494 lines
16 KiB
C
494 lines
16 KiB
C
#include "task_func.h"
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#include "./nvs/nvs.h"
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#include "timer.h"
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#include "system/includes.h"
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#include "user_cfg.h"
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#include "earphone.h" // 宏定义 EARPHONE_STATE_...
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#include "ble_user.h"
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#include "le_client_demo.h"
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#include "le_common.h"
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#include "./ble_handler/client_handler.h"
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#include "./RFID/include/rfid_main.h"
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#include "./RFID/include/READER_REG.h"
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// ==================================================================================================================================================================
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// 宏定义与日志
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// ==================================================================================================================================================================
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#define RC_LOG_ENABLE 1
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#if RC_LOG_ENABLE
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#define rc_log(format, ...) printf("[RC_APP] " format, ##__VA_ARGS__)
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#else
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#define rc_log(format, ...)
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#endif
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// ==================================================================================================================================================================
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// 外部函数声明
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// ==================================================================================================================================================================
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extern void TYPE_V_EVENT(char* uid);
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extern void TYPE_A_EVENT(char* uid);
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// ==================================================================================================================================================================
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// 静态函数声明
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// ==================================================================================================================================================================
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static RFID_Device_Type_t get_rfid_device_type(const u8* uid);
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// BLE 状态转换的辅助函数
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static void rc_ble_state_set_connecting(void);
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static void rc_ble_state_set_connected(void);
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static void rc_ble_state_set_disconnected(void);
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//进程名称
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static char control_key_task_name[] = "control_key";
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//进程运行中标志
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static u8 key_detect_sign = 0; //为1表示正在运行
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// ==================================================================================================================================================================
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// 全局变量
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// ==================================================================================================================================================================
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static RC_Context_t g_rc_context; // 全局上下文实例
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static u16 g_rfid_timer_id = 0; // RFID 定时器ID
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static u16 g_ble_timer_id = 0; // BLE 定时器ID
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static u8 current_board_mac[MAIN_BOARD_MAC_ADDR_LENGTH] = {0}; //当前连接主板的名称 -- mac
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// ==================================================================================================================================================================
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// rfid功能相关
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// ==================================================================================================================================================================
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/**
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* @brief RFID回调处理函数 (由定时器周期性调用)
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*/
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void rc_rfid_callback_handler(void *priv)
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{
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u8 uid[UID_LENGTH] = {0};
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//读id卡
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// TYPE_V_EVENT((char *)uid);
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TYPE_A_EVENT((char *)uid);
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//是否有rfid卡靠近
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u8 is_new_data = 0;
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for (int i = 0; i < UID_LENGTH; i++) {
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if (uid[i] != 0x00) {
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is_new_data = 1;
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break;
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}
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}
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if (!is_new_data) {
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return; //没有rfid卡靠近，返回
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}
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rc_log("New RFID card detected.\n");
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RFID_Device_Type_t device_type = get_rfid_device_type(uid);
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switch (device_type) {
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case RFID_DEVICE_TYPE_MAIN_BOARD: //船主板上的rfid卡
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if(strncmp(uid, current_board_mac, UID_LENGTH) == 0){
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// 扫到的rfid卡的uid和当前连接的主板mac相同
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return;
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}
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//扫到新的主板
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rc_log("Device is Main Board. Storing MAC...\n");
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// 将新的MAC地址写入Flash
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nvs_write_main_board_mac(uid);
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// memset(current_board_mac, uid, sizeof(current_board_mac));
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// TODO：发送指令，让主板断开经典蓝牙连接
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// TODO: 切断BLE
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// g_ble_connect_new_device(current_board_mac); //连接新主板
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break;
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case RFID_DEVICE_TYPE_REMOTE_CONTROL: //扫的是遥控器
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rc_log("Device is another Remote Control.\n");
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if(g_rc_context.team != TEAM_YES){
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nvs_clear_info(); //清楚nfc数据
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return; //非组队状态
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}
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if (g_ble_get_state() == BLE_ST_NOTIFY_IDICATE) {
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rc_log("Sending teaming request to main board...\n");
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//TODO:
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//向主板发送新的遥控器rfid uid
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} else {
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rc_log("Not connected to main board, ignoring teaming request.\n");
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}
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break;
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default:
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rc_log("Unknown RFID device type.\n");
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break;
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}
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}
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// ==================================================================================================================================================================
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// ble功能相关
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// ==================================================================================================================================================================
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/**
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* @brief BLE回调处理函数 (由定时器周期性调用)s
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*/
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void rc_ble_callback_handler(void *priv)
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{
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u8 read_uid[UID_LENGTH] = {0};
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nvs_read_main_board_mac(read_uid); //读nvs
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//读到的是当前连接的主板uid
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if((strncmp(read_uid, current_board_mac, UID_LENGTH) == 0) && g_ble_get_state()){
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return;
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}
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//
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// bool is_connected = ble_hid_is_connected();
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// // 状态机转换
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// if (is_connected && g_rc_context.state != RC_STATE_CONNECTED) {
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// rc_ble_state_set_connected();
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// } else if (!is_connected && g_rc_context.state != RC_STATE_DISCONNECTED) {
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// rc_ble_state_set_disconnected();
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// }
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// // 状态机行为
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// switch (g_rc_context.state) {
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// case RC_STATE_DISCONNECTED:
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// {
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// u8 target_mac[MAC_ADDR_LENGTH] = {0};
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// // 检查Flash中是否有已配对的MAC
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// if (nvs_read_main_board_mac(target_mac) > 0) {
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// rc_log("Found paired MAC. Start scanning...\n");
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// // 启动扫描和连接。SDK的HID实现会自动连接到已配对的设备。
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// EARPHONE_STATE_SET_PAGE_SCAN_ENABLE();
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// } else {
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// rc_log("No paired MAC found. Waiting for RFID pairing...\n");
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// }
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// }
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// break;
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// case RC_STATE_CONNECTING:
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// // 在这个状态下，我们只是等待 is_connected 变为 true
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// rc_log("Waiting for connection result...\n");
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// break;
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// case RC_STATE_CONNECTED:
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// // 已连接，目前无需周期性操作
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// // rc_log("BLE is connected.\n");
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// break;
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// default:
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// break;
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// }
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}
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/**
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* @brief 根据UID前缀判断设备类型
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*/
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static RFID_Device_Type_t get_rfid_device_type(const u8* uid)
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{
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if (uid == NULL) {
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return RFID_DEVICE_TYPE_UNKNOWN;
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}
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// 根据 RC_app_main.h 中定义的UID前缀进行判断
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if (uid[0] == UID_PREFIX_MAIN_BOARD) {
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return RFID_DEVICE_TYPE_MAIN_BOARD;
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} else if (uid[0] == UID_PREFIX_REMOTE_CONTROL) {
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return RFID_DEVICE_TYPE_REMOTE_CONTROL;
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}
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return RFID_DEVICE_TYPE_UNKNOWN;
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}
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// ==================================================================================================================================================================
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// 遥感按键相关
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// ==================================================================================================================================================================
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/**
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* @brief 遥感按键初始化
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*
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*/
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void control_key_init(void){
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//Yout
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adc_add_sample_ch(AD_CH_PG5);
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gpio_set_die(IO_PORTG_05, 0);
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gpio_set_direction(IO_PORTG_05, 1);
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gpio_set_pull_down(IO_PORTG_05, 0);
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gpio_set_pull_up(IO_PORTG_05, 0);
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//Xout
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adc_add_sample_ch(AD_CH_PG7);
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gpio_set_die(IO_PORTG_07, 0);
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gpio_set_direction(IO_PORTG_07, 1);
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gpio_set_pull_down(IO_PORTG_07, 0);
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gpio_set_pull_up(IO_PORTG_07, 0);
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//key 1：默认为高，按下为低
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gpio_set_die(IO_PORTG_06, 1);
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gpio_set_direction(IO_PORTG_06, 1);
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gpio_set_pull_down(IO_PORTG_06, 0);
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gpio_set_pull_up(IO_PORTG_06, 1);
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}
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/**
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* @brief 获取遥感按键值
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*
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* @param Xout_adc x轴遥感adc
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* @param Yout_adc y轴遥感adc
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* @param key1_state 按键1值
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* @param key2_state 按键2值
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*/
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void control_key_get_value(u16* Xout_adc, u16* Yout_adc, u8* key1_state, u8* key2_state){
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*Xout_adc = (u16)adc_get_value(AD_CH_PG5) * 64;
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*Yout_adc = (u16)adc_get_value(AD_CH_PG7) * 64;
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if(*Yout_adc >= 65535){
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*Yout_adc = 65535;
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}
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if(*Xout_adc >= 65535){
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*Xout_adc = 65535;
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}
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*key1_state = gpio_read(IO_PORTG_06);
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rc_log("adc_get_value: Xout = %d, Yout = %d, key1_state = %d, key2_state = %d\n", *Xout_adc , *Yout_adc, *key1_state, 1);
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}
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/**
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* @brief 按键的处理任务
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*
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*/
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void contol_key_task(void){
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static u16 vbat_value = 0; //当前剩余电量
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static u16 Xout_adc = 0;
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static u16 Yout_adc = 0;
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static u8 key1_state = 1;
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u8 ble_data_buff[12] = {0xBE, 0xBB, 0x09, 0x01, //0-3
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0x00, 0x00, 0x00, 0x00, //4-7 遥感值：上下、左右
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0x00, 0x00, //8、9 两个按键
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0x00, //10 电量百分比
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0x00}; //11 校验和
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control_key_init(); //遥感按键初始化
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while(1){
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extern u16 get_vbat_level(void);
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vbat_value = get_vbat_level(); //当前电量
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control_key_get_value(&Xout_adc, &Yout_adc, &key1_state, NULL); //遥感值
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ble_data_buff[4] = (u8)(Yout_adc & 0xFF);
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ble_data_buff[5] = (u8)((Yout_adc >> 8) & 0xFF);
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ble_data_buff[6] = (u8)(Xout_adc & 0xFF);
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ble_data_buff[7] = (u8)((Xout_adc >> 8) & 0xFF);
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ble_data_buff[8] = key1_state;
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ble_data_buff[9] = 0x01;
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ble_data_buff[10] = get_vbat_percent();
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ble_data_buff[11] = 0;
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for(int i = 0 ;i < 11; i++){
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ble_data_buff[11] += ble_data_buff[i];
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}
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// u8 test_buff[12] = {0xBE,0xBB,0x09,0x01,0x50,0x50,0x50,0x50,0x01,0x01,0x50,0x15};
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g_send_data_to_ble_server(ble_data_buff, sizeof(ble_data_buff));
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/*
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1000
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700
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500
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*/
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os_time_dly(10); //10ms为单位
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}
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}
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/**
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* @brief 和主板ble连接上后会被调用
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*
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*/
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void create_key_detect_thread(void){
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key_detect_sign = 1;
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os_task_create(contol_key_task, NULL, 1, 2048, 128, control_key_task_name);
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}
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/**
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* @brief 和主板ble断连后会被调用
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*
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*/
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void destroy_key_detect_thread(void){
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if(key_detect_sign == 1){
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key_detect_sign = 0;
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os_task_del(control_key_task_name);
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}
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}
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// ==================================================================================================================================================================
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// 辅助函数
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// ==================================================================================================================================================================
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/**
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* @brief 进入 CONNECTING 状态的逻辑
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*/
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static void rc_ble_state_set_connecting(void)
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{
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rc_log("State transition to -> CONNECTING\n");
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g_rc_context.state = RC_STATE_CONNECTING;
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// 可以在这里控制LED灯效，例如黄灯呼吸闪烁
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}
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/**
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* @brief 进入 CONNECTED 状态的逻辑
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*/
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static void rc_ble_state_set_connected(void)
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{
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rc_log("State transition to -> CONNECTED\n");
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g_rc_context.state = RC_STATE_CONNECTED;
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// 停止扫描以省电
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EARPHONE_STATE_CANCEL_PAGE_SCAN();
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// 发送指令，要求主板连接遥控器的经典蓝牙
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u8 classic_conn_req_payload[] = {0x01, 0x02, 0x03};
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rc_log("Sending request for classic BT connection.\n");
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ble_hid_data_send(0xFE, classic_conn_req_payload, sizeof(classic_conn_req_payload));
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// 在这里控制LED灯效，例如蓝灯呼吸闪烁三次后熄灭
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}
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/**
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* @brief 进入 DISCONNECTED 状态的逻辑
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*/
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static void rc_ble_state_set_disconnected(void)
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{
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rc_log("State transition to -> DISCONNECTED\n");
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g_rc_context.state = RC_STATE_DISCONNECTED;
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// 在这里控制LED灯效，例如黄灯呼吸闪烁
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}
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// ==================================================================================================================================================================
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// 初始化函数
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// ==================================================================================================================================================================
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/**
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* @brief 遥控器应用主初始化函数
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*/
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void rc_app_main_init(void)
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{
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rc_log("Initializing Remote Control App...\n");
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// 初始化全局上下文
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memset(&g_rc_context, 0, sizeof(RC_Context_t));
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g_rc_context.state = RC_STATE_DISCONNECTED; // 初始状态为未连接
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g_rc_context.team = TEAM_NO;
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FM176XX_HardInit();
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// 检查并启动RFID处理定时器
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if (g_rfid_timer_id == 0) {
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// g_rfid_timer_id = sys_timer_add(NULL, rc_rfid_callback_handler, RC_RFID_CALLBACK_INTERVAL_MS);
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rc_log("RFID handler timer started (ID: %d).\n", g_rfid_timer_id);
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}
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// 检查并启动BLE处理定时器
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if (g_ble_timer_id == 0) {
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// g_ble_timer_id = sys_timer_add(NULL, rc_ble_callback_handler, RC_BLE_CALLBACK_INTERVAL_MS);
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rc_log("BLE handler timer started (ID: %d).\n", g_ble_timer_id);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////
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//test
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#define TEST_FUNCTION 1
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void g_i2c_scanner_probe(u8* device_addr, u8* found_number)
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{
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printf("Starting I2C bus scan...\n");
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int devices_found = 0;
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// I2C地址范围是 0x08 到 0x77
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for (uint8_t addr_7bit = 0x00; addr_7bit < 0x7F; addr_7bit++)
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{
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// 构建8位的写地址
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uint8_t write_addr_8bit = (addr_7bit << 1);
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//传入使用的iic句柄编号
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soft_iic_start(0);
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// 尝试发送写地址，并检查返回值
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// iic_tx_byte 返回 1 表示收到了 ACK
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if (soft_iic_tx_byte(0, write_addr_8bit))
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{
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printf("=====================================================================\n");
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printf("I2C device found at 7-bit address: 0x%02X\n", addr_7bit);
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printf("I2C device found at 8-bit address: 0x%02X\n", write_addr_8bit);
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printf("=====================================================================\n");
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devices_found++;
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}
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//传入使用的iic句柄编号
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soft_iic_stop(0);
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mdelay(2); // 短暂延时
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}
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if (devices_found == 0) {
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printf("Scan finished. No I2C devices found.\n");
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} else {
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printf("Scan finished. Found %d device(s).\n", devices_found);
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}
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}
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void test_task(void){
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#if TEST_FUNCTION == 1
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unsigned char reg_data = 0;
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unsigned char command = 0;
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FM176XX_HardInit();
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rfid_delay_ms(5); // 硬件初始化后增加一个短暂延时，确保芯片稳定
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int result = FM176XX_SoftReset();
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// if (result != SUCCESS)
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// {
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// rc_log("FM176XX HardReset FAIL\r\n");
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// }
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// else
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// {
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// rc_log("FM176XX HardReset SUCCESS\r\n");
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// }
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rfid_delay_ms(10); // 复位后延时
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// 读取芯片版本号，确认通信是否正常
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GetReg(REG_VERSION, ®_data);
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rc_log("REG_VERSION = %02X\r\n", reg_data);
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u8 device_buff[10];
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u8 founds = 0;
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||
extern void g_i2c_scanner_probe(u8* device_addr, u8* found_number);
|
||
g_i2c_scanner_probe(device_buff,&founds);
|
||
|
||
while(1){
|
||
u8 uid[UID_LENGTH] = {0};
|
||
//读id卡
|
||
// TYPE_V_EVENT((char *)uid);
|
||
TYPE_A_EVENT((char *)uid);
|
||
os_time_dly(500);
|
||
}
|
||
#endif
|
||
}
|
||
void test_func_main(void){
|
||
#if TEST_FUNCTION == 1
|
||
|
||
os_task_create(test_task, NULL, 1, 1024, 128, "rfid_test");
|
||
extern void pwm_test_main(void);
|
||
// os_task_create(pwm_test_main, NULL, 1, 1024, 128, "pwm_test"); //pwm测试
|
||
// os_task_create(contol_key_task, NULL, 1, 2048, 128, control_key_task_name);
|
||
|
||
#endif
|
||
} |