/* * 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_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 #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 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; //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_115200, #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); } } // 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(); //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) { 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(); 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) { g_start_send_flag=1; // #ifdef DEBUG_BOXING //// gpio_pin_clr(IO_PIN_5);//²âÊÔ // gpio_pin_set(IO_PIN_5);//²âÊÔ // lora_wg_up=1; lora_tx_flag++; // IO_control_init(); // UWBPoll(); // // // MotorPoll(); // if(secondtask_count++%2==0) // { // flag_secondtask = 1; // }else{ // flag_secondtask = 0; // } // flag_sleeptimer = 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; } //GPS¹¤×÷Âß¼­ } static void voltage_input_handler(enum IO_PIN_T pin) { } static void move_handler(enum IO_PIN_T pin) { nomove_count=0; } 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]=0x6789; g_com_map[GROUP_ID]=1; dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô group_id=g_com_map[GROUP_ID];//×éID 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)|11; LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id); LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:UWB-4GÊÖ»· 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); } void IdleTask(void) { if(gpio_pin_get_val(INPUT_5V_Pin)) { if(state5v==0) { state5v=1; state5V_prase_flag=state5v; gps_prase_flag=0;//½â³ýgps½âÎö uart1_change_from_gps_to_debug();//²âÊÔ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma //UartInit(); } //UART_CheckSend(); } else { if(state5v==1) { g_com_map[MODBUS_MODE] = 0; state5v=0; state5V_prase_flag=state5v; gps_prase_flag=1;//»Ö¸´gps½âÎö uart1_change_from_debug_to_gps();//²âÊÔ // uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);//¿ªÆôdma //UartDeinit(); } } UART_CheckReceive(); } 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(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);//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(); } } } #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);//spiÖÐ¶Ï } 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; uint32_t time_flag_lorarx=0; uint32_t lora_huanxing_count=0; uint16_t Lora_wangguanid=0; extern uint16_t wg_report_freq,wg_report_id; extern uint32_t wg_lost_count; wg_state_enum wg_state = WG_Lost; extern uint16_t current_count; extern uint8_t rec_index,rec_secdelay; extern uint8_t yuyin_no_sleep_flag,no_rx_flag; uint16_t wangguan_up_id; uint8_t LoraUp_flag; uint8_t imu_enable,motor_enable; extern uint8_t shengji_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; static void Lora_irq_handler(enum IO_PIN_T pin) { uint16_t checksum1; rf_irq_process(); //ÕâÀï¸ù¾ÝSDKµÄÄǸöÂß¼­ ÓÃÄãµÄ½Ó¿Ú¿´¿´ 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(); //ÖØнøÈë½ÓÊÕģʽ //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: //ÓïÒôÏ·¢ break; // case 0x20: //·äÃù // 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: //Éý¼¶Ï·¢ memcpy(&rec_wenjian_daxiao,&RX_Buffer[WRITEPARA_VALUE_IDX],2);//Îļþ´óС if(rec_wenjian_daxiao>0XAC00||rec_wenjian_daxiao==0) {}//Îļþ¹ý´ó£¬³¬³ö·¶Î§ else { memcpy(&wangguan_up_id,&RX_Buffer[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú 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);//²âÊÔ // gpio_pin_set(IO_PIN_5);//²âÊÔ // #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);//²âÊÔ // // gpio_pin_set(IO_PIN_5);//²âÊÔ // #endif //Õâ¸ö³¬Ê±½ÓÊÕÊÇ»á×Ô¶¯ÖØÆôµÄ£¬ËùÒÔ±ØÐ뽫оƬ״̬ÖóÉSTB3ÕâÑù¾ÍÍ˳öÁËÁ¬Ðø½ÓÊÕ״̬ rf_set_mode(RF_MODE_STB3); //Õâ¸ö³¬Ê±½ÓÊÕÊÇ»á×Ô¶¯ÖØÆôµÄ£¬ËùÒÔ±ØÐ뽫оƬ״̬ÖóÉSTB3ÕâÑù¾ÍÍ˳öÁËÁ¬Ðø½ÓÊÕ״̬ 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 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); } 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(); // 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(); // } // Chip calibration calib_chip(); // Disable watchdog timer wdt_close(WDT_ID0); // 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(); gpio_open(); // 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(); //PCA9555_init(); Board_LORA_NVIC_Init(Lora_irq_handler); Lora_init(); //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(DEFAULT_WG_SET_FREQ,DEFAULT_WG_SET_SF); //rf_enter_continous_rx(); // rf_enter_continous_rx(); // 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); // IIC2_Init(); // Accelerometer_Init(); // IO_control_init(); // io_pin_mux_set(SCL_PIN, IO_FUNC0);//²âÊÔ²â¾à²¨ÐÎ // 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);//¿ªÆôgps£¬4G ////¼ÓËٶȼƳõʼ»¯±ØÐëÔÚIO_control_init֮ǰÒòΪ¸´ÓÃSDAÒý½Å // adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc²ÉÑù Program_Init(); // 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(); //4GÄ£¿éÖØÆô£¬ºÄʱ1.5Ãë,Õâ¸öÊÇÎÞ·¨Í¬²½µÄ¹Ø¼ü sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback); sleep_timer_start(__MS_TO_32K_CNT(1000));//²âÊÔ #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_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(); Uwbinit(); while (1) { // rf_irq_process(); //rf_enter_single_rx(); Lora_Tx_Poll(); // if((rf_single_tx_data(TXBuffer,10,0))!= OK) // { // // } // #ifdef DEBUG_BOXING // gpio_pin_clr(IO_PIN_5);//²âÊÔ // gpio_pin_set(IO_PIN_5);//²âÊÔ // test_Delay_us(1000); // gpio_pin_set(IO_PIN_5);//²âÊÔ // test_Delay_us(100000); // test_Delay_us(100000); // test_Delay_us(100000); // gpio_pin_clr(IO_PIN_5);//²âÊÔ // test_Delay_us(2000); // gpio_pin_set(IO_PIN_5);//²âÊÔ // test_Delay_us(1000); // gpio_pin_clr(IO_PIN_5);//²âÊÔ // if(LORA_REV_uwb_up) // { // LORA_REV_uwb_up=0; // UwbRange(); // } // UwbRange(); // rf_irq_process(); // if(rf_get_transmit_flag() == RADIO_FLAG_TXDONE) // { // rf_set_transmit_flag(RADIO_FLAG_IDLE); // rf_delay_ms(1000); // if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != 0) // { // error_cnt++; // } // else // { // successful_cnt ++; //// DDL_Printf("Tx cnt %d\r\n", cnt ); // } // } //// // //// io14_state=gpio_pin_get_val(LORA_DIO); // rf_set_transmit_flag(RADIO_FLAG_IDLE); // rf_delay_ms(1000); // rf_enter_continous_tx(); //// rf_set_transmit_flag(RADIO_FLAG_TXDONE); // if(rf_continous_tx_send_data(tx_test_buf, TX_LEN) != OK) // { //// rf_enter_continous_rx(); // } // 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, "´¦Àí4GÈÎÎñ\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(); // //3ÖÖÇé¿öºó¶¼Òª·¢°üºÍÐÝÃß // //if(send_flag){ // //message_construct(); // //send_udp; // //air780_success_state=0;//¹Ø±Õ4G³É¹¦·¢Ë굮 // //blink_led(&air780_success_state);//³É¹¦²â¾àÉÁ˸4G״̬µÆ // //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())) //½øÈëÐÝÃßÌõ¼þ£¨Óë¹Øϵ£¬È«Âú×ã²Å½ø£©£º1.ûÓÐ5VÊäÈë 2 TCPÒÑÁ¬½Óʱ·¢ËͶÓÁÐΪ¿Õ||TCPÎÞÁ¬½Óʱ²»ÔÚÖØÁ¬×´Ì¬¡£ // { // if(!flag_4guart_needinit) // { // LOG_INFO(TRACE_MODULE_APP, "4G RX Öжϴò¿ª\r\n"); // board_4GUsart_detection_init(_4gUsart_handler); // } // flag_sleeptimer =0; // LOG_INFO(TRACE_MODULE_APP, "½øÈëÐÝÃß\r\n"); // flag_4guart_needinit = 1; // trace_flush(); // uint32_t lock = int_lock(); // //LOG_INFO(TRACE_MODULE_APP, "½øÈëµÍ¹¦ºÄ"); // power_enter_power_down_mode(0); // int_unlock(lock); // } //#endif } }