From 63bf8ea65ca11349d5fae93580f91a87d3633dba Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 14 三月 2025 18:45:47 +0800
Subject: [PATCH] 工卡改为通道9，加入ntrip跟tcp。ntrip不能用 shell不能用
---
keil/include/main/main.c | 732 ++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 479 insertions(+), 253 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index b36dfdb..4f5e77a 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -1,43 +1,3 @@
-/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
- * its subsidiaries and affiliates (collectly called MKSEMI).
- *
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form, except as embedded into an MKSEMI
- * integrated circuit in a product or a software update for such product,
- * must reproduce the above copyright notice, this list of conditions and
- * the following disclaimer in the documentation and/or other materials
- * provided with the distribution.
- *
- * 3. Neither the name of MKSEMI nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * 4. This software, with or without modification, must only be used with a
- * MKSEMI integrated circuit.
- *
- * 5. Any software provided in binary form under this license must not be
- * reverse engineered, decompiled, modified and/or disassembled.
- *
- * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
- * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
- * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
@@ -61,6 +21,9 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
+#include "PCA9555.h"
+#include "WS2812.h"
+#include "DBG.h"
//#define DEBUG_MODE
extern int simple_main(void);
@@ -72,33 +35,47 @@
#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;
-uint32_t dev_id;
+extern int distance;
+extern uint8_t anchordata_num;
+uint16_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;
-int link_success_flag;
-uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
+uint8_t link_success_flag,motor_count;
+uint16_t gps_wait_count,gps_wait_count2;
+uint8_t state5v = 1;
+uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_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 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;
+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
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
SEARCH_DEV,
} Operation_step;
-Operation_step Operation_state;
+Operation_step UWB_work_state;
Commend_SendDate send_struct;
-static struct ADC_CFG_T usr_adc_cfg = {
+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)*/
@@ -134,9 +111,25 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+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 mcu_deep_sleep(void)
+{
+ 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
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
+ sleep_timer_stop();
+ //adc_close();
+ power_enter_power_down_mode(1);
+// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+ sys_reset(0);
+ int_unlock(lock);
}
static void adc_callback(void *data, uint32_t number)
{
@@ -160,91 +153,209 @@
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(ADC_MINIUS,1);//拉高
}
-//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);
-//}
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
-void SecondTask(void)
+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,keystarttime3;
+extern uint32_t get_in_num,get_out_num;
+uint8_t flag_4G_recdata;
+uint8_t ledonflag;
+uint32_t ledontime;
+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)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
+ mcu_deep_sleep();
+ }
+}
+void UserKeyTask(void)
+{
+if(!read_userkey_input_pca())
+ {
+ if(HIDO_TimerGetTick() - keystarttime3>2)
+ {
+ userkey_state = 1;
+ keystarttime3 = HIDO_TimerGetTick();
+ //UDPClient_UploadGPS();
+ }
+// 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)
+ {
+ rtkled=WHITE;
+ uwbled=WHITE;
+ led4g=WHITE;
+ powerled=WHITE;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ delay_ms(500);
+ keystarttime = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关GPS
+ PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
+
+ }
+// if(HIDO_TimerGetTick() - keystarttime2>10)
+// {
+//
+// g_com_map[CNT_RESTART] = 1;
+// }
+ }else
+ {
+ keystarttime = HIDO_TimerGetTick();
+ keystarttime2 = HIDO_TimerGetTick();
+ }
+}
+void MinuteTask(void)
+{
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ 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状态检测
+if(!power_low_flag)//低供电下不需要检测重连
+ {
if(IfTCPConnected())
{
TCP_reconnect_timer =0;
flag_TCP_reconnectting = 0;
- }else{
+ } 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{
+ } else {
flag_TCP_reconnectting = 0;
}
- if(TCP_reconnect_timer++>600)
+ if(TCP_reconnect_timer++>600)
{
TCP_reconnect_timer = 0;
}
}
+ }
HIDO_TimerTick();
+// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
+// else{
+// nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
+// }
}
+uint8_t tt=1;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
+uint8_t uwb_enable_flag=0;
+uint8_t input5v_time;
+extern uint8_t taglist_num;
+extern uint8_t ceshidata[500];
+extern uint8_t ceshichangdu;
+uint8_t gps_ntripsend;
static void sleep_timer_callback(void *dev, uint32_t time)
{
-
- SecondTask();
- // IO_control_init();
- uwb_led_on();
- delay_us(1000);
- uwb_led_off();
-// send_messgae_count+=g_com_map[COM_INTERVAL];
-// //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
-// //send_message_count=0;
-// //send_flag=1;
-// //}
-
-// if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
-// link_error_count=0;
-// g_start_send_flag=1;
-// }
-// if(Operation_state==SEARCH_DEV) {
-//// if(first_search_flag){//当第一次连接断开产生时才开始计数
-// //link_error_count=0;
-//// }
-// link_error_count++;
-// if(link_error_count==60)
-// link_error_count=0;
-// //link_error_count+=g_com_map[COM_INTERVAL];
-// //if(link_error_count>=g_com_map[4G_INTERNAL])
-// //link_error_count=0;
-// update_led_power_state();//更新灯状态
-// }
-
+if(secondtask_count++%2==0)
+ {
+ input5v_time=1;
+ flag_secondtask = 1;
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ powerled = BLUE;
+ }else{
+ powerled = RED;
+ }
+ ledonflag=1;
+// ledontime=HIDO_TimerGetTick();
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+// uart_send(UART_ID1, ceshidata, 50,NULL);
+ }
+ input5v_time=1;
+ if(taglist_num==0)
+ {
+ CloseUWB();
+ Uwb_init();
+ OpenUWB();
+ }
+ }else{
+ flag_secondtask = 0;
+ }
+ if(gps_ntripsend==1)
+ {
+ gps_ntripsend=2;
+ }
+ if(delaysleep_count>0)
+ delaysleep_count--;
}
-static void voltage_input_handler(enum IO_PIN_T pin)
+uint8_t test11,test21,test31,test41,test51;
+static void pca_handler(enum IO_PIN_T pin)
{
-
-}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
+ PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
+ uint16_t gpio_state;
+ gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
+ test41++;
+ if(WAKE_UP_POSITION&gpio_state)
+ {
+ nomove_count=0;
+ test11++;
+ }
+// if(!(MAIN_RI_POSITION&gpio_state))
+// {
+// flag_4G_recdata = 1;
+// delaysleep_count = 3;
+// test21++;
+// }
+ if((PWR_ON_POSITION&gpio_state))
+ {
+ PowerTask();
+ test31++;
+ }
}
-static void _4gUsart_handler(enum IO_PIN_T pin)
+void _4gUsart_handler(enum IO_PIN_T pin)
{
- io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC4);
- AIR780EUartInit();
+ //LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
+ flag_4G_recdata = 1;
+ delaysleep_count = 3;
}
+extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_flag;
+uint8_t gps_need_data_flag,gps_open_flag;
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
+// g_com_map[GROUP_ID]=9;
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
memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
warning_distance=g_com_map[ALARM_DISTANCE1];
prewarning_distance=g_com_map[ALARM_DISTANCE2];
@@ -252,72 +363,229 @@
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
+
+// g_com_map[IP_0]=111;
+// g_com_map[IP_1]=198;
+// g_com_map[IP_2]=60;
+// g_com_map[IP_3]=6;
+// g_com_map[PORT]=6666;
+
+ g_com_map[IP_0]=117;
+ g_com_map[IP_1]=72;
+ g_com_map[IP_2]=111;
+ g_com_map[IP_3]=237;
+ g_com_map[PORT]=7000;
+
+ g_com_map[TCP_IP_0]=111;
+ g_com_map[TCP_IP_1]=198;
+ g_com_map[TCP_IP_2]=60;
+ g_com_map[TCP_IP_3]=6;
+ g_com_map[TCP_PORT]=1234;
+ /*
+ RTCMMODE_NONE,
+ RTCMMODE_TCP,
+ RTCMMODE_NTRIP,
+ */
+ g_com_map[RTCMMODE_INDEX] = RTCMMODE_TCP;
+
+
+ snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+ g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+ snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+ snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+ snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+
+
+ 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)
+ {
+ 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];
+ g_com_map[VERSION] = (1<<8)|3;
+
+
+ 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",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
+ }
}
-
-
-
+uint32_t adctick = 0;
+uint8_t only_one_flag;
+uint16_t chongman_time;
+uint8_t bat_percent_old=100;
+uint8_t input5vflag;
+uint8_t kai_4g_flag;
void IdleTask(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
- if(state5v==0)
+if(read_5v_input_pca())
+ {
+ 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
+ PCA9555_Set_One_Value_Output(MCU_A,1);//输出高电平切换为5V输入
+ }
+ chongman_time=0;
+ only_one_flag=0;
+ uwbled=0;
+ rtkled=0;
+ led4g=0;
+ powerled=0;
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ while(1)
+ {
+ nomove_count = 0;
+ if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+ {
+ chongman_time=chongman_time+6;
+ adctick = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&!only_one_flag)
+ {
+ only_one_flag=1;
+ chongman_time=0;
+ }
+ if(bat_percent>=99&&chongman_time>=1800)
+ {
+ powerled = GREEN;
+ }else{
+ powerled = RED;
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ if(kai_4g_flag==0)
+ {
+ kai_4g_flag=1;
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
+ Shell_Init();
+ }
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ HIDO_InputPoll();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ }
+ UART_CheckReceive();
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ }
+ else
+ {
+ Set4LEDColor(0,0,0,powerled);
+ }
+ if(input5v_time)
+ {
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ }
+ NVIC_SystemReset();
+ input5vflag=1;
+ }
+ else
{
- 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();
+ 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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+ }
}
-
- //UART_CheckSend();
- } else {
- if(state5v==1)
+ UART_CheckReceive();
+ if(g_com_map[CNT_RESTART]==1)
{
- 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();
+ g_com_map[CNT_RESTART]=0;
+ NVIC_SystemReset();
+
}
- UART_CheckReceive();
- }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+ NVIC_SystemReset();
+ }
+ HIDO_TimerPoll();
+ if(ledonflag==1)
+ {
+ ledonflag=0;
+ uwbled=0;
+ rtkled=0;
+ led4g=0;
+ powerled=0;
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ }
}
-int bind_check(void)
+void boot_deinit(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
- }
+ //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
}
-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
- Operation_state=LINK_SUCCESS;
- } else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
- }
-}
-
uint8_t flag_4guart_needinit=0;
+uint8_t index1,index2,index3;
+int16_t Voltage_input;
+int tt2;
+int test1,test3;
+uint32_t test4;
+extern uint8_t receive_flag;
+extern uint8_t YUANGPS_ParseGGA_data[256];
+extern uint8_t YUANGPS_ParseGGA_changdu;
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_UART1,BAUD_115200);
// 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)
@@ -330,121 +598,79 @@
{
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);
+// Uart_Register(UART_ID_DBG, UART_ID1);
+ Program_Init();
Internet_Init();
TCPClient_Init();
-
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+ {
+ NTRIPClient_Init();
+ NTRIPApp_Init();
+ }
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Init_1();
+ }
gpio_open();
- //board_led_init();
-
-// adc_open(&usr_adc_cfg);
+ LED_output_init();//配置彩色灯引脚
IIC2_Init();
Accelerometer_Init();
- IO_control_init();
- // 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();
- // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
+ PCA9555_init();
+ adc_open(&usr_adc_cfg);
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
power_init();
- // LOG_INFO(TRACE_MODULE_APP, "测试数据");
-// g_com_map[BIND_DEV_ID]=0x1122;//测试
-// if(bind_check())//绑定后才提前开启测距
-// { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
-// check_if_in_search();
-// } else {
-// send_struct.bindState=false;
-// Operation_state=UN_BIND;
-// }
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(1000));//测试
- //board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
-
- AIR780E_Reset(); //4G模块重启，耗时1.5秒
- while (1)
- {
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
- if(flag_4guart_needinit)
- {
- flag_4guart_needinit = 0;
- AIR780EUartInit();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- }
-// switch(Operation_state) {
-// case LINK_SUCCESS:
-// { //连接成功进行轮询测距
-// if(g_start_send_flag) {
-// g_start_send_flag = 0;
-// uwb_led_on();
-// simple_main();
-// uwb_led_off();
-// IdleTask();
-// } else {
-// IdleTask();
-// }
-// }
-// break;
-// case SEARCH_DEV:
-// { //接包不成功或者通讯失败进入搜索模式
-// if(link_error_count==0||first_search_flag) {
-// first_search_flag=0;
-// uwb_led_on();
-// link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
-// uwb_led_off();
-// if(link_success_flag)
-// Operation_state=LINK_SUCCESS;
-// }
-// IdleTask();
-// }
-// break;
-// case UN_BIND:
-// { uwb_led_off();//关闭uwb指示灯
-// IdleTask();
-// }
-// break;
-// }
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ pca_input_detection_init(pca_handler);//pca检测输入
+ Uwb_init();
+ OpenUWB();
+ DBG_Init();
+// DBG_SetMode(DBG_MODE_SHELL);
+// Shell_Init();
- //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(!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。
- {
- board_4GUsart_detection_init(_4gUsart_handler);
- // LOG_INFO(TRACE_MODULE_APP, "进入休眠");
- 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);
+ if(!read_5v_input_pca())
+ {
+ Set4LEDColor(BLUE,GREEN,WHITE,RED);
+ delay_ms(500);
+ Set4LEDColor(RED,WHITE,RED,WHITE);
+ delay_ms(500);
+ Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ }
+ 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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+ while (1)
+ {
+ uwb_app_poll();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend==2)
+// {
+// gps_ntripsend=0;
+// NTRIPApp_ReportGGA(YUANGPS_ParseGGA_data, YUANGPS_ParseGGA_changdu);
+// memset(YUANGPS_ParseGGA_data,0,YUANGPS_ParseGGA_changdu);
+// YUANGPS_ParseGGA_changdu=0;
+// }
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
}
-#endif
+ PowerTask();
+ IMUTask();
+ UserKeyTask();
+ IdleTask();
}
}
--
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