1.29，开放看门狗

WXK

2024-07-18 a146034365a3ae06d9e4310a40c3857fcf4cc2ff

 Src/main.c

@@ -39,6 +39,7 @@
#include "syn6288.h"
#include "dw_mbx_tag.h"
#include "GPS.h"
#include "lora.h"
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP      (uint32_t)0x08004F00    //硬件版本号和批次信息位置
@@ -86,6 +87,8 @@

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim6;

/* USER CODE BEGIN PV */

/* USER CODE END PV */
@@ -101,12 +104,14 @@
static void MX_SPI1_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART5_UART_Init(void);
static void MX_TIM6_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern uint8_t shengji_flag;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -123,7 +128,7 @@
uint8_t anjian_flag;
uint8_t  stationary_flag;
uint16_t stationary_num;
uint8_t recv_end_time;
uint16_t recv_end_time,ledon_time;
u16 GetLPTime(void)
{
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -205,13 +210,19 @@
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
{
{uint16_t current_lptime = GetLPTime();
    if(current_lptime-ledon_time>100||current_lptime<ledon_time-500)
    {
      //  Set4LEDColor(0,0,0,0);
         Set4LEDColor_Off();
    }
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {  state5v=1;
        LoraInit();
        HAL_UART_DMAStop(&hlpuart1); //  停止DMA传输，防止  
        while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))   
      {
          HAL_IWDG_Refresh(&hiwdg);
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
@@ -243,6 +254,10 @@
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
        if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
         {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
         }

   }

@@ -290,7 +305,8 @@
u8 active_flag,nomovesleeptime;

void Program_Init(void)
{   float temp;
{	
    float temp;
   uint16_t temp2;
   uint16_t i;
   Usart1ParseDataCallback = UsartParseDataHandler;
@@ -299,7 +315,7 @@
   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)|1;
   g_com_map[VERSION] = (1<<8)|29;
//    g_com_map[DEV_ID]=1158;
//    #ifdef DEBUG_MODE
//   // g_com_map[GROUP_ID]=21;
@@ -308,7 +324,7 @@
//    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
//    //   g_com_map[NOMOVESLEEP_TIME]=10;
//    #endif
    g_com_map[GROUP_ID]=1;
    g_com_map[GROUP_ID]=0;
//    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {g_com_map[COM_INTERVAL] = 1000;}
@@ -339,6 +355,10 @@
   {
     g_com_map[COM_INTERVAL]=1000;
   }
        if(g_com_map[LORA_POWER]>22)
    {
        g_com_map[LORA_POWER] = 22;
    }
    if(module_power>67)
      {module_power=67;}
      if(module_power<0)
@@ -419,28 +439,42 @@
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
extern u8 gps_chafenlingqi;
uint16_t irq_num;
u8 lora_irq_flag,lora_working_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == RADIO_DIO1_Pin)
    {
        SystemClock_Config();
        irq_num++;

      //  SystemClock_Config();
     //   irq_num++;
        lora_irq_flag = 1;
        if(shengji_flag)
        RadioIrqProcess();
    }
    if(GPIO_Pin == GPIO_PIN_1)//按键
    {
         SystemClock_Config();
      //   SystemClock_Config();
      anjian_flag=1;
    }
    if(GPIO_Pin == GPIO_PIN_0)//加速度
    {
         SystemClock_Config();
      //   SystemClock_Config();
        if(chongqi_flag==1)
        {
        HAL_NVIC_SystemReset();
        }
      nomove_count = 0;
    }
   if(GPIO_Pin == GPIO_PIN_9)//UWB
    {
     if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
    {
        gps_chafenlingqi++;
        return;
    }
        MbxTagUwbRec();
    }
}
extern void Lora_tx_zubao( void );
@@ -465,17 +499,14 @@
    HAL_UART_Transmit_DMA(&hlpuart1,Close_RMC,100);
    Delay_Ms(150);
}
#define GPS_SIZE 400
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
#define BleRxBufferSize 1
uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
uint8_t ble_rx_success_flag;
uint8_t group_id;
uint8_t fangzhijinrushuimian_flag;
uint8_t GPSchangdu;
uint8_t GPS_GGAdate[400];
uint8_t GPS_GGAdatenum;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) 
{
uint8_t GPS_GGAdate[GPS_SIZE];
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) 
//{
//    {
//        GPS_RecvFsm(GPSRxBuffer[0]);
//        GPS_Recv_Poll(GPSRxBuffer[0]);
@@ -490,11 +521,11 @@
//    }
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    }
}
uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
{
        SystemClock_Config();
//}
//uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
//void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
//{
//        SystemClock_Config();
// HAL_UART_Transmit(&hlpuart1,(uint8_t*)ble_rxdate111,3,1000);
////  huart->RxState = HAL_UART_STATE_BUSY_RX;
//        ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
@@ -506,15 +537,15 @@
//    memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
//    }
//        if(lp_time>3)
      if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))  
    {
     Error_Handler();
    }   
    fangzhijinrushuimian_flag=1;
//      if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))  
//    {
//     Error_Handler();
//    }   
//    fangzhijinrushuimian_flag=1;
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
    
}
//}
extern uint8_t  yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
extern uint8_t xiafayuyin_data[200];
@@ -551,10 +582,14 @@
          }
      }
}
uint8_t only_one_flag;
uint8_t gotosleep_flag;
uint8_t usart5_state,flag_onesecond;
void Jingzhi_Poll(void)
{
    if(only_one_flag==0)
    {
        only_one_flag=1;
          powerled=LEDOFF;
          loraled=LEDOFF;
          gpsled=LEDOFF;
@@ -571,6 +606,7 @@

          Set4LEDColor_Off(); //关led总电源
          chongqi_flag=1;
    }
}
void OneSecondTask(void)
{
@@ -583,32 +619,44 @@
uint8_t GPS_Close_flag=1;
uint8_t debugnum;
uint8_t Lora_send_flag;
extern uint8_t rec_secdelay;
extern u16 uwb_rx_remaintime_ms;
void Lora_Send_Poll(void)
{
        if(Lora_send_flag)
        { 
            debugnum++;
        Lora_send_flag=0;    
            loraled=BLUE;
    
    if(Lora_send_flag&&uwb_rx_remaintime_ms==0)
    { 
        debugnum++;
        Lora_send_flag=0; 
//        if(rec_secdelay>0)
//            {
//                loraled=YELLOW;
//                rec_secdelay--;
//                return;
//            }        
        loraled=BLUE;
        LoraReportPoll();
        flag_onesecond = 1;
        }
    }

}
extern  volatile uint16_t rx_len ;  //接收一帧数据的长度
extern volatile uint8_t recv_end_flag; //一帧数据接收完成标志
void Lpuart_rx_Poll(void)
{
if(recv_end_flag == 1)  //接收完成标志
{
    recv_end_time=0;
GPS_ParseGGA(GPS_GGAdate, rx_len);  
memset(GPS_GGAdate,0,rx_len);
rx_len = 0;//清除计数
recv_end_flag = 0;//清除接收结束标志位
fangzhijinrushuimian_flag=0;
}
HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
    if(recv_end_flag == 1)  //接收完成标志
    {
        uint16_t i;
        recv_end_time=0;
        for(i=0;i<GPS_SIZE;i++)
        {GPS_RecvFsm(GPS_GGAdate[i]);}
    //GPS_ParseGGA(GPS_GGAdate, rx_len);  
        memset(GPS_GGAdate,0,GPS_SIZE);
        rx_len = 0;//清除计数
        recv_end_flag = 0;//清除接收结束标志位
        fangzhijinrushuimian_flag=0;
    }
    HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
}
/* USER CODE END 0 */

@@ -642,19 +690,21 @@
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC_Init();
//  MX_IWDG_Init();
 // MX_IWDG_Init();
  MX_LPTIM1_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_LPUART1_UART_Init();
  MX_USART5_UART_Init();
  MX_TIM6_Init();
  /* USER CODE BEGIN 2 */
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
    delay_ms(10);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
    Program_Init();
    MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
#ifdef _USE_BAR
BarInit();
//BarInit();
#endif 
    Dw1000_Init();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
@@ -680,6 +730,7 @@
    {
     Error_Handler();
    }
    HAL_TIM_Base_Start_IT(&htim6);
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -692,16 +743,26 @@
      if(gotosleep_flag==1)
      {
          Jingzhi_Poll();
//          HAL_IWDG_Refresh(&hiwdg);
          HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
      }
      else
      {
//      HAL_IWDG_Refresh(&hiwdg);
          if(lora_irq_flag)
          {
            lora_irq_flag = 0;
              lora_working_flag = 1;
              RadioIrqProcess();
              lora_working_flag = 0;
          }
      Lpuart_rx_Poll();
      OneSecondTask();
      IdleTask();   
      PowerDownDetect();
      Lora_Send_Poll();
      TTSchaxun_Busy();
      LoraUp_Poll();
//    #ifndef DEBUG_MODE   
//    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))   
//  {      
@@ -1067,6 +1128,44 @@
}

/**
  * @brief TIM6 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM6_Init(void)
{

  /* USER CODE BEGIN TIM6_Init 0 */

  /* USER CODE END TIM6_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM6_Init 1 */

  /* USER CODE END TIM6_Init 1 */
  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 32-1;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 1000-1;
  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM6_Init 2 */

  /* USER CODE END TIM6_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
@@ -1176,18 +1275,18 @@
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PC9 RADIO_DIO1_Pin */
  GPIO_InitStruct.Pin = GPIO_PIN_9|RADIO_DIO1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PA8 PA12 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_12|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : RADIO_DIO1_Pin */
  GPIO_InitStruct.Pin = RADIO_DIO1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(RADIO_DIO1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
@@ -1259,44 +1358,79 @@
    yuyin_no_sleep_flag=0;
    }
}
#define NOGPS_RESET_TIME 300
u8 state_count = 0;
extern u8 lora_jianting_flag,seq_num;
extern u32 wg_lost_count;
extern u16 uwb_rx_remaintime_ms;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
    SystemClock_Config();
    HAL_IWDG_Refresh(&hiwdg);
Set4LEDColor(powerled,loraled,gpsled,uwbled);
Bat_Percent_Poll();
 if(chongqi_flag==0&&shengji_flag==0)
 {
//    SystemClock_Config();
    Set4LEDColor(uwbled,gpsled,loraled,powerled); //代码有BUG需要执行2次，否则电源灯不亮
    Set4LEDColor(uwbled,gpsled,loraled,powerled);
    //Set4LEDColor(powerled,loraled,gpsled,uwbled);
    ledon_time = GetLPTime();
    Bat_Percent_Poll();
    if(state5v==0)
    {
    if(yuyin_no_sleep_flag==0)
    {
    recv_end_time++;
//    if(recv_end_time>3)
//    {HAL_NVIC_SystemReset();}
        if(yuyin_no_sleep_flag==0)
        {
            recv_end_time++;
            if(recv_end_time>NOGPS_RESET_TIME)
            {HAL_NVIC_SystemReset();}
        }
        Yuying_Poll();
        switch(state_count)
        {
            case 0:
                state_count = 1;
           if(lora_jianting_flag)
           {
                uwb_rx_remaintime_ms = 990;
                UWB_RXStart(0);
           }else{
               seq_num--;
               Lora_send_flag=1;
           }
                break;
            case 1:
                if(wg_lost_count>0)
                {
                    seq_num--;
                 Lora_send_flag=1;   
                }
                state_count = 2;               
                break;
            case 2:
                 Lora_send_flag=1;
                state_count = 0;
                break;
            default: 
                state_count = 0;
        }
        if(nomove_count++>g_com_map[STATIONARY_TIME])
        {
            stationary_flag = 1;
        } 
        else 
        {
            stationary_flag = 0;
        }
        if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
        {
            gotosleep_flag=1;
        } else {
            gotosleep_flag=0;
        }
    }
    Yuying_Poll();
    Lora_send_flag=1;
    if(nomove_count++>g_com_map[STATIONARY_TIME])
    {
        stationary_flag = 1;
    } 
    else 
    {
    stationary_flag = 0;
    }
    if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
    {
        gotosleep_flag=1;
    } else {
        gotosleep_flag=0;
    }
    }
    powerled=LEDOFF;
    loraled=LEDOFF;
    gpsled=LEDOFF;
    uwbled=LEDOFF;
Set4LEDColor_Off();
//delay_ms(10);
//    powerled=LEDOFF;
//    loraled=LEDOFF;
//    gpsled=LEDOFF;
//    uwbled=LEDOFF;
//    Set4LEDColor_Off();
 }
}
/* USER CODE END 4 */