From adfc7e798b9cbdd022bf8df971843436912a0fe5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期日, 20 七月 2025 16:58:30 +0800
Subject: [PATCH] 成功移植g_com_map表逻辑，初步测试能读能写，并且TDOA效果和官方一致
---
keil/include/main/main.c | 893 ++++++++++++++++++++--------------------------------------
1 files changed, 309 insertions(+), 584 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e2a3a44..4d4c837 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
+ * Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
* its subsidiaries and affiliates (collectly called MKSEMI).
*
* All rights reserved.
@@ -40,81 +40,35 @@
#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 "TCPClient.h"
-#include "PCA9555.h"
-#include "WS2812.h"
+#include "mk_uwb.h"
+#include "mk_calib.h"
-#define DEBUG_MODE
-extern int simple_main(void);
-extern int temp_main(void);
-void uart_change_check(uint16_t gpio_state);
+#include "board.h"
+
+#include "pal_sys.h"
+#include "wsf_os.h"
+#include "mk_timer_list.h"
+#include "wsf_buf.h"
+
+#include "app.h"
+#include "ul_tdoa.h"
+#include "uwb_api.h"
+#include "lib_ranging.h"
+#include "libc_rom.h"
+
+#include "mk_adc.h"
+#include "UART.h"
+#include "Usart.h"
+#include "global_param.h"
+#include <serial_at_cmd_app.h>
#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
-
-#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;
-extern int distance;
-extern uint8_t anchordata_num;
-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;
-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,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;
-
-
-Commend_SendDate send_struct;
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 */
@@ -128,6 +82,12 @@
.high_pulse_time = 4,
.settle_time = 1,
};
+typedef enum
+{ UN_BIND=0,
+ LINK_SUCCESS,
+ SEARCH_DEV,
+} Operation_step;
+Operation_step UWB_work_state;
struct UART_CFG_T test_uart_cfg =
{
.parity = UART_PARITY_NONE,
@@ -136,7 +96,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_9600,
+ .baud = BAUD_115200,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -151,304 +111,38 @@
.int_tx = false,
#endif
};
-void uart_receive_callback(void *dev, uint32_t err_code)
+void uart0_receive_callback(void *dev, uint32_t err_code)
{
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
}
-void mcu_deep_sleep(void)
+void uart1_receive_callback(void *dev, uint32_t err_code)
{
- 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);
+ uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
}
-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);
- }
- }
- 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
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
-}
-//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;
+uint32_t dev_id;
+uint8_t group_id;
+uint16_t tag_frequency;
+uint16_t disoffset;
+uint8_t bind_flag;
+uint16_t warning_distance,prewarning_distance;
+int16_t fVoltage_mv,first_search_flag;
+uint8_t bat_percent,g_start_send_flag=1;
+uint8_t link_success_flag,motor_count;
+uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
+uint16_t gps_wait_count,gps_wait_count2;
+extern uint16_t ip0,ip1,ip2,ip3,port;
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;
-extern uint32_t get_in_num,get_out_num;
-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;
- }
- }
- }
-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_powerkey_input_pca())
- {
- if(HIDO_TimerGetTick() - keystarttime>2)
- {
- userkey_state = 1;
- keystarttime = HIDO_TimerGetTick();
- PCA9555_Set_One_Value_Output(PWR_ENABLE,0);//低电平关闭
- PCA9555_Set_One_Value_Output(GPS_LED,0);//输出低电平关闭LED
- //UDPClient_UploadGPS();
- }
-// 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();
- }
-
-// 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;
-// }
-
-// }
-// }
- 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;
-
-void check_input_change(void)
-{
- uint16_t gpio_state;
- gpio_state=(uint16_t)pca9555writedata_input[0]<<8|pca9555writedata_input[1];
- if(WAKE_UP_POSITION&gpio_state)
- {
- nomove_count=0;
- }
- //uart_change_check(gpio_state);
-}
-static void sleep_timer_callback(void *dev, uint32_t time)
-{
-if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
- if(delaysleep_count>0)
- delaysleep_count--;
- //GPS工作逻辑
-}
-
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
-}
-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();
-}
-uint8_t flag_4G_recdata;
-void _4gUsart_handler(enum IO_PIN_T pin)
-{
- //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;
-extern uint8_t gps_need_data_flag,gps_open_flag;
+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;
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
+ Usart1ParseDataCallback = Usart1ParseDataHandler;//需改为默认为gps处理，Usart1ParseDataHandler为升级处理当调试时候改为
+ Usart0ParseDataCallback=Usart0ParseDataHandler;
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);
-// 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
- 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];
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);
@@ -457,81 +151,13 @@
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;
+ gpio_pin_set(CHANGE_UART_PIN);//；拉高打印输出
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,"固件版本:MK_无感闸机 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);
-}
-
-
-void uart_change_check(uint16_t gpio_state)
-{
- if(INPUT_5V_POSITION&gpio_state)
- {
- 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
- }
- }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
- }
- }
-}
-void IdleTask(void)
-{
-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
- }
- }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;
- }
+ while(uart_tx_in_progress(UART_ID0));
+ gpio_pin_clr(CHANGE_UART_PIN);//；拉低输入
+
}
void boot_deinit(void)
{
@@ -545,182 +171,281 @@
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
-uint8_t flag_4guart_needinit=0;
-uint8_t index1,index2,index3;
-int16_t Voltage_input;
-int tt2;
-int test1,test3;
-uint32_t test4;
-
-int main(void)
+void IdleTask(void)
{
+//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
+// }
+// }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
+// }
+// }
+ UART0_CheckReceive();
+ UART_CheckReceive();
+}
+#define UT_TAG_ID (0xAAA1)
+#define UT_SYNC_ANCHOR_ID (0xAAA2)
+#define UT_ANCHOR_ID0 (0xAAA3)
+#define UT_ANCHOR_ID1 (0xAAA4)
+#define UT_ANCHOR_ID2 (0xAAA5)
+
+#define UT_TX_DEV_NUM_MAX 3
+
+struct UL_TDOA_DEV_INF_T
+{
+ uint16_t dev_id;
+ uint64_t tx_timestamp;
+ uint64_t rx_timestamp;
+};
+
+static struct UL_TDOA_DEV_INF_T ul_tdoa_dev_list[UT_TX_DEV_NUM_MAX] = {0};
+
+//*****************************************************************************
+//
+// WSF buffer pools.
+//
+//*****************************************************************************
+#define WSF_BUF_POOLS 5
+
+// Default pool descriptor.
+static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
+ {32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
+};
+
+static void app_ul_tdoa_report_callback(void *report)
+{
+ struct UL_TDOA_MEASUREMENT_T *rpt = (struct UL_TDOA_MEASUREMENT_T *)report;
+
+ uint16_t peer = READ_SHORT(rpt->dev_id);
+ uint16_t local = uwbs_local_short_addr_get();
+
+ LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
+ LOG_INFO(TRACE_MODULE_APP, "Frame type %u, Frame number %u\r\n", rpt->frame_type, rpt->frame_number);
+ LOG_INFO(TRACE_MODULE_APP, "Peer %X, Local %X, TX timestamp 0x%02x%02x%02x%02x%02x%02x%02x%02x, RX timestamp 0x%02x%02x%02x%02x%02x%02x%02x%02x\r\n", peer,
+ local, rpt->tx_timestamp.ts_u8[7], rpt->tx_timestamp.ts_u8[6], rpt->tx_timestamp.ts_u8[5], rpt->tx_timestamp.ts_u8[4], rpt->tx_timestamp.ts_u8[3],
+ rpt->tx_timestamp.ts_u8[2], rpt->tx_timestamp.ts_u8[1], rpt->tx_timestamp.ts_u8[0], rpt->rx_timestamp.ts_u8[7], rpt->rx_timestamp.ts_u8[6],
+ rpt->rx_timestamp.ts_u8[5], rpt->rx_timestamp.ts_u8[4], rpt->rx_timestamp.ts_u8[3], rpt->rx_timestamp.ts_u8[2], rpt->rx_timestamp.ts_u8[1],
+ rpt->rx_timestamp.ts_u8[0]);
+
+ LOG_INFO(TRACE_MODULE_APP, "Clock SYNC offset %lld\r\n", (rpt->rx_timestamp.ts_u64 - rpt->tx_timestamp.ts_u64)); // need to be corrected by ToF
+
+ uint8_t dev_found = 0;
+ for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
+ {
+ if (peer == ul_tdoa_dev_list[i].dev_id)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "Clock offset %d (15.65ps) in 1s\r\n",
+ (int32_t)((rpt->rx_timestamp.ts_u64 - ul_tdoa_dev_list[i].rx_timestamp) - (rpt->tx_timestamp.ts_u64 - ul_tdoa_dev_list[i].tx_timestamp)));
+ ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
+ ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
+ dev_found = 1;
+ break;
+ }
+ }
+
+ // add device into the list
+ if (dev_found == 0)
+ {
+ for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
+ {
+ if (0 == ul_tdoa_dev_list[i].dev_id)
+ {
+ ul_tdoa_dev_list[i].dev_id = peer;
+ ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
+ ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
+ break;
+ }
+ }
+ }
+}
+
+static void board_init(void)
+{
+ // Clock configuration
board_clock_run();
- boot_deinit();
+ boot_deinit();
+ // Pin configuration
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ // Trace configuration
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
-//注意串口一波特率改为9600了为了能和GPS通信上
- // 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();
- board_calibration_params_load();
- flash_close(FLASH_ID0);
- }
- else
- {
- board_calibration_params_default();
- }
+
+ // Load calibration parameters
+ board_calibration_params_load();
// Chip calibration
calib_chip();
+ // Configure IO_02 for role selection
+ gpio_open();
+// gpio_pin_set_dir(IO_PIN_2, GPIO_DIR_IN, 0);
+// io_pull_set(IO_PIN_2, IO_PULL_UP, IO_PULL_UP_LEVEL1);
+
+ // board_led_init();
+ Program_Init();
+ uart_open(UART_ID1, &test_uart_cfg);
+ uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
+ uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
+ board_configure();
+}
+
+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, "UL-TDoA example\r\n");
- // open system timer
- //sys_timer_open();
+ // Platform init for WSF
+ PalSysInit();
- // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
+ // Initialize os
+ WsfOsInit();
+ mk_timer_list_init();
- gpio_open();
- LED_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
-
- adc_open(&usr_adc_cfg);
-
- IIC2_Init();
- Accelerometer_Init();
- PCA9555_init();
- if(!read_5v_input_pca())
- {
- Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
- delay_ms(500);
- Set4LEDColor(RED,WHITE,RED,WHITE);
- delay_ms(500);
- //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
+ //
+ // 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);
}
- //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();
- 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);
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- board_acceleration_detection_init(move_handler);
- pca_input_detection_init(pca_handler);//pca检测输入
- Uwb_init();
- OpenUWB();
-
- //board_4GUsart_detection_init(_4gUsart_handler);
- while (1)
- {
- uwb_app_poll();
-
- //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();
-// }
-// }
- if(flag_secondtask)
- {
- flag_secondtask = 0;
- SecondTask();
-
- }
- UserKeyTask();
-// 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;
+ //
+ // Create app task
+ //
+ wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
+ app_init(handlerId);
-// 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
+ //
+ // Create Uplink TDoA task
+ //
+ handlerId = WsfOsSetNextHandler(ul_tdoa_handler);
+ ul_tdoa_init(handlerId);
- 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);
- }
+ uwb_open();
+ // set advanced parameters
+ struct PHY_ADV_CONFIG_T adv_config =
+ {
+ .thres_fap_detect = 40,
+ .nth_scale_factor = 1,
+ .ranging_performance_mode = 0,
+#if RX_ANT_PORTS_NUM == 4
+ .skip_weakest_port_en = 1,
+#else
+ .skip_weakest_port_en = 0,
+#endif
+ };
+ phy_adv_params_configure(&adv_config);
+
+ uwbs_init();
+ uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_CUSTOM);
+ 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_main_ant = (uint8_t)(RX_MAIN_ANT_PORT);
+ uwb_app_config.ppdu_params->rx_ant_mode = (uint8_t)(RX_ANT_PORTS_COMBINATION);
+
+ // Initialize OWR session
+ uint32_t session_id = 0x0001;
+ uwbapi_session_init(session_id, SESSION_TYPE_RANGING);
+
+ // Initialize OWR parameters
+ struct APP_CFG_PARAM_T param = {0};
+ param.ch_num = UWB_CH_NUM;
+ param.prf_mode = UWB_MEAN_PRF;
+ param.preamble_code_index = UWB_PREAMBLE_CODE_IDX;
+ param.preamble_duration = UWB_PREAMBLE_DURATION;
+ param.sfd_id = UWB_SFD_ID;
+ param.psdu_data_rate = UWB_PSDU_DATA_RATE;
+ param.sts_segment_num = UWB_STS_SEGMENT_NUM;
+ param.sts_segment_len = UWB_STS_SEGMENT_LEN;
+ param.aoa_result_req = 0;
+ param.rframe_config = UWB_RFRAME_TYPE;
+ param.sts_config = STS_STATIC;
+ param.multi_node_mode = ONE_TO_MANY;
+ param.ranging_round_usage = OWR_UL_TDOA;
+ param.mac_address_mode = ADDR_SHORT_USE_SHORT;
+ param.result_report_config = 0x0F;
+ param.ranging_round_control = 0x3;
+
+ param.ul_tdoa_tx_interval = UWB_UL_TDOA_INTERVAL;
+ param.ul_tdoa_random_window = UWB_UL_TDOA_RAND_WINDOW;
+
+ param.ul_tdoa_ntf_report_config[0] = 0;
+ param.ul_tdoa_ntf_report_config[1] = 1;
+ param.ul_tdoa_ntf_report_config[2] = 0;
+
+ param.ul_tdoa_device_id[0] = 0x01;
+
+ // Select role by IO_02
+ if (1)
+ {
+#if 1
+ param.device_role = DEV_ROLE_UT_SYNC_ANCHOR;
+ param.ul_tdoa_device_id[1] = UT_SYNC_ANCHOR_ID & 0xff;
+ param.ul_tdoa_device_id[2] = (UT_SYNC_ANCHOR_ID >> 8) & 0xff;
+#else
+ param.device_role = DEV_ROLE_UT_TAG;
+ param.ul_tdoa_device_id[1] = UT_TAG_ID & 0xff;
+ param.ul_tdoa_device_id[2] = (UT_TAG_ID >> 8) & 0xff;
#endif
}
+ else
+ {
+ param.device_role = DEV_ROLE_UT_ANCHOR;
+ param.ul_tdoa_device_id[1] = UT_ANCHOR_ID0 & 0xff;
+ param.ul_tdoa_device_id[2] = (UT_ANCHOR_ID0 >> 8) & 0xff;
+ }
+
+ // local address
+ param.src_dev_mac_addr[0] = param.ul_tdoa_device_id[1];
+ param.src_dev_mac_addr[1] = param.ul_tdoa_device_id[2];
+
+ param.ul_tdoa_tx_timestamp = 0x02; // 64-bit TX timestamp
+
+ // Configure ranging parameters
+ uwbapi_session_set_app_config(session_id, ¶m);
+
+ // Start TDoA
+ uwbapi_session_start(session_id, app_ul_tdoa_report_callback);
+
+ // Initialize low power mode
+ power_init();
+
+#if LOW_POWER_EN
+ power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
+#else
+ power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
+#endif
+
+ while (1)
+ {
+ wsfOsDispatcher();
+ power_manage();
+ IdleTask();
+ }
+}
+
+void app_restore_from_power_down(void)
+{
}
--
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