From 59a4e01d92da432e9736b24c085089cd31963833 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 21 五月 2025 15:19:22 +0800
Subject: [PATCH] 修改了串口读取的bug，现在是通过飞线控制的 PCA蓝牙IRQ拉低，修改灯的闪灯逻辑，
---
keil/include/main/main.c | 770 +++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 488 insertions(+), 282 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 67fd3fc..f1b2324 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,10 +62,15 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "mk_spi.h"
-#include "pan_port.h"
+//#include "pan_port.h"
+#include "mk_timer.h"
//#include "pan_param.h"
//#include "pan_rf.h"
-#include "lora_3029.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);
@@ -80,12 +85,30 @@
#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**************************************************/
+#define UWB_OPEN_COUNT 1 // UWB每次开启持续时间（秒）
+#define UWB_MEASUREMENT_INTERVAL 3 // 正常状态测距周期
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // 休眠状态测距周期
+#define INACTIVE_TIMEOUT 30 // 无步数变化超时时间（秒）
+bool uwb_is_on = false; // UWB当前状态标记
+
+void test_Delay_us(uint16_t time);
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
+void Lora_UploadHeartBeartPoll(void);
+void upload_apppoll();
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;
@@ -93,6 +116,7 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
+uint8_t LORA_REV_uwb_up =0;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v = 1;
@@ -132,7 +156,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_921600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -147,10 +171,11 @@
.int_tx = false,
#endif
};
-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);
-}
+//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;
@@ -173,8 +198,23 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ if(fVoltage_mv<3300)
+ {
+ //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");
+ }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");
+ }
+ PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高
}
+//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();
@@ -243,7 +283,8 @@
}
void MinuteTask(void)
{
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
@@ -253,7 +294,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -275,28 +316,55 @@
}
}
- HIDO_TimerTick();
- nomove_count++;
+// HIDO_TimerTick();
+
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+// 定义状态
+typedef enum {
+ STATE_NORMAL, // 正常状态，3秒测距上传一次
+ STATE_SLEEP // 休眠状态，1分钟测距上传一次
+} CountState_t;
+// 全局变量
+uint32_t uwb_time_count = 0; // 定时器计数值
+uint32_t step_count = 0; // 步数计数
+uint32_t last_step_count = 0; // 上一次步数
+CountState_t current_state = STATE_NORMAL; // 当前状态
+uint32_t state_start_time = 0; // 状态开始时间
+uint8_t led_state;
+uint8_t stationary_flag;
+extern uint8_t lora_tx_flag;
+extern uint16_t sleep_time;
+uint8_t input5v_time;
+extern uint8_t uwbled,btled,loraled,powerled;
+uint8_t jibu_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- g_start_send_flag=1;
-// IO_control_init();
-// UWBPoll();
-//
-//
-// MotorPoll();
+ input5v_time=1;
+// g_start_send_flag=1;
+ HIDO_TimerTick();
+// lora_tx_flag++;
+ uwb_time_count++;
+ jibu_flag=1;
+ upload_apppoll();
-// if(secondtask_count++%2==0)
-// {
-// flag_secondtask = 1;
-// }else{
-// flag_secondtask = 0;
-// }
+ if (current_state == STATE_NORMAL)
+ {
+ sleep_time++;
+ }
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ powerled=1;
+ }
+ else
+ {
+ powerled=0;
+ }
+ }
-// flag_sleeptimer = 1;
+ input5v_time=1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
{
@@ -314,18 +382,76 @@
}else{
motor_power_state=1;
}
-
- //GPS工作逻辑
+ nomove_count++;
+
}
+uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
+uint8_t exercise_state=0;
+void check_step_and_update_state(void)
+{
+ if ((step_count != last_step_count))
+ {
+ // 步数有变化，重置状态为正常状态
+ last_step_count = step_count;
+
+ if(current_state == STATE_SLEEP)
+ {
+ state_start_time_jibu = uwb_time_count;
+ state_start_time=uwb_time_count;
+ }
+// if (current_state != STATE_NORMAL)
+// {
+// // 关闭可能正在运行的UWB
+// if (uwb_is_on) {
+// CloseUWB();
+// UWB_LED_OFF;
+// uwb_is_on = false;
+// }
+// current_state = STATE_NORMAL;
+// state_start_time = uwb_time_count; // 重置测距周期
+// }
+ current_state = STATE_NORMAL;
+ exercise_state=1;
+ last_step_count = step_count;
+
+ }
+ else
+ {
+ // 步数没有变化，检查是否需要切换到休眠状态
+ if (current_state == STATE_NORMAL)
+ {
+ uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
+ if (inactive_time >= INACTIVE_TIMEOUT)
+ { // 30秒后切换到休眠状态
+ current_state = STATE_SLEEP;
+ exercise_state=2;
+ state_start_time_jibu=uwb_time_count;
+ }
+ }
+ }
+}
+//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);
+}
+
+void uart1_receive_callback()
+{
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_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)
{
@@ -338,11 +464,14 @@
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
+ Usart0ParseDataCallback = UsartParseDataHandler_1;
parameter_init_anchor();//g_com_map表初始化角色默认为基站
- g_com_map[DEV_ID]=0x6789;
- g_com_map[GROUP_ID]=9;
+// g_com_map[DEV_ID]=0x0721;
+ g_com_map[STATIONARY_TIME] = 10;
+// 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
+// group_id=0x04;
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;
@@ -368,44 +497,64 @@
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;
+ g_com_map[VERSION] = (1<<8)|13;
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,"固件版本:BGK-mk+蓝牙薄工卡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",ip0,ip1,ip2,ip3,port);
}
-
-
+uint32_t adctick = 0;
+uint16_t chongman_time;
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();//测试
- // 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();//测试
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
- //UartDeinit();
- }
- }
- UART_CheckReceive();
+{
+ UART0_CheckReceive();
+ UART_CheckReceive();
+if(read_5v_input_pca())
+ {
+ chongman_time=0;
+ RED_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ BT_LED_OFF;
+ LORA_LED_OFF;
+ 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(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&chongman_time>=600)
+ {
+ GREEN_LED_ON;
+ RED_LED_OFF;
+ }
+ else
+ {
+// RED_LED_ON;
+ GREEN_LED_OFF;
+ }
+
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ sys_reset(0);
+// NVIC_SystemReset();
+// input5vflag=1;
+ }
+ else
+ {
+
+// sys_reset(0);
+ }
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -431,30 +580,100 @@
{
//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);
+ io_pin_mux_set(UART0_RX, IO_FUNC0);
+ io_pin_mux_set(UART0_TX, IO_FUNC0);
+
+ gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
// UART1 RX/TX
- io_pin_mux_set(IO_PIN_10, IO_FUNC0);
- io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ io_pin_mux_set(UART1_RX, IO_FUNC0);
+ io_pin_mux_set(UART1_TX, 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();
+ }
+ }
+
+}
+void mcu_deep_sleep(void)
+{
+ uint32_t lock;
+ trace_flush();
+ lock = int_lock();
+ boot_deinit();
+ LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ //关闭蓝牙 灯
+ LORA_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ RED_LED_OFF;
+ BT_LED_OFF;
+ PCA9555_Set_One_Value_Output(BT_EN,0);
+// PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
+// PCA9555_Set_One_Value_Output(BT_IRQ,0);
+ sleep_timer_stop();
+ power_enter_power_down_mode(1);
+ sys_reset(0);
+ int_unlock(lock);
+}
+void IMUTask(void)
+{
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
+ {
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
+ mcu_deep_sleep();
+
+ }
}
#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 spi_gpio_init()
+
+void Board_gpio_init()
{
- // SPI0 MOSI/MISO/CLK/CS
+ //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);//spi中断
+ 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);
+ uart_open(UART_ID0, &test_uart_cfg);
+// io_pin_mux_set(UART0_RX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+// io_pin_mux_set(UART0_TX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
+// 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);
+
+ board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf_1,USART_RX_BUF_SIZE,uart1_receive_callback);//开启dma
}
void spi_init()
{
@@ -495,237 +714,224 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN 10
-uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+#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;
+
+
+/********************************************************************************************************/
+/********************************************************************************************************/
+/********************************************************************************************************/
+
+wg_state_enum wg_state = WG_Lost;
+/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
-{
- ceshi++;
- rf_irq_process();
- if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
- {
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_enter_continous_rx();
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
-// {
-//// rf_enter_continous_rx();
-// }
-// else
-// {
-// error_cnt ++;
-// }
- }
- if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
- {
- rf_set_recv_flag(RADIO_FLAG_IDLE);
-// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
- int i=0;
-// for(i = 0; i < RxDoneParams.Size; i++)
-// {
-// printf("0x%02x ", RxDoneParams.Payload[i]);
-// }
- error_cnt ++;
- }
- if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
- {
- rf_set_recv_flag(RADIO_FLAG_IDLE);
- }
+{
+ 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);
+ 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();
+}
+extern uint32_t uwb_time_count;
+uint8_t uwbled,btled,loraled,powerled;
+uint8_t send_count=0;
+void upload_apppoll()
+{
+ uint32_t elapsed_time_jibu;
+
+ switch (current_state)
+ {
+ case STATE_NORMAL:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ LoraReportPoll();
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL:
+ LEDTask(uwbled,btled,loraled,powerled);
+ LEDTask(0,0,0,2);
+ PCA9555_Set_One_Value_Output(IO_KONG,0);
+ delay_us(10000);
+ PCA9555_Set_One_Value_Output(IO_KONG,1);
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ break;
+ }
+ break;
+
+ case STATE_SLEEP:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+ LoraReportPoll();
+
+
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+ LEDTask(uwbled,btled,loraled,powerled);
+ LEDTask(0,0,0,2);
+ PCA9555_Set_One_Value_Output(IO_KONG,0);
+ delay_us(10000);
+ PCA9555_Set_One_Value_Output(IO_KONG,1);
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+
+
+ break;
+ }
+ break;
+ }
+
+}
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led)
+{
+ if(Uwb_led==1)
+ {
+ UWB_LED_ON;
+ }else
+ {
+ UWB_LED_OFF;
+ }
+
+ if(Bt_led==1)
+ {
+ BT_LED_ON;
+ }else
+ {
+ BT_LED_OFF;
+ }
+ if(Lora_led==1)
+ {
+ LORA_LED_ON;
+ }else
+ {
+ LORA_LED_OFF;
+ }
+
+ if(powerled==1)
+ {
+ GREEN_LED_ON;
+ GREEN_LED_OFF;;
+ }
+ else if(powerled==0)
+ {
+ RED_LED_ON;
+ RED_LED_OFF;
+
+ }
+
+// PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+
+
}
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();
-// boot_deinit();
-// board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ boot_deinit();
+
// 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();
-
- spi_gpio_init();
+ Board_gpio_init();
+
//board_led_init();
-
spi_init();
+
+
Board_LORA_NVIC_Init(Lora_irq_handler);
- Lora_init();
- rf_set_default_para();
-//
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
- {
- error_cnt++;
- }
- else
- {
- successful_cnt ++;
- }
-
-
-// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
-//
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-
-// 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
- Program_Init();
-// 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
+ pca_input_detection_init(pca_handler);
+ IIC2_Init();
+ Accelerometer_Init();
+
+ PCA9555_init();
+ adc_open(&usr_adc_cfg);
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ Program_Init();
+ power_init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-
- sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-
-// board_acceleration_detection_init(move_handler);
- Uwbinit();
- while (1)
- {
- if(g_start_send_flag)
- {
- g_start_send_flag=0;
-
- }
-
-// UwbRange();
-// rf_irq_process();
-// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
-// {
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
-// {
-// error_cnt++;
-// }
-// else
-// {
-// successful_cnt ++;
-//// DDL_Printf("Tx cnt %d\r\n", cnt );
-// }
-// }
-
-
-////
-//
-//// io14_state=gpio_pin_get_val(LORA_DIO);
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-// rf_delay_ms(1000);
-// rf_enter_continous_tx();
-//// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
-// {
-//// rf_enter_continous_rx();
-// }
-// else
-// {
-// successful_cnt ++;
-// }
-
-
-
-
-// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
-//
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-
-// 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);
-
-// }
-// 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);
-// }
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);
+//#ifdef DEBUG_BOXING
+// io_pin_mux_set(BOXING_PIN,IO_FUNC0);
+// gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
+// io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
//#endif
+ Uwbinit();
+// OpenUWB();
+// boot_deinit();
+ while (1)
+ {
+ if(jibu_flag)
+ {
+ jibu_flag=0;
+ step_count = mir3da_get_step(); // 获取步数
+ }
+
+// Lora_Tx_Poll();
+ uwb_app_poll();
+ check_step_and_update_state();
+// upload_apppoll();
+ IdleTask();
+ IMUTask();
+
+// if(1)
+// {
+//// 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_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_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);
+// }
}
}
--
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