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 | 432 ++++++------------------------------------------------
1 files changed, 48 insertions(+), 384 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index de4d716..d38c7de 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -62,14 +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 "pan_rf.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);
@@ -296,7 +297,7 @@
}
}
- HIDO_TimerTick();
+// HIDO_TimerTick();
nomove_count++;
}
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
@@ -305,12 +306,13 @@
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++;
+ lora_tx_flag=1;
// lora_qiehuan++;
// IO_control_init();
// UWBPoll();
@@ -353,18 +355,13 @@
{
lora_tx_flag++;
}
-uint8_t DMA_RXBuf_BT[200]={0};
+
void uart0_receive_callback()
{
- uint8_t buff[200]={0};
- memcpy(buff,m_EUART_DMA_RXBuf,100);
- if(buff[0]==0x55||buff[1]==0xAA||buff[2]==0x41)
- {
- uint8_t lenth=0;
- lenth=((buff[4]*2)+(buff[4]*2)+1);
- memcpy(DMA_RXBuf_BT,&buff[4],lenth);
- }
+ 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)
{
@@ -387,6 +384,7 @@
// 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;
@@ -414,42 +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)
@@ -499,14 +472,10 @@
#define TEST_SPI_INTERUPT_MODE 1
#define TEST_SPI_DMA_MODE 2
#define TEST_SPI_MODE TEST_SPI_POLL_MODE
-//#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
+
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);
@@ -516,27 +485,21 @@
io_pin_mux_set(LORA_CLK, IO_FUNC2);
io_pin_mux_set(LORA_DIO, IO_FUNC0);
-// io_pin_mux_set(LORA_DIO, IO_FUNC0);
-// gpio_pin_set_dir(LORA_DIO , GPIO_DIR_OUT, 0);
-// io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
-
-
-// io_pin_mux_set(LORA_CS2, IO_FUNC0);
-// gpio_pin_set_dir(LORA_CS2 , GPIO_DIR_OUT, 0);
-// io_pull_set(LORA_CS2, IO_HIGH_Z, IO_PULL_UP_NONE);
// //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);
+
+ //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()
{
@@ -578,7 +541,7 @@
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;
@@ -593,228 +556,12 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-static uint16_t delaytime = 771;
-extern uint16_t wg_report_freq,wg_report_id;
-extern uint32_t wg_lost_count;
-extern uint8_t shengji_flag;
-extern uint8_t lora_jianting_flag,report_ancnum;
-uint8_t imu_enable,motor_enable;
-uint32_t time_flag_lorarx=0;
-uint32_t lora_huanxing_count=0;
-uint16_t Lora_wangguanid=0;
-wg_state_enum wg_state = WG_Lost;
-uint16_t wangguan_up_id;
-uint8_t LoraUp_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;
-uint8_t tx_buf[5]={0,1,0,1,1};
-uint32_t sleep_time_count=0;
-uint32_t uwb_ceju_count=0;
-//ceshi
-//uint8_t no_rx_flag=0;
-//xtal_38m4_off_time(sleep_time_count);
+wg_state_enum wg_state = WG_Lost;
/********************************************************************************************************/
static void Lora_irq_handler(enum IO_PIN_T pin)
{
-
- uint16_t checksum1;
- rf_irq_process();
-// gpio_pin_set(IO_PIN_5);//测试
- no_rx_flag=0;
- tx_flag=rf_get_transmit_flag();
- recv_flag=rf_get_recv_flag();
- if(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[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
- {
-
-// time_flag_lorarx=phy_timer_count_get();
- uwb_open();
- //gpio_pin_clr(IO_PIN_5);//测试
- UwbRange();
-
- uwb_ceju_count++;
- }
-// if(RX_Buffer[0]==0x04,RX_Buffer[1]=='O',RX_Buffer[2]=='N',RX_Buffer[3]=='G')
-// {
-// gpio_pin_set(IO_PIN_5);//测试
-//// time_flag_lorarx=phy_timer_count_get();
-// uwb_open();
-// gpio_pin_clr(IO_PIN_5);
-// UwbRange();
-//
-// uwb_ceju_count++;
-// //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);
- // sleep_time_count=xtal_38m4_off_time();
- 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;
- }
-
- sleep_time_count = rec_delaytime*3.2768 - delaytime-datalen_offset;
- while(sleep_time_count>=32768)
- sleep_time_count-=32768;
- sleep_timer_start(sleep_time_count);
- //sleep_timer_start(sleep_time_count);sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-// #define __MS_TO_32K_CNT(ms) ((uint32_t)((float)(ms)*32768.0f / 1000.0f))
- // __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(!no_rx_flag)
- {
- if(lora_jianting_flag)
- {
- uint32_t para;
-// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
- rf_set_mode(RF_MODE_STB3);
- para=(UWB_CHANNEL_FRQ+group_id)*1000000;
- rf_set_freq(para);
- rf_set_sf(UWB_CHANNEL_SF);
- rf_enter_continous_rx();
- }
- }
-
- }
- if(tx_flag == RADIO_FLAG_TXDONE)
- {
- //rf_set_mode(RF_MODE_STB3);
- rf_set_transmit_flag(RADIO_FLAG_IDLE);
- Loratx_flag++;
- rf_enter_single_timeout_rx(100);
- }
- if((recv_flag == RADIO_FLAG_RXTIMEOUT))
- {
- //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_set_freq(UWB_CHANNEL_FRQ+group_id*10000000);
- rf_set_sf(UWB_CHANNEL_SF);
- if(lora_jianting_flag)
- {
- uint32_t para;
-// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
- rf_set_mode(RF_MODE_STB3);
- para=(UWB_CHANNEL_FRQ+group_id)*1000000;
- rf_set_freq(para);
- rf_set_sf(UWB_CHANNEL_SF);
- rf_enter_continous_rx();
- }
- // 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);
- if(lora_jianting_flag)
- {
- uint32_t para;
-// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
- rf_set_mode(RF_MODE_STB3);
- para=(UWB_CHANNEL_FRQ+group_id)*1000000;
- rf_set_freq(para);
- rf_set_sf(UWB_CHANNEL_SF);
- rf_enter_continous_rx();
- }
- }
-
+ RadioIrqProcess();
}
@@ -826,7 +573,7 @@
{
// io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//把原先io 变为普通GPIO
gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
- io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_LEVEL4);
+ 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
@@ -841,126 +588,43 @@
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_debug_console_open(TRACE_PORT_UART1);
+ // boot_deinit();
+ // board_debug_console_open(TRACE_PORT_UART1);
// Reset reason
reset_cause_get();
reset_cause_clear();
// Chip calibration
calib_chip();
-
// Disable watchdog timer
wdt_close(WDT_ID0);
-
gpio_open();
-
Board_gpio_init();
//board_led_init();
spi_init();
-// gpio_pin_clr(LORA_CS);
-// gpio_pin_clr(LORA_MOSI);
-// gpio_pin_clr(LORA_MISO);
-// gpio_pin_clr(LORA_CLK);
-// gpio_pin_set(LORA_CLK);
-// gpio_pin_set(LORA_DIO);
-
Board_LORA_NVIC_Init(Lora_irq_handler);
- Lora_init();
- rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
-// IIC2_Init();
-// Accelerometer_Init();
- //LIS3DH_Data_Init();
-// PCA9555_init();
+ pca_input_detection_init(pca_handler);
+ IIC2_Init();
+ Accelerometer_Init();
+ PCA9555_init();
+ Lora_1268_Init();
+// SwitchLoraSettings(473,7,0);
+ Program_Init();
-// adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
- Program_Init();
-//#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_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_start(__MS_TO_32K_CNT(1000));//测试
-// sleep_time_count=xtal_38m4_off_time();
-
-
+
-// pca_input_detection_init(pca_handler);
-//#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
Uwbinit();
+ OpenUWB();
+
while (1)
{
-// RED_LED_OFF;
-// BT_LED_OFF;
-// // gpio_pin_clr(IO_PIN_5);
Lora_Tx_Poll();
-
- // UwbRange();
-
-// 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
+// uwb_app_poll();
+ IdleTask();
}
}
--
Gitblit v1.9.3