From e328ebef585cea2351b37117b2d5ac4978ecd3c0 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 11 二月 2025 14:57:23 +0800
Subject: [PATCH] 1111111
---
keil/include/main/main.c | 1004 +++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 872 insertions(+), 132 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 51ac04e..c9d5d74 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,8 +61,15 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
-
-//#define DEBUG_MODE
+#include "mk_spi.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 "PCA9555.h"
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
@@ -76,12 +83,15 @@
#define WARING_LIMIT_TIME 10
#define UPDATE_TIME 10
+#define SOS_DIO IO_PIN_5
+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;
@@ -89,14 +99,16 @@
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;
+uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state,first_motor_in_flag;
float nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
+int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4;
typedef enum
{ UN_BIND=0,
LINK_SUCCESS,
@@ -142,7 +154,7 @@
.int_tx = false,
#endif
};
-static void uart_receive_callback(void *dev, uint32_t err_code)
+void uart_receive_callback(void *dev, uint32_t err_code)
{
uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
@@ -170,6 +182,11 @@
}
// 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();
@@ -177,8 +194,8 @@
//board_debug_console_open(TRACE_PORT_UART0);
//uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
//}
-extern gps_uwb_flag;
-uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1;
+extern uint8_t gps_uwb_flag;
+uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0;
uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag;
int need_open_gps_count;
void MotorPoll(void)
@@ -190,6 +207,11 @@
} else { //绑定状态下
if(anchordata_num==1) {
if(distance<g_com_map[ALARM_DISTANCE1]) { //小于预警距离
+ if(flag_alam_state)
+ {
+ flag_alam_state = 0;
+ _4GAlarmUpload(2);
+ }
need_open_gps_count=0;
moter_open_uwb_flag=0;//关闭震动
gps_uwb_flag=0;//关闭GPS
@@ -197,6 +219,11 @@
need_open_gps_count++;
moter_open_uwb_flag=1;//开启震动
if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
@@ -204,25 +231,43 @@
need_open_gps_count++;
moter_open_uwb_flag=1;//开启震动
if(need_open_gps_count>=20) {
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
gps_uwb_flag=1;//开启gps测距流程
need_open_gps_count=0;
}
}
} else if(anchordata_num==0) {
-
+ if(!flag_alam_state)
+ {
+ flag_alam_state = 1;
+ _4GAlarmUpload(1);
+ }
+ distance = -1;
gps_uwb_flag=1;//开启gps测距流程
moter_open_uwb_flag=1;//开启震动
need_open_gps_count=0;
}
}
}
-void SecondTask(void)
+void MinuteTask(void)
{
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+}
+void SecondTask(void)
+{static uint8_t second_count;
+ if(second_count++>60)
+ {
+ second_count = 0;
+ MinuteTask();
+ }
//UWB更新列表
TagListUpdate();
- GPS_Poll();
- g_com_map[ALARM_DISTANCE1]=30;//测试
- g_com_map[ALARM_DISTANCE2]=40;
+ //GPS_Poll();
+ gps_power_state=1;//测试gps长开
//UWB状态检测
if(IfTCPConnected())
@@ -246,33 +291,50 @@
nomove_count++;
}
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;
+ // #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(motor_open_air_flag||moter_open_uwb_flag)
+ if(g_com_map[MOTOR_ENABLE])
{
- if (motor_count++%2==0)
- {
- motor_power_state = 1;
- }else{
- motor_power_state = 0;
- }
- } else {
+ if(motor_open_air_flag||moter_open_uwb_flag)
+ {
+ if (motor_count++%2==0)
+ {
+ motor_power_state = 1;
+ }else{
+ motor_power_state = 0;
+ }
+ } else {
+ motor_power_state=1;
+ }
+ }else{
motor_power_state=1;
}
-
+
//GPS工作逻辑
}
@@ -292,24 +354,26 @@
// AIR780EUartInit();
}
extern uint16_t ip0,ip1,ip2,ip3,port;
+extern uint8_t gps_4g_flag;
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
+ g_com_map[DEV_ID]=0x6789;
+// 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
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;
+// 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[BIND_DEV_ID] = 0x1234;
+
if(g_com_map[BIND_DEV_ID]==0)
{
UWB_work_state = UN_BIND;
@@ -318,16 +382,16 @@
}
if(g_com_map[SEND_4G_SECOND]<60)
g_com_map[SEND_4G_SECOND]=60;
-
+ g_com_map[MODBUS_MODE] = 0;
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]>>12&0xf)*1000+(g_com_map[TCP_PORT]>>8&0xf)*100+(g_com_map[TCP_PORT]>>4&0xf)*10+(g_com_map[TCP_PORT]&0xf);
- g_com_map[VERSION] = (1<<8)|1;
- LOG_INFO("设备ID: %x .\r\n",dev_id);
- LOG_INFO("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("服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
+ 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:MK-LORA 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);
}
@@ -342,8 +406,8 @@
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
+ 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();
}
@@ -351,15 +415,16 @@
} 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();
- uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//开启dma
+ 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();
}
+ UART_CheckReceive();
}
int bind_check(void)
{
@@ -382,123 +447,798 @@
first_search_flag=1;
}
}
+void boot_deinit(void)
+{
+ //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 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 spi_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_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);
+
+ 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(IO_PIN_9, IO_FUNC4);
+ io_pin_mux_set(IO_PIN_10, 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
+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;
+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;
+
+//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)
+ {
+
+// 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;
+// }
+ //*3.2768
+ sleep_time_count = (rec_delaytime*32.768 - delaytime-datalen_offset)/10;
+// while(sleep_time_count>=1000)
+// {
+// sleep_time_count-=1000;
+// }
+ sleep_timer_start(sleep_time_count);
+// while(sleep_time_count>=32768)
+// sleep_time_count-=32768;
+// sleep_timer_start(sleep_time_count);
+ // __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++;
+
+// #ifdef DEBUG_BOXING
+// //gpio_pin_clr(IO_PIN_5);//测试
+// gpio_pin_set(IO_PIN_5);//测试
+// #endif
+ rf_enter_single_timeout_rx(100);
+ // rf_enter_single_rx();
+ // rf_enter_continous_rx();
+
+// mode_change = !mode_change;
+// if(mode_change)
+// {
+// //rf_init();
+// rf_set_mode(RF_MODE_STB3);
+// para=4810 * 100000;
+// rf_set_freq(para);
+// rf_set_sf(5);
+
+// //dis_set_mode(TX_cnt);
+//// rf_enter_continous_rx();
+// rf_single_tx_data(tx_buf, 10,0);
+//
+// }
+// else
+// {
+//// rf_init();
+// rf_set_mode(RF_MODE_STB3);
+// para=4910 * 100000;
+// rf_set_freq(para);
+// rf_set_sf(7);
+// //dis_set_mode(TX_cnt);
+//// rf_enter_continous_rx();
+// rf_single_tx_data(tx_buf, 10,0);
+
+// }
+ //LoraReportPoll();
+ }
+ if((recv_flag == RADIO_FLAG_RXTIMEOUT))
+ {
+// #ifdef DEBUG_BOXING
+// gpio_pin_clr(IO_PIN_5);//测试
+// // gpio_pin_set(IO_PIN_5);//测试
+// #endif
+
+ //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();
+ }
+ }
+
+}
+static void Sos_irq_handler(enum IO_PIN_T pin)
+{
+ uint8_t state;
+ state=!state;
+ UWB_LED_QH_state(state);
+ LORA_LED_QG_state(state);
+ BT_LED_QF_state(state);
+ MOTOR_QA_state(state);
+}
+
+//
+
+//static void Lora_irq_handler(enum IO_PIN_T pin)
+//{
+// uint16_t checksum1;
+// rf_irq_process();
+// //这里根据SDK的那个逻辑 用你的接口看看
+// 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[0]==0x04&&RX_Buffer[1]=='I'&&RX_Buffer[2]=='N'&&RX_Buffer[3]=='G')
+// {
+//
+// time_flag_lorarx=phy_timer_count_get();
+// UwbRange();
+// //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);
+//// 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;
+//// }
+////
+//// target_count = current_count + rec_delaytime*3.2768 - delaytime-datalen_offset;
+//// while(target_count>=32768)
+//// target_count-=32768;
+//// __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(tx_flag == RADIO_FLAG_TXDONE)
+// {
+// //rf_set_mode(RF_MODE_STB3);
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+// Loratx_flag++;
+
+//// #ifdef DEBUG_BOXING
+//// //gpio_pin_clr(IO_PIN_5);//测试
+//// gpio_pin_set(IO_PIN_5);//测试
+//// #endif
+// rf_enter_single_timeout_rx(100);
+// // rf_enter_single_rx();
+// // rf_enter_continous_rx();
+
+// }
+// if((recv_flag == RADIO_FLAG_RXTIMEOUT))
+// {
+//// #ifdef DEBUG_BOXING
+//// gpio_pin_clr(IO_PIN_5);//测试
+//// // gpio_pin_set(IO_PIN_5);//测试
+//// #endif
+//
+// //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_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);
+// }
+//
+//}
+
+
+
+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);
+}
+
+void Board_SOS_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(SOS_DIO , GPIO_DIR_IN, 0);
+ io_pull_set(SOS_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
+ gpio_enable_irq(SOS_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();
- board_pins_config();
- board_debug_console_open(TRACE_PORT_UART0);
+// 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();
- }
-
+// 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();
+// }
+
// Chip calibration
calib_chip();
-
+// uwb_led_on();
// Disable watchdog timer
wdt_close(WDT_ID0);
- // LOG_INFO(TRACE_MODULE_APP, "UWB simple example\r\n");
+// 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();
+// // TODO 4G
+// Uart_Register(UART_ID_4G, UART_ID0);
+// Internet_Init();
+// TCPClient_Init();
gpio_open();
+ //board_pins_config();
+// struct TIMER_CFG_T timer_cfg = {
+// .extin_type = TIMER_EXTIN_NONE,
+// .load = 0x1000000,
+// .int_en = true,
+// .callback = timer_callback,
+// };
+
+// timer_open(TIMER_ID0, &timer_cfg);
+ spi_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);
+ //gps_led_on();
+
+ //PCA9555_init();
+ Board_LORA_NVIC_Init(Lora_irq_handler);
+ Board_SOS_NVIC_Init(Sos_irq_handler);
+ //pca_input_detection_init(pca_handler);
+ //gpio_pin_clr(LORA_CS);
+ Lora_init();
-// adc_open(&usr_adc_cfg);
- 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(1,1);//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
- uart_open(UART_ID1, &test_uart_cfg);
- Program_Init();
- uart_receive(UART_ID1,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");
-
+
+ //lora_freq=DEFAULT_up_FREQ+g_com_map[GROUP_ID];
+// rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
+// rf_set_default_para(478,7);
+
+ rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+ //IC2_Init();
+ IO_control_init();
+//移位寄存器实验
+// BT_LED_QF_state(0);
+// LORA_LED_QG_state(0);
+// UWB_LED_QH_state(0);
+// RED_LED_QD_state(0);
+// GREEN_LED_QE_state(0);
+
+
+
+
+// QA_ON();
+// SRCLK_0;
+// SER_0;
+// RCLK_0;
+//
+// air780_led_off();
+// motor_power_on();
+// uwb_led_off();
+ // gps_air780_power_change(0,1);
+// Accelerometer_Init();
+// PCA9555_init();
+ // rf_set_default_para(DEFAULT_up_FREQ+g_com_map[GROUP_ID],DEFAULT_up_SF);
+ //rf_enter_continous_rx();
+ // rf_enter_continous_rx();
+ //rf_enter_continous_tx();
+// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
+// {
+//
+// }
+ // rf_set_default_para(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF);
+ // rf_set_default_para(DEFAULT_up_FREQ,DEFAULT_up_SF);
+//
+ //rf_enter_continous_tx();
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// rf_set_transmit_flag(RADIO_FLAG_TXDONE);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0)
+// {
+// error_cnt++;
+// }
+// else
+// {
+// successful_cnt ++;
+// }
+
+
+// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
+//
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+
+// adc_open(&usr_adc_cfg);
+// 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();
+// SRCLK_1;
+// SER_1;
+// RCLK_1;
+// uwb_led_on();
+// gps_led_on();
+ // 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(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);
- AIR780E_Reset(); //4G模块重启，耗时1.5秒,这个是无法同步的关键
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ sleep_time_count=xtal_38m4_off_time();
+#ifdef DEBUG_BOXING
+ io_pin_mux_set(IO_PIN_9,IO_FUNC0);
+ gpio_pin_set_dir(IO_PIN_9,GPIO_DIR_OUT,0);
+ io_pull_set(IO_PIN_9,IO_PULL_DOWN,IO_PULL_UP_LEVEL4);
+#endif
+ //rf_enter_single_timeout_rx(1000);
+// board_acceleration_detection_init(move_handler);
+ //rf_enter_single_timeout_rx(900);
+ //rf_enter_single_timeout_rx(500);
+ //rf_enter_single_rx();
+ // sleep_time_count=xtal_38m4_off_time();
+ Uwbinit();
+
+
+// if((rf_single_tx_data(TXBuffer,10,0))!= OK)
+// {
+//
+// }
+// PCA9555_Set_One_Value_Config(LORA_LED,0); //设置LORALED为输出
+// PCA9555_Set_One_Value_Output(LORA_LED,0);
+// PCA9555_Set_One_Value_Output(UWB_LED,0);
+ // sleep_timer_start(__MS_TO_32K_CNT(500));
while (1)
- {
- 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();
- }
- Internet_Poll();
- HIDO_ATLitePoll();
- HIDO_TimerPoll();
- TCPClient_Poll();
- }
- 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())&&!flag_4G_recdata) //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);
-//
- }
+ {
+ gpio_pin_clr(IO_PIN_9);
+ 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;
-//
+// 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
+// }
+//#endif
}
}
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