From fcbbc2c7c81a2c9c163e81d38fe028c309c4295b Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期五, 16 五月 2025 16:36:56 +0800
Subject: [PATCH] 对比测试
---
keil/include/main/main.c | 821 +++++++++++++++++++++++++++------------------------------
1 files changed, 391 insertions(+), 430 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index de4d716..21a5e14 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);
@@ -93,8 +94,16 @@
/****************************************************************引脚宏定义**************************************************/
+#define UWB_OPEN_COUNT 1 // UWB每次开启持续时间（秒）
+#define UWB_MEASUREMENT_INTERVAL 3 // 正常状态测距周期
+#define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // 休眠状态测距周期
+#define INACTIVE_TIMEOUT 30 // 无步数变化超时时间（秒）
+bool uwb_is_on = false; // UWB当前状态标记
+
void test_Delay_us(uint16_t time);
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led);
void Lora_UploadHeartBeartPoll(void);
+void upload_apppoll();
extern uint8_t mUsartReceivePack[100];
extern uint8_t mUsart2ReceivePack[150];
extern uint8_t state5V_prase_flag,gps_prase_flag;
@@ -147,7 +156,7 @@
.flow = UART_FLOW_CONTROL_NONE,
.rx_level = UART_RXFIFO_CHAR_1,
.tx_level = UART_TXFIFO_EMPTY,
- .baud = BAUD_115200,
+ .baud = BAUD_921600,
#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
.dma_en = false,
.int_rx = false,
@@ -189,7 +198,17 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- // LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ if(fVoltage_mv<3300)
+ {
+ //power_low_flag=1;
+ //gps_air780_power_change(gps_power_state,0);//gps原样，关闭4G
+// LOG_INFO(TRACE_MODULE_APP, "电池电压低于3.3V，4G，GPS停止工作\r\n");
+ }else{
+ //power_low_flag=0;
+ //gps_air780_power_change(gps_power_state,1);//gps原样,开启4G
+// LOG_INFO(TRACE_MODULE_APP, "电池电压正常,4G，GPS,正常工作\r\n");
+ }
+ PCA9555_Set_One_Value_Output(PWR_GND,1);//拉高
}
//static void timer_callback(void *dev, uint32_t time)
//{
@@ -264,7 +283,8 @@
}
void MinuteTask(void)
{
- adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
}
void SecondTask(void)
{static uint8_t second_count;
@@ -274,7 +294,7 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
+// TagListUpdate();
//GPS_Poll();
gps_power_state=1;//测试gps长开
//UWB状态检测
@@ -296,37 +316,61 @@
}
}
- HIDO_TimerTick();
- nomove_count++;
+// HIDO_TimerTick();
+
}
-uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
-uint8_t lora_wg_up=0;
+// 定义状态
+typedef enum {
+ STATE_NORMAL, // 正常状态，3秒测距上传一次
+ STATE_SLEEP // 休眠状态，1分钟测距上传一次
+} CountState_t;
+// 全局变量
+uint32_t uwb_time_count = 0; // 定时器计数值
+uint32_t step_count = 0; // 步数计数
+uint32_t last_step_count = 0; // 上一次步数
+CountState_t current_state = STATE_NORMAL; // 当前状态
+uint32_t state_start_time = 0; // 状态开始时间
+uint8_t led_state;
+uint8_t stationary_flag;
extern uint8_t lora_tx_flag;
+extern uint16_t sleep_time;
+uint8_t input5v_time;
+extern uint8_t uwbled,btled,loraled,powerled;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- 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();
+ input5v_time=1;
+// g_start_send_flag=1;
+ HIDO_TimerTick();
+// lora_tx_flag++;
+ uwb_time_count++;
-// if(secondtask_count++%2==0)
-// {
-// flag_secondtask = 1;
-// }else{
-// flag_secondtask = 0;
-// }
+// upload_apppoll();
-// flag_sleeptimer = 1;
+ if (current_state == STATE_NORMAL)
+ {
+ sleep_time++;
+ }
+
+ if(!read_5v_input_pca())
+ {
+ if(bat_percent>15)
+ {
+ uint8_t state=0;
+ state=!state;
+ if(state==1)
+ GREEN_LED_ON;
+ else
+ GREEN_LED_OFF;
+
+
+ }
+ else
+ {
+ powerled=0;
+ }
+ }
+ input5v_time=1;
//马达震动逻辑
if(g_com_map[MOTOR_ENABLE])
{
@@ -344,27 +388,63 @@
}else{
motor_power_state=1;
}
-
- //GPS工作逻辑
+ nomove_count++;
+
}
-
-void phy_timer_callback(uint32_t time)
+uint16_t sleep_time=0;
+uint32_t state_start_time_jibu=0;
+void check_step_and_update_state(void)
{
- lora_tx_flag++;
+ if ((step_count != last_step_count))
+ {
+ // 步数有变化，重置状态为正常状态
+ last_step_count = step_count;
+ if(current_state == STATE_SLEEP)
+ {
+ state_start_time_jibu = uwb_time_count;
+ state_start_time=uwb_time_count;
+ }
+// if (current_state != STATE_NORMAL)
+// {
+// // 关闭可能正在运行的UWB
+// if (uwb_is_on) {
+// CloseUWB();
+// UWB_LED_OFF;
+// uwb_is_on = false;
+// }
+// current_state = STATE_NORMAL;
+// state_start_time = uwb_time_count; // 重置测距周期
+// }
+ current_state = STATE_NORMAL;
+ last_step_count = step_count;
+
+ }
+ else
+ {
+ // 步数没有变化，检查是否需要切换到休眠状态
+ if (current_state == STATE_NORMAL)
+ {
+ uint32_t inactive_time = uwb_time_count - state_start_time_jibu;
+ if (inactive_time >= INACTIVE_TIMEOUT)
+ { // 30秒后切换到休眠状态
+ current_state = STATE_SLEEP;
+ state_start_time_jibu=uwb_time_count;
+ }
+ }
+ }
}
-uint8_t DMA_RXBuf_BT[200]={0};
+//void phy_timer_callback(uint32_t time)
+//{
+// lora_tx_flag++;
+//}
+
void uart0_receive_callback()
{
- uint8_t buff[200]={0};
- memcpy(buff,m_EUART_DMA_RXBuf,100);
- 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);
- }
+ 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)
{
@@ -384,9 +464,11 @@
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=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;
@@ -412,44 +494,63 @@
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)|11;
+ g_com_map[VERSION] = (1<<8)|12;
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+蓝牙薄工卡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);
}
-
-
+uint32_t adctick = 0;
+uint16_t chongman_time;
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();
+if(read_5v_input_pca())
+ {
+ chongman_time=0;
+ RED_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ BT_LED_OFF;
+ LORA_LED_OFF;
+ while(1)
+ {
+ nomove_count = 0;
+ adctick = HIDO_TimerGetTick();
+ if(HIDO_TimerGetTick()-adctick>60) //10分钟采样一次 电量
+ {
+ chongman_time=chongman_time+60;
+ adctick = HIDO_TimerGetTick();
+ PCA9555_Set_One_Value_Output(PWR_GND,0);//拉低
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
+ }
+ if(bat_percent>=99&&chongman_time>=600)
+ {
+ GREEN_LED_ON;
+ RED_LED_OFF;
+ }
+ else
+ {
+// RED_LED_ON;
+ GREEN_LED_OFF;
+ }
+
+ if(!read_5v_input_pca())
+ {
+ break;
+ }
+ }
+ sys_reset(0);
+// NVIC_SystemReset();
+// input5vflag=1;
+ }
+ else
+ {
+
+// sys_reset(0);
+ }
}
+
int bind_check(void)
{
if(g_com_map[BIND_DEV_ID]!=0x00)
@@ -475,11 +576,16 @@
{
//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);
+ io_pin_mux_set(UART0_RX, IO_FUNC0);
+ io_pin_mux_set(UART0_TX, IO_FUNC0);
+
+ gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+ gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
// UART1 RX/TX
- io_pin_mux_set(IO_PIN_10, IO_FUNC0);
- io_pin_mux_set(IO_PIN_9, IO_FUNC0);
+ io_pin_mux_set(UART1_RX, IO_FUNC0);
+ io_pin_mux_set(UART1_TX, IO_FUNC0);
+
+
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
@@ -494,19 +600,45 @@
}
}
+void mcu_deep_sleep(void)
+{
+ uint32_t lock;
+ trace_flush();
+ lock = int_lock();
+ boot_deinit();
+ LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+ //关闭蓝牙 灯
+ LORA_LED_OFF;
+ GREEN_LED_OFF;
+ UWB_LED_OFF;
+ RED_LED_OFF;
+ BT_LED_OFF;
+ PCA9555_Set_One_Value_Output(BT_EN,0);
+// PCA9555_Set_One_Value_Config(BT_IRQ,0); //设置BT_IRQ为输出拉低
+// PCA9555_Set_One_Value_Output(BT_IRQ,0);
+ sleep_timer_stop();
+ power_enter_power_down_mode(1);
+ sys_reset(0);
+ int_unlock(lock);
+}
+void IMUTask(void)
+{
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==2)
+ {
+ power_wakeup_enable((enum POWER_WAKEUP_SOURCE_T)PCA_INPUT_DETECT, POWER_WAKEUP_LEVEL_LOW);
+ mcu_deep_sleep();
+
+ }
+}
#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
-//#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);
@@ -516,27 +648,27 @@
io_pin_mux_set(LORA_CLK, IO_FUNC2);
io_pin_mux_set(LORA_DIO, IO_FUNC0);
-// io_pin_mux_set(LORA_DIO, IO_FUNC0);
-// gpio_pin_set_dir(LORA_DIO , GPIO_DIR_OUT, 0);
-// io_pull_set(LORA_DIO, IO_HIGH_Z, IO_PULL_UP_NONE);
+ //ADC
+ io_pin_mux_set(ADC_PIN, IO_FUNC1);
+ io_pull_set(ADC_PIN, 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);
-
-// //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);
+ //串口0
+ io_pin_mux_set(UART0_RX, IO_FUNC4);
+ io_pin_mux_set(UART0_TX, IO_FUNC4);
+ uart_open(UART_ID0, &test_uart_cfg);
+// io_pin_mux_set(UART0_RX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_RX , GPIO_DIR_OUT, 0);
+// io_pin_mux_set(UART0_TX, IO_FUNC0);
+// gpio_pin_set_dir(UART0_TX , GPIO_DIR_OUT, 0);
// 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);
+ 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);
+
+ board_debug_console_open(TRACE_PORT_UART1,BAUD_115200);
}
void spi_init()
{
@@ -578,7 +710,7 @@
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;
@@ -593,241 +725,20 @@
/********************************************************************************************************/
/********************************************************************************************************/
/********************************************************************************************************/
-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);
+wg_state_enum wg_state = WG_Lost;
/********************************************************************************************************/
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;
- }
-
- 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);
- //sleep_timer_start(sleep_time_count);sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
-// #define __MS_TO_32K_CNT(ms) ((uint32_t)((float)(ms)*32768.0f / 1000.0f))
- // __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++;
- 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_LEVEL4);
- gpio_enable_irq(LORA_DIO, GPIO_IRQ_TYPE_RISING_EDGE, irq_handler);
+ 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)
@@ -835,132 +746,182 @@
PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//读输入寄存器的值
check_input_change();
}
+extern uint32_t uwb_time_count;
+uint8_t uwbled,btled,loraled,powerled;
+void upload_apppoll()
+{
+ uint32_t elapsed_time_jibu;
+
+ switch (current_state)
+ {
+ case STATE_NORMAL:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ LoraReportPoll();
+
+ CloseUWB();
+ LEDTask(0,0,0,2);
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL:
+
+ LEDTask(uwbled,btled,loraled,powerled);
+
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+ break;
+ }
+ break;
+
+ case STATE_SLEEP:
+ elapsed_time_jibu = uwb_time_count - state_start_time;
+ switch(elapsed_time_jibu)
+ {
+ case UWB_OPEN_COUNT:
+ PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+ CloseUWB();
+ LoraReportPoll();
+ LEDTask(0,0,0,2);
+ break;
+
+ case UWB_MEASUREMENT_INTERVAL_SLEEP:
+ LEDTask(uwbled,btled,loraled,powerled);
+
+ CloseUWB();
+ Uwbinit();
+ OpenUWB();
+ state_start_time = uwb_time_count;
+
+
+ break;
+ }
+ break;
+ }
+
+}
+int LEDTask(uint8_t Uwb_led,uint8_t Bt_led,uint8_t Lora_led,uint8_t Power_led)
+{
+ if(Uwb_led==1)
+ {
+ UWB_LED_ON;
+ }else
+ {
+ UWB_LED_OFF;
+ }
+
+ if(Bt_led==1)
+ {
+ BT_LED_ON;
+ }else
+ {
+ BT_LED_OFF;
+ }
+ if(Lora_led==1)
+ {
+ LORA_LED_ON;
+ }else
+ {
+ LORA_LED_OFF;
+ }
+
+ if(powerled==1)
+ {
+ GREEN_LED_ON;
+ RED_LED_OFF;
+ }
+ else if(powerled==2)
+ {
+ RED_LED_OFF;
+ GREEN_LED_OFF;
+ }
+ else if(powerled==0)
+ {
+ RED_LED_ON;
+ GREEN_LED_OFF;
+ }
+
+// PCA9555_Set_One_Value_Output(BT_IRQ ,0);
+
+
+}
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};
+//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_debug_console_open(TRACE_PORT_UART1);
+ boot_deinit();
+
// Reset reason
reset_cause_get();
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);
-// IIC2_Init();
-// Accelerometer_Init();
- //LIS3DH_Data_Init();
-// PCA9555_init();
+ pca_input_detection_init(pca_handler);
+ IIC2_Init();
+ Accelerometer_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_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();
+ adc_open(&usr_adc_cfg);
+ Lora_1268_Init();
+ SwitchLoraSettings(478,7,22);
+ Program_Init();
+ power_init();
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();
-
-
-
-// pca_input_detection_init(pca_handler);
+ adc_get(&sample[0], NUM_SAMPLES, adc_callback);
//#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);
+// 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();
+// boot_deinit();
while (1)
{
-// RED_LED_OFF;
-// BT_LED_OFF;
-// // gpio_pin_clr(IO_PIN_5);
- Lora_Tx_Poll();
-
- // UwbRange();
-
-// if(flag_TCP_reconnectting||IfTCPConnected())
-// {
+ step_count = mir3da_get_step(); // 获取步数
+// Lora_Tx_Poll();
+ uwb_app_poll();
+ check_step_and_update_state();
+// upload_apppoll();
+ IdleTask();
+ IMUTask();
+
+// if(1)
+// {
+//// test1=gpio_pin_get_val(_4G_USART_RX_Pin);
+// uint32_t lock;
+// //flag_4guart_needinit = 1;
+//// Internet_Poll();
+//// HIDO_ATLitePoll();
+//// HIDO_TimerPoll();
+//// TCPClient_Poll();
//
-// // 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);
-// }
-//#endif
+// // delay_us(300000);
+// trace_flush();
+// lock = int_lock();
+// power_enter_power_down_mode(0);
+// uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart0_receive_callback);
+//// test3=gpio_pin_get_val(_4G_USART_RX_Pin);
+// //LOG_INFO(TRACE_MODULE_APP, "进入休眠\r\n");
+// int_unlock(lock);
+// }
}
}
--
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