From 67c0751eab06b13ec17e82ab1920fd9dc2c5c457 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 13 五月 2025 16:57:05 +0800
Subject: [PATCH] 最初摘取iphone测距功能
---
keil/include/main/main.c | 522 +++++++++++++++++++++++++--------------------------------
1 files changed, 228 insertions(+), 294 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 9de8816..f98589e 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -40,255 +40,103 @@
#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_flash.h"
-#include "libc_rom.h"
-#include <serial_at_cmd_app.h>
-#include <global_param.h>
-#include "board.h"
-#include "wsf_nvm.h"
-#include "mk_power.h"
#include "mk_sleep_timer.h"
-#include "Usart.h"
-#include "mk_adc.h"
-extern int TagRange(void);
-extern void parameter_init(void);
-uint8_t trx_buf[10] = {0};
-#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 "mk_power.h"
+#include "mk_uwb.h"
+#include "mk_calib.h"
+#include "mk_uart.h"
+#include "mk_spi.h"
+#include "mk_flash.h"
-#define NUM_SAMPLES 1
-#define SLEEP_START_TIME 1
-#define FREQ_LOST_TIME 5
-#define NOTAG_FREQ 1
-#define BATTERY_GET_TIME 3600
-uint8_t enable_sleep_count,sleep_flag;
-uint32_t battery_get_count;
-//#define DEBUG_MODE
-uint32_t reboot_num;
-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,
+#include "board.h"
+
+#include "pal_sys.h"
+#include "wsf_os.h"
+#include "wsf_timer.h"
+#include "wsf_buf.h"
+#include "wsf_nvm.h"
+
+#include "app.h"
+#include "ranging_fira.h"
+#include "uwb_api.h"
+#include "lib_ranging.h"
+#include "uci_tl_task.h"
+#include "libc_rom.h"
+
+#ifdef UWB_UCI_TEST_EN
+#include "uwb_test.h"
#endif
- };
-static void app_wdt_callback(void *dev, uint32_t status)
-{
- ASSERT(status, "WDT TIMEOUT，程序复位");
- //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
-}
-static uint32_t sample[NUM_SAMPLES] = {0};
-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 WDT_CFG_T app_wdt_cfg = {
- .timeout = 32768 * 30,
- .rst_en = true,
- .int_en = true,
- .callback = app_wdt_callback,
- };
-uint8_t state5v = 1;
-uint8_t bat_percent=0,g_start_send_flag=1;
-int16_t fVoltage_mv;
-uint8_t bat_percent;
-extern uint32_t dev_id;
-extern uint8_t group_id;
-extern float freqlost_count;
-uint8_t tag_frequency;
-void UartDeinit(void);
-void UartInit(void);
-void Program_Init(void);
-void IdleTask(void);
-void boot_deinit(void);
-void Get_batterty_Voltage(void);
-void Calculate_battery_percent(void);
-static void uart_receive_callback(void *dev, uint32_t err_code)
-{
-uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-}
-void UartInit(void)
+#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)
{
-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 val;
+ val = efuse_read_byte(EFUSE_FLASH_EN_ADDR);
+ return ((val & EFUSE_FLASH_EN_BIT) ? true : false);
}
-void UartDeinit(void)
+
+bool program_efuse(void)
{
-uart_close(UART_ID0);
-uart_close(UART_ID1);
+ 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;
}
-void Get_batterty_Voltage(void)
-{
- battery_monitor_open();
- fVoltage_mv=battery_monitor_get();
- battery_monitor_close();
- Calculate_battery_percent();
-}
-void Calculate_battery_percent(void)
-{
- if(fVoltage_mv < 3000)
- {
- bat_percent = 0;
- }
- else if(fVoltage_mv > 3500)
- {
- bat_percent = 100;
- }
- else
- {
- bat_percent = ((fVoltage_mv - 3000) /8);
- }
- //LOG_INFO(TRACE_MODULE_APP, "The voltage is %d ,percent is %%%d \r\n",fVoltage_mv,bat_percent);
-}
+#endif
+
+//*****************************************************************************
+//
+// WSF buffer pools.
+//
+//*****************************************************************************
+#define WSF_BUF_POOLS 5
+void Fira_Ranging_Task(void);
+// Default pool descriptor.
+static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
+ {32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
+};
+
static void sleep_timer_callback(void *dev, uint32_t time)
{
- //sleep_timer_start(__MS_TO_32K_CNT(1000));
- static uint8_t lost_jumpcount=0;
- reboot_num++;
- if(reboot_num>=3600)
- NVIC_SystemReset(); //软复位回到bootloader
- enable_sleep_count++;
- if(enable_sleep_count==SLEEP_START_TIME){
-
- enable_sleep_count=0;
- sleep_flag=1;
- }
- if(battery_get_count++>=BATTERY_GET_TIME)
- {
- Get_batterty_Voltage();
- battery_get_count=0;
- }
-// if(freqlost_count++>FREQ_LOST_TIME)
-// {
-// tag_frequency = NOTAG_FREQ;
-// if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
-// {
-// lost_jumpcount = 0;
-// g_start_send_flag=1;
-// }
-// }else{
-// g_start_send_flag=1;
-// }
- g_start_send_flag=1;
-}
-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);
+ // 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 board_init(void)
{
-//LOG_INFO(TRACE_MODULE_APP, "中断唤醒\r\n");
-}
-void Program_Init(void)
-{
-Usart1ParseDataCallback = UsartParseDataHandler;
-parameter_init();//g_com_map表初始化
-group_id=g_com_map[GROUP_ID];
-memcpy(&dev_id ,&g_com_map[DEV_ID],2);
-tag_frequency=1000/g_com_map[COM_INTERVAL];
-g_com_map[VERSION] = (1<<8)|11;
-LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
-LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-免布线信标 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
-}
-void IdleTask(void)
-{ UART0_CheckReceive();
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
-
-
- //UART_CheckSend();
-// bat_percent=Get_Battary();
- if(state5v==0)
- {
- state5v=1;
- }
- }else{
- if(state5v==1)
- {
- state5v=0;
- //UartDeinit();
- }
-
-}
-
-}
-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
-}
-int main(void)
-{
- board_clock_run();
- boot_deinit();
- board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
- // 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;
+
+ // Clock configuration
+ board_clock_run();
+ // 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
if (internal_flash || external_flash == 1)
{
WsfNvmInit();
@@ -299,73 +147,159 @@
{
board_calibration_params_default();
}
-
+#else
+ if (internal_flash)
+ {
+ program_efuse();
+ }
+ board_calibration_params_default();
+#endif
+
// Chip calibration
calib_chip();
+ gpio_open();
+#ifdef CELL_PHONE_EN
+ // Configure IO_04 for RF Switch
+ gpio_pin_set_dir(IO_PIN_4, GPIO_DIR_OUT, 0);
+#else
+ // led
+ board_led_init();
+// board_led_on(BOARD_LED_1);
+#endif
+ board_configure();
+}
+
+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;
+ }
+}
+wsfHandlerId_t handlerId;
+void Fira_Ranging_Task(void)
+{
+ //
+ // Create app task
+ //
+ 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
+
+ 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);
+}
+int main(void)
+{
+ // Initialize MCU system
+ board_init();
+
// Disable watchdog timer
wdt_close(WDT_ID0);
- wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
- //LOG_INFO(TRACE_MODULE_APP, "UWB qiang test example\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
- // open system timer
- //sys_timer_open();
-
- gpio_open();
- board_led_init();
-
- //uart_open(UART_ID0, &test_uart_cfg);
-
- Program_Init();
- //power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)POWER_WAKEUP_BY_GPIO_0, POWER_WAKEUP_LEVEL_LOW);
- uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
- // Initialize low power mode
- power_init();
- Get_batterty_Voltage();//获取当前内部电压
- //Calculate_battery_percent();
- //adc_open(&usr_adc_cfg);
- //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- // Enable sleep timer
- Tag_uwb_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_COUNT));//测试
- //board_5V_input_init(voltage_input_handler);//有修改3.3V会一直高电平导致无法进入休眠
- #ifdef BOXING
- io_pin_mux_set(IO_PIN_5, IO_FUNC0);//波形测试
- gpio_pin_set_dir( IO_PIN_5, GPIO_DIR_OUT, 0);
- io_pull_set(IO_PIN_5 , IO_PULL_DOWN, IO_PULL_UP_LEVEL4);
- #endif
- //Serial0_PutString("进入app测试\r\n");
- while (1)
- { wdt_ping(WDT_ID0);//喂狗
- if(g_start_send_flag)
- {
- //LOG_INFO(TRACE_MODULE_APP, "测距ing");
-
- g_start_send_flag = 0;
- gpio_pin_set(LED_PIN);//亮
- TagRange();
- gpio_pin_clr(LED_PIN);//灭
- IdleTask();
- }else{
- IdleTask();
- }
- LoraUp_Poll();
-#ifndef DEBUG_MODE
- if(sleep_flag){//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_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
+ // 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 UCI transmission layer task
+ //
+ handlerId = WsfOsSetNextHandler(uci_tl_handler);
+ uci_tl_init(handlerId);
+
+ // Initialize low power mode
+ power_init();
+#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)
+ {
+ wsfOsDispatcher();
+ power_manage();
+ }
+
+}
+
+void app_restore_from_power_down(void)
+{
}
--
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