YuanHongbin
9b06145341
2、删除了bsp.h的lora通道配置宏定义 3、删除了SGCP.h中MAC的组成参数定义，改为在main.c中进行定义，当使用bootloader时通过读取BootPara结构体参数获取本机MAC，否则将通过App程序自定义MAC 4、BootPara结构体参数增加
596 lines
24 KiB
C
596 lines
24 KiB
C
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/******************************************************************************
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* Include files
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******************************************************************************/
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#include <stdlib.h>
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#include "main.h"
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#include "UartDebug.h"
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#include "bsp.h"
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#include "Algorithm.h"
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#include "SGCP.h"
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#include "Update.h"
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#include "sx127x.h"
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#include "lsm6dsl_app.h"
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#include "mmc5983.h"
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#define SOFTWARE_VERSION 11 //软件版本
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#define HARDWARE_VERSION 11 //硬件版本
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AppDetect_t App;
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extern uint32_t LocalType;
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extern uint32_t CommWay;
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extern uint32_t DeviceSign;
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extern uint32_t AddNumber;
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extern uint8_t LocalMAC[6]; //本机MAC地址
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extern uint8_t GatewayMAC[6]; //网关MAC地址，注册时全为0
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extern uint8_t LocalDataPack[sizeof(SGCP.DevData.LaserTracing)]; //本机数据包 //本机数据包
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void Lsm6dDataProcessCallBack(float *Acc, float *Gy)
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{
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memcpy(App.Sensor.acce, Acc, 12);
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memcpy(App.Sensor.gy, Gy, 12);
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//DBG_LOG("acc_X:%07.1f, acc_Y:%07.1f, acc_Z:%07.1f\r\n", App.Sensor.acce[X], App.Sensor.acce[Y],App.Sensor.acce[Z]);
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//DBG_LOG("gy_X:%07.1f, gy_Y:%07.1f, gy_Z:%07.1f\r\n", App.Sensor.gy[X], App.Sensor.gy[Y],App.Sensor.gy[Z]);
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App.AccRead_EndFlag = true;
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}
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void MmcDataProcessCallBack(float *Mag)
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{
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memcpy(App.Sensor.mag, Mag, 12);
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//DBG_LOG("mag_X:%07.1f, mag_Y:%07.1f, mag_Z:%07.1f\r\n", App.Sensor.mag[X], App.Sensor.mag[Y],App.Sensor.mag[Z]);
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App.MagRead_EndFlag = true;
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}
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static void AppInit(void)
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{
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memset(&App, 0x00, sizeof(App));
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READ_APP_PARA((uint32_t *)&App.Para);
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#if(USE_BOOTLOADER == 1)
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UpdateInit();
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memcpy(&LocalMAC, &BLPara.DevMac[0], 6);
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SX1276LoRaSetFreqHz(BLPara.LoraFreq); //Lora频率:433100000ul + 200000*N
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LocalType = (BLPara.DevMac[0] | (BLPara.DevMac[1] << 8)); //本机设备类型
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CommWay = BLPara.DevMac[2]; //本机通讯方式
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DeviceSign = BLPara.DevMac[3] & 0x80; //本机设备标志
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AddNumber = ((BLPara.DevMac[3] << 16)+ (BLPara.DevMac[4] << 8) + BLPara.DevMac[5]) - 0x800000; //本机地址编号，数字部分对应唯一地址编号
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if(App.Para.FactoryFlag != 0x00)
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{
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App.Para.FactoryFlag = 0x00;
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/*校准参数初始化*/
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App.Para.CaliPara.PitchZero = 0;
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App.Para.CaliPara.RollZero = 0;
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App.Para.CaliPara.YawZero = 0;
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SAVE_APP_PARA((uint32_t *)&App.Para);
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}
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#elif
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LocalType = LASER_TRACING; //本机设备类型
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CommWay = LORA; //本机通讯方式
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DeviceSign = MASTER; //本机设备标志
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AddNumber = 0x000023 + DeviceSign;//本机地址编号，数字部分对应唯一地址编号
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SX1276LoRaSetFreqHz(CH0); //Lora频率:433100000ul + 200000*N
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LocalMAC[0] = LocalType & 0xFF; //本机MAC地址
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LocalMAC[1] = (LocalType >> 8) & 0xFF;
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LocalMAC[2] = CommWay;
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LocalMAC[3] = (AddNumber >> 16) & 0xFF;
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LocalMAC[4] = (AddNumber >> 8) & 0xFF;
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LocalMAC[5] = AddNumber & 0xFF;
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#endif
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if(App.Para.RS485Addr > 16 || App.Para.RS485Addr < 1){
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App.Para.RS485Addr = 1;
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}
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if(App.Para.Layout.CollectTime > 240 || App.Para.Layout.CollectTime < 1) {
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App.Para.Layout.CollectTime = 10;
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}
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if(App.Para.Layout.ReportInterval > 1440 || App.Para.Layout.ReportInterval < 10) {
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App.Para.Layout.ReportInterval = 40;
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}
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if(App.Para.Layout.ERInterval > 10 || App.Para.Layout.ERInterval < 2) {
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App.Para.Layout.ERInterval = 4;
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}
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if(App.Para.Layout.ERTime > 240 || App.Para.Layout.ERTime < 20) {
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App.Para.Layout.ERTime = 40;
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}
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DBG_LOG("\r\n\r\n");
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DBG_LOG("****************************************************\r\n");
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DBG_LOG("** **\r\n");
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DBG_LOG("** LaserTracing **\r\n");
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DBG_LOG("** SoftWare V:%d.%d **\r\n", SOFTWARE_VERSION / 10, SOFTWARE_VERSION % 10);
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DBG_LOG("** HardWare V:%d.%d **\r\n", HARDWARE_VERSION / 10, HARDWARE_VERSION % 10);
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DBG_LOG("** Compile: %s %s **\r\n", __DATE__, __TIME__);
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DBG_LOG("** **\r\n");
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DBG_LOG("****************************************************\r\n\r\n");
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DBG_LOG("RS485Addr: %02X\r\n",App.Para.RS485Addr);
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DBG_LOG("LocalMAC: %02X %02X %02X %02X %02X %02X\r\n",LocalMAC[0], LocalMAC[1], LocalMAC[2], LocalMAC[3], LocalMAC[4], LocalMAC[5]);
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DBG_LOG("CollectTime: %ds\r\n",(App.Para.Layout.CollectTime*30));
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DBG_LOG("LoraFreq: %d\r\n\r\n",BLPara.LoraFreq);
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//09 00 01 00 00 00
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LORAIntEnable();
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Sx1276LoRaInit(LORA_RxCallBack); //< LORA芯片初始化
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FeedDog();
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Lsm6dslInit();
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MMC5983Init();
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MMC5983Stop();
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Lsm6dsStop();
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ACCandMMCIntEnable();
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LPTimer0_OFF();
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uint32_t seed = 0;//< 随机数初始化
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seed = seed + LocalMAC[2];
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seed = (seed << 8) + LocalMAC[3];
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seed = (seed << 8) + LocalMAC[4];
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seed = (seed << 8) + LocalMAC[5];
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srand(seed);
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App.Nonce = rand();
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SGCP.LoginOk = false;
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SGCP.LoginMess = false;
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SGCP.LaserOnOff = false;
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SGCP.MasterCaliOk = true;
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SGCP.DeviceReadDataOk = false;
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SGCP.TimingAcquisition = false;
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App.Login2Min30SCount = 0;
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App.Login30MinCount = 0;
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App.RepeLoginCount = 0;
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App.LoginFlag = false;
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App.Login_RTC = false;
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App.Login_LPTimer0 = true;
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//LPTimer0_ON((App.Nonce % 1200) + 300);//定时30s+随机2分钟，最小间隙100ms
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LPTimer0_ON(50);
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DBG_LOG("Login LPTimer0 Open\r\n");
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App.Upload45S10SCount = 0;
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App.UploadFlag = false;
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App.Upload_LPTimer0 = false;
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App.Coll_N = 0;
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App.Repor_N = 0;
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App.ERInterval_N = 0;
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App.ERTime_N = 0;
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App.ERFlag = false;
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App.MagRead_EndFlag = false;
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App.AccRead_EndFlag = false;
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App.UpdateOk = false;
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App.CaliFlag = false;
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App.LaserFlag = false;
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App.Status = APP_STATUS_ON;
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App.TD1mSDelayCnt = (App.Nonce % 2000) + 2000;
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}
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static void ReadDataLoopHandler(void)
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{
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switch (App.RDStatus)
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{
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case READDATA_STATUS_IDLE:{
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break;}
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case READDATA_STATUS_UPDAING:{
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DBG_LOG("<------------ Sensor Data Updaing ------------> \r\n");
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App.UpdateOk = false;
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Lsm6dsStart();
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MMC5983Start();
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App.ReadData1mSDelayCnt = 2000;
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App.RDStatus = READDATA_STATUS_WAIT_UPDAING;
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break;}
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case READDATA_STATUS_WAIT_UPDAING:{
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if(App.ReadData1mSDelayCnt <= 0){
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if(App.AccRead_EndFlag == false)
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DBG_LOG("Lsm6dsl Get Data TimeOut...\r\n");
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if(App.MagRead_EndFlag == false)
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DBG_LOG("MMC5983 Get Data TimeOut...\r\n");
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App.RDStatus = READDATA_STATUS_DATA_HANDLE;
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}
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else if(App.MagRead_EndFlag == true
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&& App.AccRead_EndFlag == true){
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App.RDStatus = READDATA_STATUS_DATA_HANDLE;
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}
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break;}
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case READDATA_STATUS_DATA_HANDLE:{
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if(App.MagRead_EndFlag == false || App.AccRead_EndFlag == false){
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DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
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App.RDStatus = READDATA_STATUS_IDLE;
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App.UpdateOk = false;
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break;
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}
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App.MagRead_EndFlag = false;
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App.AccRead_EndFlag = false;
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IMU_Update(0, App.Sensor.acce, App.Sensor.mag, &App.AHRSData.Rad, &App.AHRSData.Deg);
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App.ConvertedData.Pitch = (int16_t)(App.AHRSData.Deg.pitch * 10);
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App.ConvertedData.Roll = (int16_t)(App.AHRSData.Deg.roll * 10);
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App.ConvertedData.Yaw = (int16_t)(App.AHRSData.Deg.yaw * 10);
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DBG_LOG("PitchAngle:%06.1f, RollAngle:%06.1f, YawAngle:%06.1f\r\n",App.AHRSData.Deg.pitch, App.AHRSData.Deg.roll, App.AHRSData.Deg.yaw);
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if(SGCP.MasterCaliOk == true)
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{
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SGCP.MasterCaliOk = false;
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App.CaliFlag = true;
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App.Para.CaliPara.PitchZero = App.ConvertedData.Pitch;
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App.Para.CaliPara.RollZero = App.ConvertedData.Roll;
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App.Para.CaliPara.YawZero = App.ConvertedData.Yaw;
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// App.Para.CaliPara.PitchZero = 0;
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// App.Para.CaliPara.RollZero = 0;
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// App.Para.CaliPara.YawZero = 0;
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SAVE_APP_PARA((uint32_t *)&App.Para);
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}
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if(App.CaliFlag == true && App.ERFlag == false)
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{
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int16_t PitchDiff,RollDiff;
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PitchDiff = App.ConvertedData.Pitch - App.Para.CaliPara.PitchZero;
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RollDiff = App.ConvertedData.Roll - App.Para.CaliPara.RollZero;
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if((PitchDiff > ERINTERVAL_VPT) || (RollDiff > ERINTERVAL_VPT))
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{
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//触发紧急上报
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App.ERFlag = true;
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DBG_LOG("PitchDiff=%04d, PitchDiff=%04d\r\n", PitchDiff,RollDiff);
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DBG_LOG("Start emergency reporting!\r\n");
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DBG_LOG("ERInterval: %dMin, ERTime: %dMin\r\n", App.Para.Layout.ERInterval/2, App.Para.Layout.ERTime/2);
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}
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}
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SGCP.DevData.LaserTracing.PitchAngle = App.ConvertedData.Pitch;
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SGCP.DevData.LaserTracing.RollAngle = App.ConvertedData.Roll;
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SGCP.DevData.LaserTracing.YawAngle = App.ConvertedData.Yaw;
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#if (USE_VBAT_AD == 1)
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SGCP.DevData.LaserTracing.MasterDev.BatLevel = VBAT_Percentage;
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#else
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SGCP.DevData.LaserTracing.MasterDev.BatLevel = 0x00;
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#endif
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#if (SGCP_SELECT == 1 || SGCP_SELECT == 2)
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SX1276LoCalcRssiSnr(&SGCP.DevData.LaserTracing.MasterDev.RSSI, &SGCP.DevData.LaserTracing.MasterDev.Nsr);//获取信号强度
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#else
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SGCP.DevData.LaserTracing.MasterDev.RSSI = 0x00;
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SGCP.DevData.LaserTracing.MasterDev.Nsr = 0x00;
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#endif
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memcpy(LocalDataPack, &SGCP.DevData.LaserTracing, sizeof(LocalDataPack));
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DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
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//App.RDStatus = READDATA_STATUS_UPDAING;//持续工作
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App.RDStatus = READDATA_STATUS_IDLE;
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App.UpdateOk = true;
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break;}
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}
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}
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static void AppLoopHandler(void)
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{
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switch(App.Status) {
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case APP_STATUS_IDLE:{
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break;}
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case APP_STATUS_SLEEP:{
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DBG_LOG("Sleep...\r\n\n\n");
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FeedDog();
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EnterDeepSleep();
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FeedDog();
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WakeUpInit();
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App.Status = APP_STATUS_ON;
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break;}
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case APP_STATUS_ON:{
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if(App.TD1mSDelayCnt <= 0){
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App.TD1mSDelayCnt = 1000;//唤醒后待机时间
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App.Status = APP_STATUS_ACTION;
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}
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break;}
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case APP_STATUS_OFF:{
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LED_OFF();
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App.Status = APP_STATUS_SLEEP;
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DBG_LOG("Power Off...\r\n");
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break;}
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case APP_STATUS_ACTION:{
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if(SGCP.InStatus != IN_STATUS_IDLE){
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break;
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}
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else if(SGCP.LoginOk == false && App.LoginFlag == true && SGCP.GWStatus == GW_STATUS_IDLE)//设备注册
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{
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PrintfMess();
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App.LoginFlag = false;
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LPTimer0_OFF();//关闭低功耗定时器
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SGCP.GWStatus = GW_STATUS_LOGIN;//注册
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App.Status = APP_STATUS_WAIT_LOGIN;
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}
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else if(SGCP.TimingAcquisition == true && App.RDStatus == READDATA_STATUS_IDLE)//设备数据获取
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{
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PrintfMess();
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SGCP.TimingAcquisition = false;
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App.RDStatus = READDATA_STATUS_UPDAING;
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App.Status = APP_STATUS_ACTION;
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App.TD1mSDelayCnt = 1000;
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}
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else if(SGCP.LoginOk == true && App.UploadFlag == true && SGCP.GWStatus == GW_STATUS_IDLE && App.UpdateOk == true)
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{
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PrintfMess();
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App.UploadFlag = false;
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LPTimer0_OFF();//关闭低功耗定时器
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SGCP.GWStatus = GW_STATUS_UPLOAD_SENSOR;//上传
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App.Status = APP_STATUS_WAIT_UPLOAD;
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}
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else if(App.RDStatus == READDATA_STATUS_IDLE
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&& SGCP.GWStatus == GW_STATUS_IDLE
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&& SGCP.InStatus == IN_STATUS_IDLE
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&& SGCP.TimingAcquisition == false
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&& App.TD1mSDelayCnt == 0
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&& App.ReadData1mSDelayCnt == 0
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&& SGCP.LaserOnOff == false
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&& App.TestTimeCnt == 0)
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{
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//App.Status = APP_STATUS_ACTION;//持续工作
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App.Status = APP_STATUS_OFF;
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}
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else if(App.LaserFlag == true)
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{
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App.LaserFlag = false;
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App.TestTimeCnt = 3000;
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LASER1_ON();
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}
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break;}
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case APP_STATUS_WAIT_LOGIN:{
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if(SGCP.LoginMess == true)
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{
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if(SGCP.LoginOk == false)
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{
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App.Login2Min30SCount++;
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if(App.Login2Min30SCount >= 3)
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{
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PrintfMess();
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DBG_LOG("Number of registration failures:%d\r\n",App.Login2Min30SCount);
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DBG_LOG("Login RTC Open\r\n");
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App.Login2Min30SCount = 0;
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App.Login30MinCount = 0;
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App.Login_RTC = true;//启动30分注册定时器
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}
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else
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{
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PrintfMess();
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App.Login_LPTimer0 = true;
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LPTimer0_ON((App.Nonce % 1200) + 300);//定时30s+随机2分钟，最小间隙100ms
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//LPTimer0_ON(100);//定时10s
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DBG_LOG("Number of registration failures:%d\r\n",App.Login2Min30SCount);
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DBG_LOG("Login LPTimer0 Open\r\n");
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}
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}
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else if(SGCP.LoginOk == true)
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{
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App.Login2Min30SCount = 0;
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App.Login30MinCount = 0;
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App.Upload45S10SCount = 0;
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App.UploadFlag = true;
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App.RDStatus = READDATA_STATUS_UPDAING;
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}
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SGCP.LoginMess = false;
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App.TD1mSDelayCnt = 1000;
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App.Status = APP_STATUS_ACTION;
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}
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break;}
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case APP_STATUS_WAIT_UPLOAD:{
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if(SGCP.UploadMess == true)
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{
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if(SGCP.UploadOk == false)
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{
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App.Upload45S10SCount++;
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if((App.Upload45S10SCount%3) == 0)
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{
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PrintfMess();
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DBG_LOG("Number of failed uploads:%d\r\n",App.Upload45S10SCount);
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if(App.Upload45S10SCount >= 9)
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{
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DBG_LOG("Resend registration information.\r\n");
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SGCP.LoginOk = false;
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App.LoginFlag = true;
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}
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}
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else
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{
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PrintfMess();
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App.Upload_LPTimer0 = true;
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LPTimer0_ON((App.Nonce % 100) + 45);//随机延时100~10000ms+45秒后重新发送
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//LPTimer0_ON(100);//定时10s
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DBG_LOG("Number of failed uploads:%d\r\n",App.Upload45S10SCount);
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DBG_LOG("Upload LPTimer0 Open\r\n");
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}
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}
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else if(SGCP.UploadOk == true)
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{
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App.Upload45S10SCount = 0;
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}
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SGCP.UploadMess = false;
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App.TD1mSDelayCnt = 1000;
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App.Status = APP_STATUS_ACTION;
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}
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break;}
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}
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}
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static void App1mSRoutine(void)
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{
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if(App.TD1mSDelayCnt > 0)
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App.TD1mSDelayCnt--;
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if(App.ReadData1mSDelayCnt > 0)
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App.ReadData1mSDelayCnt--;
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App.FeedDogDlyCnt++;
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if(App.TestTimeCnt > 0)
|
|
{
|
|
App.TestTimeCnt--;
|
|
if(App.TestTimeCnt <= 0)
|
|
{
|
|
LASER1_OFF();
|
|
}
|
|
}
|
|
}
|
|
|
|
void FeedDogHandler(void)
|
|
{
|
|
if(App.FeedDogDlyCnt >= 200) {
|
|
FeedDog();
|
|
App.FeedDogDlyCnt = 0;
|
|
}
|
|
}
|
|
|
|
void SystemResetHandler(void)
|
|
{
|
|
//系统定时重启
|
|
if(App.SysResetTimeCnt > SYSTEM_TIMING_LOGIN) {
|
|
delay_ms(5);
|
|
SystemReset();
|
|
while(1);
|
|
}
|
|
}
|
|
|
|
/**
|
|
******************************************************************************
|
|
** \brief Main function of project
|
|
**
|
|
** \return uint32_t return value, if needed
|
|
**
|
|
** This sample
|
|
**
|
|
******************************************************************************/
|
|
int32_t main(void)
|
|
{
|
|
BspInit();
|
|
delay_ms(3000);//上电延时，等待从设备启动
|
|
AppInit();
|
|
|
|
while (1) {
|
|
#if(USE_VBAT_AD == 1)
|
|
ADCLoopHandler();
|
|
#endif
|
|
#if(USE_WDT == 1)
|
|
FeedDogHandler();
|
|
#endif
|
|
#if(USE_DEBUG == 1)
|
|
DebugLoopHandler();
|
|
#endif
|
|
Lsm6dslLoopHandler();
|
|
MMC5983LoopHandler();
|
|
ReadDataLoopHandler();
|
|
GwRevLoopHandler();
|
|
InRevLoopHandler();
|
|
AppLoopHandler();
|
|
}
|
|
}
|
|
/*******************************************************************************
|
|
* 中断回调函数
|
|
******************************************************************************/
|
|
void SysTick_CallBack(void)
|
|
{
|
|
App1mSRoutine();
|
|
SGCP1mSRoutine();
|
|
Debug1mSRoutine();
|
|
Lsm6dsl1mSRoutine();
|
|
MMC59831mSRoutine();
|
|
}
|
|
|
|
void RtcIRQHander(void)
|
|
{
|
|
//SGCP.TimingAcquisition = true; //30S更新一次数据
|
|
#if USE_LORA_CH == CH0
|
|
App.Tcnt++;//一分钟开启激光3秒
|
|
if(App.Tcnt >= 2)
|
|
{
|
|
App.Tcnt = 0;
|
|
App.LaserFlag = true;
|
|
}
|
|
#endif
|
|
if(SGCP.LoginOk == true)
|
|
{
|
|
App.RepeLoginCount++;
|
|
if(App.RepeLoginCount >= SYSTEM_TIMING_LOGIN){
|
|
DBG_LOG("24h Repetition Login\r\n");
|
|
App.RepeLoginCount = 0;
|
|
SGCP.LoginOk = false;//24h重复注册
|
|
App.Login2Min30SCount = 0;
|
|
App.Login30MinCount = 0;
|
|
App.Login_RTC = false;//关闭30分注册定时器
|
|
|
|
LPTimer0_ON((App.Nonce % 1200) + 300);//定时30s+随机2分钟，最小间隙100ms
|
|
DBG_LOG("Login LPTimer0 Open\r\n");
|
|
}
|
|
|
|
App.Coll_N++;
|
|
if(App.Coll_N >= App.Para.Layout.CollectTime)
|
|
{
|
|
App.Coll_N = 0;
|
|
SGCP.TimingAcquisition = true; //定时更新数据
|
|
}
|
|
|
|
if(App.ERFlag == true)
|
|
{
|
|
App.ERInterval_N++;
|
|
App.ERTime_N++;
|
|
if(App.ERInterval_N >= App.Para.Layout.ERInterval)
|
|
{
|
|
App.ERInterval_N = 0;
|
|
App.UploadFlag = true;
|
|
}
|
|
if(App.ERTime_N >= App.Para.Layout.ERTime)
|
|
{
|
|
App.ERTime_N = 0;
|
|
App.ERFlag = false;
|
|
SGCP.MasterCaliOk = true;//紧急上报时间结束，重新校准参数
|
|
}
|
|
}
|
|
else{
|
|
App.Repor_N++;
|
|
if(App.Repor_N >= App.Para.Layout.ReportInterval)
|
|
{
|
|
App.Repor_N = 0;
|
|
App.UploadFlag = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if(App.Login_RTC == true)
|
|
{
|
|
App.Login30MinCount++;
|
|
if(App.Login30MinCount >= ERR_TIMING_LOGIN)//30分钟重置注册错误信息
|
|
{
|
|
PrintfMess();
|
|
App.Login30MinCount = 0;
|
|
App.Login_RTC = false;//关闭30分注册定时器
|
|
DBG_LOG("Login RTC Close\r\n");
|
|
|
|
App.Login_LPTimer0 = true;
|
|
LPTimer0_ON((App.Nonce % 1200) + 300);//定时30s+随机2分钟，最小间隙100ms
|
|
//LPTimer0_ON(100);//定时10s
|
|
DBG_LOG("Login LPTimer0 Open\r\n");
|
|
}
|
|
}
|
|
}
|
|
void LPTimer0IRQHander(void)
|
|
{
|
|
if(App.Login_LPTimer0 == true)
|
|
{
|
|
App.Login_LPTimer0 = false;
|
|
App.LoginFlag = true;
|
|
}
|
|
if(App.Upload_LPTimer0 == true)
|
|
{
|
|
App.Upload_LPTimer0 = false;
|
|
App.UploadFlag = true;
|
|
}
|
|
}
|
|
|
|
|
|
|