/* * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and * its subsidiaries and affiliates (collectly called MKSEMI). * * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * 2. Redistributions in binary form, except as embedded into an MKSEMI * integrated circuit in a product or a software update for such product, * must reproduce the above copyright notice, this list of conditions and * the following disclaimer in the documentation and/or other materials * provided with the distribution. * * 3. Neither the name of MKSEMI nor the names of its contributors may be used * to endorse or promote products derived from this software without * specific prior written permission. * * 4. This software, with or without modification, must only be used with a * MKSEMI integrated circuit. * * 5. Any software provided in binary form under this license must not be * reverse engineered, decompiled, modified and/or disassembled. * * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "mk_trace.h" #include "mk_wdt.h" #include "mk_calib.h" #include "mk_misc.h" #include "mk_flash.h" #include "libc_rom.h" #include #include #include "board.h" #include "wsf_nvm.h" #include "mk_power.h" #include "Usart.h" #include "mk_adc.h" #include "mk_sleep_timer.h" #include "lis3dh_driver.h" #include "sn74hc595.h" #include "mk_4G.h" #include "UART.h" #include "AIR780EDriver.h" #include "Internet.h" #include "HIDO_ATLite.h" #include "HIDO_Timer.h" #include "TCPClient.h" #include "mk_spi.h" //#include "pan_port.h" #include "mk_timer.h" //#include "pan_param.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); #define TEST_UART_POLL_MODE 0 #define TEST_UART_INTERUPT_MODE 1 #define TEST_UART_DMA_MODE 2 #define TEST_UART_MODE TEST_UART_DMA_MODE #define NUM_SAMPLES 1 #define BIND_TRIGGER_TIME 60000 #define MOTOR_COUNT_TIME 1 #define WARING_LIMIT_TIME 10 #define UPDATE_TIME 10 /****************************************************************Òý½Åºê¶¨Òå**************************************************/ #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 IO_PIN_14 /****************************************************************Òý½Åºê¶¨Òå**************************************************/ #define UWB_OPEN_COUNT 1 // UWBÿ´Î¿ªÆô³ÖÐøʱ¼ä£¨Ã룩 #define UWB_MEASUREMENT_INTERVAL 3 // Õý³£×´Ì¬²â¾àÖÜÆÚ #define UWB_MEASUREMENT_INTERVAL_SLEEP 60 // ÐÝÃß״̬²â¾àÖÜÆÚ #define INACTIVE_TIMEOUT 30 // ÎÞ²½Êý±ä»¯³¬Ê±Ê±¼ä£¨Ã룩 bool uwb_is_on = false; // UWBµ±Ç°×´Ì¬±ê¼Ç 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; extern int distance; extern uint8_t anchordata_num; //bat_percent uint32_t dev_id; uint8_t group_id; uint16_t tag_frequency; uint16_t disoffset; 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 = 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 ´®¿ÚRXµ±Ç°ÊÇ RX״̬£¬²»ÊÇGPIO״̬ int input_5v_flag,air780e_flag1,air780e_flag2,air780e_flag3,air780e_flag4; typedef enum { UN_BIND=0, LINK_SUCCESS, SEARCH_DEV, } Operation_step; Operation_step UWB_work_state; Commend_SendDate send_struct; static struct ADC_CFG_T usr_adc_cfg = { .mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */ .clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */ .vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/ .rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */ .channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */ .channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */ .int_en = false, .dma_en = false, /* DMA support only in continue mode */ .acc_num = 0, .high_pulse_time = 4, .settle_time = 1, }; struct UART_CFG_T test_uart_cfg = { .parity = UART_PARITY_NONE, .stop = UART_STOP_BITS_1, .data = UART_DATA_BITS_8, .flow = UART_FLOW_CONTROL_NONE, .rx_level = UART_RXFIFO_CHAR_1, .tx_level = UART_TXFIFO_EMPTY, .baud = BAUD_921600, #if (TEST_UART_MODE == TEST_UART_POLL_MODE) .dma_en = false, .int_rx = false, .int_tx = false, #elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE) .dma_en = false, .int_rx = true, .int_tx = true, #elif (TEST_UART_MODE == TEST_UART_DMA_MODE) .dma_en = true, .int_rx = false, .int_tx = false, #endif }; 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); } static void adc_callback(void *data, uint32_t number) { uint32_t *result = (uint32_t *)data; for (uint16_t i = 0; i < number; i++) { // LOG_INFO(TRACE_MODULE_APP, "The voltage measured %d mv\r\n", // ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV)); fVoltage_mv=ADC_INTERNAL_VREF_MV + adc_code_to_mv((int16_t)*result, ADC_INTERNAL_VREF_MV); fVoltage_mv=fVoltage_mv*2; if(fVoltage_mv < 3300) { bat_percent = 0; } else if(fVoltage_mv > 4100) { bat_percent = 100; } else { bat_percent = ((fVoltage_mv - 3300) /8); } } if(fVoltage_mv<3300) { //power_low_flag=1; //gps_air780_power_change(gps_power_state,0);//gpsÔ­Ñù£¬¹Ø±Õ4G // LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹµÍÓÚ3.3V£¬4G£¬GPSÍ£Ö¹¹¤×÷\r\n"); }else{ //power_low_flag=0; //gps_air780_power_change(gps_power_state,1);//gpsÔ­Ñù,¿ªÆô4G // LOG_INFO(TRACE_MODULE_APP, "µç³ØµçѹÕý³£,4G£¬GPS,Õý³£¹¤×÷\r\n"); } PCA9555_Set_One_Value_Output(PWR_GND,1);//À­¸ß } //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(); //uart_open(UART_ID1, &test_uart_cfg); //board_debug_console_open(TRACE_PORT_UART0); //uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback); //} 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) { if(UWB_work_state==UN_BIND) { gps_uwb_flag=0;//¹Ø±ÕGPS moter_open_uwb_flag=0;//¹Ø±ÕÕ𶯠need_open_gps_count=0;//Çå0¼ÆÊýgps } else { //°ó¶¨×´Ì¬Ï if(anchordata_num==1) { if(distance=20) { if(!flag_alam_state) { flag_alam_state = 1; _4GAlarmUpload(1); } gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì need_open_gps_count=0; } } else if(distance>=g_com_map[ALARM_DISTANCE2]) { //´óÓÚ±¨¾¯¾àÀë need_open_gps_count++; moter_open_uwb_flag=1;//¿ªÆôÕ𶯠if(need_open_gps_count>=20) { if(!flag_alam_state) { flag_alam_state = 1; _4GAlarmUpload(1); } gps_uwb_flag=1;//¿ªÆôgps²â¾àÁ÷³Ì 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;//¿ªÆôgps²â¾àÁ÷³Ì moter_open_uwb_flag=1;//¿ªÆôÕ𶯠need_open_gps_count=0; } } } void MinuteTask(void) { PCA9555_Set_One_Value_Output(PWR_GND,0);//À­µÍ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù } void SecondTask(void) {static uint8_t second_count; if(second_count++>60) { second_count = 0; MinuteTask(); } //UWB¸üÐÂÁбí // TagListUpdate(); //GPS_Poll(); gps_power_state=1;//²âÊÔgps³¤¿ª //UWB״̬¼ì²â if(IfTCPConnected()) { TCP_reconnect_timer =0; flag_TCP_reconnectting = 0; } else { if(TCP_reconnect_timer<30)//Èç¹ûTCPûÓÐÁ¬½Ó£¬Ã¿¸ô10·ÖÖÓ³¢ÊÔÁ¬½Ó30Ãë { flag_TCP_reconnectting = 1; } else { flag_TCP_reconnectting = 0; } if(TCP_reconnect_timer++>600) { TCP_reconnect_timer = 0; } } // HIDO_TimerTick(); } // ¶¨Òå״̬ typedef enum { STATE_NORMAL, // Õý³£×´Ì¬£¬3Ãë²â¾àÉÏ´«Ò»´Î STATE_SLEEP // ÐÝÃß״̬£¬1·ÖÖÓ²â¾àÉÏ´«Ò»´Î } CountState_t; // È«¾Ö±äÁ¿ uint32_t uwb_time_count = 0; // ¶¨Ê±Æ÷¼ÆÊýÖµ uint32_t step_count = 0; // ²½Êý¼ÆÊý uint32_t last_step_count = 0; // ÉÏÒ»´Î²½Êý CountState_t current_state = STATE_NORMAL; // µ±Ç°×´Ì¬ uint32_t state_start_time = 0; // ״̬¿ªÊ¼Ê±¼ä 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; uint8_t jibu_flag; static void sleep_timer_callback(void *dev, uint32_t time) { input5v_time=1; // g_start_send_flag=1; HIDO_TimerTick(); // lora_tx_flag++; uwb_time_count++; jibu_flag=1; upload_apppoll(); 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; //Âí´ïÕð¶¯Âß¼­ if(g_com_map[MOTOR_ENABLE]) { 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; } nomove_count++; } uint16_t sleep_time=0; uint32_t state_start_time_jibu=0; uint8_t exercise_state=0; void check_step_and_update_state(void) { if ((step_count != last_step_count)) { // ²½ÊýÓб仯£¬ÖØÖÃ״̬ΪÕý³£×´Ì¬ 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) // { // // ¹Ø±Õ¿ÉÄÜÕýÔÚÔËÐеÄUWB // if (uwb_is_on) { // CloseUWB(); // UWB_LED_OFF; // uwb_is_on = false; // } // current_state = STATE_NORMAL; // state_start_time = uwb_time_count; // ÖØÖòâ¾àÖÜÆÚ // } current_state = STATE_NORMAL; exercise_state=1; last_step_count = step_count; } else { // ²½ÊýûÓб仯£¬¼ì²éÊÇ·ñÐèÒªÇл»µ½ÐÝÃß״̬ if (current_state == STATE_NORMAL) { uint32_t inactive_time = uwb_time_count - state_start_time_jibu; if (inactive_time >= INACTIVE_TIMEOUT) { // 30ÃëºóÇл»µ½ÐÝÃß״̬ current_state = STATE_SLEEP; exercise_state=2; state_start_time_jibu=uwb_time_count; } } } } //void phy_timer_callback(uint32_t time) //{ // lora_tx_flag++; //} void uart0_receive_callback() { 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) { } uint8_t flag_4G_recdata; static void _4gUsart_handler(enum IO_PIN_T pin) { LOG_INFO(TRACE_MODULE_APP, "4G RX »½ÐÑ\r\n"); // flag_4G_recdata = 1; // AIR780EUartInit(); } extern uint16_t ip0,ip1,ip2,ip3,port; extern uint8_t gps_4g_flag; void Program_Init(void) { Usart1ParseDataCallback = UsartParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬UsartParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾ 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];//ÕâÀﲻ̫¶Ô group_id=g_com_map[GROUP_ID];//×éID group_id=0x04; tag_frequency = 1000/g_com_map[COM_INTERVAL];//²â¾àƵÂÊÕâ¸ö´æµÄÊDzâ¾àʱ¼ä memcpy(&disoffset,&g_com_map[DIST_OFFSET],2); // 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;//¸üб¨¾¯¾àÀë memcpy(&send_struct.gunLableId,&g_com_map[BIND_DEV_ID],2);//¸üаó¶¨ID send_struct.tagId=dev_id;//¸üÐÂÉ豸ID if(g_com_map[BIND_DEV_ID]==0) { UWB_work_state = UN_BIND; }else{ UWB_work_state = SEARCH_DEV; } 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]; g_com_map[VERSION] = (1<<8)|12; LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id); LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:BGK-mk+À¶ÑÀ±¡¹¤¿¨V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff); LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port); } uint32_t adctick = 0; uint16_t chongman_time; void IdleTask(void) { 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·ÖÖÓ²ÉÑùÒ»´Î µçÁ¿ { chongman_time=chongman_time+60; adctick = HIDO_TimerGetTick(); PCA9555_Set_One_Value_Output(PWR_GND,0);//À­µÍ adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù } 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) { return 1; //°ó¶¨ÐÅϢΪ1˵Ã÷É豸ÒѾ­±»Ï·¢°ó¶¨ } else { return 0; //°ó¶¨ÐÅϢΪ0˵Ã÷É豸δ±»°ó¶¨ } } void check_if_in_search(void) { if(link_success_flag==1) { //Èç¹ûµÚÒ»´Î²â¾àÊÕ°ü³É¹¦ÄÇôÔò½øÈëÁ¬½Ó²â¾àģʽ UWB_work_state=LINK_SUCCESS; } else { //·ñÔò½øÈëËÑË÷ģʽ UWB_work_state=SEARCH_DEV; if(first_search_flag==0) first_search_flag=1; } } void boot_deinit(void) { //½«bootÖд®¿Ú·µ»ØÆÕͨgpio // UART0 TX/RX 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(UART1_RX, IO_FUNC0); io_pin_mux_set(UART1_TX, IO_FUNC0); uart_close(UART_ID1);//½â°óÔ­À´´®¿Ú1 uart_close(UART_ID0);//½â°óÔ­À´´®¿Ú0 } void test_Delay_us(uint16_t time) { for(int i=time;i>0;i--) { for(int j=1;j>0;j--) { __NOP(); } } } void mcu_deep_sleep(void) { uint32_t lock; trace_flush(); lock = int_lock(); boot_deinit(); LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n"); //¹Ø±ÕÀ¶ÑÀ µÆ 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); //ÉèÖÃBT_IRQΪÊä³öÀ­µÍ // 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 void Board_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); //ADC io_pin_mux_set(ADC_PIN, IO_FUNC1); io_pull_set(ADC_PIN, IO_HIGH_Z, IO_PULL_UP_NONE); //´®¿Ú0 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);//¿ªÆôdma //´®¿Ú1 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() { 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 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; /********************************************************************************************************/ /********************************************************************************************************/ /********************************************************************************************************/ wg_state_enum wg_state = WG_Lost; /********************************************************************************************************/ static void Lora_irq_handler(enum IO_PIN_T pin) { RadioIrqProcess(); } void Board_LORA_NVIC_Init(GPIO_IRQ_HANDLER_T irq_handler) //LORA ÖжÏÅäÖà { // io_pin_mux_set(_4G_USART_RX_Pin,IO_FUNC0);//°ÑÔ­ÏÈio ±äΪÆÕͨGPIO 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); } extern uint8_t pca9555writedata_input[10];//ÔÝ´æÊäÈë¼Ä´æÆ÷ËùÓÐÅäÖõÄÊý×é static void pca_handler(enum IO_PIN_T pin) { PCA9555_readdata(PCA9555_DEVICE_ADDR,pca9555writedata_input);//¶ÁÊäÈë¼Ä´æÆ÷µÄÖµ check_input_change(); } extern uint32_t uwb_time_count; uint8_t uwbled,btled,loraled,powerled; uint8_t send_count=0; 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: CloseUWB(); LoraReportPoll(); LEDTask(0,0,0,2); break; case UWB_MEASUREMENT_INTERVAL: LEDTask(uwbled,btled,loraled,powerled); PCA9555_Set_One_Value_Output(IO_KONG,0); delay_us(10000); PCA9555_Set_One_Value_Output(IO_KONG,1); 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: CloseUWB(); LoraReportPoll(); LEDTask(0,0,0,2); break; case UWB_MEASUREMENT_INTERVAL_SLEEP: LEDTask(uwbled,btled,loraled,powerled); PCA9555_Set_One_Value_Output(IO_KONG,0); delay_us(10000); PCA9555_Set_One_Value_Output(IO_KONG,1); 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}; int main(void) { board_clock_run(); 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(); Board_LORA_NVIC_Init(Lora_irq_handler); pca_input_detection_init(pca_handler); IIC2_Init(); Accelerometer_Init(); 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));//²âÊÔ adc_get(&sample[0], NUM_SAMPLES, adc_callback); //#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(); // boot_deinit(); while (1) { if(jibu_flag) { jibu_flag=0; step_count = mir3da_get_step(); // »ñÈ¡²½Êý } // 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(); // // // 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, "½øÈëÐÝÃß\r\n"); // int_unlock(lock); // } } }