From 1d51ac11e1da7c9b55da8c8b3a7e3756cc5f4ad8 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 08 三月 2024 18:19:16 +0800
Subject: [PATCH] 阶段性调试完毕 可以测距跟给网关发送。
---
Src/main.c | 415 +++++++++++++++++------------------------------------------
1 files changed, 119 insertions(+), 296 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 37f878a..0a1d61d 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -37,6 +37,8 @@
#include <stdlib.h>
#include "WS2812.h"
#include "syn6288.h"
+#include "dw_mbx_tag.h"
+#include "GPS.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
@@ -69,7 +71,6 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
-DMA_HandleTypeDef hdma_adc;
IWDG_HandleTypeDef hiwdg;
@@ -204,20 +205,6 @@
float motor_keeptime;
void IdleTask(void)
{
-//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))
{
@@ -232,11 +219,9 @@
}
if(bat_percent>99)
{
- powerled=GREEN;
- Set4LEDColor(powerled,loraled,gpsled,uwbled);
+ powerled=GREEN;
}else{
- powerled=RED;
- Set4LEDColor(powerled,loraled,gpsled,uwbled);
+ powerled=RED;
}
}else{
if(state5v==1)
@@ -244,11 +229,6 @@
state5v=0;
UsartDeInit();
}
-// powerled=LEDOFF;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// gpsled=LEDOFF;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// }
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
@@ -261,34 +241,7 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
//u16 last_lpcount = 0;
-void SetNextPollTime(u16 time)
-{
- int32_t lpcount1,lptime1,target_time1;
-int32_t last_lpcount1;
-// if(current_slotnum>=total_slotnum)
-// current_slotnum-=total_slotnum;
-//
-// target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
-// //if(target_time<90000)
-// {
-// lptime=target_time-offsettimeus;
-// lpcount = lptime/LPTIMER_LSB;
-// if(lpcount>LPTIMER_1S_COUNT)
-// lpcount-=LPTIMER_1S_COUNT;
-// if(lpcount<0)
-// {
-// lpcount+=LPTIMER_1S_COUNT;
-// }
- last_lpcount1=HAL_LPTIM_ReadCounter(&hlptim1);
- lpcount1 = last_lpcount1+32.768*time;
- while(lpcount1>LPTIMER_1S_COUNT)
- {
- lpcount1-=LPTIMER_1S_COUNT;
- }
-// last_lpcount = lpcount;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1+32768);
-}
/* 返回ch字符在sign数组中的序号 */
int getIndexOfSigns(char ch)
@@ -324,19 +277,9 @@
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;
@@ -356,13 +299,13 @@
// // g_com_map[MAX_REPORT_ANC_NUM]=1;
// // g_com_map[NOMOVESLEEP_TIME]=10;
// #endif
- g_com_map[GROUP_ID]=5;
+ g_com_map[GROUP_ID]=1;
// 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;
+// g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -376,11 +319,11 @@
tag_frequency = 1000/g_com_map[COM_INTERVAL];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
- if(active_flag==0)
- {
- imu_enable=1;
- nomovesleeptime =10;
- }
+// if(active_flag==0)
+// {
+// imu_enable=1;
+// nomovesleeptime =10;
+// }
// g_com_map[COM_INTERVAL]=100;
if(g_com_map[COM_INTERVAL]==0)
@@ -394,10 +337,6 @@
current_slotnum=1;
// 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();
- }
// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
// {
// Error_Handler();
@@ -477,28 +416,22 @@
if(GPIO_Pin == RADIO_DIO1_Pin)
{
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();
+ SystemClock_Config();
anjian_flag=1;
}
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
- SystemClock_Config();
- stationary_flag =0;
- stationary_num=0;
- if(chongqi_flag==1)
- {
- HAL_NVIC_SystemReset();
- }
+ SystemClock_Config();
+ if(chongqi_flag==1)
+ {
+ HAL_NVIC_SystemReset();
+ }
+ nomove_count = 0;
}
}
extern void Lora_tx_zubao( void );
@@ -508,84 +441,16 @@
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];
-uint8_t data_length1;
-void LoraSendComMap(uint8_t data_length, uint8_t index)
-{
- uint16_t checksum = 0;
- send_frame1[0] = 0x55;
- send_frame1[1] = 0xAA;
- send_frame1[2] = 0x39;
- send_frame1[3] = data_length+5;
- send_frame1[4] = 3;
- send_frame1[5] = index;
- send_frame1[6] = data_length;
- memcpy(&send_frame1[7], &g_com_map[index], data_length);
- for(int i = 0; i<(data_length+5); i++)
- {
- checksum += send_frame1[2+i];
- }
- checksum = Checksum_u16(&send_frame1[2],5+data_length);
- memcpy(&send_frame1[7+data_length],&checksum,2);
- data_length1=data_length+9;
-// UART_PushFrame(send_frame1, data_length+9);
-}
+
extern uint8_t GPSchangdu;
uint8_t no_yingdaflag;
extern uint8_t GPS_GGAdate[200];
uint8_t GPS_GGAdate111[200]="报警";
-void Lora_Tx_Poll()
-{
- if(lora_tx_flag)
- {
- lora_tx_flag=0;
-// SYN_FrameInfo(0,GPS_GGAdate111);
-// while(1);
- if(du_flag==1)
- {
- Lora47X_Init();
- du_flag=0;
- Radio.Send( send_frame1, data_length1);
- no_yingdaflag=1;
- }
- else
- {
- Lora47X_Init();
- if(bat_percent>20)
- {
- loraled=BLUE;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
- }
- else
- {
- loraled=RED;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
- }
- lora_seq_nb2++;
- Lora_tx_zubao();
- Radio.Send( usart_send, 15+Lora_tx_ancnum*4+GPSchangdu);
- Lora_tx_ancnum=0;
- GPSchangdu=0;
- memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
- memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
- memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
- anjian_flag=0;
- // delay_ms(10);
-// loraled=LEDOFF;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// HAL_UART_Transmit(&huart1,usart_send,15+Lora_tx_ancnum*4+GPSchangdu,3000);
- }
- }
-
-}
+
void MX_ADC1_Init()
{
-MX_ADC_Init();
+ MX_ADC_Init();
}
void GPS_Close_Init()
{
@@ -610,35 +475,33 @@
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 GPSchangdu;
uint8_t GPS_GGAdate[200]={1,2,3,4,5,6,7,8,9};
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
{
- 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)
- {
- gpsled=BLUE;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
- }
- else
- {
- gpsled=RED;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
- }
- }
+// GPS_RecvFsm(GPSRxBuffer[0]);
+ GPS_Recv_Poll(GPSRxBuffer[0]);
+// 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)
+// {
+// gpsled=BLUE;
+// }
+// else
+// {
+// gpsled=RED;
+// }
+// }
HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
}
}
@@ -661,13 +524,6 @@
HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
// HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
}
-//void GPS_rx_Poll()
-//{
-// if(ble_rx_success_flag)
-// {
-// ble_rx_success_flag=0;
-// }
-//}
extern uint8_t yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
extern uint8_t xiafayuyin_data[200];
@@ -678,8 +534,8 @@
if(yuyin_sendflag)
{
yuyin_sendflag=0;
- SYN_FrameInfo(0,yuyin_yinliang);//设置音量等级V10
- delay_ms(10);
+ // SYN_FrameInfo(0,yuyin_yinliang);//设置音量等级V10
+ // delay_ms(10);
SYN_FrameInfo(0,xiafayuyin_data); //播放内容
// HAL_UART_Receive_IT(&huart6, &Get_Uart6_data, 1);
memset(xiafayuyin_data,0,sizeof(xiafayuyin_data));
@@ -711,15 +567,16 @@
}
}
}
-uint8_t usart5_state;
+uint8_t gotosleep_flag;
+uint8_t usart5_state,flag_onesecond;
void Jingzhi_Poll(void)
{
powerled=LEDOFF;
loraled=LEDOFF;
gpsled=LEDOFF;
uwbled=LEDOFF;
- HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
- HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
HAL_SPI_DeInit(&hspi1);
HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora cs
HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
@@ -727,13 +584,37 @@
Usart5DeInit();
LpusartDeInit();
HAL_ADC_DeInit(&hadc);
-// __HAL_RCC_GPIOA_CLK_DISABLE();
-// __HAL_RCC_GPIOB_CLK_DISABLE();
-// __HAL_RCC_GPIOC_CLK_DISABLE();
-// __HAL_RCC_GPIOD_CLK_DISABLE();
-// __HAL_RCC_GPIOE_CLK_DISABLE();
+
Set4LEDColor_Off(); //关led总电源
chongqi_flag=1;
+}
+void OneSecondTask(void)
+{
+ if(flag_onesecond==1)
+ {
+ flag_onesecond = 0;
+ }
+}
+uint8_t debugnum;
+uint8_t Lora_send_flag;
+void Lora_Send_Poll(void)
+{
+ if(Lora_send_flag)
+ {
+ debugnum++;
+ Lora_send_flag=0;
+// LedTask();
+ loraled=BLUE;
+ LoraReportPoll();
+ flag_onesecond = 1;
+
+ powerled=LEDOFF;
+// loraled=LEDOFF;
+ gpsled=LEDOFF;
+ uwbled=LEDOFF;
+//Set4LEDColor_Off();
+ }
+
}
/* USER CODE END 0 */
@@ -781,31 +662,33 @@
//delay_ms(1000);
Program_Init();
- LIS3DH_Data_Init();
+#ifdef _USE_BAR
+BarInit();
+#endif
Dw1000_Init();
- Dw1000_App_Init();
- // HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
- Delay_Ms(2);
- Delay_Ms(10);
- bat_percent=Get_VDDVlotage();
- GetLoratx_frequency();
- delay_ms(2000);
- GPS_Close_Init();
-
+ LIS3DH_Data_Init();
+ delay_ms(1000);
+ GPS_Close_Init();
HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+
Set4LEDColor(RED,RED,RED,RED);
HAL_Delay(500);
Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
HAL_Delay(500);
Set4LEDColor_Off();
-// Lora47X_Init();
-// Radio.Sleep();
+ HAL_Delay(500);
+ LoraInit();
+
+ 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 */
@@ -815,27 +698,17 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-//Lora_rx_open();
-// Lora_Tx_Poll();
- if(stationary_flag==1)
+ if(gotosleep_flag==1)
{
Jingzhi_Poll();
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
}
else
{
- Lora_Tx_Poll();
- IdleTask();
- TTSchaxun_Busy();
+ OneSecondTask();
+ IdleTask();
PowerDownDetect();
-
-// Ble_rx_Poll();
-// HAL_IWDG_Refresh(&hiwdg);
-
-// Lora_rece_error=0;
-// Radio.IrqProcess( ); // Process Radio IRQ
-// Anchor_App();
-
+ Lora_Send_Poll();
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -856,7 +729,7 @@
}
}
#endif
- }
+ }
}
/* USER CODE END 3 */
}
@@ -947,7 +820,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -969,14 +842,6 @@
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
- if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
- {
- Error_Handler();
- }
-
- /** Configure for the selected ADC regular channel to be converted.
- */
- sConfig.Channel = ADC_CHANNEL_VREFINT;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
@@ -1215,9 +1080,6 @@
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
- /* DMA1_Channel1_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
@@ -1307,7 +1169,7 @@
/*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(GPIOB, &GPIO_InitStruct);
@@ -1341,7 +1203,7 @@
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
- HAL_NVIC_SetPriority(EXTI4_15_IRQn, 2, 0);
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -1378,74 +1240,35 @@
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;
+#define YUYINSTOP_TIME 10
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
// uint8_t pinlv;
SystemClock_Config();
- lp_time++;
- anchor_send_num++;
- no_data_chongqi_num++;
- stationary_num++;
- Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// if(Beepchixutime>0)
-// {
-// Beepchixutime--;
-// if(Beepchixutime==0)
-// {Beep_Off();}
-// }
- if(no_yingdaflag==1)
- {
- no_yingdatime++;
- if(no_yingdatime>=5)
- {
- no_yingdaflag=0;
- no_yingdatime=0;
- }
- }
-
- if( no_data_chongqi_num>600)
- {NVIC_SystemReset();}
- SetNextPollTime(0);
-// 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);
-// }
-// }
-// else
-// {
-// pinlv=g_com_map[COM_MAP_SIZE]/1000;
- if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
- {
- 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();
- }
- }
-
- if(stationary_num>=30)
- {stationary_num=0;
- stationary_flag=1;
- }
+ HAL_IWDG_Refresh(&hiwdg);
+Set4LEDColor(powerled,loraled,gpsled,uwbled);
yuyinzidongguan_time++;
- if(yuyinzidongguan_time>10)
+ if(yuyinzidongguan_time>YUYINSTOP_TIME)
{
yuyinzidongguan_time=0;
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
yuyin_no_sleep_flag=0;
}
+ Lora_send_flag=1;
+ if(nomove_count++>g_com_map[STATIONARY_TIME])
+ {
+ stationary_flag = 1;
+ } else {
+ stationary_flag = 0;
+ }
+ if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+ {
+ gotosleep_flag=1;
+ } else {
+ gotosleep_flag=0;
+ }
}
/* USER CODE END 4 */
--
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