From de542f653793306c903085bc3a1b590ce29caec8 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 20 三月 2025 18:17:57 +0800
Subject: [PATCH] 时间同步BUG修复
---
keil/include/main/main.c | 432 ++++++++++++++++++++++++++++++++++-------------------
1 files changed, 273 insertions(+), 159 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 0589d07..90a9681 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,7 +61,16 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#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_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);
@@ -76,12 +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;
@@ -89,6 +108,7 @@
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;
@@ -147,6 +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;
@@ -171,6 +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();
@@ -249,7 +275,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -272,25 +298,40 @@
}
HIDO_TimerTick();
- nomove_count++;
+
}
+uint8_t stationary_flag;
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();
- if(secondtask_count++%2==0)
- {
- flag_secondtask = 1;
- }else{
- flag_secondtask = 0;
- }
+
+ g_start_send_flag=1;
+// HIDO_TimerGetTick();
+ 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_qiehuan++;
+// IO_control_init();
+// UWBPoll();
+//
+//
+// MotorPoll();
- flag_sleeptimer = 1;
+// if(secondtask_count++%2==0)
+// {
+// flag_secondtask = 1;
+// }else{
+// flag_secondtask = 0;
+// }
+
+// flag_sleeptimer = 1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
@@ -311,16 +352,37 @@
}
//GPS工作逻辑
-
+ if(nomove_count++>g_com_map[STATIONARY_TIME])
+ {
+ stationary_flag = 1;
+ } else
+ {
+ stationary_flag = 0;
+ }
+// nomove_count++;
+ #ifdef DEBUG_BOXING
+// gpio_pin_clr(BOXING_PIN);//测试
+ gpio_pin_set(BOXING_PIN);//测试
+ #endif
+ delay_us(1000);
}
+
+//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)
{
@@ -334,8 +396,12 @@
{
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]=0x1234;
+ g_com_map[STATIONARY_TIME] = 10;
+// 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
+// group_id=g_com_map[GROUP_ID];//组ID
+ group_id=0x04;
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;
@@ -361,44 +427,19 @@
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)|9;
+ 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)
@@ -432,128 +473,201 @@
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 Board_gpio_init()
+{
+ //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);
+
+
+// //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()
+{
+ struct SPI_CFG_T usr_spi_cfg =
+ {
+ .bit_rate = 1000000,
+ .data_bits = 8,
+//#if TEST_SPI_MASTER
+ .slave = 0,
+//#else
+// .slave = 1,
+//#endif
+ .clk_phase = 0,
+ .clk_polarity = 0,
+ .ti_mode = 0,
+//#if (TEST_SPI_MODE == TEST_SPI_POLL_MODE)
+ .dma_rx = false,
+ .dma_tx = false,
+ .int_rx = false,
+ .int_tx = false,
+//#elif (TEST_SPI_MODE == TEST_SPI_INTERUPT_MODE)
+// .dma_rx = false,
+// .dma_tx = false,
+// .int_rx = true,
+// .int_tx = true,
+//#elif (TEST_SPI_MODE == TEST_SPI_DMA_MODE)
+// .dma_rx = true,
+// .dma_tx = true,
+// .int_rx = false,
+// .int_tx = false,
+//#endif
+ };
+
+ spi_open(SPI_ID0, &usr_spi_cfg);
+}
+uint8_t ceshi;
+uint32_t error_cnt=0;
+uint32_t successful_cnt=0;
uint8_t flag_4guart_needinit=0;
+#define TX_LEN 10
+#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;
+
+
+/********************************************************************************************************/
+/********************************************************************************************************/
+/********************************************************************************************************/
+//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;
+wg_state_enum wg_state = WG_Lost;
+/********************************************************************************************************/
+static void Lora_irq_handler(enum IO_PIN_T pin)
+{
+ 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
+ gpio_pin_set_dir(LORA_DIO , GPIO_DIR_IN, 0);
+ 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();
+ Board_gpio_init();
//board_led_init();
+ spi_init();
+
- adc_open(&usr_adc_cfg);
- IIC2_Init();
+ Board_LORA_NVIC_Init(Lora_irq_handler);
+ pca_input_detection_init(pca_handler);
+ 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_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
+ PCA9555_init();
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ Program_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(SLEEP_TIMER_NUM));//测试
- // board_5V_input_init(voltage_input_handler);
- board_acceleration_detection_init(move_handler);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
-
- while (1)
- {
- 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);
- }
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+
+#ifdef DEBUG_BOXING
+ io_pin_mux_set(BOXING_PIN,IO_FUNC0);
+ gpio_pin_set_dir(BOXING_PIN,GPIO_DIR_OUT,0);
+ io_pull_set(BOXING_PIN,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
#endif
+ Uwbinit();
+ OpenUWB();
+ while (1)
+ {
+ #ifdef DEBUG_BOXING
+ gpio_pin_clr(BOXING_PIN);//测试
+// gpio_pin_set(BOXING_PIN);//测试
+ #endif
+ Lora_Tx_Poll();
+ uwb_app_poll();
+ IdleTask();
}
}
--
Gitblit v1.9.3