v2.8

yincheng.zhong

2023-05-19 cf92a2fedf94d889b1a39e8557221149ea554a3c

 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 -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}   
void UsartInit(void)
{
   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
//   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))
@@ -109,9 +109,34 @@
    Error_Handler();
   }
}
void LP_delayms(u16 time)
{
    u16 startcount = HAL_LPTIM_ReadCounter(&hlptim1);
    u16 endcount = startcount+time*33;
    if(endcount>LPTIMER_1S_COUNT)
        endcount-=LPTIMER_1S_COUNT;
    while(HAL_LPTIM_ReadCounter(&hlptim1)<endcount ||HAL_LPTIM_ReadCounter(&hlptim1)>endcount+LPTIMER_1S_COUNT/2);
    
}
void JianXieMotorProcess(void)
{
    MOTOR_ON;
    LP_delayms(120);
    MOTOR_OFF;
    LP_delayms(110);
        MOTOR_ON;
    LP_delayms(120);
    MOTOR_OFF;
    LP_delayms(110);
        MOTOR_ON;
    LP_delayms(120);
    MOTOR_OFF;
    LP_delayms(110);
}
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
uint8_t state5v;
float motor5s_timer=1000;
uint8_t state5v,motorskip_flag;
void IdleTask(void)
{
   
@@ -130,59 +155,92 @@
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
    //motor_state = 1;
if(g_com_map[MOTOR_ENABLE])
{
    
      if(motor_keeptime>0)
      {
         motor_state = 2;
      }else{
         motor_state = 0;
      }
   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;	
   }
    static u8 motor5s_state = 0,outside_count=0;
    if(motorskip_flag==0)
    {
        if(motor_state==2)
        { 
            outside_count =0;
            if(motor5s_state)
            {
                if(motor5s_timer>4)
                {
                    motor5s_timer = 0;
                    motor5s_state = 0;
                    JianXieMotorProcess();
                }
            }else{           
                if(motor5s_timer>300)
                {
                    motor5s_timer = 0;
                    motor5s_state = 1;
                    JianXieMotorProcess();
                } 
            }
        }else{
            if(outside_count++>3)
            {
                motor5s_state = 1;
                motor5s_timer = 0;  
            }                
        }
    }else{
        if(motor5s_timer>7200)  //2个小时 7200
        {
           motorskip_flag = 0;
           motor5s_timer = 1000; 
           motor5s_state = 0;
           JianXieMotorProcess();
        }
    }
//   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))
@@ -193,7 +251,7 @@
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      if(bat_percent>90)
      {
         LED_LR_OFF;
         LED_LG_ON;
@@ -207,31 +265,7 @@
      LED_LG_OFF;
//   }
}
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      uint16_t tmp = 0xAAAA;
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 128);
   if(result)
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("进入升级模式\r\n");
   g_com_map[CNT_UPDATE]=0;
   save_com_map_to_flash();
   delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   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;
@@ -253,40 +287,9 @@
#define FIXSLOTPOS  4
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS; 
int32_t lpcount,lptime,target_time;
extern u16 tagslotpos;
void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{

#ifdef FIXSLOT
   fix_slotpos =FIXSLOTPOS;
   fix_slotpos = g_com_map[ALARM_DISTANCE2];
   slotpos = fix_slotpos;
   tagslotpos = fix_slotpos;
#endif

   while(current_slotnum>=tag_frequency)
   {   current_slotnum-=tag_frequency;}
   slotpos_intoatl = current_slotnum*bigslot_num+slotpos;

   if(current_slotnum==19)
   {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
   target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
	
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus+1200;
      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 ErrorConfig_Handler(void)
{
      if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
@@ -311,13 +314,14 @@
   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] = 0x021e;
   g_com_map[VERSION] = (2<<8)|8;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
   g_com_map[COM_INTERVAL]=100;
//   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;
@@ -325,15 +329,16 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
//   g_com_map[IMU_ENABLE]=0;
//    g_com_map[COM_INTERVAL]=1000;
//    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[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];
//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];
@@ -341,12 +346,12 @@
   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;
      slottime = 5;
   slottime = 5;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   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];
    tag_frequency = 1;
   bigslot_num = TOTAL_SLOTNUM/tag_frequency;
   current_slotnum=1;
   current_time=GetLPTime();
@@ -359,7 +364,7 @@
//   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]);
   

    printf("固件版本:标签-定位防撞-青岛 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

@@ -380,24 +385,24 @@

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 2;
   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   = 1;//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);
        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();
            BarInit();
         break;
      }
}
@@ -436,7 +441,7 @@
  /* 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();
@@ -444,20 +449,21 @@
  /* 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();
   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
//   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;      
@@ -472,14 +478,17 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//            while(1)
//      {
//      MODBUS_Poll();
//      }
if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
         {	
#ifndef DEBUG_MODE	
            if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
        static u8 uwbcount =0;
   //   GetPressAndTemp();
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//      {
@@ -488,6 +497,7 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -497,21 +507,15 @@
         Tag_App();
         LED_TR_OFF;      
      }
    
         __enable_irq();
      //LED0_BLINK;      
      IdleTask();   
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
         {	
#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();   
   }
@@ -886,11 +890,11 @@
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : USER_KEY_Pin */
  GPIO_InitStruct.Pin = USER_KEY_Pin;
  /*Configure GPIO pins : USER_KEY_Pin PB14 */
  GPIO_InitStruct.Pin = USER_KEY_Pin|GPIO_PIN_14;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
@@ -922,6 +926,9 @@
  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 */
@@ -940,6 +947,8 @@
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
   

	
   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
   HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);  
  /*Clear all related wakeup flags*/
@@ -949,22 +958,50 @@
  /*Enter the Standby mode*/
  HAL_PWR_EnterSTANDBYMode();   
}
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;

extern u16 tagslotpos,current_slotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag,current_sync_sec,tagpoll_sync_sec,flag_tagnewpos,userkey_state;
float key_keeptime;
extern float motor_ontime;
extern  uint16_t rec_tagperiod;
void GetRandomPos(void)
{
    current_slotpos = HAL_LPTIM_ReadCounter(&hlptim1)%max_slotpos;  //如果丢失连接超过5次就随机换个时间片
    tagpoll_sync_sec = current_slotpos/200;
    tagslotpos = current_slotpos%200;
    flag_tagnewpos = 0;
}
float lptimedelay=0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   i++;
      
   g_start_send_flag=1;
   current_slotnum++;
   SetNextPollTime(tagslotpos);
   nomove_count+=1/(float)tag_frequency;
   SystemClock_Config();
    if(tag_frequency>1)
    {	
        g_start_send_flag=1;
        lptimedelay = 1/(float)tag_frequency;
    }else{
        lptimedelay = 1;
        tag_frequency = 1;
       if(current_slotpos>=max_slotpos)
       {
        GetRandomPos();
       }
        if(current_sync_sec==tagpoll_sync_sec)
        {
            g_start_send_flag=1;
        }
        current_sync_sec++;
        if(current_sync_sec>=(rec_tagperiod)/10||current_sync_sec>10)
        {
            current_sync_sec=0;
        } 
    }
    motor5s_timer+=lptimedelay;
   nomove_count+=lptimedelay;
   if(motor_keeptime>0)
   {   
   motor_keeptime-=1/(float)tag_frequency;
        motor_keeptime-=lptimedelay;
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
@@ -973,7 +1010,7 @@
   if(!GET_USERKEY)
   {
      LED_LG_ON;
         key_keeptime+=1/(float)tag_frequency;
         key_keeptime+=lptimedelay;
      if(key_keeptime>3)
      {
         u8 i=250,keystate=1;
@@ -1003,13 +1040,19 @@
      
   }

   if(!GET_USERKEY)
   if(!GET_USERKEY||!HAL_GPIO_ReadPin(USER_KEY_GPIO_Port,GPIO_PIN_14))
   {
      key_keeptime+=1/(float)tag_frequency;
      key_keeptime+=lptimedelay;
        if(key_keeptime>=3)
      {
            JianXieMotorProcess();
         userkey_state = 1; 
      }
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
      }
        
   }else{
      key_keeptime=0;
   }