V1.21 更改SFD模式

zhyinch

2021-04-19 8f55070fefc9edde12a09fe00e2e8d512e8ddd34

 Src/main.c

@@ -28,6 +28,8 @@
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
//#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -38,7 +40,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
#define Period               (uint32_t) 32768
#define Period               (uint32_t) 32768 - 1
#define Timeout              (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */

@@ -77,25 +79,101 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t dev_id;
extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1];

void IdleTask(void)
uint8_t aRxBuffer[1],group_id;
uint8_t bat_percent=0,g_start_send_flag;
extern u8 motor_state;
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;	
u16 GetLPTime(void)
{
   g_start_sync_flag=0;
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}	
void UsartInit(void)
{
   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
    MX_DMA_Init();
   MX_USART1_UART_Init();
 if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
}
uint8_t state5v;
void IdleTask(void)
{u16 current_time;
	
         UART_CheckReceive();
      UART_CheckSend();
	
   if(huart1.Instance->ISR&USART_ISR_ORE)

if(huart1.Instance->ISR&USART_ISR_FE)
   {
   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }
if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
   }	
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
//   LED_TR_ON;
//   LED_TB_OFF;
//}else{
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
//      if(g_com_map[MOTOR_ONTIME]>0)
//   {
//      g_com_map[MOTOR_ONTIME]--;
//      motor_state = 1;
//   }
if(motor_enable)
{
   LED_LR_ON;
   switch(motor_state)
      {case 0:
         MOTOR_OFF;
         break;
      case 1:
         if(current_time<WARNING_MOTORONTIME)
         {
            MOTOR_ON;		
         }else{
            MOTOR_OFF;	
         }	
				
         break;
      case 2:
         MOTOR_ON;	
         break;
      case 3:
         MOTOR_OFF;
         break;	
   }
}else{
   LED_LR_OFF;
   MOTOR_OFF; 
}
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
      if(state5v==0)
      {
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      {
         LED_LR_OFF;
         LED_LG_ON;
      }else{
         LED_LR_ON;
         LED_LG_OFF;		
      }		
   }else{
      state5v=0;
      LED_LR_OFF;
      LED_LG_OFF;
//   }
}
   if(g_com_map[CNT_UPDATE]==1)
   {
@@ -114,12 +192,53 @@
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }
         if(g_com_map[CNT_REBOOT]==1)
      {
         g_com_map[CNT_REBOOT]=0;
         g_com_map[MAP_SIGN_INDEX]=0;
         save_com_map_to_flash();
         delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
         if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }

uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency;

u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;

   if(current_slotnum>=total_slotnum)
      current_slotnum-=total_slotnum;
	
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
   {
   lpcount+=LPTIMER_1S_COUNT;
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -127,31 +246,42 @@
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   g_com_map[VERSION] = 0x0107;
   g_com_map[VERSION] = 0x0115;
#ifdef DEBUG_MODE
   g_com_map[DEV_ROLE]=1;
      g_com_map[DEV_ID]=1;
   g_com_map[COM_INTERVAL]=1000;
   g_com_map[MAX_REPORT_ANC_NUM]=1;
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
   g_com_map[COM_INTERVAL]=100;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
   g_com_map[NOMOVESLEEP_TIME]=10;
#endif
		
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(module_power>67)
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
   module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
   
	
	
   group_id=g_com_map[GROUP_ID];
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
	
   slot_startcount=(float)(tyncpoll_time+10)*1000/LPTIMER_LSB;
   lastpoll_count=slot_startcount;
   interval_count=(float)g_com_map[COM_INTERVAL]*1000/LPTIMER_LSB;
   slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
   lastpoll_time=tyncpoll_time;
  tag_frequency = 1000/g_com_map[COM_INTERVAL];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
   current_slotnum=1;
   current_time=GetLPTime();
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }

//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]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
@@ -170,20 +300,17 @@
  /* Enable the fast wake up from Ultra low power mode */
  HAL_PWREx_EnableFastWakeUp();
}
void mcu_sleep(void);
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
uint8_t bat_percent=0;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
{
  /* Set transmission flag: trasfer complete*/
  waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
	
      if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
}
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
//  /* Set transmission flag: trasfer complete*/
//  waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
//	

//}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
@@ -207,7 +334,7 @@
  HAL_Init();

  /* USER CODE BEGIN Init */

//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
  /* USER CODE END Init */

  /* Configure the system clock */
@@ -220,11 +347,12 @@
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
   MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  MX_DMA_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();   
   Dw1000_Init();
@@ -232,7 +360,14 @@
   
   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
   dwt_entersleep();
   waitusart_timer=1;
   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
//   HAL_Delay(2000);
//   mcu_sleep();
   //LED0_BLINK;      
//   SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   
@@ -249,21 +384,24 @@
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
		
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//      {
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//      }else{
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
		
         bat_percent=Get_Battary();
      if(bat_percent>15)
      {   LED0_ON;
      {   LED_TB_ON;
         Tag_App();
         LED0_OFF;
         LED_TB_OFF;
      }else{
         LED_LR_ON;
         LED_TR_ON;
         Tag_App();
         LED_LR_OFF;		
         LED_TR_OFF;		
      }
      //LED0_BLINK;      
      IdleTask();   
@@ -271,21 +409,19 @@
      {
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
         {   
               HAL_UART_DMAStop(&huart1);
              if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
               {
                  Error_Handler();
               }
         //   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#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();   
   }
   //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   

// HAL_Delay(100);
    //  Get_Battary();

@@ -429,10 +565,10 @@
    Error_Handler();
  }
  /* USER CODE BEGIN LPTIM1_Init 2 */
   if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
  {
    Error_Handler();
  }
//   if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
//  {
//    Error_Handler();
//  }
  /* USER CODE END LPTIM1_Init 2 */

}
@@ -484,7 +620,7 @@
{

  /* USER CODE BEGIN USART1_Init 0 */

 GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */
@@ -499,17 +635,24 @@
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
  huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
  huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */
	
  if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
  {
    Error_Handler();
  }
       GPIO_InitStruct.Pin = GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//  if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
//  {
//    Error_Handler();
//  }
   Usart1InitVariables();
  /* USER CODE END USART1_Init 2 */

@@ -550,10 +693,10 @@
  HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
  HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
@@ -597,12 +740,20 @@
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
  GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
  /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin 
                           PWR_CTL_Pin */
  GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin 
                          |PWR_CTL_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);

  /*Configure GPIO pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
  GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
@@ -648,24 +799,39 @@
  /*Enter the Standby mode*/
  HAL_PWR_EnterSTANDBYMode();   
}
extern float nomove_count;

extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   i++;
   g_start_send_flag=1;
   lastpoll_count+=interval_count;
   if(lastpoll_count>LPTIMER_1S_COUNT-30)
   {
      lastpoll_count = slot_startcount; 
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
	
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME])
   if(!GET_USERKEY)
   {
   //   mcu_sleep();
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
      }
   }else{
      key_keeptime=0;
   }
   if(nomove_count>STATIONARY_TIME)
   {
      stationary_flag = 1;
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
   {
      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
   }
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
   {
      mcu_sleep();
   }
}
/* USER CODE END 4 */