV phy_sts_key_configure(&sts_iv_key); // which RX ports will be used for AoA/PDoA phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION); #endif // Set calibration parameters uwb_calibration_params_set(config.phy_cfg.ch_num); #ifndef STS_MODE // set advanced parameters struct PHY_ADV_CONFIG_T adv_config = { .thres_fap_detect = 40, .nth_scale_factor = 4, .ranging_performance_mode = 0, .skip_weakest_port_en = 0, }; #else // set advanced parameters struct PHY_ADV_CONFIG_T adv_config = { .thres_fap_detect = 40, .nth_scale_factor = 4, .ranging_performance_mode = 3, .skip_weakest_port_en = 0, }; #endif phy_adv_params_configure(&adv_config); // uwb configure uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg); #ifdef STS_MODE ranging_lib_init(); #endif ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg); #ifdef STS_MODE aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM); aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE)); aoa_param_config(); phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0); #endif // Register rx interrupt callback function mac_register_process_handler(tx_int_callback, rx_int_callback); receive_flag = 0; temp_count3=phy_timer_count_get(); gpio_pin_set(SCL_PIN); sts_lsp_store(); flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//å¼å¯æ¥æ¶ start_receive_count=phy_timer_count_get(); poll_timeout=US_TO_PHY_TIMER_COUNT(2000000);//å¤ä¸ä¸ªå¤0.4msé»è®¤0.4ms计ç®ä¸º0.125*4*100000,é»è®¤å¼å¯1mss end_receive_count=start_receive_count+poll_timeout; if(end_receive_count>=UINT32_MAX) { end_receive_count-=UINT32_MAX; } current_count=phy_timer_count_get(); while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循ç¯æ¥åå ä½,è¥ä¸º124.8Kåæ¯+62400000 { while(mac_is_busy()) { IdleTask(); current_count=phy_timer_count_get(); if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME) { break; } } sts_lsp_store_stop(); temp_count2=phy_timer_count_get(); if(receive_flag==1)//æåæ¥æ¶ { // if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL&&!memcmp(&rx_buf[TAG_ID_IDX],&g_com_map[BIND_DEV_ID],2))//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//å¤ææ¯å¦æ¯åèªå·±æ¯åä¸ç»é讯çä¸ä¸ºpollå { sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-13));//æµè¯ range_timeout_us=20000;//å°ä¸æ¬¡rangeå¼å¯åè¶ æ¶æ¶é´è®¾ä¸º20msä¹åårangeéæ¢å¤ temp_count2=phy_timer_count_get(); frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//è·åå åº battary = rx_buf[BATTARY_IDX]; rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //æ ç¾ä¼ è¿æ¥çä»ä¸åºç«äº¤äºçåºç«idæ°ç® memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2); memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num); memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num); memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2); for(i=0; i<rec_nearbase_num; i++) { if(rec_ancidlist[i] == dev_id) { temp_recdist_before_offset=rec_ancdistlist[i]; rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET]; PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary); } } for(i=0; i<rec_nearbase_num; i++) { memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2); if(tempid==dev_id)//ä¹æ¯æ¯idå¦ææå°±æ´æ°æ²¡æå°±æ¢å { seize_anchor=0; //éæ¢å ãå·²åå¨åè¡¨ä¸ Anchor_RecNearPoll(i); break; } } if(i==rec_nearbase_num) { seize_anchor=1; //æ¢å anchor Anchor_RecNearPoll(i); } gpio_pin_clr(SCL_PIN);//æµè¯ LOG_INFO(TRACE_MODULE_APP,"æ ç¾IDï¼%X,è·ç¦»: %d ä¿¡å·å¼ºåº¦ANT0:%f,ä¿¡å·å¼ºåº¦ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]); return 1;//è¿ååéæåæ å¿ } } temp_count3=phy_timer_count_get(); sts_lsp_store(); flag_temp2=uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//å次å¼å¯æ¥æ¶ } delay_us(2); sts_lsp_store_stop(); uwb_rx_force_off(1); // LOG_INFO(TRACE_MODULE_APP,"è¶ æ¶å®æ¶å¨ï¼%x,%x,%x\r\n",start_receive_count,end_receive_count,current_count); gpio_pin_clr(SCL_PIN);//æµè¯ return 0;//è¿åç»å®å¤±è´¥æ å¿ } //} #define SEARCH_TIMESTEMP 20 void UWBPoll(void) { switch(UWB_work_state) { case LINK_SUCCESS: { //è¿æ¥æåè¿è¡è½®è¯¢æµè· uwb_led_on(); UwbRange(); uwb_led_off(); } break; case SEARCH_DEV: { UWB_work_state=LINK_SUCCESS; Uwb_init(); // //æ¥å ä¸æåæè é讯失败è¿å ¥æç´¢æ¨¡å¼ // if(search_open_flag) // { // LOG_INFO(TRACE_MODULE_APP,"å¼å¯æç´¢\r\n"); // search_open_flag=0; // uwb_led_on(); // link_success_flag=UwbSearch();//第ä¸æ¬¡å¼å¯æ¥æ¶2sç»å®å¤±è´¥ååè¿è¡ä¸é¢1åéåéæ°å¼å¯2sç»å®æµç¨ // uwb_led_off(); // if(link_success_flag) // UWB_work_state=LINK_SUCCESS; // }else{ // LOG_INFO(TRACE_MODULE_APP,"çå¾ è¿å ¥æ索模å¼ï¼%d\r\n",SEARCH_TIMESTEMP-uwb_searchcount); // } } break; case UN_BIND: { uwb_led_off();//å ³éuwbæç¤ºç¯ } break; } if(UWB_work_state==LINK_SUCCESS) { //æåæ¶æ¸ 0éè¯¯è®¡æ° uwb_searchcount=0; } if(UWB_work_state==SEARCH_DEV) { if(!search_open_flag) { if(uwb_searchcount++>SEARCH_TIMESTEMP) { uwb_searchcount=0; search_open_flag=1; } } //link_error_count+=g_com_map[COM_INTERVAL]; //if(link_error_count>=g_com_map[4G_INTERNAL]) //link_error_count=0; // update_led_power_state();//æ´æ°ç¯ç¶æ } //LOG_INFO(TRACE_MODULE_APP,"UWBç¶æï¼%d\r\n",UWB_work_state); } uint8_t GetUWBBindState(void) { if(UWB_work_state == UN_BIND) { return 0; } return 1; }
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