From 0017519b68e7c8f47ccc1df3d92eaf07a2b21050 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 26 五月 2023 13:59:19 +0800
Subject: [PATCH] 修改标签测距0bug
---
Src/main.c | 318 +++++++++++++++++++++++-----------------------------
1 files changed, 143 insertions(+), 175 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a247a73..6b735d7 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -33,7 +33,7 @@
#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 -----------------------------------------------------------*/
@@ -75,7 +75,7 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
-static void MX_ADC_Init(void);
+void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
@@ -115,80 +115,17 @@
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
-
- UART_CheckReceive();
- UART_CheckSend();
-
-if(huart1.Instance->ISR&USART_ISR_FE)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
-//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
-//{
-// LED_TR_ON;
-// LED_TB_OFF;
-//}else{
-// LED_TR_OFF;
- current_time=GetLPTime();
- //motor_state=2;
-// if(g_com_map[MOTOR_ONTIME]>0)
+//if(huart1.Instance->ISR&USART_ISR_FE)
// {
-// g_com_map[MOTOR_ONTIME]--;
-// motor_state = 1;
-// }
-if(g_com_map[MOTOR_ENABLE])
-{
-
-
- 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;
- }
-}
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
+
+ UART_CheckReceive();
+ UART_CheckSend();
nomove_count = 0;
- bat_percent=Get_Battary();
+ // bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
@@ -208,41 +145,9 @@
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)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
- 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;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
@@ -250,45 +155,51 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-
+u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
int32_t lpcount,lptime,target_time;
- if(current_slotnum>=total_slotnum)
- current_slotnum-=total_slotnum;
-
- target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus;
- lpcount = lptime/LPTIMER_LSB;
- if(lpcount>LPTIMER_1S_COUNT)
- lpcount-=LPTIMER_1S_COUNT;
- if(lpcount<0)
- {
- lpcount+=LPTIMER_1S_COUNT;
- }
+// if(current_slotnum>=total_slotnum)
+// current_slotnum-=total_slotnum;
+//
+// target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+// //if(target_time<90000)
+// {
+// lptime=target_time-offsettimeus;
+// lpcount = lptime/LPTIMER_LSB;
+// if(lpcount>LPTIMER_1S_COUNT)
+// lpcount-=LPTIMER_1S_COUNT;
+// if(lpcount<0)
+// {
+// lpcount+=LPTIMER_1S_COUNT;
+// }
+ lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
+ while(lpcount>LPTIMER_1S_COUNT)
+ {
+ lpcount-=LPTIMER_1S_COUNT;
+ }
+ last_lpcount = lpcount;
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
+
}
void HardWareTypeDiffConfig(void)
{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
-//hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ //hardware_type=2;
+ if(hardware_type == 0)
+ hardware_type = 1;
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);
+ 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();
@@ -307,9 +218,19 @@
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)|29;
+ g_com_map[VERSION] = (1<<8)|55;
+
+ #ifdef DEBUG_MODE
+ // g_com_map[GROUP_ID]=21;
+// g_com_map[DEV_ID]=4;
+ // g_com_map[COM_INTERVAL]=100;
+ // g_com_map[MAX_REPORT_ANC_NUM]=1;
+ // g_com_map[NOMOVESLEEP_TIME]=10;
+ #endif
+ g_com_map[COM_INTERVAL] = 1000;
active_flag = g_com_map[ACTIVE_INDEX];
- module_power = g_com_map[POWER];
+ module_power = g_com_map[POWER];
+ g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -328,13 +249,8 @@
imu_enable=1;
nomovesleeptime =10;
}
-#ifdef DEBUG_MODE
-// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
-// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
-#endif
+
+ // g_com_map[COM_INTERVAL]=100;
if(g_com_map[COM_INTERVAL]==0)
{
g_com_map[COM_INTERVAL]=100;
@@ -351,11 +267,8 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- 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: 免布线基站 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]);
@@ -390,6 +303,39 @@
* @brief The application entry point.
* @retval int
*/
+uint16_t temp2;
+float dw_vbat,last_vbat;
+uint8_t Get_Battary_UWB(void)
+{
+ static uint8_t first = 1;
+ static float last_value = 100;
+ static uint16_t bat_count = 0;
+ //if(bat_count++%600==0)
+ {
+ temp2=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
+ if(fabs(dw_vbat-dw_vbat)>0.2)
+ {
+ last_vbat = dw_vbat;
+ return last_value;
+ }
+ last_vbat = dw_vbat;
+ if(dw_vbat>=3.0)
+ {
+ if(first)
+ {
+ first = 0;
+ last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
+ }
+ last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
+ if(last_value>100)
+ last_value = 100;
+ if(last_value<0)
+ last_value = 0;
+ }
+ }
+ return last_value;
+}
int main(void)
{
/* USER CODE BEGIN 1 */
@@ -418,25 +364,24 @@
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
- MX_ADC_Init();
+ // MX_ADC_Init();
// MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+// LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
- HardWareTypeDiffConfig();
+// 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))
{
Error_Handler();
}
-// HAL_Delay(2000);
+ HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
@@ -450,7 +395,7 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag&&active_flag)
+ if(g_start_send_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -463,7 +408,7 @@
// }
// LED_TR_BLINK;s
- bat_percent=Get_Battary();
+
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -479,8 +424,12 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
+ if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ {
+ if(memcmp(g_com_map2,g_com_map,200)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
@@ -559,7 +508,12 @@
* @param None
* @retval None
*/
-static void MX_ADC_Init(void)
+void MX_ADC_DeInit(void)
+{
+ HAL_ADC_DeInit(&hadc);
+ HAL_ADCEx_DisableVREFINT();
+}
+void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -596,14 +550,15 @@
}
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_1;
+ sConfig.Channel = ADC_CHANNEL_VREFINT;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
-HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
+ HAL_ADCEx_EnableVREFINT();
+ HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
/* USER CODE END ADC_Init 2 */
}
@@ -926,21 +881,34 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
+extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ freqlost_count+=1/(float)tag_frequency;
+ range_lost_time +=1/(float)tag_frequency;
+
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ tag_frequency = NOTAG_FREQ;
+ }
+ if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
+ {
+ SetNextPollTime(0);
+ }else{
+ SetNextPollTime(5);
+ }
+ nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
}
if(!GET_USERKEY)
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
g_com_map[ACTIVE_INDEX]=!active_flag;
@@ -952,20 +920,20 @@
}else{
key_keeptime=0;
}
- if(nomove_count>STATIONARY_TIME)
- {
- stationary_flag = 1;
- }else{
- stationary_flag = 0;
- }
-if(nomove_count>=nomovesleeptime-1&&imu_enable)
- {
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
- }
- if(nomove_count>nomovesleeptime&&imu_enable)
- {
- mcu_sleep();
- }
+// if(nomove_count>STATIONARY_TIME)
+// {
+// stationary_flag = 1;
+// }else{
+// stationary_flag = 0;
+// }
+//if(nomove_count>=nomovesleeptime-1&&imu_enable)
+// {
+// tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+// }
+// if(nomove_count>nomovesleeptime&&imu_enable)
+// {
+// mcu_sleep();
+// }
}
/* USER CODE END 4 */
--
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