From f34293f18e4fbfe4d0d025657d2bda505861066a Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 15 八月 2025 19:51:53 +0800
Subject: [PATCH] 初步调好demo，升级未测试
---
keil/include/main/main.c | 241 ++++++++++-------------------------------------
1 files changed, 54 insertions(+), 187 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 6895540..7aa9d35 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -68,7 +68,7 @@
#include "mk_phy.h"
#include "mk_pwm.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
extern int simple_main(void);
extern int temp_main(void);
void uart_change_check(uint16_t gpio_state);
@@ -91,7 +91,7 @@
extern uint8_t anchordata_num;
uint32_t dev_id;
uint8_t group_id;
-uint16_t tag_frequency;
+uint8_t tag_frequency;
uint16_t disoffset;
uint16_t warning_distance,prewarning_distance;
int16_t fVoltage_mv,first_search_flag;
@@ -100,7 +100,7 @@
uint16_t gps_wait_count,gps_wait_count2;
uint8_t state5v = 1;
uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
-float nomove_count=0;
+uint16_t nomove_count=0;
static uint32_t sample[NUM_SAMPLES] = {0};
uint8_t recev_error_num,send_messgae_count,send_flag,control_state,power_low_flag;
uint8_t flag_4g_usart_rx_state = 1; //4G 串口RX当前是 RX状态，不是GPIO状态
@@ -266,9 +266,11 @@
}
void MinuteTask(void)
{
- PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
+// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
+extern uint8_t motor_state;
+extern int8_t motor_keeptime;
void SecondTask(void)
{static uint8_t second_count;
if(second_count++>60)
@@ -277,45 +279,39 @@
MinuteTask();
}
-// if(!power_low_flag)
-// Gps_change();
-// else{
-// gps_power_state=0;//关闭GPS
-// update_led_power_state();
-// //初始化GPS计数数据
-// gps_need_data_flag=1;
-// gps_wait_count2=0;
-// gps_wait_count=0;
-// }
-// //UWB状态检测
-//if(!power_low_flag)//低供电下不需要检测重连
-// {
-// if(IfTCPConnected())
-// {
-// TCP_reconnect_timer =0;
-// flag_TCP_reconnectting = 0;
-// } else {
-// if(TCP_reconnect_timer<30)//如果TCP没有连接，每隔10分钟尝试连接30秒
-// {
-// flag_TCP_reconnectting = 1;
-// } else {
-// flag_TCP_reconnectting = 0;
-// }
-// if(TCP_reconnect_timer++>600)
-// {
-// TCP_reconnect_timer = 0;
-// }
-
-// }
-// }
+if(g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime-->0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ switch(motor_state)
+ {case 0:
+ pwm_ch_disable(PWM_ID3);
+ break;
+ case 1:
+ break;
+ case 2:
+ pwm_ch_enable(PWM_ID3, &usr_pwm_ch0_cfg);
+ break;
+ case 3:
+ break;
+ }
+ }
HIDO_TimerTick();
+ if(motor_keeptime<0)
+ {
+ motor_keeptime=-1;//防止溢出
+ }
if(nomove_count<=g_com_map[NOMOVESLEEP_TIME])//防止溢出
nomove_count++;
else{
nomove_count=g_com_map[NOMOVESLEEP_TIME]+1;
}
}
-uint8_t tt=1;
+//uint8_t tt=1;
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
uint8_t uwb_enable_flag=0;
@@ -420,75 +416,16 @@
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)|0;
+ g_com_map[VERSION] = (1<<8)|4;
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);
-}
-extern uint8_t motor_state;
-extern float motor_keeptime;
+}
+
uint8_t test1;
void IdleTask(void)
{
- if(g_com_map[MOTOR_ENABLE])
- {
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- //motor_state=2;
- switch(motor_state)
- {case 0:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
-// delay_ms(10000);
- pwm_ch_disable(PWM_ID0);
- break;
- case 1:
-// if(current_time<MOTOR_ONTIME)
-// {
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
-// }else{
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
-// }
-// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
- break;
- case 2:
-// if(hardware_type==NSH1)
-// {MOTOR_ON;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
-// }
- pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
- break;
- case 3:
-// if(hardware_type==NSH1)
-// {MOTOR_OFF;
-// }else if(hardware_type==GP)
-// {
-// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-// }
- break;
- }
- }
+
UART0_CheckReceive();
test1=gpio_pin_get_val(INPUT_5V_Pin);
if(gpio_pin_get_val(INPUT_5V_Pin))
@@ -605,43 +542,6 @@
uint32_t tx_en_start_u32;
uint32_t tx_en_start_u321;
uint8_t baifenbi=5;
-void Lora_upanc_ing_Poll( void )
-{ uint16_t crc16;
-// if(Lora_upanc_flag==1)
-// {
-// Lora_deinit_Poll();
- if(Lora_qingqiu_flag==1)
- {
- CloseUWB();
-// mubiao_anchor_ID=0x1872;
- final_bag_num=(g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO]/ONE_BAG_DAXIAO)+1;//计算一共要发都是包
-// final_bag_num=651;
- Lora_qingqiu_flag=0;
- send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_RESP;//LORA MSG TYPE 定义
- memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//自己ID 占用2个字节
- memcpy(&send_lora_data[DEST_ID_IDX],&mubiao_anchor_ID,2);//标签或者基站的设备ID 2个字节
- memcpy(&send_lora_data[MUQIAN_BAG],&Lora_qingqiu_bao,2);
- memcpy(&send_lora_data[DATA_IDX], (HIDO_VOID *)(APP_CONFIG_APPLICATION_ADDRESS+Lora_qingqiu_bao*ONE_BAG_DAXIAO), ONE_BAG_DAXIAO);
- crc16=Cal_CRC16(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO);
- memcpy(&send_lora_data[DATA_IDX+ONE_BAG_DAXIAO],&crc16,2);
-// Lora_status=1;
- jindu=(Lora_qingqiu_bao*100)/final_bag_num;
-// LOG_INFO(TRACE_MODULE_APP, "升级进度%d\r\n",jindu);
- Dtu_shengji_jindu[4]=jindu;
- memcpy(&Dtu_shengji_jindu[5],&mubiao_anchor_ID,2);
- if(jindu>baifenbi)
- {
- uart_send(UART_ID0, Dtu_shengji_jindu,9, NULL);
- baifenbi=baifenbi+10;
- }
- tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(100U);//发送必须要延时发送才可以用于测距否则立即发送会获取时间戳不对，需要计算程序运行时间，避免设置过去时间
- tempflag=uwb_tx(send_lora_data,DATA_IDX+ONE_BAG_DAXIAO+2+2,1,tx_en_start_u32);//立即发送
- tx_en_start_u321= phy_timer_count_get();
-// while(mac_is_busy());//等待发送完成
-
- }
-// }
-}
static void pwm_callback(void *dev, uint32_t status)
{
// uint8_t id = *(uint8_t *)dev;
@@ -659,16 +559,11 @@
board_clock_run();
boot_deinit();
board_pins_config();
- board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
+ board_debug_console_open_baud(TRACE_PORT_UART0,BAUD_115200);
// Reset reason
reset_cause_get();
reset_cause_clear();
Program_Init();
-// sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
-// sleep_timer_start(__MS_TO_32K_CNT(500));//测试
-// Chuanshuwenjian_Poll();
-//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)
@@ -681,10 +576,8 @@
{
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");
@@ -697,56 +590,27 @@
pwm_open(&usr_pwm_cfg);
// pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
gpio_open();
- LED_output_init();//配置adcGND引脚
-// battery_monitor_open();
-// Voltage_input=battery_monitor_get();
-// battery_monitor_close();
-
+ LED_output_init();//配置adcGND引脚
adc_open(&usr_adc_cfg);
IIC2_Init();
SC7A22H_Motion_Detection_Init();
-// PCA9555_init();
-// if(!read_5v_input_pca())
-// {
-// Set4LEDColor(BLUE,GREEN,WHITE,GREEN);
-// delay_ms(500);
-// Set4LEDColor(RED,WHITE,RED,WHITE);
-// delay_ms(500);
-// //Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
-// }
- //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_IN, 0);
-// io_pull_set(SCL_PIN , IO_PULL_UP, 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
- gpio_pin_clr(ADC_GND_ENABLE);
- Program_Init();
- //uart_open(UART_ID1, &test_uart_cfg);
- // uart1_change_from_gps_to_debug();
- //Uart1GpsRecDebugSend();
+ gpio_pin_clr(ADC_GND_ENABLE);
+ //Program_Init();
uart_receive(UART_ID0,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);
+
+ #ifdef _UWB_1HZ
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+ #else
sleep_timer_start(__MS_TO_32K_CNT(5000));//测试
- //sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
- board_5V_input_init(voltage_input_handler);
-// PCA9555_Set_One_Value_Output(ADC_MINIUS,0);//拉低
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ #endif
+ board_5V_input_init(voltage_input_handler);
+ 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
- Uwb_init();
-// OpenUWB();
-// LOG_INFO(TRACE_MODULE_APP,"初始化_uwb_rx打开\r\n");
- Dw1000_App_Init();
- //board_4GUsart_detection_init(_4gUsart_handler);
-//pwm_ch_enable(PWM_ID0, &usr_pwm_ch0_cfg);
-// delay_ms(10000);
-//pwm_ch_disable(PWM_ID0);
+ Tag_uwb_init();
+// Dw1000_App_Init();
while (1)
{
if(flag_secondtask)
@@ -757,12 +621,15 @@
if(g_start_send_flag)
{
g_start_send_flag = 0;
- SwitchTagState();
+ gpio_pin_set(IO_PIN_7);//亮
+ TagRange();
+ gpio_pin_clr(IO_PIN_7);//灭
}
// PowerTask();
- IMUTask();
+ //IMUTask();
// UserKeyTask();
IdleTask();
+ LoraUp_Poll();
#ifndef DEBUG_MODE
if(sleep_flag&&state5v==0){//开始一段时间无休眠
--
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