From b8fac32aed712a3e0e87cea99b9c6d5ef5e12d2b Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 07 三月 2025 18:02:15 +0800
Subject: [PATCH] 现在单个测距完成，然后3s测一次距功能实现
---
keil/include/main/main.c | 413 ++++++++++++++++++++--------------------------------------
1 files changed, 145 insertions(+), 268 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 2214a33..d38c7de 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,10 +62,15 @@
#include "HIDO_Timer.h"
#include "TCPClient.h"
#include "mk_spi.h"
-#include "pan_port.h"
+//#include "pan_port.h"
+#include "mk_timer.h"
//#include "pan_param.h"
//#include "pan_rf.h"
-#include "lora_3029.h"
+#include "lora_1268.h"
+//#include "pan_rf.h"
+#include "PCA9555.h"
+#include "mk_phy.h"
+#include "HIDO_Timer.h"
#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
@@ -80,12 +85,22 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
+/****************************************************************引脚宏定义**************************************************/
+#define ADC_PIN IO_PIN_0
+#define UART0_TX IO_PIN_5
+#define UART0_RX IO_PIN_6
+#define UART1_TX IO_PIN_1
+#define UART1_RX IO_PIN_14
+
+/****************************************************************引脚宏定义**************************************************/
+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;
@@ -152,6 +167,7 @@
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
+
static void adc_callback(void *data, uint32_t number)
{
uint32_t *result = (uint32_t *)data;
@@ -176,6 +192,11 @@
}
// 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();
@@ -276,13 +297,23 @@
}
}
- HIDO_TimerTick();
+// HIDO_TimerTick();
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)
{
g_start_send_flag=1;
+ HIDO_TimerTick();
+ // #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=1;
+// lora_qiehuan++;
// IO_control_init();
// UWBPoll();
//
@@ -319,14 +350,23 @@
//GPS工作逻辑
}
+
+void phy_timer_callback(uint32_t time)
+{
+ lora_tx_flag++;
+}
+
+void uart0_receive_callback()
+{
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+}
+
+
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)
{
@@ -340,10 +380,11 @@
{
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]=9;
+ g_com_map[DEV_ID]=0x1234;
+// 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
+ g_com_map[LORA_POWER]=22;
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;
@@ -371,42 +412,17 @@
port = g_com_map[TCP_PORT];
g_com_map[VERSION] = (1<<8)|11;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
- LOG_INFO(TRACE_MODULE_APP,"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(TRACE_MODULE_APP,"固件版本:BGK-mk+蓝牙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 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();//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();
- }
- }
- UART_CheckReceive();
+{
+ UART0_CheckReceive();
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -440,22 +456,50 @@
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
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
-void spi_gpio_init()
+
+void Board_gpio_init()
{
- // SPI0 MOSI/MISO/CLK/CS
+ //SPI0/MOSI/MISO/CLK/CS
io_pin_mux_set(LORA_CS, IO_FUNC0);
gpio_pin_set_dir(LORA_CS , GPIO_DIR_OUT, 0);
io_pull_set(LORA_CS, IO_HIGH_Z, IO_PULL_UP_NONE);
-
+
io_pin_mux_set(LORA_MOSI, IO_FUNC2);
io_pin_mux_set(LORA_MISO, IO_FUNC2);
io_pin_mux_set(LORA_CLK, IO_FUNC2);
- io_pin_mux_set(LORA_DIO, IO_FUNC0);//spi中断
+ io_pin_mux_set(LORA_DIO, IO_FUNC0);
+
+
+// //ADC
+// io_pin_mux_set(ADC_PIN, IO_FUNC1);
+// io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE);
+
+ //串口0
+ io_pin_mux_set(UART0_RX, IO_FUNC4);
+ io_pin_mux_set(UART0_TX, IO_FUNC4);
+
+ board_debug_console_open(TRACE_PORT_UART0);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
+
+ //串口1
+ io_pin_mux_set(UART1_RX, IO_FUNC4);
+ io_pin_mux_set(UART1_TX, IO_FUNC4);
}
void spi_init()
{
@@ -496,53 +540,35 @@
uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
#define TX_LEN 10
-#define RX_LEN 10
-uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-uint8_t RF_RX_temp[RX_LEN]={0};
+#define RX_LEN 200
+
+extern uint8_t RX_Buffer[RX_LEN];
+extern uint16_t BufferSize;
+static uint16_t source_id;
extern struct RxDoneMsg RxDoneParams;
+
+
+extern uint16_t current_count;
+extern uint8_t rec_index,rec_secdelay;
+extern uint8_t yuyin_no_sleep_flag,no_rx_flag;
+
+
+/********************************************************************************************************/
+/********************************************************************************************************/
+/********************************************************************************************************/
+
+wg_state_enum wg_state = WG_Lost;
+/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
-{
- ceshi++;
- rf_irq_process();
- //g_start_send_flag=1;
-// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
-// {
-// 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)
-//// {
-////// rf_enter_continous_rx();
-//// }
-//// else
-//// {
-//// error_cnt ++;
-//// }
-// }
- if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
- {
- rf_set_recv_flag(RADIO_FLAG_IDLE);
- memcpy(RF_RX_temp,RxDoneParams.Payload,RxDoneParams.Size);
- if(RF_RX_temp[0]==0x48&&RF_RX_temp[1]==0x58)
- {
- LORA_REV_uwb_up=1;
-
- }
- // rf_enter_continous_rx(); //重新进入接收模式
- //UwbRange();
-// 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]);
-// }
- // error_cnt ++;
- }
- if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_recv_flag() == RADIO_FLAG_RXERR))
- {
- rf_set_recv_flag(RADIO_FLAG_IDLE);
- }
+{
+ RadioIrqProcess();
}
+
+
+
+
+
+
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
@@ -550,204 +576,55 @@
io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
}
+extern uint8_t pca9555writedata_input[10];//暂存输入寄存器所有配置的数组
+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 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();
-// boot_deinit();
-// board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
+ // boot_deinit();
+ // board_debug_console_open(TRACE_PORT_UART1);
// 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();
-// }
-
+ reset_cause_clear();
// 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
-// Uart_Register(UART_ID_4G, UART_ID0);
-// Internet_Init();
-// TCPClient_Init();
-
gpio_open();
-
- spi_gpio_init();
+ Board_gpio_init();
//board_led_init();
-
spi_init();
Board_LORA_NVIC_Init(Lora_irq_handler);
- Lora_init();
- rf_set_default_para();
-//
- rf_enter_continous_rx();
-// 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 ++;
-// }
-
-
-// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
-//
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-
-// 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
- Program_Init();
-// 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
+ pca_input_detection_init(pca_handler);
+ IIC2_Init();
+ Accelerometer_Init();
+ PCA9555_init();
+ Lora_1268_Init();
+// SwitchLoraSettings(473,7,0);
+ Program_Init();
+
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//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
-// board_acceleration_detection_init(move_handler);
Uwbinit();
+ OpenUWB();
+
while (1)
- {
- if(LORA_REV_uwb_up)
- {
- LORA_REV_uwb_up=0;
- UwbRange();
- }
- if(g_start_send_flag)
- {
- g_start_send_flag=0;
-
- }
-
-
- // UwbRange();
-// rf_irq_process();
-// if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
-// {
-// rf_set_transmit_flag(RADIO_FLAG_IDLE);
-// rf_delay_ms(1000);
-// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
-// {
-// error_cnt++;
-// }
-// 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);
-
-// 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);
-// }
-//#endif
+ {
+ Lora_Tx_Poll();
+// uwb_app_poll();
+ IdleTask();
}
}
--
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