From 4cdc4b3d488e15b1d6572bdcd61a2ce92d0c8c9b Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 16 五月 2025 18:13:14 +0800
Subject: [PATCH] 成功分离2个测距功能
---
keil/include/main/main.c | 152 +++++++++++++++++++++++++++++++++++++-------------
1 files changed, 111 insertions(+), 41 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index f98589e..6c9ab6b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -50,6 +50,9 @@
#include "mk_uart.h"
#include "mk_spi.h"
#include "mk_flash.h"
+#include "Usart.h"
+#include <serial_at_cmd_app.h>
+#include <global_param.h>
#include "board.h"
@@ -109,7 +112,12 @@
//
//*****************************************************************************
#define WSF_BUF_POOLS 5
-void Fira_Ranging_Task(void);
+void Fira_Change_Task(void);
+extern uint8_t normal_flag,log_4g_enable_flag;
+extern uint16_t ip0,ip1,ip2,ip3,port;
+uint8_t group_id,enable_sleep_count;
+uint32_t dev_id;
+uint16_t disoffset;
// Default pool descriptor.
static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
{32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
@@ -119,6 +127,37 @@
{
// LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}
+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
+ dev_id=g_com_map[DEV_ID];//这里不太对
+ group_id=(uint8_t)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];
+ //g_com_map[SEND_4G_SECOND]
+// if(g_com_map[SEND_4G_SECOND]<30)
+// {
+// gps_open_flag=0;
+// }else{
+// gps_open_flag=1;
+// }
+ 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;
+ 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);
+}
static void board_init(void)
{
@@ -127,6 +166,7 @@
// Clock configuration
board_clock_run();
+ boot_deinit();//新加的
// Pin configuration
board_pins_config();
// Trace configuration
@@ -163,6 +203,7 @@
// Configure IO_04 for RF Switch
gpio_pin_set_dir(IO_PIN_4, GPIO_DIR_OUT, 0);
#else
+ Program_Init();
// led
board_led_init();
// board_led_on(BOARD_LED_1);
@@ -191,13 +232,52 @@
break;
}
}
-wsfHandlerId_t handlerId;
-void Fira_Ranging_Task(void)
+
+void Fira_Change_Task(void)
{
- //
+}
+
+static 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);
+}
+
+int main(void)
+{
+ // Initialize MCU system
+ board_init();
+ // Disable watchdog timer
+ wdt_close(WDT_ID0);
+ LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
+ if(gpio_pin_get_val(MODE_CHANGE_PIN))
+ {
+
+
+ // Platform init for WSF
+ PalSysInit();
+
+ // Initialize os
+
+ //
+ // Set up timers for the WSF scheduler.
+ //
+ WsfOsInit();
+ WsfTimerInit();
+ sys_tick_callback_set(WsfTimerUpdateTicks);
+
+ //
+ // Initialize a buffer pool for WSF dynamic memory needs.
+ //
+ uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);
+
+ if (wsfBufMemLen > FREE_MEM_SIZE)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
+ }
+//
// Create app task
//
- handlerId = WsfOsSetNextHandler(app_handler);
+ wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
app_init(handlerId);
//
@@ -212,6 +292,7 @@
uwb_test_init(handlerId);
#endif
+#ifndef MY_MODE
uwb_open();
// set advanced parameters
@@ -239,40 +320,12 @@
uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
-}
-int main(void)
-{
- // Initialize MCU system
- board_init();
-
- // Disable watchdog timer
- wdt_close(WDT_ID0);
- LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
-
- // Platform init for WSF
- PalSysInit();
-
- // Initialize os
-
- //
- // Set up timers for the WSF scheduler.
- //
- WsfOsInit();
- WsfTimerInit();
- sys_tick_callback_set(WsfTimerUpdateTicks);
-
- //
- // Initialize a buffer pool for WSF dynamic memory needs.
- //
- uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);
-
- if (wsfBufMemLen > FREE_MEM_SIZE)
- {
- LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
- }
-
-
-
+
+#elif defined MY_MODE
+ Uwb_init();//默认为我们测距配置
+ OpenUWB();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+#endif
//
// Create UCI transmission layer task
//
@@ -291,13 +344,30 @@
// Enable sleep timer
sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
-
+
while (1)
{
wsfOsDispatcher();
+#ifdef MY_MODE
+ if(normal_flag)
+ {
+ IdleTask();
+ }
+#endif
power_manage();
}
-
+ }else{
+// adc_open(&usr_adc_cfg);
+ Uwb_init();//默认为我们测距配置
+ OpenUWB();
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ while (1)
+ {
+ uwb_app_poll();//我们的测距逻辑
+ IdleTask();
+ }
+ }
+
}
void app_restore_from_power_down(void)
--
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