From 027bc1bbfe61d1c28617340b7886586c38ac4eec Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 07 十一月 2023 09:17:58 +0800
Subject: [PATCH] lora免布线标签5hz版本 没有调试好 先提交 目前不用
---
Src/main.c | 311 +++++++++++++++++++++++++++++----------------------
1 files changed, 174 insertions(+), 137 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6274914..602e100 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,10 +30,15 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
+#include "user.h"
+#include "sx126x-board.h"
+#include "string.h"
+#include "stdio.h"
+#include "delay.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 -----------------------------------------------------------*/
@@ -91,10 +96,15 @@
extern u8 motor_state;
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
-uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;
+uint32_t lp_time;
+extern uint32_t lora_txtime_old;
+uint8_t lora_tx_flag;
+extern uint16_t Lora_tx_ancid[50];
+extern uint16_t Lora_tx_ancdist[50];
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -137,7 +147,7 @@
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
-{u16 current_time;
+{
//if(huart1.Instance->ISR&USART_ISR_FE)
// {
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -156,10 +166,10 @@
}
if(bat_percent>99)
{
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_ON;
}else{
- LED_LR_ON;
+// LED_LR_ON;
LED_LG_OFF;
}
}else{
@@ -168,7 +178,7 @@
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_OFF;
// }
}
@@ -222,7 +232,7 @@
hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
//deca_sleep(1000);
g_com_map[VERSION] = (1<<8)|68;
-
+// g_com_map[DEV_ID]=1158;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
// g_com_map[DEV_ID]=4;
@@ -231,7 +241,7 @@
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
g_com_map[GROUP_ID]=3;
- g_com_map[COM_INTERVAL] = 1000;
+ g_com_map[COM_INTERVAL] = 200;
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
g_com_map[IMU_ENABLE] = 0;
@@ -255,21 +265,23 @@
}
// g_com_map[COM_INTERVAL]=100;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
+// if(g_com_map[COM_INTERVAL]==0)
+// {
+// g_com_map[COM_INTERVAL]=100;
+// }
if(module_power>67)
{module_power=67;}
if(module_power<0)
{module_power=0;}
current_slotnum=1;
- current_time=GetLPTime();
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
- {
- Error_Handler();
- }
+// current_time=GetLPTime();
+// g_com_map[COM_INTERVAL]=200;
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, (float)(32768/1000)*g_com_map[COM_INTERVAL]) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+// {
+// Error_Handler();
+// }
+ HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT,32767);
//g_com_map[NOMOVESLEEP_TIME]=5;
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);
@@ -339,6 +351,74 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+uint16_t irq_num;
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin == GPIO_PIN_3)
+ {
+ SystemClock_Config();
+// l_bIsVibration = HIDO_TRUE;
+// nomove_time=0;
+// printf("RXD :77777\r\n");
+ irq_num++;
+ RadioIrqProcess();
+ }
+// if(GPIO_Pin == GPIO_PIN_8)
+// {
+// Anchor_App();
+// }
+}
+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);
+}
+extern void Lora_tx_zubao( void );
+extern void Lora_tx_mode( void );
+extern uint8_t Lora_tx_ancnum;
+extern u8 lora_seq_nb2;
+extern uint16_t lora_yingda_num;
+uint16_t Lora_Txcount;
+uint16_t Old_Lora_Txcount;
+void Lora_Tx_Poll()
+{
+ if(lora_tx_flag)
+ {
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
+ lora_tx_flag=0;
+ LED_TB_ON;
+ lora_seq_nb2++;
+ Lora_tx_zubao();
+ Lora_tx_mode();
+ Radio.Send( usart_send, 12+Lora_tx_ancnum*4);
+ Lora_tx_ancnum=0;
+ memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
+ memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
+ }
+
+
+// Lora_Txcount=HAL_LPTIM_ReadCounter(&hlptim1);
+//
+// if(Lora_Txcount-Old_Lora_Txcount>=6554)
+// {
+// Old_Lora_Txcount=Lora_Txcount;
+// LED_TB_ON;
+// lora_seq_nb2++;
+// Lora_tx_zubao();
+// Lora_tx_mode();
+// Radio.Send( usart_send, 12+Lora_tx_ancnum*4);
+// Lora_tx_ancnum=0;
+// memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
+// memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
+// }
+}
/* USER CODE END 0 */
/**
@@ -370,31 +450,42 @@
/* 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();
-
- MX_IWDG_Init();
+
+// MX_IWDG_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
+// LED_LG_ON;
Program_Init();
// LIS3DH_Data_Init();
+// Uwb_Lora_Switch(1,0);
Dw1000_Init();
Dw1000_App_Init();
+ Delay_Ms(10);
+// Uwb_Lora_Switch(0,0);
// HardWareTypeDiffConfig();
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(2000);
+ Delay_Ms(2);
+// Uwb_Lora_Switch(0,1);
+ Lora_Init();
+// Radio.Sleep( );
+ Delay_Ms(10);
+// Uwb_Lora_Switch(0,0);
+ printf("RXD :66666\r\n");
+ usart_send[0]=0x55;
+ usart_send[1]=0xaa;
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -404,53 +495,19 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
- SystemClock_Config();
- g_start_send_flag = 0;
- HAL_IWDG_Refresh(&hiwdg);
-// if(current_count>slot_startcount&¤t_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;s
-
-
- if(bat_percent>15)
- { LED_TB_ON;
- Tag_App();
- LED_TB_OFF;
- }else{
- LED_TR_ON;
- Tag_App();
- LED_TR_OFF;
- }
- //LED0_BLINK;
- IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- }else{
- IdleTask();
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
- if(memcmp(g_com_map2,g_com_map,200)!=0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
+Lora_rx_open();
+
+ Lora_Tx_Poll();
+ HAL_IWDG_Refresh(&hiwdg);
+ IdleTask();
+// Radio.IrqProcess( ); // Process Radio IRQ
+// Anchor_App();
+
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
- }
-// HAL_Delay(100);
- // Get_Battary();
-
- // LIS3DH_Data_Init();
+
}
/* USER CODE END 3 */
}
@@ -753,7 +810,8 @@
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
@@ -791,18 +849,26 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : RADIO_BUSY_Pin */
+ GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : PB10 LED1_G_Pin LED1_R_Pin RADIO_nRESET_Pin
+ RADIO_NSS_Pin PB7 PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7|PWR_CTL_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);
+
/*Configure GPIO pin : INPUT_5V_Pin */
GPIO_InitStruct.Pin = INPUT_5V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pins : LED1_G_Pin LED1_R_Pin LED2_R_Pin PWR_CTL_Pin */
- GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|LED2_R_Pin|PWR_CTL_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);
/*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
@@ -811,15 +877,18 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : RADIO_DIO1_Pin */
+ GPIO_InitStruct.Pin = RADIO_DIO1_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RADIO_DIO1_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
@@ -851,65 +920,33 @@
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
+extern uint8_t lora_yingda_flag;
+uint8_t lora_yingdatime;
+extern uint8_t lora_chongfuyingda_flag;
+uint8_t no_data_chongqi_num;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0,lost_jumpcount=0;
- i++;
-
- current_slotnum++;
- freqlost_count+=1/(float)tag_frequency;
- range_lost_time +=1/(float)tag_frequency;
-
- 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;
- }
- 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)
- {
- nomove_count+=1/(float)tag_frequency;
- }
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- g_com_map[ACTIVE_INDEX]=!active_flag;
- save_com_map_to_flash();
- MOTOR_ON;
- HAL_Delay(2000);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }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();
-// }
+ SystemClock_Config();
+ lp_time++;
+ no_data_chongqi_num++;
+ lora_tx_flag=1;
+ Lora_Txcount=HAL_LPTIM_ReadCounter(&hlptim1);
+ Lora_Txcount=Lora_Txcount+32768/10*2;
+ if(Lora_Txcount>32768)
+ {Lora_Txcount=Lora_Txcount-32768;}
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, Lora_Txcount);
+// if( no_data_chongqi_num>60)
+// {NVIC_SystemReset();}
+// if(lora_yingda_flag)
+// {
+// lora_yingdatime++;
+// if(lora_yingdatime>=2)
+// {lora_yingdatime=0;
+// lora_yingda_flag=0;
+// Lora_tx_mode();
+// Radio.Send( usart_send, 2);
+// }
+// }
}
/* USER CODE END 4 */
--
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