1.72，加入电量检测

WXK

2024-07-24 764fdbb09b66c77992e91d26e494e1b435c3d12f

 Src/main.c

@@ -55,6 +55,8 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;

IWDG_HandleTypeDef hiwdg;

LPTIM_HandleTypeDef hlptim1;

SPI_HandleTypeDef hspi1;
@@ -72,11 +74,12 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_IWDG_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */

@@ -110,8 +113,31 @@
    Error_Handler();
   }
}
static void MX_DMA_DeInit(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_DISABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
 // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
  HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);

}
void UsartDeInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    waitusart_timer = 0;
    MX_DMA_DeInit();
    HAL_UART_DeInit(&huart1);
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v;
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
@@ -125,7 +151,7 @@
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
       // bat_percent=Get_Battary();
       bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
@@ -140,7 +166,11 @@
         LED_LG_OFF;      
      }      
   }else{
      state5v=0;
        if(state5v==1)
        {
            state5v=0;
            UsartDeInit();
        }
      LED_LR_OFF;
      LED_LG_OFF;
//   }
@@ -183,30 +213,6 @@
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);

}

void HardWareTypeDiffConfig(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    //hardware_type=2;
    if(hardware_type == 0)
        hardware_type = 1;
   switch(hardware_type)
      {
        case 1:
	  
       HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
          GPIO_InitStruct.Pin = MOTOR_Pin;
          GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
          GPIO_InitStruct.Pull = GPIO_NOPULL;
          GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
          HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
         break;
      case 2:
         MX_TIM2_Init();
      //BarInit();
         break;
      }
}
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{   float temp;
@@ -218,7 +224,7 @@
   hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
   hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
   //deca_sleep(1000);
   g_com_map[VERSION] = (1<<8)|58;
   g_com_map[VERSION] = (1<<8)|72;
    
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
@@ -227,7 +233,7 @@
    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
    //   g_com_map[NOMOVESLEEP_TIME]=10;
    #endif
    g_com_map[GROUP_ID]=2;
//    g_com_map[GROUP_ID]=3;
    g_com_map[COM_INTERVAL] = 1000;
    active_flag = g_com_map[ACTIVE_INDEX];
    module_power = g_com_map[POWER];
@@ -298,12 +304,6 @@
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
uint16_t temp2; 
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
@@ -337,6 +337,46 @@
    }
   return last_value;          
}
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
uint8_t fengming_time;
extern int32_t nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t PWM_Start;
void Fengming_Poll(void)
{ 

    if(fengming_time>0&&fengming_time<10)
    {
    //    uwb_active_flag = 0;
        HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
//        PWM_Start=1;
    //    HAL_Delay(3000);
    //    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
    }
    else
    {
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
//        PWM_Start=0;
    }
    for(int i=0;i<MAX_NEARBASE_NUM;i++)
    {
        if((nearbase_distlist[i]<g_com_map[ALARM_DISTANCE1]||nearbase_distlist[i]>60000)&&nearbase_distlist[i]!=0x1ffff&&nearbase_distlist[i]!=0)
        {
        fengming_time=3;
        }
    }

}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
@@ -361,28 +401,31 @@

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
   MX_DMA_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
 // MX_ADC_Init();
 
//  MX_TIM2_Init();
  MX_ADC_Init();
  MX_LPTIM1_Init();
  MX_IWDG_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
//   LIS3DH_Data_Init();	
   Dw1000_Init();
   Dw1000_App_Init();
//   HardWareTypeDiffConfig();
   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
   dwt_entersleep();
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
   HAL_Delay(2000);
    LED_LG_ON;
    Program_Init();
    //   LIS3DH_Data_Init();	
    Dw1000_Init();
    Dw1000_App_Init();
    //   HardWareTypeDiffConfig();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();
    DW_DISABLE;
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
    }
    HAL_Delay(2000);
//        HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
//    HAL_Delay(1000);
//    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
//   mcu_sleep();
   //LED0_BLINK;      
//   SystemPower_Config();
@@ -400,7 +443,7 @@
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
		
      HAL_IWDG_Refresh(&hiwdg);
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//      {
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -424,24 +467,21 @@
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         {
             if(memcmp(g_com_map2,g_com_map,200)!=0)
             {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
             }
#ifndef DEBUG_MODE	
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
		
 
      }		 
   }else{
   IdleTask();   
   }

    if(m_bEUARTTxEn==0&&waitusart_timer==0)
    {
     if(memcmp(g_com_map2,g_com_map,200)!=0)
     {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
     }
    #ifndef DEBUG_MODE	
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&fengming_time==0)				
                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
    #endif
    }
// HAL_Delay(100);
    //  Get_Battary();

@@ -466,13 +506,15 @@
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
                              |RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
@@ -509,11 +551,6 @@
  * @param None
  * @retval None
  */
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
void MX_ADC_Init(void)
{

@@ -532,7 +569,7 @@
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = DISABLE;
@@ -561,6 +598,35 @@
    HAL_ADCEx_EnableVREFINT();
    HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
  /* USER CODE END ADC_Init 2 */

}

/**
  * @brief IWDG Initialization Function
  * @param None
  * @retval None
  */
static void MX_IWDG_Init(void)
{

  /* USER CODE BEGIN IWDG_Init 0 */

  /* USER CODE END IWDG_Init 0 */

  /* USER CODE BEGIN IWDG_Init 1 */

  /* USER CODE END IWDG_Init 1 */
  hiwdg.Instance = IWDG;
  hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
  hiwdg.Init.Window = 4095;
  hiwdg.Init.Reload = 4095;
  if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN IWDG_Init 2 */

  /* USER CODE END IWDG_Init 2 */

}

@@ -690,11 +756,7 @@
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */
//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
//  {
//    /* Starting Error */
//    Error_Handler();
//  }

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

@@ -885,16 +947,25 @@
extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   static uint8_t i=0,lost_jumpcount=0;
   i++;
   g_start_send_flag=1;
	
   current_slotnum++;
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;
    
    if(fengming_time>0)
    {fengming_time--;}
    Fengming_Poll();
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
        {
            lost_jumpcount = 0;
            g_start_send_flag=1;
        }
    }else{
        g_start_send_flag=1;
    }
    if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
    {