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 | 692 ++++++++++++++++++++++-----------------------------------
1 files changed, 270 insertions(+), 422 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b1e45dd..6c9ab6b 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -40,382 +40,143 @@
#include "mk_trace.h"
#include "mk_wdt.h"
-#include "mk_calib.h"
+#include "mk_reset.h"
+#include "mk_gpio.h"
#include "mk_misc.h"
+#include "mk_sleep_timer.h"
+#include "mk_power.h"
+#include "mk_uwb.h"
+#include "mk_calib.h"
+#include "mk_uart.h"
+#include "mk_spi.h"
#include "mk_flash.h"
-#include "libc_rom.h"
+#include "Usart.h"
#include <serial_at_cmd_app.h>
#include <global_param.h>
+
#include "board.h"
+
+#include "pal_sys.h"
+#include "wsf_os.h"
+#include "wsf_timer.h"
+#include "wsf_buf.h"
#include "wsf_nvm.h"
-#include "mk_power.h"
-#include "Usart.h"
-#include "mk_adc.h"
-#include "mk_sleep_timer.h"
-#include "lis3dh_driver.h"
-#include "sn74hc595.h"
-#include "mk_4G.h"
-#include "UART.h"
-#include "AIR780EDriver.h"
-#include "Internet.h"
-#include "HIDO_ATLite.h"
-#include "HIDO_Timer.h"
-#include "TCPClient.h"
-//#define DEBUG_MODE
-extern int simple_main(void);
-extern int temp_main(void);
-#define TEST_UART_POLL_MODE 0
-#define TEST_UART_INTERUPT_MODE 1
-#define TEST_UART_DMA_MODE 2
-#define TEST_UART_MODE TEST_UART_DMA_MODE
+#include "app.h"
+#include "ranging_fira.h"
+#include "uwb_api.h"
+#include "lib_ranging.h"
+#include "uci_tl_task.h"
+#include "libc_rom.h"
-#define NUM_SAMPLES 1
-#define BIND_TRIGGER_TIME 60000
-#define MOTOR_COUNT_TIME 1
-#define WARING_LIMIT_TIME 10
-#define UPDATE_TIME 10
-
-
-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;
-uint32_t dev_id;
-uint8_t group_id;
-uint16_t tag_frequency;
-uint16_t disoffset;
-uint16_t warning_distance,prewarning_distance;
-int16_t fVoltage_mv,first_search_flag;
-uint8_t bat_percent,g_start_send_flag=1;
-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
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
-Operation_step UWB_work_state;
-
-
-Commend_SendDate send_struct;
-static struct ADC_CFG_T usr_adc_cfg = {
- .mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
- .clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
- .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
- .rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
- .channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */
- .channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */
- .int_en = false,
- .dma_en = false, /* DMA support only in continue mode */
- .acc_num = 0,
- .high_pulse_time = 4,
- .settle_time = 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,
-#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
- .dma_en = false,
- .int_rx = false,
- .int_tx = false,
-#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
- .dma_en = false,
- .int_rx = true,
- .int_tx = true,
-#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
- .dma_en = true,
- .int_rx = false,
- .int_tx = false,
+#ifdef UWB_UCI_TEST_EN
+#include "uwb_test.h"
#endif
+
+#ifdef CELL_PHONE_EN
+#include "mk_efuse.h"
+
+#define EFUSE_FLASH_EN_ADDR (0x67)
+#define EFUSE_FLASH_EN_BIT (0x80)
+
+bool check_flash_bit_of_efuse(void);
+bool program_efuse(void);
+
+bool check_flash_bit_of_efuse(void)
+{
+ uint8_t val;
+ val = efuse_read_byte(EFUSE_FLASH_EN_ADDR);
+ return ((val & EFUSE_FLASH_EN_BIT) ? true : false);
+}
+
+bool program_efuse(void)
+{
+ efuse_program_byte(EFUSE_FLASH_EN_ADDR, EFUSE_FLASH_EN_BIT);
+ if (check_flash_bit_of_efuse())
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit successfully.\r\n");
+ return true;
+ }
+ else
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit failed.\r\n");
+ return false;
+ }
+ return true;
+}
+#endif
+
+//*****************************************************************************
+//
+// WSF buffer pools.
+//
+//*****************************************************************************
+#define WSF_BUF_POOLS 5
+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},
};
-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;
- for (uint16_t i = 0; i < number; i++)
- {
-// LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n",
-// ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV));
- fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV);
- fVoltage_mv=fVoltage_mv*2;
- if(fVoltage_mv < 3300)
- {
- bat_percent = 0;
- }
- else if(fVoltage_mv > 4100)
- {
- bat_percent = 100;
- }
- else
- {
- bat_percent = ((fVoltage_mv - 3300) /8);
- }
- }
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
-}
-//void UartInit(void)
-//{
-//board_pins_config();
-//uart_open(UART_ID1, &test_uart_cfg);
-//board_debug_console_open(TRACE_PORT_UART0);
-//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-//}
-extern gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
-uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
-int need_open_gps_count;
-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
- 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;
- }
- }
-}
-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();
- //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;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
- if(g_com_map[MOTOR_ENABLE])
- MotorPoll();
- if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
-
- flag_sleeptimer = 1;
-
- //马达震动逻辑
- 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;
- }
-
- //GPS工作逻辑
-
+ // LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}
-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)
-{
- LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
- // flag_4G_recdata = 1;
- // AIR780EUartInit();
-}
-extern uint16_t ip0,ip1,ip2,ip3,port;
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=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
+ 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];
- 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;
+// 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)|2;
- LOG_INFO("设备ID: %x .\r\n",dev_id);
- LOG_INFO("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("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,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)
+{
+ uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
+ uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
-
-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)
- {
- 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
- //UartDeinit();
- }
- }
- UART_CheckReceive();
-}
-int bind_check(void)
-{
- if(g_com_map[BIND_DEV_ID]!=0x00)
- {
- return 1;
-//绑定信息为1说明设备已经被下发绑定
- } else {
- return 0;
-//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 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
-}
-uint8_t flag_4guart_needinit=0;
-int main(void)
-{
+ // Clock configuration
board_clock_run();
- boot_deinit();
+ boot_deinit();//新加的
+ // Pin configuration
board_pins_config();
+ // Trace configuration
board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
reset_cause_clear();
+#ifndef CELL_PHONE_EN
// 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();
@@ -426,102 +187,189 @@
{
board_calibration_params_default();
}
+#else
+ if (internal_flash)
+ {
+ program_efuse();
+ }
+ board_calibration_params_default();
+#endif
// 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_led_init();
+#ifdef CELL_PHONE_EN
+ // 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);
+#endif
+ board_configure();
+}
- 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();
- // uart1_change_from_gps_to_debug();
- //Uart1GpsRecDebugSend();
+void app_process_handle(uint8_t msg_id, const void *param)
+{
+ switch (msg_id)
+ {
+ case APP_TEST_TIMER1_MSG:
+ {
+#if ANT_DELAY_CAL_EN
+ // stop calibration
+ uwbapi_session_stop(uwb_app_config.session_id);
+ uwbapi_session_deinit(uwb_app_config.session_id);
+
+ // restart UCI RX
+ uci_tl_rx_restart();
+#endif
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+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))
+ {
-// Initialize low power mode
+
+ // 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
+ //
+ wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
+ app_init(handlerId);
+
+ //
+ // Create ranging task or test task
+ //
+ handlerId = WsfOsSetNextHandler(ranging_handler);
+ ranging_init(handlerId);
+
+#ifdef UWB_UCI_TEST_EN
+ // Create test task
+ handlerId = WsfOsSetNextHandler(uwb_test_handler);
+ uwb_test_init(handlerId);
+#endif
+
+#ifndef MY_MODE
+ uwb_open();
+
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config =
+ {
+ // RPM0: 40, RPM3: 60
+ .thres_fap_detect = 60,
+ // RPM0: 4, RPM3: 8
+ .nth_scale_factor = 8,
+ // RFrame SP0: 0/1, Others: 0/1/2/3
+ .ranging_performance_mode = 3,
+#if RX_ANT_PORTS_NUM == 4
+ .skip_weakest_port_en = 1,
+#else
+ .skip_weakest_port_en = 0,
+#endif
+ };
+ phy_adv_params_configure(&adv_config);
+
+ // which RX ports will be used for AoA/PDoA
+ phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
+
+ uwbs_init();
+ uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
+ 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);
+
+#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
+ //
+ handlerId = WsfOsSetNextHandler(uci_tl_handler);
+ uci_tl_init(handlerId);
+
+ // Initialize low power mode
power_init();
- 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);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+#if LOW_POWER_EN
+ power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
+ uwb_app_config.low_power_en = 1;
+#else
+ power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
+ uwb_app_config.low_power_en = 0;
+#endif
+
+ // Enable sleep timer
+ sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
+
while (1)
{
- 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())&&!flag_4G_recdata) //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);
- }
+ 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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