From 367aa5722f83a17dcfe586726af74fef72db0081 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 13 三月 2025 10:17:41 +0800
Subject: [PATCH] 协议未更改版本，测距550us 和帧间隔500us
---
keil/include/main/main.c | 701 ++++++++++++++++++++++++++++++++-------------------------
1 files changed, 391 insertions(+), 310 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index cd5ebe2..582355b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,8 +61,17 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
-
-//#define DEBUG_MODE
+#include "mk_spi.h"
+//#include "pan_port.h"
+#include "mk_timer.h"
+//#include "pan_param.h"
+//#include "pan_rf.h"
+#include "lora_1268.h"
+//#include "pan_rf.h"
+#include "PCA9555.h"
+#include "mk_phy.h"
+#include "HIDO_Timer.h"
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -72,18 +81,26 @@
#define NUM_SAMPLES 1
#define BIND_TRIGGER_TIME 60000
-#define MOTOR_COUNT_TIME 1
+#define MOTOR_COUNT_TIME 1
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-#define GPS_OPEN_TIME_OUT 240
-#define GPS_RESTART_TIME1 1200
-#define GPS_RESTART_TIME2 120
-#define SEARCH_TIMESTEMP 120
+
+/****************************************************************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;
+extern uint8_t anchordata_num; //bat_percent
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -91,18 +108,22 @@
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,motor_count,gps_wait_count;
-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,first_motor_in_flag;
+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,gps_need_data_flag,gps_timeout_flag,search_open_flag;
+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 UWB_Work_State;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
@@ -142,10 +163,11 @@
.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;
@@ -168,8 +190,13 @@
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();
@@ -177,60 +204,94 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
-uint8_t gps_enable_flag,gps_uwb_flag,gps_air_flag,motor_open_air_flag,moter_open_uwb_flag;
+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 SecondTask(void)
+void MotorPoll(void)
{
- //UWB更新列表
- TagListUpdate();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
- //UWB状态检测
- 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
- 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){
- 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){
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
- }
- }else if(anchordata_num==0){
-
- 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(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;
+ }
+ }
}
+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{
+ } 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{
+ } else {
flag_TCP_reconnectting = 0;
}
- if(TCP_reconnect_timer++>600)
+ if(TCP_reconnect_timer++>600)
{
TCP_reconnect_timer = 0;
}
@@ -239,162 +300,129 @@
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;
+// HIDO_TimerGetTick();
+ HIDO_TimerTick();
+ // #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();
- SecondTask();
- // IO_control_init();
-// uwb_led_on();
-// delay_us(1000);
-// uwb_led_off();
-// send_messgae_count+=g_com_map[COM_INTERVAL];
-// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
-// //send_message_count=0;
-// //send_flag=1;
-// //}
- //马达震动逻辑
- if(motor_open_air_flag||moter_open_uwb_flag){
- if(first_motor_in_flag==0){
- first_motor_in_flag=1;
- motor_power_state=0;
- motor_count=0;
- }
- motor_count++;
- if(motor_count>=MOTOR_COUNT_TIME){
- motor_count=0;
- motor_power_state^=1;
-
- }
- }else{
- motor_power_state=1;
- motor_count=0;
- first_motor_in_flag=0;
- }
- //GPS工作逻辑
- if(gps_air_flag||gps_uwb_flag){
- gps_power_state=1;//开启GPS
- if(!gps_timeout_flag){
- if(gps_need_data_flag){
- gps_wait_count++;
- 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
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME2){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
- }else{//超时工作状态
- if(gps_need_data_flag){
- gps_wait_count++;
- 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;
- }
- }else{
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME1){
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
-
- }
- }else{
- gps_power_state=0;//关闭gps
- gps_wait_count=0;
- gps_timeout_flag=0;
- gps_need_data_flag=1;
- }
+// if(secondtask_count++%2==0)
+// {
+// flag_secondtask = 1;
+// }else{
+// flag_secondtask = 0;
+// }
- if(UWB_Work_State==LINK_SUCCESS) { //成功时清0错误计数
- link_error_count=0;
- g_start_send_flag=1;
+// 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;
}
- if(UWB_Work_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==SEARCH_TIMESTEMP){
- link_error_count=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();//更新灯状态
- }
-
+
+ //GPS工作逻辑
+
}
+
+void phy_timer_callback(uint32_t time)
+{
+ lora_tx_flag++;
+}
+
+void uart0_receive_callback()
+{
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+}
+
+
static void voltage_input_handler(enum IO_PIN_T pin)
{
}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
-}
+uint8_t flag_4G_recdata;
static void _4gUsart_handler(enum IO_PIN_T pin)
{
- io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
- AIR780EUartInit();
+ 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);
+// 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:BGK-mk+蓝牙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);
}
void IdleTask(void)
-{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
- {
- 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
- //UartInit();
- }
-
- //UART_CheckSend();
- } else {
- if(state5v==1)
- {
- 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
- //UartDeinit();
- }
- UART_CheckReceive();
- }
+{
+ UART0_CheckReceive();
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -409,157 +437,210 @@
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;
+ UWB_work_state=LINK_SUCCESS;
} else { //否则进入搜索模式
- UWB_Work_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
+
+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);
+
+
+// //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
+
+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;
+wg_state_enum wg_state = WG_Lost;
+/********************************************************************************************************/
+static void Lora_irq_handler(enum IO_PIN_T pin)
+{
+ RadioIrqProcess();
+}
+
+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_NONE);
+ 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();
- board_debug_console_open(TRACE_PORT_UART0);
+ // 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();
+ Board_LORA_NVIC_Init(Lora_irq_handler);
+ pca_input_detection_init(pca_handler);
+ IIC2_Init();
+ Accelerometer_Init();
+ PCA9555_init();
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ Program_Init();
-// adc_open(&usr_adc_cfg);
-// IIC2_Init();
-// Accelerometer_Init();
- IO_control_init();
- io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形
- gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0);
- io_pull_set(SCL_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
- gps_air780_power_change(0,1);//开启gps，4G
-//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);
- 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;
- UWB_Work_State=UN_BIND;
- }
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
-// board_5V_input_init(voltage_input_handler);
-// board_acceleration_detection_init(move_handler);
-
- //AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
- while (1)
- {
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
- if(flag_4guart_needinit)
- {
- flag_4guart_needinit = 0;
- AIR780EUartInit();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- }
- switch(UWB_Work_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(search_open_flag||first_search_flag) {
- first_search_flag=0;
- search_open_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)
- UWB_Work_State=LINK_SUCCESS;
- }
- IdleTask();
- }
- break;
- case UN_BIND:
- { uwb_led_off();//关闭uwb指示灯
- IdleTask();
- }
- break;
- }
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+
- //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(!gpio_pin_get_val(INPUT_5V_Pin)&&((IfTCPConnected()&&Socket_IsSendQueueEmpty(0))||!flag_TCP_reconnectting&&!IfTCPConnected())&&!gps_power_state) //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。
- {
- board_4GUsart_detection_init(_4gUsart_handler);
- // LOG_INFO(TRACE_MODULE_APP, "进入休眠");
- 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);
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
- int_unlock(lock);
- }
-#endif
+ Uwbinit();
+ OpenUWB();
+ while (1)
+ {
+ Lora_Tx_Poll();
+ uwb_app_poll();
+ IdleTask();
}
}
--
Gitblit v1.9.3