From 1906f7b280eeb7a8f5dbfda96c9485fba4a74de2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 21 二月 2024 15:14:37 +0800
Subject: [PATCH] 移植最新逻辑，能同步，能测距，能读取，能写。
---
Src/main.c | 775 +++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 492 insertions(+), 283 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 93720ec..6e71ed6 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,10 +30,19 @@
#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"
+#include <stdlib.h>
+#include <Lora.h>
+#include "radio.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
+UART_WakeUpTypeDef Selection;
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -59,13 +68,14 @@
LPTIM_HandleTypeDef hlptim1;
-SPI_HandleTypeDef hspi1;
-
-TIM_HandleTypeDef htim2;
-
+UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
+
+SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim2;
/* USER CODE BEGIN PV */
@@ -74,13 +84,14 @@
/* 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_TIM2_Init(void);
static void MX_IWDG_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_LPUART1_UART_Init(void);
+static void MX_LPTIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -94,10 +105,15 @@
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 anjian_flag;
+uint8_t stationary_flag;
+uint16_t stationary_num;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -138,13 +154,25 @@
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
+extern uint8_t du_flag;
+extern uint8_t xie_flag;
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
-// }
+//// }
+// if(du_flag==1)
+// {
+// du_flag=0;
+//
+// }
+// if(xie_flag==1)
+// {
+// xie_flag=0;
+// memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
+// }
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -159,11 +187,11 @@
}
if(bat_percent>99)
{
- LED_LR_OFF;
- LED_LG_ON;
+ LED2_TR_OFF;
+ LED2_TB_ON;
}else{
- LED_LR_ON;
- LED_LG_OFF;
+ LED2_TR_ON;
+ LED2_TB_OFF;
}
}else{
if(state5v==1)
@@ -171,8 +199,8 @@
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
- LED_LG_OFF;
+ LED2_TR_OFF;
+ LED2_TB_OFF;
// }
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
@@ -185,11 +213,11 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-u16 last_lpcount = 0;
+//u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
- int32_t lpcount,lptime,target_time;
-
+ int32_t lpcount1,lptime1,target_time1;
+int32_t last_lpcount1;
// if(current_slotnum>=total_slotnum)
// current_slotnum-=total_slotnum;
//
@@ -204,40 +232,64 @@
// {
// lpcount+=LPTIMER_1S_COUNT;
// }
- lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
- while(lpcount>LPTIMER_1S_COUNT)
+ last_lpcount1=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount1 = last_lpcount1+32.768*time;
+ while(lpcount1>LPTIMER_1S_COUNT)
{
- lpcount-=LPTIMER_1S_COUNT;
+ lpcount1-=LPTIMER_1S_COUNT;
}
- last_lpcount = lpcount;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+// last_lpcount = lpcount;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1+32768);
}
-void HardWareTypeDiffConfig(void)
+/* 返回ch字符在sign数组中的序号 */
+int getIndexOfSigns(char ch)
{
- 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);
- break;
- case 2:
- MX_TIM2_Init();
- //BarInit();
- break;
- }
+ if(ch >= '0' && ch <= '9')
+ {
+ return ch - '0';
+ }
+ if(ch >= 'A' && ch <='F')
+ {
+ return ch - 'A' + 10;
+ }
+ if(ch >= 'a' && ch <= 'f')
+ {
+ return ch - 'a' + 10;
+ }
+ return -1;
}
+/* 十六进制数转换为十进制数 */
+long hexToDec(char *source)
+{
+ long sum = 0;
+ long t = 1;
+ int i, len;
+
+ len = strlen(source);
+ for(i=len-1; i>=0; i--)
+ {
+ sum += t * getIndexOfSigns(*(source + i));
+ t *= 16;
+ }
+
+ return sum;
+}
+
+//u32 Loratx_frequency;
u8 active_flag,nomovesleeptime;
+//void GetLoratx_frequency(void)
+//{
+//Loratx_frequency=470000000;
+//srand(HAL_LPTIM_ReadCounter(&hlptim1));
+// Loratx_frequency=((rand()%5)+470)*1000000;
+// if(470000000<=Loratx_frequency&&Loratx_frequency<480000000)
+// g_com_map[NEARBASE_ID1]=1136+(Loratx_frequency/1000000-470);
+// if(480000000<=Loratx_frequency&&Loratx_frequency<490000000)
+// g_com_map[NEARBASE_ID1]=1152+(Loratx_frequency/1000000-480);
+//Loratx_frequency=470000000;
+//}
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -248,23 +300,18 @@
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)|64;
-
- #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[GROUP_ID]=2;
- g_com_map[COM_INTERVAL] = 1000;
+ g_com_map[VERSION] = (1<<8)|0;
+// g_com_map[DEV_ID]=1158;
+ g_com_map[GROUP_ID]=5;
+// 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];
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];
-
+
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
@@ -284,7 +331,7 @@
// 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;}
@@ -292,13 +339,14 @@
{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();
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+// {
+// 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: 免布线LORA工卡 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]);
@@ -366,6 +414,153 @@
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();
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
+// l_bIsVibration = HIDO_TRUE;
+// nomove_time=0;
+// printf("RXD :77777\r\n");
+ irq_num++;
+ RadioIrqProcess();
+ }
+ if(GPIO_Pin == GPIO_PIN_1)//按键
+ {
+ SystemClock_Config();
+ anjian_flag=1;
+ }
+ if(GPIO_Pin == GPIO_PIN_0)//加速度
+ {
+ SystemClock_Config();
+ stationary_flag =0;
+ stationary_num=0;
+ }
+}
+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;
+uint8_t lora_tx_flag;
+uint8_t lora_txanchor_power_flag;
+extern uint16_t Lora_tx_ancid[50];
+extern uint16_t Lora_tx_ancdist[50];
+extern uint8_t Lora_tx_anc_electricity[50];
+u8 lora_seq_nb1;
+static uint8_t send_frame1[EUART_RX_BUF_SIZE];
+#define BleRxBufferSize 1
+uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
+uint8_t ble_rx_success_flag;
+uint8_t fangzhijinrushuimian_flag;
+uint8_t GPS_zhongzhuandate[200];
+uint8_t GPS_zhongzhuannum;
+uint8_t GPS_GGAdate[200]={1,2,3,4,5,6,7,8,9};
+uint8_t GPSchangdu;
+uint8_t Close_RMC[20]="$CCMSG,RMC,1,0,*04\r\n";
+uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
+uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
+uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
+uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
+uint8_t gps_ceju=0;
+uint8_t no_yingdaflag;
+void MX_ADC1_Init()
+{
+MX_ADC_Init();
+}
+extern uint16_t Lora_rece_error;
+extern uint16_t Beepchixutime;
+void Beep_Off()
+{
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
+ HAL_TIM_Base_Stop_IT(&htim2);
+}
+void Beep_On()
+{
+ HAL_TIM_Base_Start_IT(&htim2);
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 60);
+}
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+//HAL_UART_Transmit(&huart1,&ble_zhongzhuannum,1,1000);
+ {
+ GPS_zhongzhuandate[GPS_zhongzhuannum]=GPSRxBuffer[0];
+ GPS_zhongzhuannum++;
+ if(GPS_zhongzhuandate[GPS_zhongzhuannum-1]==0x0A&&GPS_zhongzhuandate[GPS_zhongzhuannum-2]==0x0D)
+ {
+// HAL_UART_Transmit(&hlpuart1,ble_rxdate,5,1000);
+ memcpy(GPS_GGAdate,GPS_zhongzhuandate,GPS_zhongzhuannum);
+ GPSchangdu= GPS_zhongzhuannum;
+ memset(GPS_zhongzhuandate,0,sizeof(GPS_zhongzhuandate));
+ GPS_zhongzhuannum=0;
+ fangzhijinrushuimian_flag=0;
+ ble_rx_success_flag=1;
+ if(GPSchangdu>40)
+ {
+ if(state5v==0)
+ LED2_TB_ON;
+ }
+ else
+ {
+ if(state5v==0)
+ LED2_TR_ON;
+ }
+ }
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ }
+}
+uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
+void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
+{
+ SystemClock_Config();
+// HAL_UART_Transmit(&hlpuart1,(uint8_t*)ble_rxdate111,3,1000);
+//// huart->RxState = HAL_UART_STATE_BUSY_RX;
+// ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
+// ble_zhongzhuannum++;
+// if(ble_rxzhongzhuandate[ble_zhongzhuannum-1]==0x0A&&ble_rxzhongzhuandate[ble_zhongzhuannum-2]==0x0D)
+// {
+// ble_zhongzhuannum=0;
+// memcpy(ble_rxdate,ble_rxzhongzhuandate,50);
+// memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
+// }
+// if(lp_time>3)
+ fangzhijinrushuimian_flag=1;
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+// HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
+}
+void PowerDownDetect(void)
+{
+ static uint32_t l_u32QXpowerTick = 0;
+static uint32_t powercount=0;
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
+ {
+ delay_ms(1000);
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
+ {
+ while(1)
+ {
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
+ {
+ delay_ms(100);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
+ }
+ }
+ }
+ }
+}
+uint8_t usart5_state,flag_onesecond;
+void OneSecondTask(void)
+{
+ if(flag_onesecond==1)
+ {
+ flag_onesecond = 0;
+ }
+}
/* USER CODE END 0 */
/**
@@ -395,34 +590,49 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_DMA_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
- MX_ADC_Init();
-
- // MX_TIM2_Init();
- MX_IWDG_Init();
- /* USER CODE BEGIN 2 */
- LED_LG_ON;
+ MX_GPIO_Init();
+ MX_USART1_UART_Init();
+ MX_SPI1_Init();
+ MX_ADC_Init();
+ MX_DMA_Init();
+// MX_IWDG_Init();
+ MX_TIM2_Init();
+ MX_LPUART1_UART_Init();
+ MX_LPTIM1_Init();
+ /* USER CODE BEGIN 2 */
+// LED_LG_ON;
Program_Init();
- // LIS3DH_Data_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);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ Delay_Ms(10);
+// Uwb_Lora_Switch(0,0);
+// printf("RXD :66666\r\n");
+ usart_send[0]=0x55;
+ usart_send[1]=0xaa;
+ bat_percent=Get_VDDVlotage();
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //开GPS电源
+ LoraInit();
+ Delay_Ms(1000);
+ HAL_UART_Transmit(&hlpuart1,Close_RMC,22,1000);
+ HAL_UART_Transmit(&hlpuart1,Close_GSA,22,1000);
+ HAL_UART_Transmit(&hlpuart1,Close_GSV,22,1000);
+ HAL_UART_Transmit(&hlpuart1,Close_GLL,22,1000);
+ HAL_UART_Transmit(&hlpuart1,Close_TXT,22,1000);
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+ {
+ Error_Handler();
+ }
/* USER CODE END 2 */
/* Infinite loop */
@@ -432,53 +642,25 @@
/* 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;
- }
- #ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- #endif
- }
-// HAL_Delay(100);
- // Get_Battary();
+// HAL_IWDG_Refresh(&hiwdg);
+ OneSecondTask();
+ IdleTask();
- // LIS3DH_Data_Init();
+ #ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ if(fangzhijinrushuimian_flag==0)
+ {
+ Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
+ HAL_UARTEx_EnableClockStopMode(&hlpuart1);
+ HAL_UARTEx_EnableStopMode( &hlpuart1 );
+ HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
+ __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+ }
+ #endif
+
}
/* USER CODE END 3 */
}
@@ -499,7 +681,7 @@
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
@@ -529,8 +711,10 @@
{
Error_Handler();
}
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
+ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
+ |RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+ PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -544,7 +728,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -562,7 +746,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -581,7 +765,7 @@
}
/** 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)
{
@@ -650,11 +834,89 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
-// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+
+ /* USER CODE END LPTIM1_Init 2 */
+
+}
+
+/**
+ * @brief LPUART1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_LPUART1_UART_Init(void)
+{
+
+ /* USER CODE BEGIN LPUART1_Init 0 */
+
+ /* USER CODE END LPUART1_Init 0 */
+
+ /* USER CODE BEGIN LPUART1_Init 1 */
+
+ /* USER CODE END LPUART1_Init 1 */
+ hlpuart1.Instance = LPUART1;
+ hlpuart1.Init.BaudRate = 9600;
+ hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
+ hlpuart1.Init.StopBits = UART_STOPBITS_1;
+ hlpuart1.Init.Parity = UART_PARITY_NONE;
+ hlpuart1.Init.Mode = UART_MODE_TX_RX;
+ hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ if (HAL_UART_Init(&hlpuart1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN LPUART1_Init 2 */
+
+ /* USER CODE END LPUART1_Init 2 */
+
+}
+
+/**
+ * @brief USART1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART1_UART_Init(void)
+{
+
+ /* USER CODE BEGIN USART1_Init 0 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ /* USER CODE END USART1_Init 0 */
+
+ /* USER CODE BEGIN USART1_Init 1 */
+
+ /* USER CODE END USART1_Init 1 */
+ huart1.Instance = USART1;
+ huart1.Init.BaudRate = 115200;
+ huart1.Init.WordLength = UART_WORDLENGTH_8B;
+ huart1.Init.StopBits = UART_STOPBITS_1;
+ huart1.Init.Parity = UART_PARITY_NONE;
+ huart1.Init.Mode = UART_MODE_TX_RX;
+ huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
+ if (HAL_UART_Init(&huart1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN USART1_Init 2 */
+ GPIO_InitStruct.Pin = GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
// }
- /* USER CODE END LPTIM1_Init 2 */
+ Usart1InitVariables();
+ /* USER CODE END USART1_Init 2 */
}
@@ -708,7 +970,6 @@
/* USER CODE END TIM2_Init 0 */
- TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
@@ -716,20 +977,11 @@
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
- htim2.Init.Prescaler = 9;
+ htim2.Init.Prescaler = 32-1;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim2.Init.Period = 1171;
+ htim2.Init.Period = 250-1;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
- {
- Error_Handler();
- }
- sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
- if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
- {
- Error_Handler();
- }
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
@@ -741,68 +993,17 @@
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 599;
+ sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
- if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
-//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
-// {
-// /* Starting Error */
-// Error_Handler();
-// }
+
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
-
-}
-
-/**
- * @brief USART1 Initialization Function
- * @param None
- * @retval None
- */
-static void MX_USART1_UART_Init(void)
-{
-
- /* USER CODE BEGIN USART1_Init 0 */
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- /* USER CODE END USART1_Init 0 */
-
- /* USER CODE BEGIN USART1_Init 1 */
-
- /* USER CODE END USART1_Init 1 */
- huart1.Instance = USART1;
- huart1.Init.BaudRate = 115200;
- huart1.Init.WordLength = UART_WORDLENGTH_8B;
- huart1.Init.StopBits = UART_STOPBITS_1;
- huart1.Init.Parity = UART_PARITY_NONE;
- huart1.Init.Mode = UART_MODE_TX_RX;
- huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
- huart1.Init.OverSampling = UART_OVERSAMPLING_16;
- huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
- huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
- huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
- if (HAL_UART_Init(&huart1) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
-// {
-// Error_Handler();
-// }
- Usart1InitVariables();
- /* USER CODE END USART1_Init 2 */
}
@@ -838,28 +1039,29 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2|GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_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, BAT_MEAS_GND_Pin|SDA_Pin|SCL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
- /*Configure GPIO pin : PA0 */
- GPIO_InitStruct.Pin = GPIO_PIN_0;
+ /*Configure GPIO pins : PA0 PA15 */
+ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_15;
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;
+ /*Configure GPIO pins : PA2 PA8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
@@ -882,35 +1084,46 @@
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 : LED1_G_Pin LED1_R_Pin PB14 RADIO_nRESET_Pin
+ RADIO_NSS_Pin PB7 */
+ GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7;
+ 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 : 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);
+
/*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;
+ /*Configure GPIO pins : SDA_Pin SCL_Pin */
+ GPIO_InitStruct.Pin = SDA_Pin|SCL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- 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);
-
/* EXTI interrupt init*/
- HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
@@ -939,68 +1152,64 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+extern uint8_t tx_near_msg[80];
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;
+uint16_t no_data_chongqi_num;
+uint16_t anchor_send_num;
+uint8_t no_yingdatime;
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)
+// uint8_t pinlv;
+ SystemClock_Config();
+ lp_time++;
+ anchor_send_num++;
+ no_data_chongqi_num++;
+ stationary_num++;
+ if(Beepchixutime>0)
{
- tag_frequency = NOTAG_FREQ;
- if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+ Beepchixutime--;
+ if(Beepchixutime==0)
+ {Beep_Off();}
+ }
+ if(no_yingdaflag==1)
+ {
+ no_yingdatime++;
+ if(no_yingdatime>=5)
{
- lost_jumpcount = 0;
- g_start_send_flag=1;
+ no_yingdaflag=0;
+ no_yingdatime=0;
}
- }else{
- g_start_send_flag=1;
}
- if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
+
+ if( no_data_chongqi_num>600)
+ {NVIC_SystemReset();}
+
+ if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
{
- SetNextPollTime(0);
- }else{
- SetNextPollTime(5);
+
+ LoraReportPoll();
+ flag_onesecond = 1;
+
+// lora_tx_flag=1;
+// lora_txanchor_power_flag=0;
+// }
+// if(anchor_send_num>=3600)
+// {anchor_send_num=0;
+// lora_txanchor_power_flag=1;
+// lora_tx_flag=0;
+// bat_percent=Get_VDDVlotage();
+// }
}
- 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();
-// }
+
+ if(stationary_num>=10)
+ {stationary_num=0;
+ stationary_flag=1;
+ }
+
}
/* USER CODE END 4 */
--
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