版本v2.11,修改防撞基站剔除机制。

WXK

2023-11-03 03c3a1878df2cb6a72fdffa393c9e453f6e1b6ac

 Src/main.c

@@ -31,7 +31,7 @@

#define NSH1 0x0001
#define GP   0x0002
//#define DEBUG_MODE
#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -94,6 +94,7 @@
extern float nomove_count;
float motor_keeptime;
uint8_t imu_enable,motor_enable;   
uint8_t chongqi_num;
u16 GetLPTime(void)
{
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -130,61 +131,7 @@
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
    
      if(motor_keeptime>0)
      {
         motor_state = 2;
      }else{
         motor_state = 0;
      }
      //motor_state=2;
   switch(motor_state)
      {case 0:
         if(hardware_type==NSH1)
         {MOTOR_OFF;
         }else if(hardware_type==GP)
         {
         HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
         }
         break;
      case 1:
         if(current_time<MOTOR_ONTIME)
         {
            if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         }else{
            if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         }				
         break;
      case 2:
         if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         break;
      case 3:
         if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         break;	
   }
}

    bat_percent=Get_Battary();
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
@@ -265,12 +212,19 @@
   }
   if(g_com_map[IMU_THRES]>10)
   {g_com_map[IMU_THRES]=2;}
    if(g_com_map[POWER]>MAX_RFPOWER)
      {g_com_map[POWER]=MAX_RFPOWER;}
      if(g_com_map[POWER]<0)
      {g_com_map[POWER]=0;}
    if(g_com_map[POWER]>MAX_RFPOWER)
        {g_com_map[POWER]=MAX_RFPOWER;}
    if(g_com_map[POWER]<0)
        {g_com_map[POWER]=0;}
    if(g_com_map[STATIONARY_TIME]==0)
        {
        g_com_map[STATIONARY_TIME]=10;
        }
        
}
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
u16 nomovesleep_time=0,interval;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -281,14 +235,14 @@
   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] = 0x022e;
    
   g_com_map[VERSION] = (2<<8)|11;
//    g_com_map[COM_INTERVAL]=200;
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=0x4009;
   //   g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
   g_com_map[COM_INTERVAL]=50;
//   g_com_map[COM_INTERVAL]=50;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
//   g_com_map[NOMOVESLEEP_TIME]=10;
//         g_com_map[IMU_ENABLE]=0;
@@ -298,18 +252,12 @@
//   g_com_map[IMU_ENABLE]=0;
//    g_com_map[COM_INTERVAL]=50;
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   {   
        g_com_map[COM_INTERVAL]=1000;
      g_com_map[IMU_ENABLE]=1;
      g_com_map[NOMOVESLEEP_TIME]=10;
      g_com_map[MOTOR_ENABLE]=0;
   }

//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
   module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
	
   uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
   group_id=g_com_map[GROUP_ID];
   dev_id = g_com_map[DEV_ID];
   //slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
@@ -318,14 +266,25 @@
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
   slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
   lastpoll_time=tyncpoll_time;
  tag_frequency = 1000/g_com_map[COM_INTERVAL];
    
   bigslot_num = TOTAL_SLOTNUM/tag_frequency;
   current_slotnum=1;
   current_time=GetLPTime();
    nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
    interval = g_com_map[COM_INTERVAL];
//    if(active_flag==0)
//   {   
//        interval=1000;
//      imu_enable=1;
//      nomovesleep_time = 10;
//      motor_enable=0;
//   }
    tag_frequency = 1000/interval;
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }
   printf("固件版本:SS双路定位标签-防撞基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//g_com_map[NOMOVESLEEP_TIME]=5;
//   printf("标签ID: %d .\r\n",dev_id);
//   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
@@ -352,31 +311,52 @@

void HardWareTypeDiffConfig(void)
{
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   //if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
   {
         g_com_map[MOTORBEEPER_INDEX] = 2;
   }
   hardware_type   = g_com_map[MOTORBEEPER_INDEX];
   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();
         break;
      }
//   GPIO_InitTypeDef GPIO_InitStruct = {0};
//   if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
//   {
//         g_com_map[MOTORBEEPER_INDEX] = 2;
//   }
//   hardware_type   = g_com_map[MOTORBEEPER_INDEX];
//   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();
//         break;
//      }
}

void DoubleClickProcess(void)
{ char temp[50];
  uint8_t len;  
if(uwb_active_flag)
{
    uwb_active_flag = 0;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(3000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}else{
    uwb_active_flag = 1;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(1000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}
   g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
}
uint8_t i;
uint8_t uwb_tx[300]={0,};
/* USER CODE END 0 */

/**
@@ -408,28 +388,35 @@
  /* 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_TIM2_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
  BarInit();
   Accelerometer_Init();	
   // BarInit();
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
   dwt_entersleep();
//   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//   dwt_entersleep();
//   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
    dwt_setrxtimeout(0);//设定接收超时时间，0位没有
    dwt_rxenable(0);
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
    LIS3DH_Check();
   for(i=0;i<255;i++)
    {
    uwb_tx[i]=i;
    }
   
//   HAL_Delay(2000);
//   mcu_sleep();
@@ -456,7 +443,7 @@
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
      if(g_start_send_flag&&active_flag)
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
      g_start_send_flag = 0;   
   //   GetPressAndTemp();
@@ -467,6 +454,7 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
            chongqi_num=0;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
@@ -891,9 +879,18 @@
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : PB8 */
  GPIO_InitStruct.Pin = GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

@@ -913,7 +910,7 @@
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
   
   LIS3DH_Check();

   
   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
   HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);  
@@ -927,18 +924,52 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime;
extern float motor_ontime,button_delay;
uint32_t tagdisterror_list[TAG_NUM_IN_SYS];
extern uint16_t taglist_num;
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
extern uint16_t tagid_list[TAG_NUM_IN_SYS];
void Up_tagdisterror_list_Poll()
{
    static uint8_t r=0;
    static uint8_t t=0;
    for(r=0;r<taglist_num;r++)
    {
        tagdisterror_list[r]++;
        if(tagdisterror_list[r]>10)
        {
            for(t=r;t<taglist_num;t++)
            {
            tagdist_list[t]=tagdist_list[t+1];
            tagid_list[t]=tagid_list[t+1];
            tagdisterror_list[t]=tagdisterror_list[t+1];
            taglist_num=taglist_num-1;
            }
        }
    }
}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   SystemClock_Config();
   g_start_send_flag=1;
    chongqi_num++;
    if(chongqi_num>20)
    {NVIC_SystemReset();}
//   current_slotnum++;
//   SetNextPollTime(tagslotpos);
    if(button_delay<1)
    button_delay+=1/(float)tag_frequency;
   nomove_count+=1/(float)tag_frequency;
//Up_tagdisterror_list_Poll();
//    memset(tagdist_list,0,taglist_num);
//    memset(tagid_list,0,taglist_num);
//    taglist_num=0;
    TagListUpdate();
     bubble_sort(tagdist_list,taglist_num);
   if(motor_keeptime>0)
   {   
   motor_keeptime-=1/(float)tag_frequency;
        motor_keeptime-=1/(float)tag_frequency;
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
@@ -993,7 +1024,7 @@
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
if(nomove_count>=nomovesleep_time-1&&imu_enable)
   {
      gotosleep_flag=1;
   }else{