开发完成，版本V1.0

WXK

2024-10-21 f152f0dd5cb4aaf867b8976e357291001bb2eebe

 Src/main.c

@@ -35,11 +35,13 @@
#include "stdio.h"
#include "delay.h"
#include "lora.h"
#include "dps310.h"
#include "dw_mbx_anc.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
#define DEBUG_MODE
//#define DEBUG_MODE

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -90,7 +92,9 @@

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint16_t Anchor_Vcc_time;
#define DIANLIANG_TIME 3600
uint8_t Anchor_Vcc_Flag;
uint16_t Anchor_Vcc_time=DIANLIANG_TIME-2;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -243,7 +247,7 @@
   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] = (3<<8)|0;
   g_com_map[VERSION] = (1<<8)|0;
 //   testprogram();
//    g_com_map[DEV_ID]=0x6777;
    #ifdef DEBUG_MODE
@@ -254,13 +258,13 @@
    //   g_com_map[NOMOVESLEEP_TIME]=10;
    #endif
    g_com_map[ACTIVE_INDEX] = 1;
    g_com_map[GROUP_ID]=5;
    g_com_map[GROUP_ID]=88;
    g_com_map[UWBPOLLTIME_MS_IDX] = 520;
    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {g_com_map[COM_INTERVAL] = 1000;}
    active_flag = g_com_map[ACTIVE_INDEX];
    g_com_map[POWER]=0;
//    g_com_map[POWER]=0;
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
   imu_enable=g_com_map[IMU_ENABLE];
@@ -296,7 +300,7 @@
    Error_Handler();
  }
//g_com_map[NOMOVESLEEP_TIME]=5;
    printf("固件版本: LORA免布线基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    printf("固件版本: LORA免布线基站-工装测试 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
//   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]);
@@ -306,13 +310,6 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
//  /* Set transmission flag: trasfer complete*/
//  waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
//	

//}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
@@ -356,18 +353,6 @@
    HAL_ADCEx_DisableVREFINT();
}
extern uint8_t TX_Buffer;
void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
{
if(uwb)
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);    

if(lora)
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET); 
}
uint8_t tx_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
@@ -376,35 +361,150 @@
        RadioIrqProcess();
    }
}
extern uint16_t AD_value[500];
    u16 poll_startcount;
u16 Anchor_Vcc_time1;
uint8_t TX_Anchor_Vcc[100]={0x55,0xAA,0x14,20,0,0/*标签id*/,0,0/*基站ID*/,0/*保留*/,};
extern float bat_volt;
void Send_Anchor_Vcc_Poll()
{
    uint8_t vcc_send;
  if(Anchor_Vcc_time>=3600)
  {     
      Lora470_Init();
      SX126xSetRfTxPower( 22 );//切换大发射功率
      g_start_send_flag=0;
      Anchor_Vcc_time=0;
      memcpy(&TX_Anchor_Vcc[6],&g_com_map[DEV_ID],2);
      memcpy(&TX_Anchor_Vcc[9],&g_com_map[VERSION],2);
      vcc_send=(bat_volt-2.8)*100;
      memcpy(&TX_Anchor_Vcc[11],&vcc_send,1);
      memcpy(&TX_Anchor_Vcc[12],&g_com_map[POWER],1);
      memcpy(&TX_Anchor_Vcc[13],&g_com_map[GROUP_ID],2);
      memcpy(&TX_Anchor_Vcc[15],&g_com_map[DIST_OFFSET],2);
//      memcpy(&TX_Anchor_Vcc[18],&g_com_map[DIST_OFFSET],2);
      Radio.Send( TX_Anchor_Vcc, 2+20);
      SX126xSetRfTxPower( 22 );//切换回小发射功率；
      
      Lora_Init();
      
  }
}
u8 flag_entersleep = 1;
uint32_t status_reg111 = 0;
void Get_Dianliang_Poll()
{
   if(Anchor_Vcc_Flag)
   {
       Anchor_Vcc_Flag=0;
       bat_percent=Get_VDDVlotage();
    UWB_Wkup(); 
Delay_Ms(50);       
    dwt_setrxtimeout(0);////设定接收超时时间，0位没有超时时间
    dwt_rxenable(0);//打开接收
       while(1)
       {
       while (!((status_reg111 = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
       {
       bat_percent=Get_VDDVlotage();}
       if (status_reg111 & SYS_STATUS_RXFCG)//如果成功接收
       {
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
        dwt_setrxtimeout(0);////设定接收超时时间，0位没有超时时间
        dwt_rxenable(0);//打开接收
       }
       else
        {
        dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
        dwt_rxenable(0);	
                                   
        }
         
       }
    
    Delay_Ms(50);
    dwt_forcetrxoff();
    dwt_entersleep();
   }
}
extern dwt_config_t config ;
uint8_t shuzu[3]={0xff,0xff,0xff};
uint8_t datashuju[50];
uint8_t datachangdu;
/*mode:区域   UART_PushFrame(send_frame, data_length+9);   */
void uartsend(uint8_t quyu,uint16_t data)
{
    if(quyu==4)
    {
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t4.txt=\"%d\"",data);
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    }      
    if(quyu==5)
    {
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t5.txt=\"YES\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    }
    if(quyu==6)
    {
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t6.txt=\"%d\"",data);
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    }
    if(quyu==7)
    {
//    memset(datashuju,0,sizeof(datashuju));    
//    USART_puts(shuzu, 3);//开始结束都要发
//    datachangdu=sprintf(datashuju,"t7.txt=\"%f\"",data);
//    USART_puts(datashuju, datachangdu);       
//    USART_puts(shuzu, 3);   
    }    
    if(quyu==8)
    {
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t8.txt=\"%d\"",data);
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    }
}
void Lcd_Rest()
{
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t0.bco=63488");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t1.bco=63488");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t2.bco=63488");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t3.bco=63488");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t4.txt=\"0\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t5.txt=\"0\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t6.txt=\"0\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t7.txt=\"0\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);   
    
//    memset(datashuju,0,sizeof(datashuju));    
//    USART_puts(shuzu, 3);//开始结束都要发
//    datachangdu=sprintf(datashuju,"t8.txt=\"power\"");
//    USART_puts(datashuju, datachangdu);       
//    USART_puts(shuzu, 3);   
}
uint8_t ceshimode;
/* USER CODE END 0 */

/**
@@ -440,12 +540,54 @@
  MX_LPTIM1_Init();
  MX_SPI1_Init();
  MX_USART1_UART_Init();
//  MX_IWDG_Init();
  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
    LED_LG_ON;
    Program_Init();
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
    Error_Handler();
    }
    Lcd_Rest();
    //   LIS3DH_Data_Init();   
    //    Uwb_Lora_Switch(1,0);
//    if(g_com_map[NEARBASE_ID10]==0)
//    {
        memset(datashuju,0,sizeof(datashuju));    
        USART_puts(shuzu, 3);//开始结束都要发
        datachangdu=sprintf(datashuju,"t8.txt=\"功率\"");
        USART_puts(datashuju, datachangdu);       
        USART_puts(shuzu, 3);   
        
        Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
        Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式
        dwt_initialise(DWT_LOADUCODE);//初始化DW1000
        dwt_configure(&config);//配置DW1000
        dwt_setrxantennadelay(32899);      //设置接收天线延迟
        dwt_settxantennadelay(0);      //设置发射天线延迟  
        Dw1000_App_Init();
        Delay_Ms(10);
        dwt_configcontinuousframemode(124800);
        dwt_writetxfctrl(13, 0);
        //   dwt_starttx(DWT_START_TX_IMMEDIATE);
        while(1)
        {		
            IdleTask();	
//            ceshimode=1;
            if(ceshimode)
            {
             break;
            }
        }
//    }
//    else
//    {
    memset(datashuju,0,sizeof(datashuju));    
    USART_puts(shuzu, 3);//开始结束都要发
    datachangdu=sprintf(datashuju,"t8.txt=\"测试\"");
    USART_puts(datashuju, datachangdu);       
    USART_puts(shuzu, 3);       
        
    Dw1000_Init();
    Dw1000_App_Init();
    Delay_Ms(10);
@@ -454,25 +596,17 @@
    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();
    }
    HAL_Delay(1500);
    Lora_Init();
    MbxInit();
  //  SwitchLoraSettingstest(UWB_CHANNEL_FRQ,UWB_CHANNEL_SF);
    Delay_Ms(10);
    
#ifdef _USE_BAR_
    BarInit();
#endif
//     HAL_ADC_Start_DMA(&hadc,(uint32_t*)&AD_value,sizeof(AD_value));
  /* USER CODE END 2 */
//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
//HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);
//        Delay_Ms(10);
//        Delay_Ms(10);
//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
//HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_RESET);    
//        Delay_Ms(10);
//        Delay_Ms(10);

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
@@ -481,11 +615,11 @@

    /* USER CODE BEGIN 3 */
    //  Send_Anchor_Vcc_Poll();
    if(g_start_send_flag&&g_com_map[ACTIVE_INDEX])
   { 
    if(g_start_send_flag/*&&g_com_map[ACTIVE_INDEX]*/)
   {
      SystemClock_Config();
      g_start_send_flag = 0;   
//      HAL_IWDG_Refresh(&hiwdg);
      HAL_IWDG_Refresh(&hiwdg);
      if(bat_percent>15)
      {   
          LED_TB_ON;
@@ -515,16 +649,17 @@
     }
//         if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))            
//                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
    #ifndef DEBUG_MODE	
//    #ifndef DEBUG_MODE	
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&flag_entersleep)            
                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
    #endif
//    #endif
    }
// HAL_Delay(100);
    //  Get_Battary();

   //   LIS3DH_Data_Init();   
  }
//  }
  /* USER CODE END 3 */
}

@@ -935,12 +1070,28 @@
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
extern uint16_t verfint_cal;
extern float bat_volt;
extern u16 rec_nearbaseid,temp_index,adc_val1,adc_val_min;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   i++;
    
   Anchor_Vcc_time++;
    if(Anchor_Vcc_time>2)
    {
//    Anchor_Vcc_Flag=1;
//        Anchor_Vcc_time=0;
        Anchor_Vcc_time=0;
              READC_Init();
        verfint_cal = *(__IO uint16_t *)(0X1FF80078);  
        adc_val1 = Get_ADC_Value();        
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
        Anchor_Vcc_Flag=0;
        MX_ADC_DeInit();
        bat_volt = 3*(float)verfint_cal/adc_val1-0.28;
        
    }
   current_slotnum++;
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;