From 03c3a1878df2cb6a72fdffa393c9e453f6e1b6ac Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 03 十一月 2023 16:40:00 +0800
Subject: [PATCH] 版本v2.11,修改防撞基站剔除机制。
---
Src/main.c | 183 ++++++++++++++++++++++-----------------------
1 files changed, 91 insertions(+), 92 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index f3c5f37..1f917c9 100644
--- a/Src/main.c
+++ b/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 -----------------------------------------------------------*/
@@ -94,6 +94,7 @@
extern float nomove_count;
float motor_keeptime;
uint8_t imu_enable,motor_enable;
+uint8_t chongqi_num;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -130,61 +131,7 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
-if(g_com_map[MOTOR_ENABLE])
-{
-
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- //motor_state=2;
- 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;
- }
-}
+
bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -288,8 +235,8 @@
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)|67;
-
+ g_com_map[VERSION] = (2<<8)|11;
+// g_com_map[COM_INTERVAL]=200;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
@@ -325,18 +272,19 @@
current_time=GetLPTime();
nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
interval = g_com_map[COM_INTERVAL];
- if(active_flag==0)
- {
- interval=1000;
- imu_enable=1;
- nomovesleep_time = 10;
- motor_enable=0;
- }
+// if(active_flag==0)
+// {
+// interval=1000;
+// imu_enable=1;
+// nomovesleep_time = 10;
+// motor_enable=0;
+// }
tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+ printf("固件版本:SS双路定位标签-防撞基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -363,26 +311,26 @@
void HardWareTypeDiffConfig(void)
{
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
- {
- g_com_map[MOTORBEEPER_INDEX] = 2;
- }
- hardware_type = g_com_map[MOTORBEEPER_INDEX];
- 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);
- break;
- case 2:
- MX_TIM2_Init();
- break;
- }
+// GPIO_InitTypeDef GPIO_InitStruct = {0};
+// if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+// {
+// g_com_map[MOTORBEEPER_INDEX] = 2;
+// }
+// hardware_type = g_com_map[MOTORBEEPER_INDEX];
+// 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);
+// break;
+// case 2:
+// MX_TIM2_Init();
+// break;
+// }
}
void DoubleClickProcess(void)
@@ -407,6 +355,8 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+uint8_t i;
+uint8_t uwb_tx[300]={0,};
/* USER CODE END 0 */
/**
@@ -438,28 +388,35 @@
/* 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_TIM2_Init();
+
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
Accelerometer_Init();
- BarInit();
+ // 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();
+// 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;;
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有
+ dwt_rxenable(0);
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
-
+ for(i=0;i<255;i++)
+ {
+ uwb_tx[i]=i;
+ }
// HAL_Delay(2000);
// mcu_sleep();
@@ -486,7 +443,7 @@
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
- if(g_start_send_flag&&active_flag&&uwb_active_flag)
+ if(g_start_send_flag)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
// GetPressAndTemp();
@@ -497,6 +454,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
+ chongqi_num=0;
__disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
@@ -921,9 +879,18 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : PB8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -958,16 +925,48 @@
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime,button_delay;
+uint32_t tagdisterror_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+void Up_tagdisterror_list_Poll()
+{
+ static uint8_t r=0;
+ static uint8_t t=0;
+ for(r=0;r<taglist_num;r++)
+ {
+ tagdisterror_list[r]++;
+ if(tagdisterror_list[r]>10)
+ {
+ for(t=r;t<taglist_num;t++)
+ {
+ tagdist_list[t]=tagdist_list[t+1];
+ tagid_list[t]=tagid_list[t+1];
+ tagdisterror_list[t]=tagdisterror_list[t+1];
+ taglist_num=taglist_num-1;
+ }
+ }
+ }
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
SystemClock_Config();
g_start_send_flag=1;
+ chongqi_num++;
+ if(chongqi_num>20)
+ {NVIC_SystemReset();}
// current_slotnum++;
// SetNextPollTime(tagslotpos);
if(button_delay<1)
button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
+//Up_tagdisterror_list_Poll();
+// memset(tagdist_list,0,taglist_num);
+// memset(tagid_list,0,taglist_num);
+// taglist_num=0;
+ TagListUpdate();
+ bubble_sort(tagdist_list,taglist_num);
if(motor_keeptime>0)
{
motor_keeptime-=1/(float)tag_frequency;
--
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