From 5e7b2ec568c4fd0497564e6f45a482a4e0f33b33 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 23 七月 2025 11:12:51 +0800
Subject: [PATCH] 1.1，加入灯跟宏定义控制1hz 5hz
---
keil/include/main/main.c | 643 ++++++++++++++++++++++++++++++++--------------------------
1 files changed, 353 insertions(+), 290 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 563373b..7c5518d 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,10 +61,17 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
+#include "PCA9555.h"
+#include "WS2812.h"
+#include "dw_app_anchor.h"
+#include "ymodem.h"
+#include "mk_phy.h"
+#include "mk_pwm.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
+void uart_change_check(uint16_t gpio_state);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -98,13 +105,20 @@
uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
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;
+extern uint8_t pca9555writedata_config[10];//暂存寄存器所有配置的数组
+extern uint8_t pca9555writedata_output[10];//暂存输出高低电平配置的数组
+extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
+extern uint8_t pca9555writedata_polarity[10];//暂存输入极性反转寄存器所有配置的数组
+uint8_t temp_pca9555writedata_input[10];//暂存上一次输入寄存器所有配置的数组
Operation_step UWB_work_state;
-
+struct PWM_CH_CFG_T usr_pwm_ch0_cfg = {
+ .prescale = 2,
+ .waveform = PWM_SEQUENTIAL,
+ .ratio = 50,
+ .phase = 0,
+ .pol_inv = 0,
+ .int_en = 0,
+};
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -128,7 +142,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_9600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -152,8 +166,8 @@
uint32_t lock;
trace_flush();
lock = int_lock();
- LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
- gps_air780_power_change(0,0);//关闭gps，4G
+// LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
+// gps_air780_power_change(0,0);//关闭gps，4G
sleep_timer_stop();
//adc_close();
power_enter_power_down_mode(1);
@@ -187,103 +201,21 @@
{
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");
}
- gpio_pin_set(ADC_GND_ENABLE);//在拉高
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,1);//拉高
// 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 uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
int need_open_gps_count;
-uint32_t keystarttime,keystarttime2;
+uint32_t keystarttime,keystarttime2,keystarttime3;
extern uint32_t get_in_num,get_out_num;
-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
- fenli_alarm_count = 0;
- if(flag_fenli_alarm)
- {
- flag_fenli_alarm = 0;
- fenli_alarm_count = 0;
- _4GAlarmUpload(2);
- }
- }
- }
- if(distance>g_com_map[ALARM_DISTANCE1]||anchordata_num==0)
- {
- if(fenli_alarm_count++>20)
- {
- if(!flag_fenli_alarm)
- {
- flag_fenli_alarm = 1;
- _4GAlarmUpload(1);
- }
- }
- }
- if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
- if(flag_alam_state)
- {
- flag_alam_state = 0;
-
- }
-
- 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;
- }
- 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;
- }
- gps_uwb_flag=1;//开启gps测距流程
- need_open_gps_count=0;
- }
-
- }
- if(anchordata_num==0) {
- if(!flag_alam_state)
- {
- flag_alam_state = 1;
- }
- distance = 0x1ffff;
- 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 IMUTask(void)
{
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
@@ -292,27 +224,49 @@
}
}
void UserKeyTask(void)
- {
- if(!GET_USERKEY)
+{
+if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>3)
+ if(HIDO_TimerGetTick() - keystarttime3>2)
{
userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- UDPClient_UploadGPS();
+ keystarttime3 = HIDO_TimerGetTick();
+ //UDPClient_UploadGPS();
}
- if(HIDO_TimerGetTick() - keystarttime2>10)
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
+ }else
+ {
+ keystarttime3 = HIDO_TimerGetTick();
+ }
+}
+void PowerTask(void)
+{
+ if(read_powerkey_input_pca())
+ {
+ if(HIDO_TimerGetTick() - keystarttime>2)
{
- g_com_map[CNT_RESTART] = 1;
+ keystarttime = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+ PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
}
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
}else
{
keystarttime = HIDO_TimerGetTick();
keystarttime2 = HIDO_TimerGetTick();
}
- }
+}
void MinuteTask(void)
-{ gpio_pin_clr(ADC_GND_ENABLE);//拉低
+{
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
@@ -322,8 +276,6 @@
second_count = 0;
MinuteTask();
}
- TagListUpdate_person_num_car();
- in_table_log();
// if(!power_low_flag)
// Gps_change();
@@ -366,40 +318,59 @@
uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
+
+void PwtagTimeTask(void)
+{
+ for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
+ {
+ if(pwtag.remain_time[i]>0)
+ {
+ pwtag.remain_time[i]--;
+ }
+ }
+}
+void check_input_change(void)
+{
+ uint16_t gpio_state;
+ gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+ if(WAKE_UP_POSITION&gpio_state)
+ {
+ nomove_count=0;
+ }
+ //uart_change_check(gpio_state);
+}
+uint8_t Get_anchor_appdata_flag;
+uint8_t Get_anchor_appdata_num;
+extern uint8_t update_tag_time;
+uint8_t sleep_limit_time=1;
+uint8_t enable_sleep_count,sleep_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- if(enbale_blink_flag)
- {
- green_charge_state=0;
- charge_red_on();
- }
-
- charge_state_change();//充电状态判断
-if(secondtask_count++%2==0)
+
+ flag_secondtask = 1;
+ enable_sleep_count++;
+ if(enable_sleep_count==sleep_limit_time)
{
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
+ enable_sleep_count=0;
+ sleep_flag=1;
}
- if(enbale_blink_flag)
- {
- delay_us(5000);
- green_charge_state=0;
- charge_red_off();
- }
- if(delaysleep_count>0)
- delaysleep_count--;
+
+
+ g_start_send_flag=1;
+// if(delaysleep_count>0)
+// delaysleep_count--;
//GPS工作逻辑
}
-static void voltage_input_handler(enum IO_PIN_T pin)
-{
-
-}
static void move_handler(enum IO_PIN_T pin)
{
nomove_count=0;
+ Motion_Detection_callback();
+}
+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 flag_4G_recdata;
void _4gUsart_handler(enum IO_PIN_T pin)
@@ -411,6 +382,7 @@
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
extern uint8_t gps_need_data_flag,gps_open_flag;
+uint8_t uwb_ch;
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
@@ -427,13 +399,13 @@
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;
- }
+// uwb_ch=g_com_map[NEARBASE_ID1];
+// if(g_com_map[BIND_DEV_ID]==0)
+// {
+// UWB_work_state = UN_BIND;
+// }else{
+// UWB_work_state = SEARCH_DEV;
+// }
//g_com_map[SEND_4G_SECOND]
if(g_com_map[SEND_4G_SECOND]<30)
{
@@ -448,43 +420,95 @@
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)|1;
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);
}
-
-
-
+extern uint8_t motor_state;
+extern float motor_keeptime;
+uint8_t test1;
void IdleTask(void)
{
-// if(gpio_pin_get_val(INPUT_5V_Pin))
-// {
+ if(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ //motor_state=2;
+ switch(motor_state)
+ {case 0:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
+// delay_ms(10000);
+ pwm_ch_disable(PWM_ID3);
+ break;
+ case 1:
+// if(current_time<MOTOR_ONTIME)
+// {
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// }else{
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// }
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
+ break;
+ case 2:
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+ pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
+ break;
+ case 3:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+ break;
+ }
+ }
+ UART0_CheckReceive();
+ test1=gpio_pin_get_val(INPUT_5V_Pin);
+ if(gpio_pin_get_val(INPUT_5V_Pin))
+ {
+ if(state5v==0)
+ {
+ state5v=1;
+ sleep_flag=0;
+ sleep_limit_time=30;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
+ }else{
+ if(state5v==1)
+ {
+ state5v=0;
+ sleep_limit_time=1;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
-// 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();
+ }
}
int bind_check(void)
{
@@ -497,16 +521,16 @@
//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 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
@@ -523,20 +547,123 @@
uint8_t index1,index2,index3;
int16_t Voltage_input;
int tt2;
-int test1,test3;
uint32_t test4;
+void Chuanshuwenjian_Poll()
+{
+ if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
+ {
+ calib_chip();
+ wdt_close(WDT_ID0);
+ Get_anchor_appdata_flag=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,
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
+ };
+ flash_open(FLASH_ID0, NULL);
+ //uart_open(UART_ID1, &test_uart_cfg);
+ uart_open(UART_ID0, &test_uart_cfg);
+ //uart_receive(UART_ID1, trx_buf, 1, uart_receive_callback);
+ Serial0PutString("MK8000-文件传输启动\r\n");
+// Get_anchor_appdata_flag=1;
+// HAL_TIM_Base_Start_IT(&htim4);
+ while(1)
+ {
+ if(SerialDownload()==0)
+ {
+// Get_anchor_appdata_flag=0;
+ g_com_map[YAOGEIANC_UPWENJIAN_FLAG]=0;
+ save_com_map_to_flash();
+ delay_ms(300);
+// Get_anchor_appdata_flag=0;
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+// else{
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+ }
+ }
+}
+uint16_t final_bag_num;
+extern uint8_t Lora_qingqiu_flag;
+uint8_t send_lora_data[250];
+uint16_t mubiao_anchor_ID;
+uint16_t Lora_qingqiu_bao;
+uint8_t jindu;
+uint8_t shengji_changdu;
+uint8_t Dtu_shengji_jindu[20]= {0x55,0xAA,0x34,0x05};
+extern uint32_t tempflag;
+ uint32_t tx_en_start_u32;
+ uint32_t tx_en_start_u321;
+uint8_t baifenbi=5;
+void Lora_upanc_ing_Poll( void )
+{ uint16_t crc16;
+// if(Lora_upanc_flag==1)
+// {
+// Lora_deinit_Poll();
+ if(Lora_qingqiu_flag==1)
+ {
+ CloseUWB();
+// mubiao_anchor_ID=0x1872;
+ final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//计算一共要发都是包
+// final_bag_num=651;
+ Lora_qingqiu_flag=0;
+ send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE 定义
+ memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//自己ID 占用2个字节
+ memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//标签或者基站的设备ID 2个字节
+ memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
+ memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
+ crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
+ memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
+// Lora_status=1;
+ jindu=(Lora_qingqiu_bao*100)/final_bag_num;
+// LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
+ Dtu_shengji_jindu[4]=jindu;
+ memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
+ if(jindu>baifenbi)
+ {
+ uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
+ baifenbi=baifenbi+10;
+ }
+ tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
+ tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//立即发送
+ tx_en_start_u321= phy_timer_count_get();
+// while(mac_is_busy());//等待发送完成
+
+ }
+// }
+}
+static void pwm_callback(void *dev, uint32_t status)
+{
+// uint8_t id = *(uint8_t *)dev;
+// LOG_INFO(TRACE_MODULE_APP, "PWM %x interrupt callback\r\n", id);
+
+// gpio_pin_toggle(IO_PIN_7);
+}
+static void voltage_input_handler()
+{
+
+}
+extern uint8_t shengji_flag;
int main(void)
{
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
-
- // Load calibration parameters from NVM
+ Program_Init();
uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
if (internal_flash || external_flash == 1)
@@ -549,137 +676,73 @@
{
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
- Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
-
+
+ struct PWM_CFG_T usr_pwm_cfg = {
+ .general_prescale = 15,
+ .int_en = 1,
+ .callback = pwm_callback,
+ };
+ pwm_open(&usr_pwm_cfg);
+// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
gpio_open();
- board_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
+ LED_output_init();//配置adcGND引脚
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_IN, 0);
- io_pull_set(SCL_PIN , IO_PULL_UP, 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
- gpio_pin_clr(ADC_GND_ENABLE);
-
- 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
+ SC7A22H_Motion_Detection_Init();
+ gpio_pin_clr(ADC_GND_ENABLE);
+ Program_Init();
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
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
- // board_5V_input_init(voltage_input_handler);
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+
+ #ifdef _UWB_1HZ
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ #else
+ sleep_timer_start(__MS_TO_32K_CNT(5000));//测试
+ #endif
+ board_5V_input_init(voltage_input_handler);
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
board_acceleration_detection_init(move_handler);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- board_4GUsart_detection_init(_4gUsart_handler);
+ Uwb_init();
+ Dw1000_App_Init();
while (1)
- { test4=gpio_pin_get_val(SCL_PIN);
- UWBPoll();
-// 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();
-// }
-//// air780_led_on();
-// Internet_Poll();
-// HIDO_ATLitePoll();
-// HIDO_TimerPoll();
-// TCPClient_Poll();
-//// air780_led_off();
-// }
-// }
+ {
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
-
}
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ gpio_pin_set(IO_PIN_7);//亮
+ SwitchTagState();
+ gpio_pin_clr(IO_PIN_7);//灭
+ }
+// PowerTask();
+ IMUTask();
// UserKeyTask();
-// IMUTask();
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();
+
+ if(sleep_flag&&state5v==0){//开始一段时间无休眠
+ trace_flush();
+ uint32_t lock = int_lock();
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ //唤醒源设置MK8000修改
+ //board_5V_input_init(voltage_input_handler);
+ //sleep_timer_start(g_com_map[COM_INTERVAL]);
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");
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
int_unlock(lock);
- }
-
+ }
#endif
}
}
--
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