From d5d1ca2ebf9087415d3d11907cd79ba58162760e Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 12 三月 2025 17:16:33 +0800
Subject: [PATCH] 加入shell模式跟ntrip。目前没有调试好，等外包改一下
---
keil/include/main/main.c | 244 ++++++++++++++----------------------------------
1 files changed, 74 insertions(+), 170 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 83aa6e0..0cc768d 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -1,43 +1,3 @@
-/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
- * its subsidiaries and affiliates (collectly called MKSEMI).
- *
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form, except as embedded into an MKSEMI
- * integrated circuit in a product or a software update for such product,
- * must reproduce the above copyright notice, this list of conditions and
- * the following disclaimer in the documentation and/or other materials
- * provided with the distribution.
- *
- * 3. Neither the name of MKSEMI nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * 4. This software, with or without modification, must only be used with a
- * MKSEMI integrated circuit.
- *
- * 5. Any software provided in binary form under this license must not be
- * reverse engineered, decompiled, modified and/or disassembled.
- *
- * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
- * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
- * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
#include "mk_trace.h"
#include "mk_wdt.h"
#include "mk_calib.h"
@@ -63,6 +23,13 @@
#include "TCPClient.h"
#include "PCA9555.h"
#include "WS2812.h"
+#include "DBG.h"
+typedef enum
+{
+ RTCMMODE_NONE,
+ RTCMMODE_TCP,
+ RTCMMODE_NTRIP,
+}RTCMMode;
//#define DEBUG_MODE
extern int simple_main(void);
@@ -84,7 +51,7 @@
extern uint8_t state5V_prase_flag,gps_prase_flag;
extern int distance;
extern uint8_t anchordata_num;
-uint32_t dev_id;
+uint16_t dev_id;
uint8_t group_id;
uint16_t tag_frequency;
uint16_t disoffset;
@@ -203,7 +170,6 @@
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);
}
extern uint8_t gps_uwb_flag,gps_need_data_flag;
uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
@@ -275,35 +241,6 @@
{
PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
-}
-void Air780eTask(void)
-{
-// 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();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
-
- }
-// }
-
}
void SecondTask(void)
{static uint8_t second_count;
@@ -417,16 +354,27 @@
dev_id=g_com_map[DEV_ID];//这里不太对
g_com_map[GROUP_ID]=9;
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
+
+ g_com_map[IP_0]=111;
+ g_com_map[IP_1]=198;
+ g_com_map[IP_2]=60;
+ g_com_map[IP_3]=6;
+ g_com_map[PORT]=6666;
+ g_com_map[RTCMMODE_INDEX] = RTCMMODE_NTRIP;
+ snprintf((char *)&g_com_map[NTRIP_HOST_INDEX], 32, "140.143.212.42");
+ g_com_map[NTRIP_PORT_INDEX] = HIDO_UtilStrToInt("8005");
+// snprintf((char *)&g_com_map[NTRIP_PORT_INDEX], 32, "8005");
+ snprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX], 32, "test005");
+ snprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX], 32, "Hxzk0228");
+ snprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX], 32, "RTCM32_GNSS2");
+
if(g_com_map[BIND_DEV_ID]==0)
{
@@ -443,21 +391,35 @@
}
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)|3;
+
+
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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
+ LOG_INFO(TRACE_MODULE_APP,"服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
+ LOG_INFO(TRACE_MODULE_APP,"NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
+ }
+ else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
+ {
+ LOG_INFO(TRACE_MODULE_APP,"单点定位模式模式. \r\n");
+ }
}
uint32_t adctick = 0;
uint8_t only_one_flag;
uint16_t chongman_time;
uint8_t bat_percent_old=100;
uint8_t input5vflag;
+uint8_t kai_4g_flag;
void IdleTask(void)
{
if(read_5v_input_pca())
@@ -498,11 +460,21 @@
}else{
powerled = RED;
}
- UART_CheckReceive();
+ if(DBG_GetMode() == DBG_MODE_SHELL)
+ {
+ if(kai_4g_flag==0)
+ {
+ kai_4g_flag=1;
+// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
+ Shell_Init();
+ }
+ HIDO_InputPoll();
Internet_Poll();
HIDO_TimerPoll();
HIDO_ATLitePoll();
TCPClient_Poll();
+ }
+ UART_CheckReceive();
if(flag_secondtask)
{
flag_secondtask = 0;
@@ -529,24 +501,18 @@
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
+ PCA9555_Set_One_Value_Output(MCU_A,0);//输出低电平切换为GPS
}
-// input5vflag=0;
}
UART_CheckReceive();
if(g_com_map[CNT_RESTART]==1)
{
g_com_map[CNT_RESTART]=0;
-// printf("%s URTRestart",__debug_info__);
-// URTRestart();
NVIC_SystemReset();
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
-// printf("%s URTRestart",__debug_info__);
-// URTRestart();
-// // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
NVIC_SystemReset();
}
HIDO_TimerPoll();
@@ -584,12 +550,10 @@
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART1,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART1,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)
@@ -602,31 +566,36 @@
{
board_calibration_params_default();
}
-
- // 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);
+// Uart_Register(UART_ID_DBG, UART_ID1);
+ Program_Init();
Internet_Init();
TCPClient_Init();
+ if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
+ {
+ NTRIPClient_Init();
+ NTRIPApp_Init();
+ }
gpio_open();
LED_output_init();//配置彩色灯引脚
IIC2_Init();
Accelerometer_Init();
PCA9555_init();
-
-
- //AIR780E_Reset();
-
adc_open(&usr_adc_cfg);
-
+ uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ power_init();
+ sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ pca_input_detection_init(pca_handler);//pca检测输入
+ Uwb_init();
+ OpenUWB();
+ DBG_Init();
+// Shell_Init();
+
if(!read_5v_input_pca())
{
Set4LEDColor(BLUE,GREEN,WHITE,RED);
@@ -635,28 +604,6 @@
delay_ms(500);
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
}
-// 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);
- 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
- 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
- //board_4GUsart_detection_init(_4gUsart_handler);
- Uwb_init();
- OpenUWB();
// state5v=1;
// state5V_prase_flag=state5v;
// gps_prase_flag=0;//解除gps解析
@@ -678,48 +625,5 @@
IMUTask();
UserKeyTask();
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;
-
-//// 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
-
-// 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);
-// }
-
-#endif
}
}
--
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