From 8217c70984ac4feb7bfc952e4f6e944bf824527d Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 06 五月 2025 16:51:53 +0800
Subject: [PATCH] Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBProject into MK大工卡-低精度GPS-1/5HZ
---
keil/include/main/main.c | 870 +++++++++++++++++++++++++++++++--------------------------
1 files changed, 476 insertions(+), 394 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 136c273..3f692d9 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"
@@ -61,10 +21,15 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
+#include "PCA9555.h"
+#include "WS2812.h"
+#include "DBG.h"
-#define DEBUG_MODE
+//#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
+void boot_deinit(void);
+void upload_apppoll();
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
#define TEST_UART_DMA_MODE 2
@@ -77,12 +42,16 @@
#define UPDATE_TIME 10
+#define UWB_OPEN_COUNT 1
+#define UWB_MEASUREMENT_INTERVAL 5
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60
+
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
-uint32_t dev_id;
+uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -98,13 +67,30 @@
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 UWB_work_state;
+Operation_step UWB_work_state;
+// 定义状态
+typedef enum {
+ STATE_NORMAL, // 正常状态，3秒测距上传一次
+ STATE_SLEEP // 休眠状态，1分钟测距上传一次
+} CountState_t;
+
+uint32_t uwb_time_count = 0; // 定时器计数值
+//uint32_t step_count = 0; // 步数计数
+//uint32_t last_step_count = 0; // 上一次步数
+
+CountState_t current_state = STATE_NORMAL; // 当前状态
+uint32_t state_start_time = 0; // 状态开始时间
Commend_SendDate send_struct;
struct ADC_CFG_T usr_adc_cfg = {
@@ -128,7 +114,7 @@
.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,
@@ -147,19 +133,31 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+uint8_t deep_sleep_falg=1;
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
- sleep_timer_stop();
- //adc_close();
- power_enter_power_down_mode(1);
- //LOG_INFO(TRACE_MODULE_APP, "进入深度休眠\r\n");
- sys_reset(0);
- int_unlock(lock);
+// 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
+ deep_sleep_falg=0;
+ PCA9555_Set_One_Value_Output(LED_POWER,0);//输出低电平关闭LED
+ PCA9555_Set_One_Value_Output(GPS_POWER,0);//关闭gps，4G
+ PCA9555_Set_One_Value_Config(MAIN_RI,0);//配置4G唤醒引脚为输入
+// PCA9555_Set_One_Value_Output(MAIN_RI,1);
+ boot_deinit();
+ CloseUWB();
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭gps，4G
+
+// sleep_timer_stop();
+// //adc_close();
+// power_enter_power_down_mode(1);
+// delay_us(200000);
+
+// sys_reset(0);
+//// LOG_INFO(TRACE_MODULE_APP, "从休眠出来\r\n");
+// int_unlock(lock);
}
static void adc_callback(void *data, uint32_t number)
{
@@ -174,7 +172,7 @@
{
bat_percent = 0;
}
- else if(fVoltage_mv > 4100)
+ else if(fVoltage_mv > 4200)
{
bat_percent = 100;
}
@@ -185,219 +183,181 @@
}
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");
+ //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");
+ //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");
}
- gpio_pin_set(ADC_GND_ENABLE);//在拉高
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ 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);
-//}
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;
-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;
- }
- }
- }
+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;
+extern uint8_t flag_first_TCPconnect;
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);
+ {//power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)ACCLERATE_DETECT_Pin, POWER_WAKEUP_LEVEL_HIGH);
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
mcu_deep_sleep();
}
}
void UserKeyTask(void)
- {
- if(!GET_USERKEY)
+{
+if(!read_userkey_input_pca())
{
- if(HIDO_TimerGetTick() - keystarttime>3)
+ delay_ms(1000);
+ if(!read_userkey_input_pca())
{
userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- UDPClient_UploadGPS();
+ keystarttime3 = HIDO_TimerGetTick();
+ flag_first_TCPconnect = 1;
+ //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())
+ {
+ delay_ms(1000);
+ if(read_powerkey_input_pca())
{
- g_com_map[CNT_RESTART] = 1;
+ 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)
-{ gpio_pin_clr(ADC_GND_ENABLE);//拉低
+{
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ delay_ms(100);
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
- if(second_count++>60)
+ if(second_count++>120)
{
second_count = 0;
MinuteTask();
}
-// if(!power_low_flag)
-// Gps_change();
-// else{
-// gps_power_state=0;//关闭GPS
-// update_led_power_state();
-// //初始化GPS计数数据
-// gps_need_data_flag=1;
-// gps_wait_count2=0;
-// gps_wait_count=0;
-// }
-// //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 {
-// 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 {
-// flag_TCP_reconnectting = 0;
-// }
-// if(TCP_reconnect_timer++>600)
-// {
-// TCP_reconnect_timer = 0;
-// }
+ //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 {
+ 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 {
+ flag_TCP_reconnectting = 0;
+ }
+ if(TCP_reconnect_timer++>600)
+ {
+ TCP_reconnect_timer = 0;
+ }
-// }
-// }
+ }
+ }
HIDO_TimerTick();
- if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
+// if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
- else{
- nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
- }
+// 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;
+uint8_t gps_ntripsend;
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)
- {
+ {
+ input5v_time=1;
flag_secondtask = 1;
+ #ifdef UWB_1_5HZ
+ uwb_time_count++;
+ #endif
+ 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();
+ }
+ upload_apppoll();
}else{
flag_secondtask = 0;
}
- if(enbale_blink_flag)
- {
- delay_us(5000);
- green_charge_state=0;
- charge_red_off();
- }
+
if(delaysleep_count>0)
delaysleep_count--;
- //GPS工作逻辑
}
-static void voltage_input_handler(enum IO_PIN_T pin)
+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();
+// uint16_t gpio_state;
+// gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
-}
-uint8_t flag_4G_recdata;
+
void _4gUsart_handler(enum IO_PIN_T pin)
{
//LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n");
@@ -406,23 +366,55 @@
}
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 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);
-// g_com_map[ALARM_DISTANCE1] = 40;
-// g_com_map[ALARM_DISTANCE2] = 40;
warning_distance=g_com_map[ALARM_DISTANCE1];
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
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+
+// 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_NTRIP;
+
+
+// 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)
{
@@ -439,69 +431,166 @@
}
g_com_map[MODBUS_MODE] = 0;
log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
- ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
- ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
- 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)|10;
+
+
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);
+ LOG_INFO(TRACE_MODULE_APP,"固件版本:4G-GPS定位工卡 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");
+ }
+ delay_ms(500);
}
-
-
-
+uint32_t adctick = 0;
+uint8_t only_one_flag;
+uint16_t chongman_time;
+uint8_t bat_percent_old=100;
+uint8_t input5vflag;
+extern uint8_t ota_flag;
void IdleTask(void)
{
-// if(gpio_pin_get_val(INPUT_5V_Pin))
-// {
+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;
+// adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>600) //10分钟采样一次 电量
+ {
+ chongman_time=chongman_time+60;
+ 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>=180)
+ {
+ powerled = GREEN;
+ }else{
+ powerled = RED;
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ if(ota_flag==1)
+ {
+// OTA_Poll();
+// HTTPClient_Poll();
+ }
+ else
+ {
+ uwb_app_poll();
+ }
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {TCPClient_Poll_1();}
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ UserKeyTask();
+ }
+ UART_CheckReceive();
+ if(flag_secondtask)
+ {
+ flag_secondtask = 0;
+ SecondTask();
+ }
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ NVIC_SystemReset();
-// 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();
-// }
-// }
+ }
+ }
+ else
+ {
+ Set4LEDColor(0,0,0,powerled);
+ }
+ if(input5v_time)
+ {
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ }
+ NVIC_SystemReset();
+ input5vflag=1;
+ }
+ 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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
+ }
+ }
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
- 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;
- }
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ NVIC_SystemReset();
+
+ }
+ 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);
+ }
}
void boot_deinit(void)
{
@@ -509,30 +598,82 @@
// UART0 TX/RX
io_pin_mux_set(IO_PIN_5, IO_FUNC0);
io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_5 , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(IO_PIN_6 , GPIO_DIR_OUT, 0);
// 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
}
+
+extern uint32_t uwb_time_count;
+uint8_t GPS_UPLOAD_FLAG=0;
+void upload_apppoll()
+{
+ uint32_t elapsed_time_jibu;
+#ifdef UWB_1_5HZ
+
+
+ switch (current_state)
+ {
+ case STATE_NORMAL:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ CloseUWB();
+// uwbled = LEDOFF;
+ UWBSendUDPTask();
+ GPS_UPLOAD_FLAG=1;
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL:
+ OpenUWB();
+// uwbled = WHITE;
+ state_start_time = uwb_time_count;
+
+ break;
+ }
+ break;
+ case STATE_SLEEP:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+
+ CloseUWB();
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ break;
+ }
+ break;
+ }
+#endif
+}
+
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;
int main(void)
{
+ __enable_irq();
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)
@@ -545,137 +686,78 @@
{
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
+ Program_Init();
Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
+ Uart_Register(UART_ID_DBG_GPS, UART_ID1);
+ DBG_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();
+ }
+// HTTPClient_Init();
gpio_open();
- board_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
- adc_open(&usr_adc_cfg);
-
+ LED_output_init();//配置彩色灯引脚
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();
+ PCA9555_init();
+ WT588E02B_Init();
+ adc_open(&usr_adc_cfg);
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-
-// Initialize low power mode
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
- board_acceleration_detection_init(move_handler);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
- board_4GUsart_detection_init(_4gUsart_handler);
+ 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();
+ #ifdef UWB_CK
+ OpenUWB();
+ #endif
+// DBG_SetMode(DBG_MODE_SHELL);
+// Shell_Init();
+
+ 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)
- { 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();
-// }
-// }
+ {
+ uwb_app_poll();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ TCPClient_Poll();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ TCPClient_Poll_1();
+ }
if(flag_secondtask)
{
flag_secondtask = 0;
SecondTask();
-
}
-// UserKeyTask();
-// IMUTask();
+ 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();
- 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");
- int_unlock(lock);
- }
-
-#endif
}
}
--
Gitblit v1.9.3