From dcbd0e93b5cc05ea9f1e1152c7951a37e12d177f Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 03 六月 2025 15:23:36 +0800
Subject: [PATCH] V1.13版本修改接收时间和帧间隔和延迟接收时间参数，适配铁鞋稳定一对多测距版本
---
keil/include/main/main.c | 113 ++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 92 insertions(+), 21 deletions(-)
diff --git a/keil/include/main/main.c b/keil/include/main/main.c
index 6c11a48..5d0bbf9 100644
--- a/keil/include/main/main.c
+++ b/keil/include/main/main.c
@@ -61,9 +61,14 @@
#define TEST_UART_MODE TEST_UART_DMA_MODE
#define NUM_SAMPLES 1
-#define SLEEP_START_TIME 120
+#define SLEEP_START_TIME 10
+#define FREQ_LOST_TIME 5
+#define NOTAG_FREQ 1
+#define BATTERY_GET_TIME 3600
uint8_t enable_sleep_count,sleep_flag;
-#define DEBUG_MODE
+uint32_t battery_get_count;
+//#define DEBUG_MODE
+uint32_t reboot_num;
struct UART_CFG_T test_uart_cfg =
{
.parity = UART_PARITY_NONE,
@@ -87,7 +92,11 @@
.int_tx = false,
#endif
};
-
+static void app_wdt_callback(void *dev, uint32_t status)
+{
+ ASSERT(status, "WDT TIMEOUT，程序复位");
+ //LOG_INFO(TRACE_MODULE_APP, "程序卡死，看门狗复位");
+}
static uint32_t sample[NUM_SAMPLES] = {0};
static struct ADC_CFG_T usr_adc_cfg = {
.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
@@ -102,22 +111,32 @@
.high_pulse_time = 4,
.settle_time = 1,
};
+ struct WDT_CFG_T app_wdt_cfg = {
+ .timeout = 32768 * 30,
+ .rst_en = true,
+ .int_en = true,
+ .callback = app_wdt_callback,
+ };
-uint8_t state5v = 1;
+uint8_t state5v = 0;
uint8_t bat_percent=0,g_start_send_flag=1;
int16_t fVoltage_mv;
uint8_t bat_percent;
extern uint32_t dev_id;
extern uint8_t group_id;
-uint8_t tag_frequence;
+extern float freqlost_count;
+uint8_t tag_frequency;
void UartDeinit(void);
void UartInit(void);
void Program_Init(void);
void IdleTask(void);
void boot_deinit(void);
+void Get_batterty_Voltage(void);
+void Calculate_battery_percent(void);
+uint8_t sleep_limit_time=1;
static void uart_receive_callback(void *dev, uint32_t err_code)
{
-uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
+uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
void UartInit(void)
{
@@ -131,17 +150,59 @@
uart_close(UART_ID0);
uart_close(UART_ID1);
}
+void Get_batterty_Voltage(void)
+{
+ battery_monitor_open();
+ fVoltage_mv=battery_monitor_get();
+ battery_monitor_close();
+ Calculate_battery_percent();
+}
+void Calculate_battery_percent(void)
+{
+ if(fVoltage_mv < 3000)
+ {
+ bat_percent = 0;
+ }
+ else if(fVoltage_mv > 3500)
+ {
+ bat_percent = 100;
+ }
+ else
+ {
+ bat_percent = ((fVoltage_mv - 3000) /8);
+ }
+ //LOG_INFO(TRACE_MODULE_APP, "The voltage is %d ,percent is %%%d \r\n",fVoltage_mv,bat_percent);
+}
static void sleep_timer_callback(void *dev, uint32_t time)
{
//sleep_timer_start(__MS_TO_32K_CNT(1000));
+ static uint8_t lost_jumpcount=0;
+ reboot_num++;
+ if(reboot_num>=3600)
+ NVIC_SystemReset(); //软复位回到bootloader
enable_sleep_count++;
- if(enable_sleep_count==SLEEP_START_TIME){
-
+
+ if(enable_sleep_count==sleep_limit_time){
enable_sleep_count=0;
sleep_flag=1;
}
- g_start_send_flag=1;
- //LOG_INFO(TRACE_MODULE_APP, "Sleep timer interrupt callback\r\n");
+ if(battery_get_count++>=BATTERY_GET_TIME)
+ {
+ Get_batterty_Voltage();
+ battery_get_count=0;
+ }
+// if(freqlost_count++>FREQ_LOST_TIME)
+// {
+// tag_frequency = NOTAG_FREQ;
+// if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+// {
+// lost_jumpcount = 0;
+// g_start_send_flag=1;
+// }
+// }else{
+// g_start_send_flag=1;
+// }
+ g_start_send_flag=1;
}
static void adc_callback(void *data, uint32_t number)
{
@@ -165,8 +226,9 @@
bat_percent = ((fVoltage_mv - 3300) /8);
}
}
- LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
+ //LOG_INFO(TRACE_MODULE_APP, "The voltage is %%%d \r\n",bat_percent);
}
+
static void voltage_input_handler(enum IO_PIN_T pin)
{
//LOG_INFO(TRACE_MODULE_APP, "中断唤醒\r\n");
@@ -177,22 +239,25 @@
parameter_init();//g_com_map表初始化
group_id=g_com_map[GROUP_ID];
memcpy(&dev_id ,&g_com_map[DEV_ID],2);
-tag_frequence=1000/g_com_map[COM_INTERVAL];
-g_com_map[VERSION] = (1<<8)|7;
+tag_frequency=1000/g_com_map[COM_INTERVAL];
+g_com_map[VERSION] = (1<<8)|13;
LOG_INFO(TRACE_MODULE_APP,"设备ID: %x .\r\n",dev_id);
-LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+LOG_INFO(TRACE_MODULE_APP,"固件版本:UWB-免布线信标 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
}
+uint8_t test1;
void IdleTask(void)
{ UART0_CheckReceive();
+ test1=gpio_pin_get_val(INPUT_5V_Pin);
if(gpio_pin_get_val(INPUT_5V_Pin))
{
-
-
//UART_CheckSend();
// bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
+ sleep_flag=0;
+ sleep_limit_time=30;//新增插入串口后30s不休眠
+ enable_sleep_count=0;//重新插拔可以重置时间
}
}else{
if(state5v==1)
@@ -244,13 +309,14 @@
// Disable watchdog timer
wdt_close(WDT_ID0);
+ wdt_open(WDT_ID0,&app_wdt_cfg);//30s最大上限检测喂狗
//LOG_INFO(TRACE_MODULE_APP, "UWB qiang test example\r\n");
// open system timer
//sys_timer_open();
gpio_open();
- //board_led_init();
+ board_led_init();
//uart_open(UART_ID0, &test_uart_cfg);
@@ -259,12 +325,15 @@
uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
// Initialize low power mode
power_init();
+ Get_batterty_Voltage();//获取当前内部电压
+ //Calculate_battery_percent();
//adc_open(&usr_adc_cfg);
//adc_get(&sample[0], NUM_SAMPLES, adc_callback);//adc采样
// Enable sleep timer
+ Tag_uwb_init();
sleep_timer_open(true, SLEEP_TIMER_MODE_RELOAD, sleep_timer_callback);
//sleep_timer_start(__MS_TO_32K_CNT(g_com_map[COM_INTERVAL]));//测试
- sleep_timer_start(__MS_TO_32K_CNT(500));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT));//测试
//board_5V_input_init(voltage_input_handler);//有修改3.3V会一直高电平导致无法进入休眠
#ifdef BOXING
io_pin_mux_set(IO_PIN_5, IO_FUNC0);//波形测试
@@ -273,18 +342,20 @@
#endif
//Serial0_PutString("进入app测试\r\n");
while (1)
- {
+ {
if(g_start_send_flag)
{
//LOG_INFO(TRACE_MODULE_APP, "测距ing");
-
+ wdt_ping(WDT_ID0);//喂狗
g_start_send_flag = 0;
-
+ gpio_pin_set(LED_PIN);//亮
TagRange();
+ gpio_pin_clr(LED_PIN);//灭
IdleTask();
}else{
IdleTask();
}
+ LoraUp_Poll();
#ifndef DEBUG_MODE
if(sleep_flag){//开始一段时间无休眠
trace_flush();
--
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