From 00efc8bfb6351b8f6ef9914c72374fb9ca61edf9 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 03 一月 2025 17:13:26 +0800
Subject: [PATCH] uwb升级读取写入信标
---
keil/include/main/main.c | 373 +++++++++++++++++++++++++++++++++++------------------
1 files changed, 247 insertions(+), 126 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index fa0621d..d0e09aa 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -63,6 +63,9 @@
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
+#include "dw_app_anchor.h"
+#include "ymodem.h"
+#include "mk_phy.h"
#define DEBUG_MODE
extern int simple_main(void);
@@ -106,11 +109,6 @@
extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
extern uint8_t pca9555writedata_polarity[10];//暂存输入极性反转寄存器所有配置的数组
uint8_t temp_pca9555writedata_input[10];//暂存上一次输入寄存器所有配置的数组
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
Operation_step UWB_work_state;
@@ -217,81 +215,81 @@
int need_open_gps_count;
uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
-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
- fenli_alarm_count = 0;
- if(flag_fenli_alarm)
- {
- flag_fenli_alarm = 0;
- fenli_alarm_count = 0;
- _4GAlarmUpload(2);
- }
- }
- }
- if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
- {
- if(fenli_alarm_count++>20)
- {
- if(!flag_fenli_alarm)
- {
- flag_fenli_alarm = 1;
- _4GAlarmUpload(1);
- }
- }
- }
- if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
- if(flag_alam_state)
- {
- flag_alam_state = 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
+// fenli_alarm_count = 0;
+// if(flag_fenli_alarm)
+// {
+// flag_fenli_alarm = 0;
+// fenli_alarm_count = 0;
+// _4GAlarmUpload(2);
+// }
+// }
+// }
+// if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
+// {
+// if(fenli_alarm_count++>20)
+// {
+// if(!flag_fenli_alarm)
+// {
+// flag_fenli_alarm = 1;
+// _4GAlarmUpload(1);
+// }
+// }
+// }
+// if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+// if(flag_alam_state)
+// {
+// flag_alam_state = 0;
- }
-
- 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;
- }
- 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;
- }
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
-
- }
- if(anchordata_num==0) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- distance = 0x1ffff;
- 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;
- }
- }
- }
+// }
+//
+// 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;
+// }
+// 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;
+// }
+// gps_uwb_flag=1;//开启gps测距流程
+// need_open_gps_count=0;
+// }
+//
+// }
+// if(anchordata_num==0) {
+// if(!flag_alam_state)
+// {
+// flag_alam_state = 1;
+// }
+// distance = 0x1ffff;
+// 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 IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -395,6 +393,16 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
+void PwtagTimeTask(void)
+{
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.remain_time[i]>0)
+ {
+ pwtag.remain_time[i]--;
+ }
+ }
+}
void check_input_change(void)
{
uint16_t gpio_state;
@@ -405,11 +413,34 @@
}
//uart_change_check(gpio_state);
}
+uint8_t Get_anchor_appdata_flag;
+uint8_t Get_anchor_appdata_num;
+extern uint8_t update_tag_time;
static void sleep_timer_callback(void *dev, uint32_t time)
{
if(secondtask_count++%2==0)
- {
+ {
flag_secondtask = 1;
+ PwtagTimeTask();
+ if(update_tag_time>0)
+ {
+ update_tag_time--;
+ if(update_tag_time==0)
+ {
+ NVIC_SystemReset();
+ }
+ }
+ if(Get_anchor_appdata_flag==1)
+ {
+ Get_anchor_appdata_num++;
+ if(Get_anchor_appdata_num>40)
+ {
+ g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
+ save_com_map_to_flash();
+ delay_ms(300);
+ NVIC_SystemReset();
+ }
+ }
}else{
flag_secondtask = 0;
}
@@ -454,12 +485,12 @@
memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//更新绑定ID
send_struct.tagId=dev_id;//更新设备ID
- if(g_com_map[BIND_DEV_ID]==0)
- {
- UWB_work_state = UN_BIND;
- }else{
- UWB_work_state = SEARCH_DEV;
- }
+// if(g_com_map[BIND_DEV_ID]==0)
+// {
+// UWB_work_state = UN_BIND;
+// }else{
+// UWB_work_state = SEARCH_DEV;
+// }
//g_com_map[SEND_4G_SECOND]
if(g_com_map[SEND_4G_SECOND]<30)
{
@@ -507,28 +538,28 @@
}
void IdleTask(void)
{
-if(read_5v_input_pca())
- {
- 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
- PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
- }
- }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
- PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
- }
- }
- UART_CheckReceive();
+//if(read_5v_input_pca())
+// {
+// 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
+//// PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
+// }
+// }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
+//// PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+// }
+// }
+ UART0_CheckReceive();
}
int bind_check(void)
{
@@ -541,16 +572,16 @@
//绑定信息为0说明设备未被绑定
}
}
-void check_if_in_search(void)
-{
- if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
- UWB_work_state=LINK_SUCCESS;
- } else { //否则进入搜索模式
- UWB_work_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
- }
-}
+//void check_if_in_search(void)
+//{
+// if(link_success_flag==1) { //如果第一次测距收包成功那么则进入连接测距模式
+// UWB_work_state=LINK_SUCCESS;
+// } else { //否则进入搜索模式
+// UWB_work_state=SEARCH_DEV;
+// if(first_search_flag==0)
+// first_search_flag=1;
+// }
+//}
void boot_deinit(void)
{
//将boot中串口返回普通gpio
@@ -569,16 +600,105 @@
int tt2;
int test1,test3;
uint32_t test4;
+void Chuanshuwenjian_Poll()
+{
+ if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
+ {
+ calib_chip();
+ wdt_close(WDT_ID0);
+ Get_anchor_appdata_flag=1;
+ struct UART_CFG_T test_uart_cfg =
+ {
+ .parity = UART_PARITY_NONE,
+ .stop = UART_STOP_BITS_1,
+ .data = UART_DATA_BITS_8,
+ .flow = UART_FLOW_CONTROL_NONE,
+ .rx_level = UART_RXFIFO_CHAR_1,
+ .tx_level = UART_TXFIFO_EMPTY,
+ .baud = BAUD_115200,
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
+ };
+ flash_open(FLASH_ID0, NULL);
+ //uart_open(UART_ID1, &test_uart_cfg);
+ uart_open(UART_ID0, &test_uart_cfg);
+ //uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
+ Serial0PutString("MK8000-文件传输启动\r\n");
+// Get_anchor_appdata_flag=1;
+// HAL_TIM_Base_Start_IT(&htim4);
+ while(1)
+ {
+ if(SerialDownload()==0)
+ {
+// Get_anchor_appdata_flag=0;
+ g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
+ save_com_map_to_flash();
+ delay_ms(300);
+// Get_anchor_appdata_flag=0;
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ }
+ }
+}
+uint16_t final_bag_num;
+extern uint8_t Lora_qingqiu_flag;
+uint8_t send_lora_data[250];
+uint16_t mubiao_anchor_ID;
+uint16_t Lora_qingqiu_bao;
+uint8_t jindu;
+uint8_t shengji_changdu;
+uint8_t Dtu_shengji_jindu[20]= {0x55,0xAA,0x34,0x05};
+extern uint32_t tempflag;
+ uint32_t tx_en_start_u32;
+ uint32_t tx_en_start_u321;
+void Lora_upanc_ing_Poll( void )
+{ uint16_t crc16;
+// if(Lora_upanc_flag==1)
+// {
+// Lora_deinit_Poll();
+ if(Lora_qingqiu_flag==1)
+ {
+ CloseUWB();
+// mubiao_anchor_ID=0x1872;
+ final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//计算一共要发都是包
+// final_bag_num=651;
+ Lora_qingqiu_flag=0;
+ send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE 定义
+ memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//自己ID 占用2个字节
+ memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//标签或者基站的设备ID 2个字节
+ memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
+ memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
+ crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
+ memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
+// Lora_status=1;
+ jindu=(Lora_qingqiu_bao*100)/final_bag_num;
+// LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
+ Dtu_shengji_jindu[4]=jindu;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+ tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
+ tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//立即发送
+ tx_en_start_u321= phy_timer_count_get();
+// while(mac_is_busy());//等待发送完成
+
+ }
+// }
+}
int main(void)
{
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_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
+ Program_Init();
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(500));//测试
+ Chuanshuwenjian_Poll();
//注意串口一波特率改为9600了为了能和GPS通信上
// Load calibration parameters from NVM
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
@@ -605,7 +725,7 @@
//sys_timer_open();
// TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
+// Uart_Register(UART_ID_4G, UART_ID0);
// Internet_Init();
// TCPClient_Init();
@@ -639,27 +759,28 @@
//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);
+ uart_receive(UART_ID0,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(500));//测试
//sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
// board_5V_input_init(voltage_input_handler);
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
pca_input_detection_init(pca_handler);//pca检测输入
Uwb_init();
OpenUWB();
+ LOG_INFO(TRACE_MODULE_APP,"初始化_uwb_rx打开\r\n");
//board_4GUsart_detection_init(_4gUsart_handler);
while (1)
{
uwb_app_poll();
-
+// Lora_upanc_ing_Poll();
//test4=gpio_pin_get_val(SCL_PIN);
//UWBPoll();
// if(!power_low_flag)//确认是否休眠下才开启功能
@@ -694,9 +815,9 @@
SecondTask();
}
- PowerTask();
+// PowerTask();
// IMUTask();
- UserKeyTask();
+// UserKeyTask();
IdleTask();
#ifndef DEBUG_MODE
//if(flag_sleeptimer)
--
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