V2.1,去掉全部功能，只负责开机，配合urt进入高精度后自动关机的固件使用

WXK

2024-08-22 d53db68d643026fc207af89dfb36f67f331852fe

 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 -----------------------------------------------------------*/
@@ -99,6 +99,7 @@
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}   
extern volatile int32_t m_EUART_DMA_RXPtr;	
void UsartInit(void)
{
//   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
@@ -108,16 +109,41 @@
   {
    Error_Handler();
   }
    m_EUART_DMA_RXPtr = 0;
}
static void MX_DMA_DeInit(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_DISABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
 // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
  HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);

}
void UsartDeInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    waitusart_timer = 0;
    MX_DMA_DeInit();
    HAL_UART_DeInit(&huart1);
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
uint8_t state5v;
uint8_t state5v = 1;
void IdleTask(void)
{
	
         UART_CheckReceive();
   if(state5v)
    {
        UART_CheckReceive();
      UART_CheckSend();

    }
if(huart1.Instance->ISR&USART_ISR_FE)
   {
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
@@ -203,7 +229,11 @@
         LED_LG_OFF;      
      }      
   }else{
      state5v=0;
      if(state5v==1)
        {
            state5v=0;
            UsartDeInit();
        }
      LED_LR_OFF;
      LED_LG_OFF;
//   }
@@ -257,9 +287,9 @@



void ErrorConfig_Handler(void)
void CheckComMap(void)
{
      if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
    if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
   {
     g_com_map[COM_INTERVAL]=100;
   }
@@ -275,6 +305,7 @@
        }
        
}
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
void Program_Init(void)
{   float temp;
@@ -286,7 +317,7 @@
   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] = (2<<8)|58;
   g_com_map[VERSION] = (2<<8)|1;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -302,6 +333,7 @@
//g_com_map[NOMOVESLEEP_TIME]=10;
//   g_com_map[IMU_ENABLE]=0;
//    g_com_map[COM_INTERVAL]=50;
CheckComMap();
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   {   
@@ -314,7 +346,7 @@
   module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
	
   uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
   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;
@@ -378,6 +410,25 @@
         break;
      }
}

void DoubleClickProcess(void)
{ char temp[50];
  uint8_t len;  
if(uwb_active_flag)
{
    uwb_active_flag = 0;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(3000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}else{
    uwb_active_flag = 1;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(1000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}
   g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
@@ -422,12 +473,21 @@
   LED_LG_ON;
   Program_Init();
   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();
 //   BarInit();
  GPIO_InitTypeDef GPIO_InitStruct = {0};
 
  HAL_GPIO_WritePin(DW1000_RSTn_GPIO, DW1000_RSTn, GPIO_PIN_RESET);
	
  GPIO_InitStruct.Pin = DW1000_RSTn;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(DW1000_RSTn_GPIO, &GPIO_InitStruct);
//   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;;
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -461,38 +521,38 @@
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      g_start_send_flag = 0;	
   //   GetPressAndTemp();
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//      {
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//    if(g_start_send_flag&&active_flag)
//   { static uint16_t blink_count=0;
//      g_start_send_flag = 0;	
//   //   GetPressAndTemp();
////      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;
//         __disable_irq();
//      if(bat_percent>15)
//      {   LED_TB_ON;
//         Tag_App();
//         LED_TB_OFF;
//      }else{
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//         LED_TR_ON;
//         Tag_App();
//         LED_TR_OFF;		
//      }
//      LED_TR_BLINK;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
         LED_TB_OFF;
      }else{
         LED_TR_ON;
         Tag_App();
         LED_TR_OFF;		
      }
         __enable_irq();
      //LED0_BLINK;		
      IdleTask();	
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }
			
   }else{
//         __enable_irq();
//      //LED0_BLINK;		
//      IdleTask();	
//      if(waitusart_timer>0)
//      {
//         waitusart_timer--;
//      }
//			
//   }else{
   IdleTask();   
   }
//   }

// HAL_Delay(100);
    //  Get_Battary();
@@ -518,7 +578,7 @@
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
@@ -932,7 +992,8 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime;
extern float motor_ontime,button_delay;
u32 kongzhi_f4_kaiji_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
@@ -940,76 +1001,97 @@
   g_start_send_flag=1;
//   current_slotnum++;
//   SetNextPollTime(tagslotpos);
   nomove_count+=1/(float)tag_frequency;
   if(motor_keeptime>0)
   {	
        motor_keeptime-=1/(float)tag_frequency;
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
   if(active_flag==0)
   {
   if(!GET_USERKEY)
   {
      LED_LG_ON;
         key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>3)
      {
         u8 i=250,keystate=1;
         while(i--)
         {
            if(i%10==0)
            {
            LED_LG_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;
   }
		
   }
//    if(button_delay<1)
    kongzhi_f4_kaiji_time++;
    if(kongzhi_f4_kaiji_time>10800)
    {
    kongzhi_f4_kaiji_time=0;
  HAL_GPIO_WritePin(DW1000_RSTn_GPIO, DW1000_RSTn, GPIO_PIN_SET);
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = DW1000_RSTn;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(DW1000_RSTn_GPIO, &GPIO_InitStruct);
        
    delay_ms(1000);
  
GPIO_InitStruct.Pin = DW1000_RSTn;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;// 设置为输入模式
GPIO_InitStruct.Pull = GPIO_PULLUP;//不使用上拉或下拉
HAL_GPIO_Init(DW1000_RSTn_GPIO,&GPIO_InitStruct); //初始化GPIO   
    }
//    button_delay+=1/(float)tag_frequency;
//   nomove_count+=1/(float)tag_frequency;
//   if(motor_keeptime>0)
//   {	
//        motor_keeptime-=1/(float)tag_frequency;
//   }
//    if(motor_keeptime<0)
//    {motor_keeptime = 0;}
//   if(active_flag==0)
//   {
////   if(!GET_USERKEY)
////   {
////      LED_LG_ON;
////         key_keeptime+=1/(float)tag_frequency;
////      if(key_keeptime>3)
////      {
////         u8 i=250,keystate=1;
////         while(i--)
////         {
////            if(i%10==0)
////            {
////            LED_LG_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;
////   }
//		
//   }

   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;
   }
   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;
   }
#ifndef DEBUG_MODE    
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
   {
      mcu_sleep();
   }
#endif
//   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;
//   }
//   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;
//   }
//#ifndef DEBUG_MODE    
//   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
//   {
//      mcu_sleep();
//   }
//#endif
}
/* USER CODE END 4 */