From 62f6fe8e906f8c17493d154f5567ba8a7ab4c0cf Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 26 六月 2025 18:13:38 +0800
Subject: [PATCH] 注释掉了串口逻辑，加入了与蓝牙串口通信逻辑，能够修改参数，但网关下发配置会出现hardfault未解决
---
keil/include/drivers/serial_at_cmd_app.h | 10 +
keil/include/main/main.c | 18 ++
pin_config.c | 6 +
keil/include/src/Radio/lora_1268.h | 1
keil/include/drivers/global_param.h | 3
keil/include/src/Radio/lora_1268.c | 34 ++++++
keil/include/drivers/serial_at_cmd_app.c | 190 +++++++++++++++++++++++++++++++++++++-
keil/include/drivers/uwb_app.c | 3
keil/include/board/board.c | 6
9 files changed, 249 insertions(+), 22 deletions(-)
diff --git a/keil/include/board/board.c b/keil/include/board/board.c
index b5af2ba..c273832 100644
--- a/keil/include/board/board.c
+++ b/keil/include/board/board.c
@@ -414,11 +414,13 @@
// 判断是Airtag还是免布线模式
io_pin_mux_set(MODE_CHANGE_PIN, IO_FUNC0);
gpio_pin_set_dir( MODE_CHANGE_PIN, GPIO_DIR_IN, 0);
- io_pull_set(MODE_CHANGE_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL2);
+ //io_pull_set(MODE_CHANGE_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL2);
+ io_pull_set(MODE_CHANGE_PIN , IO_PULL_DOWN, IO_PULL_UP_NONE);// 修改了
// 判断是休眠还是工作模式
io_pin_mux_set(SLEEP_PIN, IO_FUNC0);
gpio_pin_set_dir(SLEEP_PIN, GPIO_DIR_IN, 0);
- io_pull_set(SLEEP_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL2);
+ //io_pull_set(SLEEP_PIN , IO_PULL_DOWN, IO_PULL_UP_LEVEL2);// 修改了
+ io_pull_set(SLEEP_PIN , IO_PULL_DOWN, IO_PULL_UP_NONE);// 修改了
//初始化NRST脚
io_pin_mux_set(LORA_NRST, IO_FUNC0);
gpio_pin_set_dir(LORA_NRST , GPIO_DIR_OUT, 1);
diff --git a/keil/include/drivers/global_param.h b/keil/include/drivers/global_param.h
index fc22ed5..c3bdfed 100644
--- a/keil/include/drivers/global_param.h
+++ b/keil/include/drivers/global_param.h
@@ -51,6 +51,7 @@
#define NEARBASE_ID10 0x1a
#define POWER 0x1B
+#define SET_START_TIME 0x1B
#define IMU_THRES 0x1C
#define NOMOVESLEEP_TIME 0x1D
#define MOTOR_ENABLE 0x1E
@@ -66,7 +67,7 @@
#define CNT_RESTART 0x30
#define CNT_REBOOT 0x31
#define CNT_UPDATE 0x32
-#define BIND_DEV_ID 0x40
+
/*------------END Map Definition-------------------*/
diff --git a/keil/include/drivers/serial_at_cmd_app.c b/keil/include/drivers/serial_at_cmd_app.c
index 236c51b..d1ad26a 100644
--- a/keil/include/drivers/serial_at_cmd_app.c
+++ b/keil/include/drivers/serial_at_cmd_app.c
@@ -72,7 +72,7 @@
send_frame[1] = 0xAA;
send_frame[2] = 0x03;
send_frame[3] = data_length+5;
- send_frame[4] = CMD_REPLY;
+// send_frame[4] = CMD_REPLY;
send_frame[5] = index;
send_frame[6] = data_length;
memcpy(&send_frame[7], &g_com_map[index], data_length);
@@ -93,7 +93,7 @@
send_frame[1] = 0xAA;
send_frame[2] = 0x03;
send_frame[3] = data_length+5;
- send_frame[4] = CMD_REPLY;
+// send_frame[4] = CMD_REPLY;
send_frame[5] = index;
send_frame[6] = data_length;
memcpy(&send_frame[7], &g_com_map[index], data_length);
@@ -235,7 +235,7 @@
send_frame[0] = 0x55;
send_frame[1] = 0xAA;
send_frame[2] = 0x40;
- send_frame[3] = CMD_REPLY;
+ //send_frame[3] = CMD_REPLY;
send_frame[4] = data_length+6;
send_frame[5] = index;
memcpy(&send_frame[6], &g_com_map[index], data_length);
@@ -275,7 +275,7 @@
uart_send(UART_ID0, send_frame,8, NULL);
}
uint16_t pack_checksum_test=0,test_calculate = 0;
-void Usart0ParseDataHandler(uint8_t data)//UART蓝牙数据分析处理
+void Usart3ParseDataHandler(uint8_t data)//UART蓝牙数据分析处理
{
// 全局变量
static Usart0ReceiveState usart0_receive_state = Usart0ReceiveWaitHead0;
@@ -381,7 +381,7 @@
// 校验通过，处理数据
switch(pack_msg_type)
{
- case CMD_REPLY:
+ //case CMD_REPLY:
case CMD_WRITE:
//从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中,赋值保存的参数并且存入flash
@@ -495,5 +495,185 @@
// pack_length = 0;
// }
}
+extern uint16_t set_mk_time;
+void Send_Reply_To_Ble(void)
+{
+static uint8_t send_frame[100];
+// uint16_t checksum = 0;
+ send_frame[0] = 0x55;
+ send_frame[1] = 0xAA;
+ send_frame[2] = 0x41;
+ send_frame[3] = CMD_MK_REPLY;
+ uart_send(UART_ID0, send_frame,4, NULL);
+}
+void mk_send_message_to_BLE(void)
+{
+static uint8_t send_frame[100];
+ uint16_t checksum = 0;
+ send_frame[0] = 0x55;
+ send_frame[1] = 0xAA;
+ send_frame[2] = 0x40;
+ send_frame[3] = CMD_MK_TO_BLE;
+ send_frame[4]=8;//数据长度
+ send_frame[5]=0;
+ send_frame[6]=0;
+ send_frame[7]=0;
+ memcpy(&send_frame[8],&set_mk_time,2);
+ checksum=Checksum_u16(&send_frame[2],8);
+ memcpy(&send_frame[10],&checksum,2);
+ uart_send(UART_ID0, send_frame,12, NULL);
+}
+extern uint8_t bat_percent;
+extern uint32_t dev_id;
+void Usart0ParseDataHandler(uint8_t data)//UART蓝牙数据分析处理
+{
+// // 全局变量
+//static Usart0ReceiveState usart0_receive_state = Usart0ReceiveWaitHead0;
+//static uint8_t index = 0; // 缓冲区索引
+//static uint8_t pack_cmd_type = 0; // 指令类型
+//static uint8_t pack_msg_type = 0; // 消息类型
+//static uint8_t pack_data_len = 0; // 数据长度
+//static uint8_t pack_param_addr = 0; // 参数地址
+//static uint16_t pack_checksum = 0; // 接收到的校验和
+//static uint16_t calculated_checksum = 0; // 计算得到的校验和
+//static uint8_t send_frame[256]; // 用于计算校验和的帧
+//static uint8_t frame_index = 0; // 帧缓冲区索引
+//static uint8_t pack_datalen = 0;
+//
+// LOG_INFO(TRACE_MODULE_APP,"收到 %#x\r\n",data);
+// switch(usart0_receive_state) {
+// case Usart0ReceiveWaitHead0:
+// if(data == 0x55) {
+// usart0_receive_state = Usart0ReceiveWaitHead1;
+// // 初始化帧缓冲区
+// frame_index = 0;
+// send_frame[frame_index++] = data;
+// }
+// break;
+//
+// case Usart0ReceiveWaitHead1:
+// if(data == 0xAA) {
+// usart0_receive_state = Usart0ReceiveWaitCmdType;
+// send_frame[frame_index++] = data;
+// } else {
+// usart0_receive_state = Usart0ReceiveWaitHead0;
+// }
+// break;
+//
+// case Usart0ReceiveWaitCmdType:
+// if(data == 64) {
+// pack_cmd_type = data;
+// usart0_receive_state = Usart0ReceiveWaitMsgType;
+// send_frame[frame_index++] = data;
+// } else {
+// usart0_receive_state = Usart0ReceiveWaitHead0;
+// }
+// break;
+//
+// case Usart0ReceiveWaitMsgType:
+// if(data == 0x2||data==0x1) { // 读写回复消息类型
+// pack_msg_type = data;
+// usart0_receive_state = Usart0ReceiveWaitDataLen;
+// send_frame[frame_index++] = data;
+// } else {
+// usart0_receive_state = Usart0ReceiveWaitHead0;
+// }
+// break;
+//
+// case Usart0ReceiveWaitDataLen:
+// pack_data_len = data;
+// index = 0;
+// usart0_receive_state = Usart0ReceiveWaitData;
+// send_frame[frame_index++] = data;
+// break;
+//
+//// case Usart0ReceiveWaitParamAddr:
+//// pack_param_addr = data;
+//// if(pack_msg_type==CMD_READ)
+//// {
+//// usart0_receive_state = Usart0ReceiveWaitChecksum1;
+//// pack_datalen=pack_data_len-6;
+//// }else{
+//// usart0_receive_state = Usart0ReceiveWaitData;
+//// }
+//// send_frame[frame_index++] = data;
+//// break;
+//
+// case Usart0ReceiveWaitData:
+// send_frame[frame_index++] = data;
+// mUsart2ReceivePack[index++] = data;
+//
+// if(index == pack_data_len-3) {
+// usart0_receive_state = Usart0ReceiveWaitChecksum1;
+// //pack_datalen=pack_data_len;
+// }
+// break;
+//
+// case Usart0ReceiveWaitChecksum1:
+// pack_checksum = data; // 高字节
+// pack_checksum_test = data; // 高字节
+// send_frame[frame_index++] = data;
+// usart0_receive_state = Usart0ReceiveWaitChecksum2;
+// LOG_INFO(TRACE_MODULE_APP,"收到校验1 %#x\r\n",data);
+// break;
+// case Usart0ReceiveWaitChecksum2:
+// pack_checksum |= data<<8; // 低字节
+// pack_checksum_test |= data<<8; // 低字节
+// LOG_INFO(TRACE_MODULE_APP,"收到校验2 %#x\r\n",data);
+// // 计算校验和 (从第3个字节开始，长度为4+数据长度)
+//// if(pack_msg_type!=CMD_REPLY)
+//// {
+// calculated_checksum = Checksum_u16(&send_frame[2],pack_data_len);
+//// }else{
+//// //calculated_checksum = Checksum_u16(&send_frame[2],4);
+////
+//// }
+// test_calculate=calculated_checksum;
+// LOG_INFO(TRACE_MODULE_APP,"收到校验 %#x,%#x\r\n",calculated_checksum,pack_checksum);
+// // 验证校验和
+// if(pack_checksum == calculated_checksum) {
+// // 校验通过，处理数据
+// switch(pack_msg_type)
+// {
+// case CMD_BLE_TO_MK:
+// memcpy(&dev_id,&mUsart2ReceivePack[0],2);
+// bat_percent=mUsart2ReceivePack[2];
+// memcpy(&set_mk_time,&mUsart2ReceivePack[3],2);
+// memcpy(&g_com_map[DEV_ID],&dev_id,2);
+// memcpy(&g_com_map[SET_START_TIME],&set_mk_time,2);
+// Send_Reply_To_Ble();
+// LOG_INFO(TRACE_MODULE_APP,"收到蓝牙数据 set_mk_time %d,dev_id %04x,bat_percent %d\r\n",set_mk_time,dev_id,bat_percent);
+// save_com_map_to_flash();
+// //memcpy((uint8_t*)&g_com_map + pack_param_addr*2, mUsart2ReceivePack, pack_datalen);
+//
+
+// break;
+//// case CMD_MK_TO_BLE:
+//// //uart0_send_ComMap_to_BLE(pack_datalen,pack_param_addr);
+////
+//// break;
+////// case CMD_REPLY:
+////// memcpy((uint8_t*)&g_com_map + pack_param_addr, mUsart2ReceivePack, pack_datalen);
+////// save_com_map_to_flash();
+////// break;
+// default:
+// break;
+// }
+// }
+//
+// // 重置状态机
+// usart0_receive_state = Usart0ReceiveWaitHead0;
+// index = 0;
+// frame_index = 0;
+// break;
+//
+// default:
+// usart0_receive_state = Usart0ReceiveWaitHead0;
+// index = 0;
+// frame_index = 0;
+// break;
+// }
+
+}
diff --git a/keil/include/drivers/serial_at_cmd_app.h b/keil/include/drivers/serial_at_cmd_app.h
index ab65408..46249d5 100644
--- a/keil/include/drivers/serial_at_cmd_app.h
+++ b/keil/include/drivers/serial_at_cmd_app.h
@@ -5,9 +5,11 @@
#include "stdint.h"
#define MAX_FRAME_LEN 50
-#define CMD_READ 1
-#define CMD_WRITE 2
-#define CMD_REPLY 3
+#define CMD_WRITE 1
+#define CMD_READ 2
+#define CMD_BLE_TO_MK 1
+#define CMD_MK_TO_BLE 2
+#define CMD_MK_REPLY 2
#define APP_CONFIG_IAPFLAG_MAP 0x0402D010
#define APP_CONFIG_IAPFLAG_SECTOR_ADDR 0x0402D000
typedef enum{ UsartReceiveWaitHead0,// 55 0d
@@ -40,7 +42,7 @@
void UsartParseDataHandler(uint8_t data);
void Usart0ParseDataHandler(uint8_t data);
-
+void Usart3ParseDataHandler(uint8_t data);//UART蓝牙数据分析处理
void UpdateProcess(uint8_t index);
#endif
diff --git a/keil/include/drivers/uwb_app.c b/keil/include/drivers/uwb_app.c
index 315abe6..956fe4e 100644
--- a/keil/include/drivers/uwb_app.c
+++ b/keil/include/drivers/uwb_app.c
@@ -751,6 +751,7 @@
Anchor_RecNearPoll(rec_nearbase_num);
}
}
+ //LOG_INFO(TRACE_MODULE_APP,"存在时间%d. \r\n", tagofflinetime[0]);
}
@@ -1064,7 +1065,7 @@
}
//gpio_pin_clr(SCL_PIN);//测试
- LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
+ //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0:%f,信号强度ANT2: %f\r\n",g_com_map[BIND_DEV_ID],distance,sts_rssi[0],sts_rssi[2]);
return 1;//返回发送成功标志
}
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index ef59210..63c43e5 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -118,6 +118,7 @@
uint8_t group_id,enable_sleep_count;
uint32_t dev_id;
uint16_t disoffset;
+uint16_t set_mk_time;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
float nomove_count;
// Default pool descriptor.
@@ -351,6 +352,8 @@
}
uint8_t bat_percent;
uint8_t stationary_flag;
+extern uint8_t send_flag;
+extern uint8_t txdone;
void mcu_deep_sleep(void)
{
uint32_t lock;
@@ -368,10 +371,7 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
-// delay_ms(300);
-// LOG_INFO(TRACE_MODULE_APP, "进入休眠模式\r\n");//测试
-// power_init();
-// mcu_deep_sleep();
+
if(gpio_pin_get_val(SLEEP_PIN))
{
if(gpio_pin_get_val(MODE_CHANGE_PIN))//记得改回来与正式的相反
@@ -475,6 +475,7 @@
power_manage();
if(!gpio_pin_get_val(SLEEP_PIN))
{
+ gpio_pin_clr(LORA_NRST);//lora休眠
LOG_INFO(TRACE_MODULE_APP, "进入休眠模式\r\n");
mcu_deep_sleep();
}
@@ -493,6 +494,11 @@
sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
while (1)
{
+ if(send_flag)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"发送数量%d. \r\n",txdone);
+ send_flag=0;
+ }
uwb_app_poll();//我们的测距逻辑
if(flag_secondtask)
{
@@ -503,6 +509,7 @@
Lora_Tx_Poll();
if(!gpio_pin_get_val(SLEEP_PIN))
{
+ //gpio_pin_clr(LORA_NRST);//lora休眠
LOG_INFO(TRACE_MODULE_APP, "进入休眠模式\r\n");
mcu_deep_sleep();
}
@@ -512,6 +519,9 @@
}else{
//delay_ms(300);
LOG_INFO(TRACE_MODULE_APP, "进入休眠模式\r\n");
+ //gpio_pin_clr(LORA_NRST);//lora休眠
+// spi_close(SPI_ID0);
+ //lora_in_sleep();
power_init();
mcu_deep_sleep();
}
diff --git a/keil/include/src/Radio/lora_1268.c b/keil/include/src/Radio/lora_1268.c
index affe968..e3c848a 100644
--- a/keil/include/src/Radio/lora_1268.c
+++ b/keil/include/src/Radio/lora_1268.c
@@ -313,7 +313,7 @@
checksum = Checksum_u16(lora_sendbuffer,9+data_length);
memcpy(&lora_sendbuffer[9+data_length],&checksum,2);
Radio.Send(lora_sendbuffer,data_length+11);
-
+LOG_INFO(TRACE_MODULE_APP, "进入回复\r\n");
//LORA_3029_SINGLE_SEND(lora_sendbuffer,data_length+11,0);
// Delay_Ms(100);
}
@@ -360,7 +360,19 @@
}
-
+void lora_in_sleep(void)
+{
+ //SPI0/MOSI/MISO/CLK/CS
+// gpio_pin_set(LORA_CS);
+// gpio_pin_clr(LORA_MOSI);
+// gpio_pin_clr(LORA_MISO);
+// gpio_pin_clr(LORA_CLK);
+// gpio_pin_clr(LORA_IRQ);
+ //gpio_pin_clr(LORA_NRST);
+ //gpio_pin_clr(LORA_NRST);//lora休眠
+ Radio.Standby();
+ Radio.Sleep();
+}
////States_t State = LOWPOWER;
//////int8_t RssiValue = 0;
@@ -377,9 +389,11 @@
//uint16_t current_count;
//extern wg_state_enum wg_state;
uint8_t txdone=0;
+uint8_t send_flag;
void OnTxDone( void )
{
txdone++;
+
if(flag_writepara_needreset) //配置写入完成设备需要重启
{
printf("网关下发配置写入完成，重启");
@@ -393,7 +407,9 @@
}
else
{
+
Radio.Rx( 50 );
+ send_flag=1;
//LORA_LED_OFF;
}
}
@@ -427,6 +443,8 @@
uint8_t LoraUp_flag;
uint16_t REV_WG_pack=0;
uint8_t rxdone=0;
+extern uint16_t set_mk_time;
+extern mk_send_message_to_BLE(void);
void OnRxDone( uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr )
{
uint16_t checksum1;
@@ -516,7 +534,13 @@
default :
memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
g_com_map[rec_index/2] = rec_value;
- save_com_map_to_flash();
+// if(rec_index/2==POWER)//新增判断
+// {
+// memcpy(&set_mk_time,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+// //mk_send_message_to_BLE(); //发送给蓝牙
+// //LOG_INFO(TRACE_MODULE_APP, "修改成功g_com表为%#x,时间为%#x\r\n",g_com_map[POWER],set_mk_time);
+// }
+ // save_com_map_to_flash();
LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
flag_writepara_needreset = 1;
no_rx_flag = 1;
@@ -546,7 +570,8 @@
}
}
- }
+ }
+LOG_INFO(TRACE_MODULE_APP, "进入回复2\r\n");
if(!no_rx_flag)
{
if(lora_jianting_flag&&LoraUp_flag==0)
@@ -570,6 +595,7 @@
void OnRxTimeout( void )
{
Radio.Standby();
+
if(lora_jianting_flag)
{
SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
diff --git a/keil/include/src/Radio/lora_1268.h b/keil/include/src/Radio/lora_1268.h
index b4eed72..27e2efe 100644
--- a/keil/include/src/Radio/lora_1268.h
+++ b/keil/include/src/Radio/lora_1268.h
@@ -199,4 +199,5 @@
void OnRxTimeout( void );
void OnRxError( void );
void SwitchLoraSettings(uint32_t freq,uint8_t sf,uint8_t power);
+void lora_in_sleep(void);
#endif
\ No newline at end of file
diff --git a/pin_config.c b/pin_config.c
index a6e90d8..e8f2bf8 100644
--- a/pin_config.c
+++ b/pin_config.c
@@ -42,6 +42,7 @@
#include "board.h"
extern void (*Usart0ParseDataCallback)(uint8_t);
extern void Usart0ParseDataHandler(uint8_t data);
+extern void Usart3ParseDataHandler(uint8_t data);//UART蓝牙数据分析处理
struct UART_CFG_T test_uart_cfg =
{
.parity = UART_PARITY_NONE,
@@ -103,6 +104,9 @@
io_pin_mux_set(LORA_CLK, IO_FUNC2);
io_pin_mux_set(LORA_IRQ, IO_FUNC0);
io_pin_mux_set(LORA_NRST, IO_FUNC0);
+// io_pull_set(IO_PIN_11, IO_HIGH_Z, IO_PULL_UP_NONE);
+// io_pull_set(IO_PIN_12, IO_HIGH_Z, IO_PULL_UP_NONE);
+// io_pull_set(IO_PIN_13, IO_HIGH_Z, IO_PULL_UP_NONE);
//初始化lora引脚
// UART0 TX/RX
io_pin_mux_set(IO_PIN_5, IO_FUNC4);
@@ -134,7 +138,7 @@
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
gpio_pin_set_dir(LORA_IRQ , GPIO_DIR_IN, 0);
- io_pull_set(LORA_IRQ, IO_PULL_DOWN, IO_PULL_UP_NONE);//此处中间参数修改过现在这个能少190ua左右电流
+ io_pull_set(LORA_IRQ, IO_PULL_DOWN, IO_PULL_UP_LEVEL2);//此处中间参数修改过现在这个能少190ua左右电流
gpio_enable_irq(LORA_IRQ, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
void uart0_Init_normal(void)
--
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