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 | 737 ++++++++++++++++++++++++-------------------------------- 1 files changed, 316 insertions(+), 421 deletions(-) diff --git a/keil/include/main/main.c b/keil/include/main/main.c index 51d52b1..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. @@ -40,73 +40,36 @@ #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 "mk_uwb.h" +#include "mk_calib.h" -//#define DEBUG_MODE -extern int simple_main(void); -extern int temp_main(void); +#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; -uint8_t state5v = 1; -uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_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 flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态,不是GPIO状态 -typedef enum -{ UN_BIND=0, - LINK_SUCCESS, - SEARCH_DEV, -} Operation_step; -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)*/ @@ -119,6 +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, @@ -142,281 +111,53 @@ .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); } -static void adc_callback(void *data, uint32_t number) +void uart1_receive_callback(void *dev, uint32_t err_code) { - 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); + uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback); } -//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; -uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0; -uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag; -int need_open_gps_count; -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 - if(flag_alam_state) - { - flag_alam_state = 0; - _4GAlarmUpload(2); - } - 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; - _4GAlarmUpload(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; - _4GAlarmUpload(1); - } - gps_uwb_flag=1;//开启gps测距流程 - need_open_gps_count=0; - } - } - } else if(anchordata_num==0) { - if(!flag_alam_state) - { - flag_alam_state = 1; - _4GAlarmUpload(1); - } - distance = -1; - 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 MinuteTask(void) -{ - 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更新列表 - TagListUpdate(); - GPS_Poll(); - //UWB状态检测 - - 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(); - nomove_count++; -} -uint8_t flag_sleeptimer,flag_secondtask,secondtask_count; -static void sleep_timer_callback(void *dev, uint32_t time) -{ - IO_control_init(); - UWBPoll(); - - - MotorPoll(); - - if(secondtask_count++%2==0) - { - flag_secondtask = 1; - }else{ - flag_secondtask = 0; - } - - flag_sleeptimer = 1; - - //马达震动逻辑 - if(g_com_map[MOTOR_ENABLE]) - { - if(motor_open_air_flag||moter_open_uwb_flag) - { - if (motor_count++%2==0) - { - motor_power_state = 1; - }else{ - motor_power_state = 0; - } - } else { - motor_power_state=1; - } - }else{ - motor_power_state=1; - } - - //GPS工作逻辑 - -} -static void voltage_input_handler(enum IO_PIN_T pin) -{ - -} -static void move_handler(enum IO_PIN_T pin) -{ - nomove_count=0; -} -uint8_t flag_4G_recdata; -static void _4gUsart_handler(enum IO_PIN_T pin) -{ - LOG_INFO(TRACE_MODULE_APP, "4G RX 唤醒\r\n"); - // flag_4G_recdata = 1; - // AIR780EUartInit(); -} +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; -extern uint8_t gps_4g_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; +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; - } - if(g_com_map[SEND_4G_SECOND]<60) - g_com_map[SEND_4G_SECOND]=60; 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)|6; - LOG_INFO("设备ID: %x .\r\n",dev_id); - LOG_INFO("固件版本:UWB-4G手环 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff); - LOG_INFO("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port); -} - - - -void IdleTask(void) -{ - if(gpio_pin_get_val(INPUT_5V_Pin)) - { - - 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) - { - 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(); - // 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 - 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; - } + 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: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); + while(uart_tx_in_progress(UART_ID0)); + gpio_pin_clr(CHANGE_UART_PIN);//;拉低输入 + } void boot_deinit(void) { @@ -430,127 +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; -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(TRACE_PORT_UART1); + // Trace configuration + board_debug_console_open_baud(TRACE_PORT_UART0,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) - { - 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(); - //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(); - io_pin_mux_set(SCL_PIN, IO_FUNC0);//测试测距波形 - gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 0); - io_pull_set(SCL_PIN , IO_PULL_DOWN, 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 - adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样 - uart_open(UART_ID1, &test_uart_cfg); - Program_Init(); - // 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); - board_acceleration_detection_init(move_handler); -// LOG_INFO(TRACE_MODULE_APP, "测试进入app"); - - while (1) + if (wsfBufMemLen > FREE_MEM_SIZE) { - if(flag_TCP_reconnectting||IfTCPConnected()) - { - - // LOG_INFO(TRACE_MODULE_APP, "处理4G任务\r\n"); - air780_led_on(); - if(flag_4guart_needinit) - { - flag_4guart_needinit = 0; - AIR780EUartInit(); - } - Internet_Poll(); - HIDO_ATLitePoll(); - HIDO_TimerPoll(); - TCPClient_Poll(); - air780_led_off(); - } - if(flag_secondtask) - { - flag_secondtask = 0; - SecondTask(); - } - IdleTask(); - //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(flag_sleeptimer) - // 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。 - { - // 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); - } + LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE); + } + + // + // Create app task + // + wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler); + app_init(handlerId); + + // + // Create Uplink TDoA task + // + handlerId = WsfOsSetNextHandler(ul_tdoa_handler); + ul_tdoa_init(handlerId); + + 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) +{ } -- Gitblit v1.9.3