From b32910bdb85c6e9d19abf97f1465c573a0bf9d38 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 13 二月 2025 14:06:13 +0800
Subject: [PATCH] 测试版
---
keil/include/main/main.c | 418 +++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 332 insertions(+), 86 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 9d45cf1..e284128 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -63,9 +63,12 @@
#include "TCPClient.h"
#include "mk_spi.h"
#include "pan_port.h"
+#include "mk_timer.h"
//#include "pan_param.h"
//#include "pan_rf.h"
#include "lora_3029.h"
+#include "pan_rf.h"
+#include "PCA9555.h"
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
@@ -80,12 +83,13 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
-
+void test_Delay_us(uint16_t time);
+void Lora_UploadHeartBeartPoll(void);
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;
+extern uint8_t anchordata_num; //bat_percent
uint32_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
@@ -93,6 +97,7 @@
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
uint8_t bat_percent,g_start_send_flag=1;
+uint8_t LORA_REV_uwb_up =0;
uint8_t link_success_flag,motor_count;
uint16_t gps_wait_count;
uint8_t state5v = 1;
@@ -175,6 +180,11 @@
}
// LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
+//static void timer_callback(void *dev, uint32_t time)
+//{
+// enum TIMER_DEV_T id = *(enum TIMER_DEV_T *)dev;
+// LOG_INFO(TRACE_MODULE_APP, "Timer %d elapsed time %d\r\n", id, time);
+//}
//void UartInit(void)
//{
//board_pins_config();
@@ -279,22 +289,30 @@
nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
+uint8_t lora_wg_up=0;
+extern uint8_t lora_tx_flag;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
-
-
- MotorPoll();
+ g_start_send_flag=1;
+ // #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+ // gpio_pin_set(IO_PIN_5);//测试
+ // lora_wg_up=1;
+ lora_tx_flag++;
+// IO_control_init();
+// UWBPoll();
+//
+//
+// MotorPoll();
- if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
+// if(secondtask_count++%2==0)
+// {
+// flag_secondtask = 1;
+// }else{
+// flag_secondtask = 0;
+// }
- flag_sleeptimer = 1;
+// flag_sleeptimer = 1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
@@ -338,6 +356,8 @@
{
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
+ g_com_map[DEV_ID]=0x6789;
+ g_com_map[GROUP_ID]=1;
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
@@ -436,6 +456,17 @@
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
+void test_Delay_us(uint16_t time)
+{
+ for(int i=time;i>0;i--)
+ {
+ for(int j=1;j>0;j--)
+ {
+ __NOP();
+ }
+ }
+
+}
#define TEST_SPI_MASTER 0
#define TEST_SPI_POLL_MODE 0
#define TEST_SPI_INTERUPT_MODE 1
@@ -492,47 +523,194 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN 10
+#define RX_LEN 200
uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+extern uint8_t RX_Buffer[RX_LEN];
+extern uint16_t BufferSize;
+static uint16_t source_id;
extern struct RxDoneMsg RxDoneParams;
+uint32_t time_flag_lorarx=0;
+uint32_t lora_huanxing_count=0;
+uint16_t Lora_wangguanid=0;
+extern uint16_t wg_report_freq,wg_report_id;
+extern uint32_t wg_lost_count;
+wg_state_enum wg_state = WG_Lost;
+extern uint16_t current_count;
+extern uint8_t rec_index,rec_secdelay;
+extern uint8_t yuyin_no_sleep_flag,no_rx_flag;
+uint16_t wangguan_up_id;
+uint8_t LoraUp_flag;
+uint8_t imu_enable,motor_enable;
+extern uint8_t shengji_flag;
+uint16_t rec_wenjian_daxiao;
+uint16_t recnum[3];
+uint16_t recv_flag=0;
+uint16_t tx_flag=0;
+uint16_t CRC16=0;
+uint16_t DEST_ID=0;
+uint16_t rec_value,rec_delaytime,rx_count,datalen_offset;
+
+//
+uint16_t Loratx_flag=0;
+uint16_t Lorarx_flag=0;
+uint16_t Lorarx_time_out_flag=0;
static void Lora_irq_handler(enum IO_PIN_T pin)
-{
- ceshi++;
- rf_irq_process();
- if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
+{
+ uint16_t checksum1;
+ rf_irq_process();
+ //这里根据SDK的那个逻辑 用你的接口看看
+ tx_flag=rf_get_transmit_flag();
+ recv_flag=rf_get_recv_flag();
+ if(recv_flag == RADIO_FLAG_RXDONE)
{
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_enter_continous_rx();
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
-// {
-//// DDL_Printf("tx fail \r\n");
-//// rf_enter_continous_rx();
-// }
-// else
-// {
-// error_cnt ++;
-//// DDL_Printf("Tx cnt %d\r\n", cnt );
-// }
- }
- if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+
+ memcpy(RX_Buffer,RxDoneParams.Payload,RxDoneParams.Size);
+ BufferSize=RxDoneParams.Size;
+ lora_huanxing_count++;
+ if(RX_Buffer[0]==0x04&&RX_Buffer[1]=='I'&&RX_Buffer[2]=='N'&&RX_Buffer[3]=='G')
+ {
+
+ time_flag_lorarx=phy_timer_count_get();
+ UwbRange();
+ //rf_enter_continous_rx(); //重新进入接收模式
+ //LORA_REV_uwb_up=1;
+ }
+ if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
+ {
+ checksum1=Checksum_u16(RX_Buffer,BufferSize-2);
+
+ memcpy(&DEST_ID,&RX_Buffer[DEST_ID_IDX],2);
+ memcpy(&CRC16,&RX_Buffer[BufferSize-2],2);
+ if(!memcmp(&checksum1,&RX_Buffer[BufferSize-2],2))
+ if(!memcmp(&dev_id,&RX_Buffer[DEST_ID_IDX],2))
+ {
+ memcpy(&source_id,&RX_Buffer[SOURCE_ID_IDX],2);
+ if(wg_state==WG_Lost)
+ {
+ wg_state = WG_Connected;
+ wg_report_id = source_id;
+ }
+ if(!memcmp(&wg_report_id,&RX_Buffer[SOURCE_ID_IDX],2))
+ {
+ wg_lost_count = 0;
+ switch(RX_Buffer[PWTAG_RW_FLAG_IDX])
+ {
+ case WGRSP_RWTAG_NONE:
+// current_count = HAL_LPTIM_ReadCounter(&hlptim1);
+// wg_report_freq = RX_Buffer[POLL_FREQ_IDX]+400;
+// memcpy(&rec_delaytime,&RX_Buffer[NEXTPOLL_TIME_IDX],2);
+// if(report_ancnum<2)
+// {
+// datalen_offset = report_ancnum*85;
+// }else{
+// datalen_offset = (report_ancnum-1)*46+85;
+// }
+// rec_secdelay = RX_Buffer[PWTAG_SECDELAY_IDX];
+// if(BufferSize!=13||rec_secdelay>20)
+// {
+// rec_secdelay = 0;
+// }
+//
+// target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
+// while(target_count>=32768)
+// target_count-=32768;
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+ // rx_count = HAL_LPTIM_ReadCounter(&hlptim1);
+ // printf("tx %d,rx %d,delay %d",current_count>>5,rx_count>>5,rec_delaytime);
+ break;
+ case WGRSP_RWTAG_READ:
+ no_rx_flag = 1;
+ LoraSendComMap(WGRSP_RWTAG_READ);
+ break;
+ case WGRSP_RWTAG_WRITE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xdd: //语音下发
+ break;
+// case 0x20: //蜂鸣
+// memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+// motor_keeptime = rec_value;
+// break;
+ default :
+ memcpy(&rec_value,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],2);
+ g_com_map[rec_index/2] = rec_value;
+ save_com_map_to_flash();
+ LoraRspWriteCommap(SUBMSG_WRITE_ANCPARA);
+ //flag_writepara_needreset = 1;
+ no_rx_flag = 1;
+ }
+
+ break;
+ case WGRSP_RWTAG_UPDATE:
+ rec_index = RX_Buffer[PWTAG_WRITE_IDX_IDX];
+ switch(rec_index)
+ {
+ case 0xaa: //升级下发
+ memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//文件大小
+ if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0)
+ {}//文件过大，超出范围
+ else
+ {
+ memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//网关ID 占用2个字节
+ shengji_flag=1;
+ LoraUp_flag=1;
+ imu_enable=0;
+ }
+// LoraUp_Poll();
+ break;
+ }
+ break;
+ }
+ }
+ }
+
+ }
+
+
+ }
+ if(tx_flag == RADIO_FLAG_TXDONE)
{
- rf_set_recv_flag(RADIO_FLAG_IDLE);
-// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
- int i=0;
-// for(i = 0; i < RxDoneParams.Size; i++)
-// {
-// printf("0x%02x ", RxDoneParams.Payload[i]);
-// }
-// DDL_Printf("\r\n");
- error_cnt ++;
-// DDL_Printf("###Rx cnt %d##\r\n", cnt);
+ //rf_set_mode(RF_MODE_STB3);
+ rf_set_transmit_flag(RADIO_FLAG_IDLE);
+ Loratx_flag++;
+
+// #ifdef DEBUG_BOXING
+// //gpio_pin_clr(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);//测试
+// #endif
+ rf_enter_single_timeout_rx(100);
+ // rf_enter_single_rx();
+ // rf_enter_continous_rx();
+
}
- if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
+ if((recv_flag == RADIO_FLAG_RXTIMEOUT))
{
- rf_set_recv_flag(RADIO_FLAG_IDLE);
-// DDL_Printf("Rxerr\r\n");
+// #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// // gpio_pin_set(IO_PIN_5);//测试
+// #endif
+
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+ rf_set_mode(RF_MODE_STB3);
+ //这个超时接收是会自动重启的，所以必须将芯片状态置成STB3这样就退出了连续接收状态
+
+ Lorarx_time_out_flag++;
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+
+ // rf_clr_irq(REG_IRQ_RX_TIMEOUT);
+ // rf_enter_single_timeout_rx(100);
}
+ if((recv_flag == RADIO_FLAG_RXERR))
+ {
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+ }
+
}
+
+
+
void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA 中断配置
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
@@ -540,7 +718,12 @@
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
+
uint8_t io14_state;
+uint16_t lora_freq=0;
+uint16_t lora_up_count=0;
+uint8_t TXBuffer[8]={0,1,2,3,4,5,6,7};
+uint8_t test_buf[10]={0,1,1,1,1,1,1,1,1,1};
int main(void)
{
board_clock_run();
@@ -582,27 +765,46 @@
gpio_open();
+// struct TIMER_CFG_T timer_cfg = {
+// .extin_type = TIMER_EXTIN_NONE,
+// .load = 0x1000000,
+// .int_en = true,
+// .callback = timer_callback,
+// };
+
+// timer_open(TIMER_ID0, &timer_cfg);
spi_gpio_init();
//board_led_init();
spi_init();
+ //PCA9555_init();
Board_LORA_NVIC_Init(Lora_irq_handler);
Lora_init();
- rf_set_default_para();
+ //lora_freq=DEFAULT_up_FREQ+g_com_map[GROUP_ID];
+ // rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
+ rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+ //rf_enter_continous_rx();
+ // rf_enter_continous_rx();
+// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
+// {
+//
+// }
+ //rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+ // rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
+//
+ //rf_enter_continous_tx();
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
+// {
+// error_cnt++;
+// }
+// else
+// {
+// successful_cnt ++;
+// }
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
- {
- error_cnt++;
-// printf("LORA Init Fail");
- }
- else
- {
- successful_cnt ++;
-// printf("LORA Init OK\r\n");
- }
+
// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
@@ -617,22 +819,64 @@
// 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
-// Program_Init();
+ Program_Init();
+
+
+ // rf_single_tx_data(TXBuffer,10,2);
// 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_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
-
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+#ifdef DEBUG_BOXING
+ io_pin_mux_set(IO_PIN_5,IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_5,GPIO_DIR_OUT,0);
+ io_pull_set(IO_PIN_5,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+#endif
+ //rf_enter_single_timeout_rx(1000);
// board_acceleration_detection_init(move_handler);
-
-
-
+ //rf_enter_single_timeout_rx(900);
+ //rf_enter_single_timeout_rx(500);
+ //rf_enter_single_rx();
+ Uwbinit();
while (1)
- {
+ {
+// rf_irq_process();
+
+ //rf_enter_single_rx();
+
+ Lora_Tx_Poll();
+// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
+// {
+//
+// }
+ // #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);//测试
+
+// test_Delay_us(1000);
+// gpio_pin_set(IO_PIN_5);//测试
+// test_Delay_us(100000);
+// test_Delay_us(100000);
+// test_Delay_us(100000);
+// gpio_pin_clr(IO_PIN_5);//测试
+// test_Delay_us(2000);
+// gpio_pin_set(IO_PIN_5);//测试
+// test_Delay_us(1000);
+// gpio_pin_clr(IO_PIN_5);//测试
+// if(LORA_REV_uwb_up)
+// {
+// LORA_REV_uwb_up=0;
+// UwbRange();
+// }
+
+
+
+
+ // UwbRange();
// rf_irq_process();
// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
// {
@@ -650,23 +894,25 @@
// }
-//
-
-// io14_state=gpio_pin_get_val(LORA_DIO);
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- rf_delay_ms(1000);
- rf_enter_continous_tx();
-// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
- if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
- {
-// DDL_Printf("tx fail \r\n");
-// rf_enter_continous_rx();
- }
- else
- {
- successful_cnt ++;
-// DDL_Printf("Tx cnt %d\r\n", cnt );
- }
+////
+//
+//// io14_state=gpio_pin_get_val(LORA_DIO);
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+// rf_delay_ms(1000);
+// rf_enter_continous_tx();
+//// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
+// {
+//// rf_enter_continous_rx();
+// }
+// else
+// {
+// successful_cnt ++;
+// }
+
+
+
+
// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
//
// rf_set_transmit_flag(RADIO_FLAG_IDLE);
--
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