From ff5cfcabc63d16cafa0f3f1b8fcadcc03d74bb81 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 28 十月 2024 15:10:08 +0800
Subject: [PATCH] 代码暂时提交，已经改完成lora uwb配合版本 还没测，标签那边没改
---
keil/include/main/main.c | 481 +++++++++++++++++++++++++++++++++++-----------------
1 files changed, 321 insertions(+), 160 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index ec79747..9493870 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,9 +61,14 @@
#include "HIDO_ATLite.h"
#include "HIDO_Timer.h"
#include "TCPClient.h"
-
-//#define DEBUG_MODE
-extern int simple_main(void);
+#include "mk_spi.h"
+#include "pan_port.h"
+#include "dw_app.h"
+//#include "pan_param.h"
+//#include "pan_rf.h"
+#include "lora_3029.h"
+#define DEBUG_MODE
+//extern int simple_main(void);
extern int temp_main(void);
#define TEST_UART_POLL_MODE 0
#define TEST_UART_INTERUPT_MODE 1
@@ -97,6 +102,7 @@
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,
@@ -181,61 +187,61 @@
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)
-{
- if(UWB_work_state==UN_BIND) {
- gps_uwb_flag=0;//关闭GPS
- moter_open_uwb_flag=0;//关闭震动
- need_open_gps_count=0;//清0计数gps
- } 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
- } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
- 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(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
- 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 MotorPoll(void)
+//{
+// if(UWB_work_state==UN_BIND) {
+// gps_uwb_flag=0;//关闭GPS
+// moter_open_uwb_flag=0;//关闭震动
+// need_open_gps_count=0;//清0计数gps
+// } 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
+// } else if(g_com_map[ALARM_DISTANCE1]<=distance&&distance<=g_com_map[ALARM_DISTANCE2]) { //大于预警距离小于报警距离
+// 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(distance>=g_com_map[ALARM_DISTANCE2]) { //大于报警距离
+// 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 MinuteTask(void)
{
adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
@@ -248,8 +254,9 @@
MinuteTask();
}
//UWB更新列表
- TagListUpdate();
- GPS_Poll();
+// TagListUpdate();
+ //GPS_Poll();
+// gps_power_state=1;//测试gps长开
//UWB状态检测
if(IfTCPConnected())
@@ -275,12 +282,12 @@
uint8_t flag_sleeptimer,flag_secondtask,secondtask_count;
static void sleep_timer_callback(void *dev, uint32_t time)
{
- IO_control_init();
- UWBPoll();
+// IO_control_init();
+// UWBPoll();
- MotorPoll();
-
+// MotorPoll();
+ g_start_send_flag=1;
if(secondtask_count++%2==0)
{
flag_secondtask = 1;
@@ -331,9 +338,12 @@
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
+ parameter_init_anchor();//g_com_map表初始化角色默认为基站
+ g_com_map[DEV_ID]=0x6688;
+ g_com_map[GROUP_ID]=9;
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;
@@ -359,10 +369,10 @@
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)|4;
- 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);
+ 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,"服务器地址: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
}
@@ -377,7 +387,7 @@
state5v=1;
state5V_prase_flag=state5v;
gps_prase_flag=0;//解除gps解析
- uart1_change_from_gps_to_debug();
+ 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();
}
@@ -390,7 +400,7 @@
state5v=0;
state5V_prase_flag=state5v;
gps_prase_flag=1;//恢复gps解析
- uart1_change_from_debug_to_gps();
+ 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();
}
@@ -430,127 +440,278 @@
uart_close(UART_ID1);//解绑原来串口1
uart_close(UART_ID0);//解绑原来串口0
}
+#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_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);//spi中断
+}
+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
+uint8_t tx_test_buf[TX_LEN] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+extern struct RxDoneMsg RxDoneParams;
+static void Lora_irq_handler(enum IO_PIN_T pin)
+{
+ ceshi++;
+ rf_irq_process();
+ if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE)
+ {
+ rf_set_transmit_flag(RADIO_FLAG_IDLE);
+ rf_enter_continous_rx();
+// rf_delay_ms(1000);
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
+// {
+//// rf_enter_continous_rx();
+// }
+// else
+// {
+// error_cnt ++;
+// }
+ }
+ if(rf_get_recv_flag() == RADIO_FLAG_RXDONE)
+ {
+ rf_set_recv_flag(RADIO_FLAG_IDLE);
+// DDL_Printf("Rx : SNR: %f ,RSSI: %d \r\n", RxDoneParams.Snr, RxDoneParams.Rssi);
+ int i=0;
+// for(i = 0; i < RxDoneParams.Size; i++)
+// {
+// printf("0x%02x ", RxDoneParams.Payload[i]);
+// }
+ error_cnt ++;
+ }
+ if((rf_get_recv_flag() == RADIO_FLAG_RXTIMEOUT) || (rf_get_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);
+}
+uint8_t io14_state;
int main(void)
{
board_clock_run();
- boot_deinit();
- board_pins_config();
+// boot_deinit();
+// board_pins_config();
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();
// 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();
+
+ spi_gpio_init();
//board_led_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(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
- uart_open(UART_ID1, &test_uart_cfg);
- Program_Init();
- // 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
+ spi_init();
+ Board_LORA_NVIC_Init(Lora_irq_handler);
+ Lora_init();
+ rf_set_default_para();
+
+ rf_enter_continous_tx();
+// rf_set_transmit_flag(RADIO_FLAG_TXDON E);
+// 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);
+// 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_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);
-// LOG_INFO(TRACE_MODULE_APP, "测试进入app");
-
+
+ sleep_timer_start(__MS_TO_32K_CNT(1000));//测试
+
+// board_acceleration_detection_init(move_handler);
+
+
+
while (1)
{
- if(flag_TCP_reconnectting||IfTCPConnected())
- {
+ if(g_start_send_flag)
+ {
+ //LOG_INFO(TRACE_MODULE_APP, "测距ing");
+ g_start_send_flag = 0;
+ rf_delay_ms(1);
+ Lora_uwb_wakeup();
+ simple_main();
+ IdleTask();
+ }else{
+ IdleTask();
+ }
- // 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())&&!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);
-//
- }
+//
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+// rf_delay_ms(1000);
+// rf_enter_continous_tx();
+// if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK)
+// {
+
+// }
+// else
+// {
+// successful_cnt ++;
+// }
+
+
+
+
+// while (rf_get_transmit_flag() == RADIO_FLAG_IDLE) ;
+//
+// rf_set_transmit_flag(RADIO_FLAG_IDLE);
+
+// 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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