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 | 449 ++++++++++---------------------------------------------
1 files changed, 83 insertions(+), 366 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 80d62a6..90a9681 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);
@@ -274,7 +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
@@ -297,14 +298,19 @@
}
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)
{
+
+
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
@@ -346,52 +352,29 @@
}
//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()
+//void phy_timer_callback(uint32_t time)
//{
-// uint8_t buff[buff_lenth]={0};
-// uint8_t lenth=0;
-//
-// uart_receive(UART_ID0,Forward_BT_buff,buff_lenth,uart0_receive_callback);
-// memcpy(buff,Forward_BT_buff,1024);
-// for(int n=0;n<1024;n++)
-// {
-// if(buff[n]==0x55)
-// {
-// if(buff[n+1]==0xAA)
-// {
-// if(buff[n+2]==0x41)
-// {
-// lenth=buff[n+4];
-// memcpy(DMA_RXBuf_BT,&buff[n+4],lenth);
-// }
-// }
-//
-// }
-// }
-// memset(buff, 0, buff_lenth);
-// memset(DMA_RXBuf_BT, 0, buff_lenth);
-// 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);
-// }
+// lora_tx_flag++;
//}
-//uint8_t base_station_count = 0;
-//uint8_t last_ids[MAX_BASE_STATIONS] = {0};
void uart0_receive_callback()
{
- uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+ uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
}
@@ -414,9 +397,11 @@
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]=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;
@@ -444,7 +429,7 @@
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);
}
@@ -454,6 +439,7 @@
{
UART0_CheckReceive();
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -503,14 +489,10 @@
#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);
@@ -524,19 +506,17 @@
// //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,Forward_BT_buff,buff_lenth,uart0_receive_callback);
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);//开启dma
-// uart_receive(UART_ID0,&uart0_buffer,1024,uart0_receive_callback);
-// uart_receive(UART_ID0,DMA_RXBuf_BT,buff_lenth,uart0_receive_callback);
-
+
//串口1
- io_pin_mux_set(UART1_RX, IO_FUNC4);
- io_pin_mux_set(UART1_TX, IO_FUNC4);
+// io_pin_mux_set(UART1_RX, IO_FUNC4);
+// io_pin_mux_set(UART1_TX, IO_FUNC4);
}
void spi_init()
{
@@ -578,7 +558,7 @@
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;
@@ -593,235 +573,44 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-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;
+//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;
-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);
/********************************************************************************************************/
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)
- {
-
- uwb_open();
-
- 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:
-
-// 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);
-
- 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();
}
-
-
-
-
-
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);
+ 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)
@@ -844,113 +633,41 @@
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);
+ pca_input_detection_init(pca_handler);
IIC2_Init();
Accelerometer_Init();
- //LIS3DH_Data_Init();
PCA9555_init();
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ 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_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_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();
-
-
-
-
-
+
+#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)
{
-// RED_LED_OFF;
-// BT_LED_OFF;
-// // gpio_pin_clr(IO_PIN_5);
-
+ #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();
- // 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();
-// }
-
-// //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
}
}
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