From 16ccf41b599457daa3e870be7875d23cda6183f2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 02 四月 2025 15:14:35 +0800
Subject: [PATCH] 1.7 改变gps上传解析逻辑，按键跟关机改为中断触发
---
keil/include/main/main.c | 472 ++++++++++++++++++++++++++++++-----------------------------
1 files changed, 240 insertions(+), 232 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 67238fe..0c6a4fa 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -1,43 +1,3 @@
-/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
- * its subsidiaries and affiliates (collectly called MKSEMI).
- *
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form, except as embedded into an MKSEMI
- * integrated circuit in a product or a software update for such product,
- * must reproduce the above copyright notice, this list of conditions and
- * the following disclaimer in the documentation and/or other materials
- * provided with the distribution.
- *
- * 3. Neither the name of MKSEMI nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * 4. This software, with or without modification, must only be used with a
- * MKSEMI integrated circuit.
- *
- * 5. Any software provided in binary form under this license must not be
- * reverse engineered, decompiled, modified and/or disassembled.
- *
- * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
- * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
- * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
@@ -63,6 +23,7 @@
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
+#include "DBG.h"
//#define DEBUG_MODE
extern int simple_main(void);
@@ -84,7 +45,7 @@
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
-uint32_t dev_id;
+uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -135,7 +96,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_9600,
+ .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -159,14 +120,14 @@
uint32_t lock;
trace_flush();
lock = int_lock();
- LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
// gps_air780_power_change(0,0);//关闭gps，4G
PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
sleep_timer_stop();
//adc_close();
power_enter_power_down_mode(1);
- //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
sys_reset(0);
int_unlock(lock);
}
@@ -196,14 +157,13 @@
{
//power_low_flag=1;
//gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
- LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
+// LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
}else{
//power_low_flag=0;
//gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
- LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
+// LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
}
PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
@@ -214,6 +174,7 @@
uint8_t flag_4G_recdata;
uint8_t ledonflag;
uint32_t ledontime;
+extern uint8_t flag_first_TCPconnect;
void IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -225,10 +186,12 @@
{
if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime3>2)
+ delay_ms(1000);
+ if(!read_userkey_input_pca())
{
userkey_state = 1;
keystarttime3 = HIDO_TimerGetTick();
+ flag_first_TCPconnect = 1;
//UDPClient_UploadGPS();
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
@@ -245,7 +208,8 @@
{
if(read_powerkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>2)
+ delay_ms(1000);
+ if(read_powerkey_input_pca())
{
rtkled=WHITE;
uwbled=WHITE;
@@ -254,8 +218,11 @@
Set4LEDColor(uwbled,rtkled,led4g,powerled);
delay_ms(500);
keystarttime = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+
}
// if(HIDO_TimerGetTick() - keystarttime2>10)
// {
@@ -270,48 +237,20 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ delay_ms(100);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
-}
-void Air780eTask(void)
-{
-// if(!power_low_flag)//确认是否休眠下才开启功能
-// {
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
-// // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n");
-//
-//// if(flag_4guart_needinit)
-//// {
-//// flag_4guart_needinit = 0;
-//// AIR780EUartInit();
-//// }//yuan
- if(flag_4G_recdata==1)
- {
- flag_4G_recdata = 2;
-
- //LOG_INFO(TRACE_MODULE_APP, "运行Socket_RecvAll tt2 %d\r\n",tt2);
- Socket_RecvAll();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
-
- }
-// }
-
}
void SecondTask(void)
{static uint8_t second_count;
- if(second_count++>60)
+ if(second_count++>120)
{
second_count = 0;
MinuteTask();
}
-// //UWB状态检测
-//if(!power_low_flag)//低供电下不需要检测重连
-// {
+ //UWB状态检测
+if(!power_low_flag)//低供电下不需要检测重连
+ {
if(IfTCPConnected())
{
TCP_reconnect_timer =0;
@@ -329,7 +268,7 @@
}
}
-// }
+ }
HIDO_TimerTick();
// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
@@ -340,10 +279,14 @@
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;
+uint8_t gps_ntripsend;
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())
{
@@ -356,30 +299,49 @@
ledonflag=1;
// ledontime=HIDO_TimerGetTick();
Set4LEDColor(uwbled,rtkled,led4g,powerled);
+// uart_send(UART_ID1, ceshidata, 50,NULL);
+ }
+ 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);//读输入寄存器的值
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++;
+ }
+ if(!(SOS_ENBALE_POSITION&gpio_state))
+ {
+ UserKeyTask();
+ test21++;
}
}
@@ -397,17 +359,48 @@
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
dev_id=g_com_map[DEV_ID];//这里不太对
+// g_com_map[GROUP_ID]=9;
group_id=g_com_map[GROUP_ID];//组ID
-// tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
-// g_com_map[ALARM_DISTANCE1] = 40;
-// 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
+
+// g_com_map[IP_0]=111;
+// g_com_map[IP_1]=198;
+// g_com_map[IP_2]=60;
+// g_com_map[IP_3]=6;
+// g_com_map[PORT]=6666;
+
+// g_com_map[IP_0]=117;
+// g_com_map[IP_1]=72;
+// g_com_map[IP_2]=111;
+// g_com_map[IP_3]=237;
+// g_com_map[PORT]=7000;
+//
+// g_com_map[TCP_IP_0]=111;
+// g_com_map[TCP_IP_1]=198;
+// g_com_map[TCP_IP_2]=60;
+// g_com_map[TCP_IP_3]=6;
+// g_com_map[TCP_PORT]=1234;
+ /*
+ RTCMMODE_NONE,
+ RTCMMODE_TCP,
+ RTCMMODE_NTRIP,
+ */
+// g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
+
+
+// snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+// g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+//// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+// snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+// snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+// snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+
if(g_com_map[BIND_DEV_ID]==0)
{
@@ -424,21 +417,36 @@
}
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- 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)|0;
+ g_com_map[VERSION] = (1<<8)|7;
+
+
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位手环 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);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
+ }
+ delay_ms(500);
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
+extern uint8_t ota_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -451,39 +459,88 @@
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
}
-// 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) //10分钟采样一次 电量
-// {
-// chongman_time=chongman_time+6;
-// adctick = HIDO_TimerGetTick();
-// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
-// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
-// }
-// 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;
+// adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次 电量
+ {
+ chongman_time=chongman_time+60;
+ adctick = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&!only_one_flag)
+ {
+ only_one_flag=1;
+ chongman_time=0;
+ }
+ if(bat_percent>=99&&chongman_time>=600)
+ {
+ powerled = GREEN;
+ }else{
+ powerled = RED;
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ if(ota_flag==1)
+ {
+// OTA_Poll();
+// HTTPClient_Poll();
+ }
+ else
+ {
+ uwb_app_poll();
+ }
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ UserKeyTask();
+ }
+ UART_CheckReceive();
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ NVIC_SystemReset();
+ }
+ }
+ else
+ {
+ Set4LEDColor(0,0,0,powerled);
+ }
+ if(input5v_time)
+ {
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ }
+ NVIC_SystemReset();
input5vflag=1;
}
else
@@ -495,30 +552,28 @@
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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
}
-// input5vflag=0;
}
UART_CheckReceive();
if(g_com_map[CNT_RESTART]==1)
{
g_com_map[CNT_RESTART]=0;
-// printf("%s URTRestart",__debug_info__);
-// URTRestart();
NVIC_SystemReset();
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
-// printf("%s URTRestart",__debug_info__);
-// URTRestart();
-// // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
NVIC_SystemReset();
}
HIDO_TimerPoll();
if(ledonflag==1)
{
ledonflag=0;
+ uwbled=0;
+ rtkled=0;
+ led4g=0;
+ powerled=0;
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
}
@@ -534,24 +589,23 @@
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
+
uint8_t flag_4guart_needinit=0;
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
int test1,test3;
uint32_t test4;
-
+extern uint8_t receive_flag;
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_UART1,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
-//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;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
if (internal_flash || external_flash == 1)
@@ -564,31 +618,43 @@
{
board_calibration_params_default();
}
-
- // Chip calibration
calib_chip();
-
- // Disable watchdog timer
wdt_close(WDT_ID0);
- LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
-
- // open system timer
- //sys_timer_open();
- // TODO 4G
+ Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
+ Uart_Register(UART_ID_DBG_GPS, UART_ID1);
+ DBG_Init();
+
Internet_Init();
TCPClient_Init();
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+// {
+// NTRIPClient_Init();
+// NTRIPApp_Init();
+// }
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Init_1();
+ }
+// HTTPClient_Init();
gpio_open();
- LED_output_init();//配置彩色灯引脚
- IIC2_Init();
+ LED_output_init();//配置彩色灯引脚
+ IIC2_Init();
Accelerometer_Init();
- PCA9555_init();
-
-
- //AIR780E_Reset();
-
+ PCA9555_init();
adc_open(&usr_adc_cfg);
-
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ power_init();
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ pca_input_detection_init(pca_handler);//pca检测输入
+ Uwb_init();
+ OpenUWB();
+// DBG_SetMode(DBG_MODE_SHELL);
+// Shell_Init();
+
if(!read_5v_input_pca())
{
Set4LEDColor(BLUE,GREEN,WHITE,RED);
@@ -597,87 +663,29 @@
delay_ms(500);
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
-// io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
-// gpio_pin_set_dir(SCL_PIN , GPIO_DIR_IN, 0);
-// io_pull_set(SCL_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL4);
- Program_Init();
- //uart_open(UART_ID1, &test_uart_cfg);
- // uart1_change_from_gps_to_debug();
- //Uart1GpsRecDebugSend();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
- // Initialize low power mode
- power_init();
- //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
- sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
- //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
- sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
- 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
- //board_4GUsart_detection_init(_4gUsart_handler);
- Uwb_init();
- OpenUWB();
+ 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
while (1)
{
- uwb_app_poll();
-// Air780eTask();
+ uwb_app_poll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Poll_1();
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
}
- PowerTask();
IMUTask();
- UserKeyTask();
IdleTask();
-#ifndef DEBUG_MODE
-////if(flag_sleeptimer)
-//// if(!gps_need_data_flag&&!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);
-
-//// }
-//// flag_sleeptimer =0;
-// //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
-//// flag_4guart_needinit = 1;
-
-//// trace_flush();
-//// uint32_t lock = int_lock();
-//// //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
-//// power_enter_power_down_mode(0);
-//// int_unlock(lock);
-//// }//yuan
-
-// if(delaysleep_count==0)
-// if(!gps_power_state&&!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))||((!flag_TCP_reconnectting)&&!IfTCPConnected())||power_low_flag))
-// {
-//// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
-// uint32_t lock;
-// //flag_4guart_needinit = 1;
-//// Internet_Poll();
-//// HIDO_ATLitePoll();
-//// HIDO_TimerPoll();
-//// TCPClient_Poll();
-//
-// // delay_us(300000);
-// trace_flush();
-// lock = int_lock();
-// power_enter_power_down_mode(0);
-// uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-//// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
-// //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
-// int_unlock(lock);
-// }
-
-#endif
}
}
--
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