1

WXK

2023-09-15 9ff25be6f85a1dc8a04470437d6597399a45d11f

 Src/main.c

@@ -96,7 +96,7 @@
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;
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;   
@@ -142,7 +142,7 @@
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
{
{u16 current_time;
//if(huart1.Instance->ISR&USART_ISR_FE)
//   {
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
@@ -230,7 +230,7 @@
    
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
//          g_com_map[DEV_ID]=4;
          g_com_map[DEV_ID]=0x6777;
    //   g_com_map[COM_INTERVAL]=100;
    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
    //   g_com_map[NOMOVESLEEP_TIME]=10;
@@ -270,7 +270,7 @@
      {module_power=0;}

   current_slotnum=1;
//   current_time=GetLPTime();
   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();
@@ -344,22 +344,7 @@
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
uint16_t irq_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == GPIO_PIN_11)
    {
//        l_bIsVibration = HIDO_TRUE;
//        nomove_time=0;
//        printf("RXD :77777\r\n");
        irq_num++;
        RadioIrqProcess();
    }
//    if(GPIO_Pin == GPIO_PIN_8)
//    {
//     Anchor_App();
//    }
}
extern uint8_t TX_Buffer;
void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
{
if(uwb)
@@ -372,6 +357,7 @@
else
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET); 
}
uint8_t tx_num;
/* USER CODE END 0 */

/**
@@ -418,8 +404,9 @@
    Delay_Ms(10);
//    Uwb_Lora_Switch(0,0);
    //   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();
    DW_DISABLE;
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
@@ -429,15 +416,12 @@
    Lora_Init();
    Delay_Ms(10);
//    Uwb_Lora_Switch(0,0);
    printf("RXD :66666\r\n");
    usart_send[0]=0x55;
    usart_send[1]=0xaa;
//   mcu_sleep();
   //LED0_BLINK;      
//   SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   
  /* USER CODE END 2 */

        HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
@@ -445,16 +429,57 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
Lora_rx_open();
//    HAL_IWDG_Refresh(&hiwdg);
//    IdleTask();	
//   Radio.IrqProcess( ); // Process Radio IRQ
//     Anchor_App();
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;	
      HAL_IWDG_Refresh(&hiwdg);


//        Uwb_Lora_Switch(0,1);
//        HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
        memcpy(&TX_Buffer+3,&tx_num,1);
       Radio.Send( &TX_Buffer, 4);
        tx_num++;
//                delay_ms(10);
//        HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
        delay_ms(9);
//        Uwb_Lora_Switch(1,0);

      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
         LED_TB_OFF;
      }else{
         LED_TR_ON;
         Tag_App();
         LED_TR_OFF;		
      }
//        Uwb_Lora_Switch(0,0);
      //LED0_BLINK;		
      IdleTask();	
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }		 
   }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))            
    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
    #endif
    
    }
// HAL_Delay(100);
    //  Get_Battary();

   //   LIS3DH_Data_Init();	
  }
  /* USER CODE END 3 */
}
@@ -782,7 +807,12 @@
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);

  
  GPIO_InitStruct.Pin = GPIO_PIN_2;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  /*Configure GPIO pin : BAT_MEAS_GND_Pin */
  GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
@@ -834,9 +864,6 @@
  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);

}

/* USER CODE BEGIN 4 */
@@ -867,11 +894,65 @@
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
uint32_t lp_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
    lp_time++;
   static uint8_t i=0,lost_jumpcount=0;
   i++;
	
   current_slotnum++;
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;
    
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
        if(lost_jumpcount++>=0) //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)
    {
        SetNextPollTime(0);
    }else{
        SetNextPollTime(5);
    }
   nomove_count+=1/(float)tag_frequency;
    if(motor_keeptime>0)
   {	
        nomove_count+=1/(float)tag_frequency;
   }
   if(!GET_USERKEY)
   {
      key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
            g_com_map[ACTIVE_INDEX]=!active_flag;
            save_com_map_to_flash();
            MOTOR_ON;
            HAL_Delay(2000);
         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>=nomovesleeptime-1&&imu_enable)
//   {
//      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
//   }
//   if(nomove_count>nomovesleeptime&&imu_enable)
//   {
//      mcu_sleep();
//   }
}
/* USER CODE END 4 */