V1.6 给客户测试

yincheng.zhong

2024-09-03 9b59e87d8280de129c18421b5d12cf96d0ea904e

V1.6 给客户测试

 keil/JLinkLog.txt

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 keil/Listings/uwb_simple_example.map

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 keil/Objects/ExtDll.iex

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 keil/Objects/uwb_simple_example.build_log.htm

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 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example.lnp

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 keil/Objects/uwb_simple_example_MK8000 Release.dep

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 keil/include/main/main.c

@@ -359,7 +359,7 @@
    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)|4;
    g_com_map[VERSION] = (1<<8)|6;
    LOG_INFO("设备ID: %x .\r\n",dev_id);
    LOG_INFO("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("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
@@ -533,7 +533,7 @@
        //}
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
    //    if(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!flag_4G_recdata) //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(!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)
            {

 keil/include/src/TCPClient.c

@@ -55,7 +55,7 @@
/*******************************************************************************
 * Function Name     : TCPClient_DataProc
 * Description       :
 * Input             : 
 * Input             :
 * Output            :
 * Return            :
 * Author            : www.hido-studio.com
@@ -79,77 +79,77 @@
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        TCP_command.tagId = HIDO_UtilHexStrToInt(apcSplitStr[3]);
        

        if(g_com_map[DEV_ID]==TCP_command.tagId)
        {
            

            TCP_command.type = HIDO_UtilStrToInt(apcSplitStr[1]);
            memcpy(&applyid,apcSplitStr[2],8);
           // TCP_command.applyID = HIDO_UtilStrToInt(apcSplitStr[2]);
            // TCP_command.applyID = HIDO_UtilStrToInt(apcSplitStr[2]);
            TCP_command.gunLableId = HIDO_UtilHexStrToInt(apcSplitStr[4]);
            TCP_command.warnDistance = HIDO_UtilStrToInt(apcSplitStr[5]);
            TCP_command.alarmDistance = HIDO_UtilStrToInt(apcSplitStr[6]);
            TCP_command.frequency = HIDO_UtilStrToInt(apcSplitStr[7]);
            if(TCP_command.type>0&&TCP_command.type<8)
            result = 1;
             
                result = 1;

            switch(TCP_command.type)
            {
            case BIND_SUCCESS:
            {
                
                g_com_map[ALARM_DISTANCE1]= TCP_command.warnDistance;              

                g_com_map[ALARM_DISTANCE1]= TCP_command.warnDistance;
                g_com_map[ALARM_DISTANCE2]=TCP_command.alarmDistance;
               // g_com_map[SEND_4G_FREQUENCY]=1000/TCP_command.frequency;
                // g_com_map[SEND_4G_FREQUENCY]=1000/TCP_command.frequency;
                if(g_com_map[BIND_DEV_ID]!=TCP_command.gunLableId)
                {
                    g_com_map[BIND_DEV_ID]=TCP_command.gunLableId;
                    UWB_work_state = SEARCH_DEV;
                    search_open_flag = 1;
                }
               
                


            }
            break;
            case UNBIND:
                g_com_map[BIND_DEV_ID] = 0;
                UWB_work_state = UN_BIND;
                
               
            break;


                break;
                // bind_resetbreak();
            case OPEN_GNSS:
                gps_4g_flag = 1;
            
            break;

                break;

            case CLOSE_VIBRATION:
                g_com_map[MOTOR_ENABLE]=0;
                
            
            break;


                break;
            case OPEN_VIBRATION:
                g_com_map[MOTOR_ENABLE]=1;
               
            
            break;


                break;
            case QUARY_INFORMATION:
                //??
                
            break;

                break;
            case CHANGE_POLL_FREQUENCY:
               

                g_com_map[SEND_4G_SECOND]=TCP_command.frequency*60;
                break;
            }
            result = 1;
            TCPHeartBeatUpload();
            if(TCP_command.type!=QUARY_INFORMATION||TCP_command.type!=OPEN_GNSS)
            save_com_map_to_flash();
            result = 0; 
                save_com_map_to_flash();
            result = 0;
            memset(&applyid,0,8);
        }
    }else if(STRCMP(_u8Data, "$message_reply,") == 0)
    } else if(STRCMP(_u8Data, "$message_reply,") == 0)
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        TCP_command.tagId = HIDO_UtilHexStrToInt(apcSplitStr[1]);
@@ -236,12 +236,12 @@
    HIDO_UINT32 u32HeartLen;
    if(alarm_type)
    {
     u32HeartLen = snprintf(acHeart, sizeof(acHeart), "$message,alarm,%04x,%d,%04x,%d,%02u%%,%d,%d,%lf,%lf,%s,%d,%d,0\r\n", \
        g_com_map[DEV_ID],GetUWBBindState(),g_com_map[BIND_DEV_ID],alarm_type,bat_percent,g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],jd,wd,applyid,result,distance);
    }else{
     u32HeartLen = snprintf(acHeart, sizeof(acHeart), "$message,heart,%04x,%d,%04x,%d,%02u%%,%d,%d,%lf,%lf,%s,%d,%d,0\r\n", \
        g_com_map[DEV_ID],GetUWBBindState(),g_com_map[BIND_DEV_ID],alarm_type,bat_percent,g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],jd,wd,applyid,result,distance);
}
        u32HeartLen = snprintf(acHeart, sizeof(acHeart), "$message,alarm,%04x,%d,%04x,%d,%02u%%,%d,%d,%lf,%lf,%s,%d,%d,0\r\n", \
                               g_com_map[DEV_ID],GetUWBBindState(),g_com_map[BIND_DEV_ID],alarm_type,bat_percent,g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],jd,wd,applyid,result,distance);
    } else {
        u32HeartLen = snprintf(acHeart, sizeof(acHeart), "$message,heart,%04x,%d,%04x,%d,%02u%%,%d,%d,%lf,%lf,%s,%d,%d,0\r\n", \
                               g_com_map[DEV_ID],GetUWBBindState(),g_com_map[BIND_DEV_ID],alarm_type,bat_percent,g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],jd,wd,applyid,result,distance);
    }
    Socket_Send(l_i32TCPClientID, (HIDO_UINT8 *)acHeart, u32HeartLen);
}

@@ -272,8 +272,8 @@
            {
                l_eTCPClientState = TCP_CLIENT_STATE_CONNECTING;

              
               HIDO_UtilSnprintf((HIDO_CHAR *) l_au8CmdBuff, sizeof(l_au8CmdBuff), "%u.%u.%u.%u", ip0,ip1, ip2, ip3);

                HIDO_UtilSnprintf((HIDO_CHAR *) l_au8CmdBuff, sizeof(l_au8CmdBuff), "%u.%u.%u.%u", ip0,ip1, ip2, ip3);

                Socket_Connect(l_i32TCPClientID, (HIDO_CHAR *) l_au8CmdBuff, port);

@@ -293,10 +293,10 @@
        else if (TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState)
        {

          
  
//            if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(g_com_map[SEND_4G_SECOND])||flag_first_TCPconnect)
             if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(15)||flag_first_TCPconnect)


            if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(g_com_map[SEND_4G_SECOND])||flag_first_TCPconnect)
      //      if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(15)||flag_first_TCPconnect)
            {
                flag_first_TCPconnect = 0;
                l_u32HeartBeatTick = u32CurTick;
@@ -355,7 +355,7 @@

    return HIDO_OK;
}
char str[17]={"AT+IPR=9600;&W\r\n"};
char str[17]= {"AT+IPR=9600;&W\r\n"};
void AIR780E_Reset(void)
{
    gps_air780_power_change(gps_power_state,0);//开启gps，4G

 keil/include/src/gps.c

@@ -7,13 +7,17 @@
uint8_t gps_power_state,gps_uwb_flag,gps_4g_flag,gps_timeout_flag,gps_need_data_flag = 1;
void GPS_Poll(void)
{

    if(gps_4g_flag||gps_uwb_flag) {
        gps_power_state = 1;  //打开GPS电源
        if(!gps_timeout_flag) {
            if(gps_need_data_flag) {
    if(gps_4g_flag||gps_uwb_flag) 
        {
        
        if(!gps_timeout_flag)
            {
            if(gps_need_data_flag)
                {
                gps_power_state = 1;  //打开GPS电源
                gps_wait_count++;
                if(gps_wait_count>=GPS_OPEN_TIME_OUT) { //超时切换工作状态
                if(gps_wait_count>=GPS_OPEN_TIME_OUT) 
                    { //超时切换工作状态
                    gps_timeout_flag=1;//串口添加改变timeout逻辑
                    gps_wait_count=0;
                    gps_need_data_flag=0;//切换为关闭模式
@@ -21,16 +25,20 @@
            } else {
                gps_wait_count++;
                gps_power_state=0;//关闭GPS
                if(gps_wait_count>GPS_RESTART_TIME2) {
                if(gps_wait_count>GPS_RESTART_TIME2)
                    {
                    gps_power_state=1;//开启GPS
                    gps_need_data_flag=1;
                    gps_wait_count=0;
                }
            }
        } else { //超时工作状态
            if(gps_need_data_flag) {
            if(gps_need_data_flag)
                {
                gps_power_state = 1;  //打开GPS电源
                gps_wait_count++;
                if(gps_wait_count>=GPS_OPEN_TIME_OUT) { //超时切换工作状态
                if(gps_wait_count>=GPS_OPEN_TIME_OUT) 
                    { //超时切换工作状态
                    gps_timeout_flag=1;
                    gps_need_data_flag=0;
                    gps_wait_count=0;

 keil/uwb_app.c

@@ -91,7 +91,7 @@
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10

#define UWB_DELAY_TIME_US 496
#define UWB_DELAY_TIME_US 495
static uint8_t receive_flag=0;
struct mk_uwb_configure
{
@@ -102,7 +102,7 @@
/* Default communication configuration. */
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 9,                      /* Channel number.                           */
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TX preamble code.                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Data rate 6.8M                            */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* data rate 6.8M.                           */
@@ -346,7 +346,9 @@
    while(mac_is_busy());
    gpio_pin_clr(SCL_PIN);
}
uint16_t uwb_searchcount;
uint16_t uwb_searchcount,uwb_timer_reload_value = 496;
uint8_t range_success;
uint32_t delay_time;
extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag;
int UwbRange(void)
{
@@ -375,63 +377,83 @@

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);

    range_success = 0;
    receive_flag = 0;
    temp_count3=phy_timer_count_get();
    gpio_pin_set(SCL_PIN);
    uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
    while(mac_is_busy());
    temp_count2=phy_timer_count_get();
//        start_receive_count=phy_timer_count_get();
//    poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启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)//循环接受包体,若为124.8K则是+62400000
//        {
    if(receive_flag==1)//成功接收
    start_receive_count=phy_timer_count_get();
    poll_timeout=US_TO_PHY_TIMER_COUNT(5000);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
    end_receive_count=start_receive_count+poll_timeout;
    if(end_receive_count>=UINT32_MAX)
    {

        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))//判断是否是和自己是同一组通讯的且为poll包
        {   temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目
            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++)
        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)//循环接受包体,若为124.8K则是+62400000
    {
        current_count=phy_timer_count_get();
        while(mac_is_busy())
        {
            current_count=phy_timer_count_get();
            if(current_count>end_receive_count&&current_count<end_receive_count+HALF_SECOND_TIME)
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    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)//也是比id如果有就更新没有就抢占
                {
                    seize_anchor=0;  //非抢占。已存在列表中
                    Anchor_RecNearPoll(i);
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //抢占anchor
                Anchor_RecNearPoll(i);

            }
            sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
            LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d ä¿¡å·å¼ºåº¦ï¼š%d.\r\n",g_com_map[BIND_DEV_ID],distance,rssi);
        }
    } else {
        sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US));//测试
        if(receive_flag==1)//成功接收
        {
            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))//判断是否是和自己是同一组通讯的且为poll包
            {   temp_count2=phy_timer_count_get();
                frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
                battary = rx_buf[BATTARY_IDX];
                rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //标签传过来的他与基站交互的基站id数目
                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)
                    {
                        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)//也是比id如果有就更新没有就抢占
                    {
                        seize_anchor=0;  //非抢占。已存在列表中
                        Anchor_RecNearPoll(i);
                        break;
                    }
                }

                if(i==rec_nearbase_num)
                {
                    seize_anchor=1;   //抢占anchor
                    Anchor_RecNearPoll(i);

                }
                range_success = 1;
                sleep_timer_start(__MS_TO_32K_CNT(uwb_timer_reload_value));//测试
                
                 gpio_pin_clr(SCL_PIN);
                delay_time = (current_count-start_receive_count)>>7;
                
                LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d ä¿¡å·å¼ºåº¦ï¼š%d. ç­‰å¾…时间%d\r\n",g_com_map[BIND_DEV_ID],distance,rssi,delay_time);
                break;
            }
        } else {
                uwb_rx(0, 0, RX_SYNC_WIN_US);//再次开启接收
        }
    }
   if(!range_success)
   {
        sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-4));//测试
        LOG_INFO(TRACE_MODULE_APP,"测距失败，计数：%d\r\n",recev_error_num);
        if(recev_error_num++>5)
        {
@@ -440,9 +462,8 @@
            uwb_searchcount = 0;
            search_open_flag = 1;
        }
    }
   }
   
    gpio_pin_clr(SCL_PIN);
}



 keil/uwb_simple_example.uvguix.zhyin

@@ -15,7 +15,7 @@
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>177 100</TableColWidths>
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        <OriginalItems>
          <Len>898</Len>
@@ -3592,8 +3592,8 @@
      </ToolBar>
      <ControlBarsSummary>
        <Bars>0</Bars>
        <ScreenCX>1920</ScreenCX>
        <ScreenCY>1080</ScreenCY>
        <ScreenCX>1536</ScreenCX>
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    </ViewEx>
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@@ -3606,9 +3606,9 @@
      <ActiveTab>0</ActiveTab>
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@@ -3624,9 +3624,9 @@
      </Doc>
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@@ -3652,7 +3652,7 @@
      <Doc>
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        <ColumnNumber>4</ColumnNumber>
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@@ -3660,9 +3660,9 @@
      </Doc>
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@@ -3670,7 +3670,7 @@
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@@ -3678,9 +3678,9 @@
      </Doc>
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@@ -3688,8 +3688,8 @@
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@@ -3714,9 +3714,9 @@
      </Doc>
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@@ -3733,7 +3733,7 @@
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@@ -3775,6 +3775,24 @@
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 keil/uwb_simple_example.uvoptx

@@ -165,6 +165,26 @@
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