From 67ca69985af9109a0603a1cde71f21b940c059ff Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 15 五月 2025 09:12:53 +0800
Subject: [PATCH] 完全将免布线标签代码移植过来版本
---
keil/include/main/main.c | 518 +++++++++++++++++++++++----------------------------------
1 files changed, 211 insertions(+), 307 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e5eb40f..0f062ee 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -40,251 +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 "Usart.h"
-#include "mk_adc.h"
#include "mk_sleep_timer.h"
-#include "lis3dh_driver.h"
-#include "sn74hc595.h"
-#include "mk_4G.h"
-#include "UART.h"
-#include "AIR780EDriver.h"
-#include "Internet.h"
-#include "HIDO_ATLite.h"
-#include "HIDO_Timer.h"
+#include "mk_power.h"
+#include "mk_uwb.h"
+#include "mk_calib.h"
+#include "mk_uart.h"
+#include "mk_spi.h"
+#include "mk_flash.h"
-extern int simple_main(void);
-extern int temp_main(void);
-#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 "board.h"
-#define NUM_SAMPLES 1
-#define BIND_TRIGGER_TIME 60000
-extern uint8_t mUsartReceivePack[100];
-extern uint8_t mUsart2ReceivePack[150];
-extern uint8_t state5V_prase_flag,gps_prase_flag;
-uint32_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;
-float nomove_count=0;
-static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
+#include "pal_sys.h"
+#include "wsf_os.h"
+#include "wsf_timer.h"
+#include "wsf_buf.h"
+#include "wsf_nvm.h"
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
-Operation_step Operation_state;
+#include "app.h"
+#include "ranging_fira.h"
+#include "uwb_api.h"
+#include "lib_ranging.h"
+#include "uci_tl_task.h"
+#include "libc_rom.h"
-
-Commend_SendDate send_struct;
-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 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,
+#ifdef UWB_UCI_TEST_EN
+#include "uwb_test.h"
#endif
-};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+
+#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)
{
- 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);
}
-static void adc_callback(void *data, uint32_t number)
+
+bool program_efuse(void)
{
- uint32_t *result = (uint32_t *)data;
- for (uint16_t i = 0; i < number; i++)
+ efuse_program_byte(EFUSE_FLASH_EN_ADDR, EFUSE_FLASH_EN_BIT);
+ if (check_flash_bit_of_efuse())
{
-// 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, "Program eFuse INT_FLASH bit successfully.\r\n");
+ return true;
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ else
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Program eFuse INT_FLASH bit failed.\r\n");
+ return false;
+ }
+ return true;
}
-//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);
-//}
+#endif
+
+//*****************************************************************************
+//
+// WSF buffer pools.
+//
+//*****************************************************************************
+#define WSF_BUF_POOLS 5
+void Fira_Change_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)
{
-
- nomove_count++;
- 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
- }
- HIDO_TimerTick();
-}
-static void voltage_input_handler(enum IO_PIN_T pin)
-{
-
-}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
-}
-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
- 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[STATIONARY_TIME];
- prewarning_distance=g_com_map[ALARM_DISTANCE2];
- send_struct.warnDistence=warning_distance;
- 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
+ // LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
}
-
-
-void IdleTask(void)
+static void board_init(void)
{
- if(gpio_pin_get_val(INPUT_5V_Pin))
- {
+ uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
+ uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
- if(state5v==0)
- {
- 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();
- }
-
- //UART_CheckSend();
- } else {
- if(state5v==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();
- }
- UART_CheckReceive();
- }
-}
-int bind_check(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
- }
-}
-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;
- }
-}
-
-
-int main(void)
-{
+ // 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
- 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();
@@ -295,107 +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;
+ }
+}
+
+void Fira_Change_Task(void)
+{
+}
+extern uint8_t normal_flag;
+int main(void)
+{
+ // Initialize MCU system
+ board_init();
+
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "UCI FiRa example\r\n");
+
+ // Platform init for WSF
+ PalSysInit();
- // open system timer
- //sys_timer_open();
+ // Initialize os
- // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
+ //
+ // Set up timers for the WSF scheduler.
+ //
+ WsfOsInit();
+ WsfTimerInit();
+ sys_tick_callback_set(WsfTimerUpdateTicks);
- gpio_open();
- //board_led_init();
+ //
+ // Initialize a buffer pool for WSF dynamic memory needs.
+ //
+ uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);
-// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init();
- IO_control_init();
-//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);
- gps_air780_power_change(1,1);//开启gps，4G
- Program_Init();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
- 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;
+ if (wsfBufMemLen > FREE_MEM_SIZE)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
}
- 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);
+//
+ // Create app task
+ //
+ wsfHandlerId_t 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);
+
+
+ //
+ // 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)
{
- // TODO
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
-
- 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;
- }
-
- //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;
- //}
-#ifdef DEBUG_MODE
- if(!gpio_pin_get_val(INPUT_5V_Pin)) {
- 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);
- }
-#endif
+ wsfOsDispatcher();
+ power_manage();
}
+
+}
+
+void app_restore_from_power_down(void)
+{
}
--
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