From 14ab6568e654336568c4f116526657ef8a415647 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期一, 17 二月 2025 14:58:33 +0800
Subject: [PATCH] 对比更改通讯参数
---
keil/include/main/main.c | 858 +++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 710 insertions(+), 148 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 59de734..de4d716 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,7 +61,16 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
-
+#include "mk_spi.h"
+#include "pan_port.h"
+#include "mk_timer.h"
+//#include "pan_param.h"
+//#include "pan_rf.h"
+#include "lora_3029.h"
+#include "pan_rf.h"
+#include "PCA9555.h"
+#include "mk_phy.h"
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -71,9 +80,26 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
+#define MOTOR_COUNT_TIME 1
+#define WARING_LIMIT_TIME 10
+#define UPDATE_TIME 10
+
+/****************************************************************引脚宏定义**************************************************/
+#define ADC_PIN IO_PIN_0
+#define UART0_TX IO_PIN_5
+#define UART0_RX IO_PIN_6
+#define UART1_TX IO_PIN_1
+#define UART1_RX IO_PIN_14
+
+
+/****************************************************************引脚宏定义**************************************************/
+void test_Delay_us(uint16_t time);
+void Lora_UploadHeartBeartPoll(void);
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
+extern int distance;
+extern uint8_t anchordata_num; //bat_percent
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -81,19 +107,22 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
-int link_success_flag;
-uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+uint8_t LORA_REV_uwb_up =0;
+uint8_t link_success_flag,motor_count;
+uint16_t gps_wait_count;
+uint8_t state5v = 1;
+uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
-
+uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
+int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step Operation_state;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
@@ -133,10 +162,11 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+void uart_receive_callback(void *dev, uint32_t err_code)
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -159,8 +189,13 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
+//static void timer_callback(void *dev, uint32_t time)
+//{
+// enum TIMER_DEV_T id = *(enum TIMER_DEV_T *)dev;
+// LOG_INFO(TRACE_MODULE_APP, "Timer %d elapsed time %d\r\n", id, time);
+//}
//void UartInit(void)
//{
//board_pins_config();
@@ -168,56 +203,219 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-static void sleep_timer_callback(void *dev, uint32_t time)
+extern uint8_t gps_uwb_flag;
+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)
{
-
- nomove_count++;
- send_messgae_count+=g_com_map[COM_INTERVAL];
- //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
- //send_message_count=0;
- //send_flag=1;
- //}
-
- if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
- link_error_count=0;
- g_start_send_flag=1;
+ 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;
+ }
}
- if(Operation_state==SEARCH_DEV) {
-// if(first_search_flag){//当第一次连接断开产生时才开始计数
- //link_error_count=0;
-// }
- link_error_count++;
- if(link_error_count==60)
- link_error_count=0;
- //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();//更新灯状态
+}
+void MinuteTask(void)
+{
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
+ //UWB更新列表
+ TagListUpdate();
+ //GPS_Poll();
+ gps_power_state=1;//测试gps长开
+ //UWB状态检测
+
+ if(IfTCPConnected())
+ {
+ TCP_reconnect_timer =0;
+ flag_TCP_reconnectting = 0;
+ } else {
+ if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
+ {
+ flag_TCP_reconnectting = 1;
+ } else {
+ flag_TCP_reconnectting = 0;
+ }
+ if(TCP_reconnect_timer++>600)
+ {
+ TCP_reconnect_timer = 0;
+ }
+
}
HIDO_TimerTick();
+ nomove_count++;
+}
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t lora_wg_up=0;
+extern uint8_t lora_tx_flag;
+static void sleep_timer_callback(void *dev, uint32_t time)
+{
+ g_start_send_flag=1;
+ // #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+ // gpio_pin_set(IO_PIN_5);//测试
+ // lora_wg_up=1;
+
+ lora_tx_flag++;
+// lora_qiehuan++;
+// IO_control_init();
+// UWBPoll();
+//
+//
+// MotorPoll();
+
+// if(secondtask_count++%2==0)
+// {
+// flag_secondtask = 1;
+// }else{
+// flag_secondtask = 0;
+// }
+
+// flag_sleeptimer = 1;
+
+ //马达震动逻辑
+ if(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_open_air_flag||moter_open_uwb_flag)
+ {
+ if (motor_count++%2==0)
+ {
+ motor_power_state = 1;
+ }else{
+ motor_power_state = 0;
+ }
+ } else {
+ motor_power_state=1;
+ }
+ }else{
+ motor_power_state=1;
+ }
+
+ //GPS工作逻辑
+
+}
+
+void phy_timer_callback(uint32_t time)
+{
+ lora_tx_flag++;
+}
+uint8_t DMA_RXBuf_BT[200]={0};
+void uart0_receive_callback()
+{
+ uint8_t buff[200]={0};
+ memcpy(buff,m_EUART_DMA_RXBuf,100);
+ if(buff[0]==0x55||buff[1]==0xAA||buff[2]==0x41)
+ {
+ uint8_t lenth=0;
+ lenth=((buff[4]*2)+(buff[4]*2)+1);
+ memcpy(DMA_RXBuf_BT,&buff[4],lenth);
+ }
}
static void voltage_input_handler(enum IO_PIN_T pin)
{
}
-static void move_handler(enum IO_PIN_T pin)
+
+uint8_t flag_4G_recdata;
+static void _4gUsart_handler(enum IO_PIN_T pin)
{
- nomove_count=0;
+ LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ // flag_4G_recdata = 1;
+ // AIR780EUartInit();
}
+extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_flag;
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
+ g_com_map[DEV_ID]=0x1234;
+// g_com_map[GROUP_ID]=1;
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);
- warning_distance=g_com_map[STATIONARY_TIME];
+// g_com_map[ALARM_DISTANCE1] = 40;
+// g_com_map[ALARM_DISTANCE2] = 40;
+ warning_distance=g_com_map[ALARM_DISTANCE1];
prewarning_distance=g_com_map[ALARM_DISTANCE2];
send_struct.warnDistence=warning_distance;
send_struct.alarmDistence=prewarning_distance;//更新报警距离
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[SEND_4G_SECOND]<60)
+ g_com_map[SEND_4G_SECOND]=60;
+ g_com_map[MODBUS_MODE] = 0;
+ ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
+ ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
+ 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)|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);
}
@@ -232,8 +430,8 @@
state5v=1;
state5V_prase_flag=state5v;
gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ uart1_change_from_gps_to_debug();//测试
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartInit();
}
@@ -241,15 +439,16 @@
} 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ uart1_change_from_debug_to_gps();//测试
+ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
//UartDeinit();
}
- UART_CheckReceive();
}
+ UART_CheckReceive();
}
int bind_check(void)
{
@@ -265,140 +464,503 @@
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
- Operation_state=LINK_SUCCESS;
+ UWB_work_state=LINK_SUCCESS;
} else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
+ 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
+// UART0 TX/RX
+ io_pin_mux_set(IO_PIN_5, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ // UART1 RX/TX
+ io_pin_mux_set(IO_PIN_10, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ uart_close(UART_ID1);//解绑原来串口1
+ uart_close(UART_ID0);//解绑原来串口0
+}
+void test_Delay_us(uint16_t time)
+{
+ for(int i=time;i>0;i--)
+ {
+ for(int j=1;j>0;j--)
+ {
+ __NOP();
+ }
+ }
+
+}
+#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
+//#define ADC_PIN IO_PIN_0
+//#define UART0_TX IO_PIN_5
+//#define UART0_RX IO_PIN_6
+//#define UART1_TX IO_PIN_1
+//#define UART1_RX
+void Board_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);
+
+// io_pin_mux_set(LORA_DIO, IO_FUNC0);
+// gpio_pin_set_dir(LORA_DIO , GPIO_DIR_OUT, 0);
+// io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
+
+
+// io_pin_mux_set(LORA_CS2, IO_FUNC0);
+// gpio_pin_set_dir(LORA_CS2 , GPIO_DIR_OUT, 0);
+// io_pull_set(LORA_CS2, IO_HIGH_Z, IO_PULL_UP_NONE);
+
+// //ADC
+// io_pin_mux_set(ADC_PIN, IO_FUNC1);
+// io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
+// //串口0
+// io_pin_mux_set(UART0_RX, IO_FUNC4);
+// io_pin_mux_set(UART0_TX, IO_FUNC4);
+// board_debug_console_open(TRACE_PORT_UART0);
+// uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
+//
+// //串口1
+// io_pin_mux_set(UART1_RX, IO_FUNC4);
+// io_pin_mux_set(UART1_TX, IO_FUNC4);
+}
+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
+#define RX_LEN 200
+uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+extern uint8_t RX_Buffer[RX_LEN];
+extern uint16_t BufferSize;
+static uint16_t source_id;
+extern struct RxDoneMsg RxDoneParams;
+extern uint16_t current_count;
+extern uint8_t rec_index,rec_secdelay;
+extern uint8_t yuyin_no_sleep_flag,no_rx_flag;
+
+
+/********************************************************************************************************/
+/********************************************************************************************************/
+/********************************************************************************************************/
+static uint16_t delaytime = 771;
+extern uint16_t wg_report_freq,wg_report_id;
+extern uint32_t wg_lost_count;
+extern uint8_t shengji_flag;
+extern uint8_t lora_jianting_flag,report_ancnum;
+uint8_t imu_enable,motor_enable;
+uint32_t time_flag_lorarx=0;
+uint32_t lora_huanxing_count=0;
+uint16_t Lora_wangguanid=0;
+wg_state_enum wg_state = WG_Lost;
+uint16_t wangguan_up_id;
+uint8_t LoraUp_flag;
+uint16_t rec_wenjian_daxiao;
+uint16_t recnum[3];
+uint16_t recv_flag=0;
+uint16_t tx_flag=0;
+uint16_t CRC16=0;
+uint16_t DEST_ID=0;
+uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+uint16_t Loratx_flag=0;
+uint16_t Lorarx_flag=0;
+uint16_t Lorarx_time_out_flag=0;
+uint8_t tx_buf[5]={0,1,0,1,1};
+uint32_t sleep_time_count=0;
+uint32_t uwb_ceju_count=0;
+
+//ceshi
+//uint8_t no_rx_flag=0;
+//xtal_38m4_off_time(sleep_time_count);
+/********************************************************************************************************/
+static void Lora_irq_handler(enum IO_PIN_T pin)
+{
+
+ uint16_t checksum1;
+ rf_irq_process();
+// gpio_pin_set(IO_PIN_5);//测试
+ no_rx_flag=0;
+ tx_flag=rf_get_transmit_flag();
+ recv_flag=rf_get_recv_flag();
+ if(recv_flag == RADIO_FLAG_RXDONE)
+ {
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+
+ memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
+ BufferSize=RxDoneParams.Size;
+ lora_huanxing_count++;
+ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
+ {
+
+// time_flag_lorarx=phy_timer_count_get();
+ uwb_open();
+ //gpio_pin_clr(IO_PIN_5);//测试
+ UwbRange();
+
+ uwb_ceju_count++;
+ }
+// if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
+// {
+// gpio_pin_set(IO_PIN_5);//测试
+//// time_flag_lorarx=phy_timer_count_get();
+// uwb_open();
+// gpio_pin_clr(IO_PIN_5);
+// UwbRange();
+//
+// uwb_ceju_count++;
+// //rf_enter_continous_rx(); //重新进入接收模式
+// //LORA_REV_uwb_up=1;
+// }
+ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
+ {
+ checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
+
+ memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
+ memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
+ if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
+ if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
+ {
+ memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
+ if(wg_state==WG_Lost)
+ {
+ wg_state = WG_Connected;
+ wg_report_id = source_id;
+ }
+ if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
+ {
+ wg_lost_count = 0;
+ switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
+ {
+ case WGRSP_RWTAG_NONE:
+// current_count = HAL_LPTIM_ReadCounter(&hlptim1);
+ // sleep_time_count=xtal_38m4_off_time();
+ wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
+ memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
+ if(report_ancnum<2)
+ {
+ datalen_offset = report_ancnum*85;
+ }else{
+ datalen_offset = (report_ancnum-1)*46+85;
+ }
+ rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
+ if(BufferSize!=13||rec_secdelay>20)
+ {
+ rec_secdelay = 0;
+ }
+
+ sleep_time_count = rec_delaytime*3.2768 - delaytime-datalen_offset;
+ while(sleep_time_count>=32768)
+ sleep_time_count-=32768;
+ sleep_timer_start(sleep_time_count);
+ //sleep_timer_start(sleep_time_count);sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+// #define __MS_TO_32K_CNT(ms) ((uint32_t)((float)(ms)*32768.0f / 1000.0f))
+ // __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+ // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
+ // printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
+ break;
+ case WGRSP_RWTAG_READ:
+ no_rx_flag = 1;
+ LoraSendComMap(WGRSP_RWTAG_READ);
+ break;
+ case WGRSP_RWTAG_WRITE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xdd: //语音下发
+ break;
+// case 0x20: //蜂鸣
+// memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+// motor_keeptime = rec_value;
+// break;
+ default :
+ memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+ g_com_map[rec_index/2] = rec_value;
+ save_com_map_to_flash();
+ LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
+ //flag_writepara_needreset = 1;
+ no_rx_flag = 1;
+ }
+
+ break;
+ case WGRSP_RWTAG_UPDATE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xaa: //升级下发
+ memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
+ if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
+ {}//文件过大，超出范围
+ else
+ {
+ memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
+ shengji_flag=1;
+ LoraUp_flag=1;
+ imu_enable=0;
+ }
+// LoraUp_Poll();
+ break;
+ }
+ break;
+ }
+ }
+ }
+
+ }
+ if(!no_rx_flag)
+ {
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
+ }
+ }
+
+ }
+ if(tx_flag == RADIO_FLAG_TXDONE)
+ {
+ //rf_set_mode(RF_MODE_STB3);
+ rf_set_transmit_flag(RADIO_FLAG_IDLE);
+ Loratx_flag++;
+ rf_enter_single_timeout_rx(100);
+ }
+ if((recv_flag == RADIO_FLAG_RXTIMEOUT))
+ {
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+ rf_set_mode(RF_MODE_STB3);
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+ Lorarx_time_out_flag++;
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+ rf_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
+ rf_set_sf(UWB_CHANNEL_SF);
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
+ }
+ // rf_clr_irq(REG_IRQ_RX_TIMEOUT);
+ // rf_enter_single_timeout_rx(100);
+ }
+ if((recv_flag == RADIO_FLAG_RXERR))
+ {
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+ if(lora_jianting_flag)
+ {
+ uint32_t para;
+// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ rf_set_mode(RF_MODE_STB3);
+ para=(UWB_CHANNEL_FRQ+group_id)*1000000;
+ rf_set_freq(para);
+ rf_set_sf(UWB_CHANNEL_SF);
+ rf_enter_continous_rx();
+ }
+ }
+
+}
+
+
+
+
+
+
+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_LEVEL4);
+ gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
+}
+extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
+static void pca_handler(enum IO_PIN_T pin)
+{
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
+ check_input_change();
+}
+uint8_t io14_state;
+uint16_t lora_freq=0;
+uint16_t lora_up_count=0;
+uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
+uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
{
board_clock_run();
- board_pins_config();
+ // boot_deinit();
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();
- }
-
+ reset_cause_clear();
// Chip calibration
calib_chip();
// Disable watchdog timer
wdt_close(WDT_ID0);
- // 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();
gpio_open();
+
+ Board_gpio_init();
//board_led_init();
+ spi_init();
+// gpio_pin_clr(LORA_CS);
+// gpio_pin_clr(LORA_MOSI);
+// gpio_pin_clr(LORA_MISO);
+// gpio_pin_clr(LORA_CLK);
+// gpio_pin_set(LORA_CLK);
+// gpio_pin_set(LORA_DIO);
-// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init();
- IO_control_init();
-//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
- // uart_open(UART_ID1, &test_uart_cfg);
- gps_air780_power_change(1,1);//开启gps，4G
- Program_Init();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
- power_init();
- LOG_INFO(TRACE_MODULE_APP, "测试数据");
-// g_com_map[BIND_DEV_ID]=0x1122;//测试
- if(bind_check())//绑定后才提前开启测距
- { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
- check_if_in_search();
- } else {
- send_struct.bindState=false;
- Operation_state=UN_BIND;
- }
+ Board_LORA_NVIC_Init(Lora_irq_handler);
+ Lora_init();
+ rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+// IIC2_Init();
+// Accelerometer_Init();
+ //LIS3DH_Data_Init();
+// PCA9555_init();
+
+// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ Program_Init();
+//#ifdef DEBUG_BOXING
+// io_pin_mux_set(IO_PIN_5,IO_FUNC0);
+// gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
+// io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+//#endif
+
+ // rf_single_tx_data(TXBuffer,10,2);
+// 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(1000));//测试
- board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+// sleep_time_count=xtal_38m4_off_time();
+
+
+
+// pca_input_detection_init(pca_handler);
+//#ifdef DEBUG_BOXING
+// io_pin_mux_set(IO_PIN_5,IO_FUNC0);
+// gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
+// io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+//#endif
+
+ Uwbinit();
while (1)
- {
- // TODO
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
+ {
+// RED_LED_OFF;
+// BT_LED_OFF;
+// // gpio_pin_clr(IO_PIN_5);
+ Lora_Tx_Poll();
+
+ // UwbRange();
+
+// 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);
- switch(Operation_state) {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
- if(g_start_send_flag) {
- g_start_send_flag = 0;
- uwb_led_on();
- simple_main();
- uwb_led_off();
- IdleTask();
- } else {
- IdleTask();
- }
- }
- break;
- case SEARCH_DEV:
- { //接包不成功或者通讯失败进入搜索模式
- if(link_error_count==0||first_search_flag) {
- first_search_flag=0;
- uwb_led_on();
- link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
- uwb_led_off();
- if(link_success_flag)
- Operation_state=LINK_SUCCESS;
- }
- IdleTask();
- }
- break;
- case UN_BIND:
- { uwb_led_off();//关闭uwb指示灯
- IdleTask();
- }
- break;
- }
+// }
+// flag_sleeptimer =0;
+// LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+// flag_4guart_needinit = 1;
- //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;
- //}
-#ifdef DEBUG_MODE
- if(!gpio_pin_get_val(INPUT_5V_Pin)) {
- 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
+// 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
}
}
--
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