From dcbd0e93b5cc05ea9f1e1152c7951a37e12d177f Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 03 六月 2025 15:23:36 +0800
Subject: [PATCH] V1.13版本修改接收时间和帧间隔和延迟接收时间参数，适配铁鞋稳定一对多测距版本
---
keil/include/main/main.c | 482 +++++++++++++++++++++++++----------------------------
1 files changed, 228 insertions(+), 254 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index e5eb40f..5d0bbf9 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -49,53 +49,55 @@
#include "board.h"
#include "wsf_nvm.h"
#include "mk_power.h"
+#include "mk_sleep_timer.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"
-
-extern int simple_main(void);
-extern int temp_main(void);
+extern int TagRange(void);
+extern void parameter_init(void);
+uint8_t trx_buf[10] = {0};
#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
-extern uint8_t mUsartReceivePack[100];
-extern uint8_t mUsart2ReceivePack[150];
-extern uint8_t state5V_prase_flag,gps_prase_flag;
-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;
-int link_success_flag;
-uint8_t state5v,link_error_count;
-uint8_t gps_power_state,motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
-float nomove_count=0;
+#define SLEEP_START_TIME 10
+#define FREQ_LOST_TIME 5
+#define NOTAG_FREQ 1
+#define BATTERY_GET_TIME 3600
+uint8_t enable_sleep_count,sleep_flag;
+uint32_t battery_get_count;
+//#define DEBUG_MODE
+uint32_t reboot_num;
+struct UART_CFG_T test_uart_cfg =
+{
+ .parity = UART_PARITY_NONE,
+ .stop = UART_STOP_BITS_1,
+ .data = UART_DATA_BITS_8,
+ .flow = UART_FLOW_CONTROL_NONE,
+ .rx_level = UART_RXFIFO_CHAR_1,
+ .tx_level = UART_TXFIFO_EMPTY,
+ .baud = BAUD_115200,
+#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
+ .dma_en = false,
+ .int_rx = false,
+ .int_tx = false,
+#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
+ .dma_en = false,
+ .int_rx = true,
+ .int_tx = true,
+#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
+ .dma_en = true,
+ .int_rx = false,
+ .int_tx = false,
+#endif
+ };
+static void app_wdt_callback(void *dev, uint32_t status)
+{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
static uint32_t sample[NUM_SAMPLES] = {0};
-uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
-
-typedef enum
-{ UN_BIND=0,
- LINK_SUCCESS,
- SEARCH_DEV,
-} Operation_step;
-Operation_step Operation_state;
-
-
-Commend_SendDate send_struct;
static 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 */
@@ -109,39 +111,105 @@
.high_pulse_time = 4,
.settle_time = 1,
};
-struct UART_CFG_T test_uart_cfg =
-{
- .parity = UART_PARITY_NONE,
- .stop = UART_STOP_BITS_1,
- .data = UART_DATA_BITS_8,
- .flow = UART_FLOW_CONTROL_NONE,
- .rx_level = UART_RXFIFO_CHAR_1,
- .tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
-#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
- .dma_en = false,
- .int_rx = false,
- .int_tx = false,
-#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
- .dma_en = false,
- .int_rx = true,
- .int_tx = true,
-#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
- .dma_en = true,
- .int_rx = false,
- .int_tx = false,
-#endif
-};
+ struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+ };
+
+uint8_t state5v = 0;
+uint8_t bat_percent=0,g_start_send_flag=1;
+int16_t fVoltage_mv;
+uint8_t bat_percent;
+extern uint32_t dev_id;
+extern uint8_t group_id;
+extern float freqlost_count;
+uint8_t tag_frequency;
+void UartDeinit(void);
+void UartInit(void);
+void Program_Init(void);
+void IdleTask(void);
+void boot_deinit(void);
+void Get_batterty_Voltage(void);
+void Calculate_battery_percent(void);
+uint8_t sleep_limit_time=1;
static void uart_receive_callback(void *dev, uint32_t err_code)
+{
+uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+}
+void UartInit(void)
{
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+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);
+}
+void UartDeinit(void)
+{
+uart_close(UART_ID0);
+uart_close(UART_ID1);
+}
+void Get_batterty_Voltage(void)
+{
+ battery_monitor_open();
+ fVoltage_mv=battery_monitor_get();
+ battery_monitor_close();
+ Calculate_battery_percent();
+}
+void Calculate_battery_percent(void)
+{
+ if(fVoltage_mv < 3000)
+ {
+ bat_percent = 0;
+ }
+ else if(fVoltage_mv > 3500)
+ {
+ bat_percent = 100;
+ }
+ else
+ {
+ bat_percent = ((fVoltage_mv - 3000) /8);
+ }
+ //LOG_INFO(TRACE_MODULE_APP, "The voltage is %d ,percent is %%%d \r\n",fVoltage_mv,bat_percent);
+}
+static void sleep_timer_callback(void *dev, uint32_t time)
+{
+ //sleep_timer_start(__MS_TO_32K_CNT(1000));
+ static uint8_t lost_jumpcount=0;
+ reboot_num++;
+ if(reboot_num>=3600)
+ NVIC_SystemReset(); //软复位回到bootloader
+ enable_sleep_count++;
+
+ if(enable_sleep_count==sleep_limit_time){
+ enable_sleep_count=0;
+ sleep_flag=1;
+ }
+ if(battery_get_count++>=BATTERY_GET_TIME)
+ {
+ Get_batterty_Voltage();
+ battery_get_count=0;
+ }
+// if(freqlost_count++>FREQ_LOST_TIME)
+// {
+// tag_frequency = NOTAG_FREQ;
+// if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+// {
+// lost_jumpcount = 0;
+// g_start_send_flag=1;
+// }
+// }else{
+// g_start_send_flag=1;
+// }
+ g_start_send_flag=1;
}
static void adc_callback(void *data, uint32_t number)
{
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",
+// 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;
@@ -158,130 +226,70 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ //LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
-//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);
-//}
-static void sleep_timer_callback(void *dev, uint32_t time)
-{
- nomove_count++;
- send_messgae_count+=g_com_map[COM_INTERVAL];
- //if(send_messgae_count>=g_com_map[4G_INTERNAL]){
- //send_message_count=0;
- //send_flag=1;
- //}
-
- if(Operation_state==LINK_SUCCESS) { //成功时清0错误计数
- link_error_count=0;
- g_start_send_flag=1;
- }
- if(Operation_state==SEARCH_DEV) {
-// if(first_search_flag){//当第一次连接断开产生时才开始计数
- //link_error_count=0;
-// }
- link_error_count++;
- if(link_error_count==60)
- link_error_count=0;
- //link_error_count+=g_com_map[COM_INTERVAL];
- //if(link_error_count>=g_com_map[4G_INTERNAL])
- //link_error_count=0;
- update_led_power_state();//更新灯状态
- }
- HIDO_TimerTick();
-}
static void voltage_input_handler(enum IO_PIN_T pin)
{
-
-}
-static void move_handler(enum IO_PIN_T pin)
-{
- nomove_count=0;
+//LOG_INFO(TRACE_MODULE_APP, "中断唤醒\r\n");
}
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
- 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);
- warning_distance=g_com_map[STATIONARY_TIME];
- 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
+{
+Usart1ParseDataCallback = UsartParseDataHandler;
+parameter_init();//g_com_map表初始化
+group_id=g_com_map[GROUP_ID];
+memcpy(&dev_id ,&g_com_map[DEV_ID],2);
+tag_frequency=1000/g_com_map[COM_INTERVAL];
+g_com_map[VERSION] = (1<<8)|13;
+LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
+LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-免布线信标 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
}
-
-
-
+uint8_t test1;
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 {
+{ UART0_CheckReceive();
+ test1=gpio_pin_get_val(INPUT_5V_Pin);
+ if(gpio_pin_get_val(INPUT_5V_Pin))
+ {
+ //UART_CheckSend();
+// bat_percent=Get_Battary();
+ if(state5v==0)
+ {
+ state5v=1;
+ sleep_flag=0;
+ sleep_limit_time=30;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
+ }
+ }else{
if(state5v==1)
{
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();
+ //UartDeinit();
}
- UART_CheckReceive();
- }
+
}
-int bind_check(void)
+
+}
+void boot_deinit(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
- }
+ //将boot中串口返回普通gpio
+// UART0 TX/RX
+ io_pin_mux_set(IO_PIN_5, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_6, IO_FUNC0);
+ // UART1 RX/TX
+ io_pin_mux_set(IO_PIN_10, IO_FUNC0);
+ io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ uart_close(UART_ID1);//解绑原来串口1
+ uart_close(UART_ID0);//解绑原来串口0
}
-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
- Operation_state=LINK_SUCCESS;
- } else { //否则进入搜索模式
- Operation_state=SEARCH_DEV;
- if(first_search_flag==0)
- first_search_flag=1;
- }
-}
-
-
int main(void)
{
board_clock_run();
- board_pins_config();
- board_debug_console_open(TRACE_PORT_UART1);
- // Reset reason
+ boot_deinit();
+ board_pins_config();
+ board_debug_console_open(TRACE_PORT_UART0);
+ // 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;
@@ -295,107 +303,73 @@
{
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");
-
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
+ //LOG_INFO(TRACE_MODULE_APP, "UWB qiang test example\r\n");
+
// open system timer
//sys_timer_open();
-
- // TODO 4G
- Uart_Register(UART_ID_4G, UART_ID0);
- Internet_Init();
-
+
gpio_open();
- //board_led_init();
-
-// adc_open(&usr_adc_cfg);
- IIC2_Init();
- Accelerometer_Init();
- IO_control_init();
-//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);
- gps_air780_power_change(1,1);//开启gps，4G
- Program_Init();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
-// Initialize low power mode
+ board_led_init();
+
+ //uart_open(UART_ID0, &test_uart_cfg);
+
+ Program_Init();
+ //power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)POWER_WAKEUP_BY_GPIO_0, POWER_WAKEUP_LEVEL_LOW);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ // Initialize low power mode
power_init();
-LOG_INFO(TRACE_MODULE_APP, "测试数据");
-// g_com_map[BIND_DEV_ID]=0x1122;//测试
- if(bind_check())//绑定后才提前开启测距
- { link_success_flag=temp_main();//上机开启接收2s绑定成功则进行下面轮询测距流程,不成功则1分后再次开启2s接收
- check_if_in_search();
- } else {
- send_struct.bindState=false;
- Operation_state=UN_BIND;
- }
+ Get_batterty_Voltage();//获取当前内部电压
+ //Calculate_battery_percent();
+ //adc_open(&usr_adc_cfg);
+ //adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ // Enable sleep timer
+ Tag_uwb_init();
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(1000));//测试
- board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
+ //sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT));//测试
+ //board_5V_input_init(voltage_input_handler);//有修改3.3V会一直高电平导致无法进入休眠
+ #ifdef BOXING
+ io_pin_mux_set(IO_PIN_5, IO_FUNC0);//波形测试
+ 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
+ //Serial0_PutString("进入app测试\r\n");
while (1)
- {
- // TODO
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
-
- switch(Operation_state) {
- case LINK_SUCCESS:
- { //连接成功进行轮询测距
- if(g_start_send_flag) {
- g_start_send_flag = 0;
- uwb_led_on();
- simple_main();
- uwb_led_off();
- IdleTask();
- } else {
- IdleTask();
- }
- }
- break;
- case SEARCH_DEV:
- { //接包不成功或者通讯失败进入搜索模式
- if(link_error_count==0||first_search_flag) {
- first_search_flag=0;
- uwb_led_on();
- link_success_flag=temp_main();//第一次开启接收2s绑定失败后则进行下面1分钟后重新开启2s绑定流程
- uwb_led_off();
- if(link_success_flag)
- Operation_state=LINK_SUCCESS;
- }
- IdleTask();
- }
- break;
- case UN_BIND:
- { uwb_led_off();//关闭uwb指示灯
- IdleTask();
- }
- break;
- }
-
- //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;
- //}
-#ifdef DEBUG_MODE
- if(!gpio_pin_get_val(INPUT_5V_Pin)) {
- trace_flush();
+ {
+ if(g_start_send_flag)
+ {
+ //LOG_INFO(TRACE_MODULE_APP, "测距ing");
+ wdt_ping(WDT_ID0);//喂狗
+ g_start_send_flag = 0;
+ gpio_pin_set(LED_PIN);//亮
+ TagRange();
+ gpio_pin_clr(LED_PIN);//灭
+ IdleTask();
+ }else{
+ IdleTask();
+ }
+ LoraUp_Poll();
+#ifndef DEBUG_MODE
+ if(sleep_flag){//开始一段时间无休眠
+ trace_flush();
uint32_t lock = int_lock();
- //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
+ //唤醒源设置MK8000修改
+ //board_5V_input_init(voltage_input_handler);
+ //sleep_timer_start(g_com_map[COM_INTERVAL]);
power_enter_power_down_mode(0);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+ //LOG_INFO(TRACE_MODULE_APP, "进入低功耗");
int_unlock(lock);
- }
+ }
#endif
}
+
}
--
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