From 15c798731ba5658fc0ecd9e3f47f662861c56b9c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 23 二月 2024 14:40:37 +0800
Subject: [PATCH] 加入lora升级。
---
Src/main.c | 308 ++++++++++++++++++++++++--------------------------
1 files changed, 149 insertions(+), 159 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index c4d7f05..f7c08cc 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -35,6 +34,8 @@
#include "string.h"
#include "stdio.h"
#include "delay.h"
+#include "lora.h"
+#include "dw_mbx_anc.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
@@ -58,7 +59,7 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
IWDG_HandleTypeDef hiwdg;
@@ -77,11 +78,11 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
-static void MX_LPTIM1_Init(void);
-static void MX_USART1_UART_Init(void);
-static void MX_SPI1_Init(void);
-void MX_ADC_Init(void);
+static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_LPTIM1_Init(void);
+static void MX_SPI1_Init(void);
+static void MX_USART1_UART_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
@@ -89,6 +90,7 @@
/* 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;
@@ -100,6 +102,10 @@
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;
+void READC_Init(void)
+{
+MX_ADC_Init();
+}
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -142,7 +148,7 @@
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
@@ -161,10 +167,10 @@
}
if(bat_percent>99)
{
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_ON;
}else{
- LED_LR_ON;
+// LED_LR_ON;
LED_LG_OFF;
}
}else{
@@ -173,7 +179,7 @@
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_OFF;
// }
}
@@ -184,13 +190,25 @@
}
-
+void delay_us(uint32_t nTimer)
+{
+ uint32_t i=0;
+ for(i=0;i<nTimer;i++){
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();
+ }
+}
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
- int32_t lpcount,lptime,target_time;
+ int32_t lpcount;
// if(current_slotnum>=total_slotnum)
// current_slotnum-=total_slotnum;
@@ -215,29 +233,34 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
+
u8 active_flag,nomovesleeptime;
void Program_Init(void)
-{ float temp;
- uint16_t temp2;
- uint16_t i;
+{
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
hardware_version = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
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;
+ // testprogram();
+// g_com_map[DEV_ID]=0x6777;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
- g_com_map[DEV_ID]=0x6777;
+// 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[ACTIVE_INDEX] = 1;
+ g_com_map[GROUP_ID]=5;
+ g_com_map[UWBPOLLTIME_MS_IDX] = 100;
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];
@@ -255,19 +278,16 @@
nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
if(active_flag==0)
{
- imu_enable=1;
- nomovesleeptime =10;
+
}
// 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;}
- if(module_power<0)
- {module_power=0;}
current_slotnum=1;
current_time=GetLPTime();
@@ -276,20 +296,11 @@
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]);
-}
-
-static void SystemPower_Config(void)
-{
- /* Enable Ultra low power mode */
- HAL_PWREx_EnableUltraLowPower();
-
- /* Enable the fast wake up from Ultra low power mode */
- HAL_PWREx_EnableFastWakeUp();
}
void mcu_sleep(void);
uint32_t temp;
@@ -312,7 +323,7 @@
{
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);
@@ -358,6 +369,42 @@
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();
+
+ }
+}
+u8 flag_entersleep = 1;
/* USER CODE END 0 */
/**
@@ -388,21 +435,21 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
MX_ADC_Init();
MX_DMA_Init();
+ MX_LPTIM1_Init();
+ MX_SPI1_Init();
+ MX_USART1_UART_Init();
// MX_IWDG_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
// LIS3DH_Data_Init();
-// Uwb_Lora_Switch(1,0);
+ // Uwb_Lora_Switch(1,0);
Dw1000_Init();
Dw1000_App_Init();
Delay_Ms(10);
-// Uwb_Lora_Switch(0,0);
+ // Uwb_Lora_Switch(0,0);
// HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
@@ -411,17 +458,21 @@
{
Error_Handler();
}
- HAL_Delay(2000);
-// Uwb_Lora_Switch(0,1);
+ HAL_Delay(1500);
Lora_Init();
+ MbxInit();
+ // SwitchLoraSettingstest(UWB_CHANNEL_FRQ,UWB_CHANNEL_SF);
Delay_Ms(10);
-// Uwb_Lora_Switch(0,0);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
/* USER CODE END 2 */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
+//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+//HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);
+// Delay_Ms(10);
+// Delay_Ms(10);
+//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+//HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_RESET);
+// Delay_Ms(10);
+// Delay_Ms(10);
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
@@ -429,25 +480,15 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
+ // Send_Anchor_Vcc_Poll();
+ if(g_start_send_flag&&g_com_map[ACTIVE_INDEX])
+ {
SystemClock_Config();
g_start_send_flag = 0;
- HAL_IWDG_Refresh(&hiwdg);
-
-
-// Uwb_Lora_Switch(0,1);
-// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
- memcpy(&TX_Buffer+3,&tx_num,1);
- Radio.Send( &TX_Buffer, 4);
- tx_num++;
-// delay_ms(10);
-// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
- delay_ms(9);
-// Uwb_Lora_Switch(1,0);
-
+// HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>15)
- { LED_TB_ON;
+ {
+ LED_TB_ON;
Tag_App();
LED_TB_OFF;
}else{
@@ -455,7 +496,8 @@
Tag_App();
LED_TR_OFF;
}
-// Uwb_Lora_Switch(0,0);
+// test1();
+
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
@@ -471,8 +513,10 @@
{
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))
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&flag_entersleep)
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -497,11 +541,14 @@
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
- /** Initializes the CPU, AHB and APB busses clocks
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
|RCC_OSCILLATORTYPE_LSE;
@@ -517,7 +564,8 @@
{
Error_Handler();
}
- /** Initializes the CPU, AHB and APB busses clocks
+
+ /** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -545,7 +593,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -557,6 +605,7 @@
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
+
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
@@ -580,6 +629,7 @@
{
Error_Handler();
}
+
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_VREFINT;
@@ -782,21 +832,21 @@
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|RADIO_nRESET_Pin
- |RADIO_NSS_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);
- /*Configure GPIO pins : PA0 RADIO_DIO1_Pin */
- GPIO_InitStruct.Pin = GPIO_PIN_0|RADIO_DIO1_Pin;
+ /*Configure GPIO pin : PA0 */
+ GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -807,39 +857,33 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
-
- GPIO_InitStruct.Pin = GPIO_PIN_2;
+
+ /*Configure GPIO pins : BAT_MEAS_GND_Pin PB10 LED1_G_Pin LED1_R_Pin
+ RADIO_nRESET_Pin RADIO_NSS_Pin PB7 PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = BAT_MEAS_GND_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_HIGH;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_GND_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+ GPIO_InitStruct.Mode = GPIO_MODE_EVT_FALLING;
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 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 RADIO_nRESET_Pin
- RADIO_NSS_Pin PWR_CTL_Pin */
- GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|LED2_R_Pin|RADIO_nRESET_Pin
- |RADIO_NSS_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;
@@ -848,21 +892,18 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : RADIO_BUSY_Pin */
- GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ /*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_BUSY_GPIO_Port, &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);
+ 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);
}
@@ -896,63 +937,14 @@
extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0,lost_jumpcount=0;
+ static uint8_t i=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++>=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)
-// {
-// 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();
-// }
+ g_start_send_flag=1;
}
/* USER CODE END 4 */
@@ -984,5 +976,3 @@
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--
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