From 0539458f79f9d12411d4ac71bf7aa2c1f4a32cc0 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 27 十二月 2023 17:12:35 +0800
Subject: [PATCH] 1
---
Src/main.c | 245 ++++++++++++++++++++++++++++++++----------------
1 files changed, 163 insertions(+), 82 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6274914..6590662 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,6 +30,11 @@
#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
@@ -84,6 +89,7 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+uint16_t Anchor_Vcc_time;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -156,10 +162,10 @@
}
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 +174,7 @@
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_OFF;
// }
}
@@ -221,18 +227,21 @@
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)|68;
-
+ g_com_map[VERSION] = (1<<8)|0;
+// g_com_map[DEV_ID]=0x6777;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
-// g_com_map[DEV_ID]=4;
+// g_com_map[DEV_ID]=0x6777;
// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- g_com_map[GROUP_ID]=3;
+// g_com_map[GROUP_ID]=33;
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;
module_power = g_com_map[POWER];
g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
@@ -257,7 +266,7 @@
// g_com_map[COM_INTERVAL]=100;
if(g_com_map[COM_INTERVAL]==0)
{
- g_com_map[COM_INTERVAL]=100;
+ g_com_map[COM_INTERVAL]=1000;
}
if(module_power>67)
{module_power=67;}
@@ -271,7 +280,7 @@
Error_Handler();
}
//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);
+ 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);
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]);
@@ -339,6 +348,55 @@
HAL_ADC_DeInit(&hadc);
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)
+{
+ if(GPIO_Pin == GPIO_PIN_3)
+ {
+ RadioIrqProcess();
+ }
+}
+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();
+
+ }
+}
/* USER CODE END 0 */
/**
@@ -370,18 +428,20 @@
/* 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();
/* USER CODE BEGIN 2 */
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();
@@ -391,10 +451,10 @@
Error_Handler();
}
HAL_Delay(2000);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
+ Lora_Init();
+
+ Delay_Ms(10);
/* USER CODE END 2 */
/* Infinite loop */
@@ -404,22 +464,32 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
+ Send_Anchor_Vcc_Poll();
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
-
-
+
+
+ memcpy(&TX_Buffer+3,&tx_num,1);
+// printf("Lora发送%d",tx_num);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
+ poll_startcount=HAL_LPTIM_ReadCounter(&hlptim1);
+ poll_startcount=poll_startcount+557;//557代表17ms
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ Radio.Send( &TX_Buffer, 4);
+
+ tx_num++;
+ delay_ms(3);
+
+
if(bat_percent>15)
- { LED_TB_ON;
+ {
+ LED_TB_ON;
Tag_App();
LED_TB_OFF;
}else{
@@ -427,13 +497,14 @@
Tag_App();
LED_TR_OFF;
}
+
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
}
- }else{
+ }else{
IdleTask();
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
@@ -442,6 +513,8 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
@@ -753,11 +826,20 @@
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);
-
+ //////////////////////////////////
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
+ //////////////////////////////////
+ GPIO_InitStruct.Pin = GPIO_PIN_15;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
@@ -791,18 +873,26 @@
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 +901,18 @@
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);
}
@@ -855,61 +948,49 @@
{
static uint8_t i=0,lost_jumpcount=0;
i++;
-
+ Anchor_Vcc_time++;
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(freqlost_count>FREQ_LOST_TIME)
+// {
+// tag_frequency = NOTAG_FREQ;
+// if(lost_jumpcount++>=0) //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)
+
+// nomove_count+=1/(float)tag_frequency;
+// if(motor_keeptime>0)
+// {
+// nomove_count+=1/(float)tag_frequency;
+// }
+// if(!GET_USERKEY)
// {
-// stationary_flag = 1;
+// 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{
-// stationary_flag = 0;
+// key_keeptime=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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