1

WXK

2024-03-24 caa8b8c09c55bdcf027f25d5fbf522f0cebc87b2

 Src/main.c

@@ -100,11 +100,11 @@

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void LedTask(void);
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
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;
@@ -158,9 +158,10 @@
uint8_t state5v = 1;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
uint16_t motor_keeptime;
void IdleTask(void)
{

    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {
        UART_CheckReceive();
@@ -174,11 +175,11 @@
        }
        if(bat_percent>99)
        {
            LED2_TR_OFF;
            LED2_TB_ON;
            LED_TR_OFF;
            LED_TB_ON;
        } else {
            LED2_TR_ON;
            LED2_TB_OFF;
            LED_TR_ON;
            LED_TB_OFF;
        }
    } else {
        if(state5v==1)
@@ -194,44 +195,13 @@
    {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
    }
    if(memcmp(g_com_map2,g_com_map,200)!=0)
     {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
     }

}



/* 返回ch字符在sign数组中的序号 */
int getIndexOfSigns(char ch)
{
    if(ch >= '0' && ch <= '9')
    {
        return ch - '0';
    }
    if(ch >= 'A' && ch <='F')
    {
        return ch - 'A' + 10;
    }
    if(ch >= 'a' && ch <= 'f')
    {
        return ch - 'a' + 10;
    }
    return -1;
}
/* 十六进制数转换为十进制数 */
long hexToDec(char *source)
{
    long sum = 0;
    long t = 1;
    int i, len;

    len = strlen(source);
    for(i=len-1; i>=0; i--)
    {
        sum += t * getIndexOfSigns(*(source + i));
        t *= 16;
    }

    return sum;
}

//u32 Loratx_frequency;
u8 active_flag,nomovesleeptime;
@@ -247,7 +217,7 @@
    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)|3;
    g_com_map[VERSION] = (1<<8)|11;
//    g_com_map[DEV_ID]=1158;
    g_com_map[GROUP_ID]=0;
//    g_com_map[COM_INTERVAL] = 1000;
@@ -255,9 +225,10 @@
    {
        g_com_map[COM_INTERVAL] = 1000;
    }
    g_com_map[STATIONARY_TIME] = 10;
    active_flag = g_com_map[ACTIVE_INDEX];
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
//    g_com_map[IMU_ENABLE] = 0;
    imu_enable=g_com_map[IMU_ENABLE];
    motor_enable=g_com_map[MOTOR_ENABLE];

@@ -443,11 +414,25 @@
}

uint8_t usart5_state,flag_onesecond;
void BeepTask(void)
{
    if(1)//g_com_map[MOTOR_ENABLE])
    {
        if(motor_keeptime>0)
        {
            motor_keeptime--;
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
        }else{
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
        }       
    }
}
void OneSecondTask(void)
{
    if(flag_onesecond==1)
    {
        flag_onesecond = 0;
        BeepTask();
    }
}
/* USER CODE END 0 */
@@ -483,7 +468,7 @@
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
 // MX_DMA_Init();
  MX_DMA_Init();
  MX_IWDG_Init();
  MX_TIM2_Init();
  MX_LPUART1_UART_Init();
@@ -507,7 +492,9 @@
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //开GPS电源
    LoraInit();
#ifdef _USE_BAR
    BarInit();
#endif
//    Delay_Ms(1000);
//    HAL_UART_Transmit(&hlpuart1,Close_RMC,22,1000);
//    HAL_UART_Transmit(&hlpuart1,Close_GSA,22,1000);
@@ -530,10 +517,10 @@
//    HAL_IWDG_Refresh(&hiwdg);
        OneSecondTask();
        IdleTask();

        Lora_Send_Poll();
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif

    }
@@ -868,7 +855,7 @@
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.Pulse = 125;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
@@ -1027,54 +1014,104 @@
    /*Enter the Standby mode*/
    HAL_PWR_EnterSTANDBYMode();
}

extern uint8_t tx_near_msg[80];
float key_keeptime;
extern float freqlost_count,range_lost_time;
extern uint8_t lora_yingda_flag;
extern uint32_t wg_lost_count;
uint8_t lora_yingdatime;
uint8_t lora_yingdatime,gotosleep_flag,sleep_flag;
extern uint8_t lora_chongfuyingda_flag,report_ancnum;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
uint8_t no_yingdatime;
void LedTask(void)
{
    if(report_ancnum>0)
    {
        LED2_TB_ON;
    }
   // if(wg_lost_count<=1)
    {
        LED_TB_ON;
    }
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
        if(bat_percent<15)
        {
            LED_TR_ON;
        }
    
}
uint8_t no_yingdatime,tflag1,tflag2;
extern uint16_t tagdist_list[ANC_MAX_NUM];
extern uint8_t Lora_send_flag;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
    SystemClock_Config();
    LedTask();
    LoraReportPoll();
    flag_onesecond = 1;
       if(!GET_USERKEY)
   {
      key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
      }
   }else{
      key_keeptime=0;
   }
    LED_TB_OFF;
    LED_TR_OFF;
    LED2_TB_OFF;
    LED2_TR_OFF;
    HAL_IWDG_Refresh(&hiwdg);
    if(active_flag==0)  //未激活状态
    {
        if(!GET_USERKEY)
        {
            LED_TB_ON;
            key_keeptime+=1;
            if(key_keeptime>3)
            {
                u8 i=250,keystate=1;
                while(i--)
                {
                    if(i%10==0)
                    {
                        LED_TB_BLINK;
                    }
                    if(GET_USERKEY)
                    {
                        keystate = 0;
                    }
                    if(keystate==0&&!GET_USERKEY)
                    {
                        parameter_init();
                        g_com_map[ACTIVE_INDEX] = 1;
                        save_com_map_to_flash();
                        delay_ms(100);
                        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
                    }
                    delay_ms(10);
                }
            }
        } else {
            //   LED_LG_OFF;
            key_keeptime=0;
        }

    } else {
        if(!sleep_flag)
        {
            flag_onesecond = 1;
            Lora_send_flag=1;
#ifndef DEBUG_MODE
            if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
            {
                if(sleep_flag==0)
                {
                    Radio.Standby();
                    Radio.Sleep();
                    sleep_flag = 1;
                }
            } 
#endif
            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;
            }
        }else{    
            if(nomove_count<g_com_map[NOMOVESLEEP_TIME])
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
            }
        }
    }
    if(!GET_USERKEY)    //长按重启逻辑
    {
        key_keeptime+=1;
        if(key_keeptime>=KEY_KEEPRESET_TIME)
        {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
        }
    } else {
        key_keeptime=0;
    }
}
/* USER CODE END 4 */