From 1ed0e9100899ee15b4f5da46ff5f65db79b1fdf7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 29 六月 2020 23:23:46 +0800
Subject: [PATCH] 远程改参数测试完成
---
Src/main.c | 330 +++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 248 insertions(+), 82 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 9370bec..7d067a9 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -37,8 +37,8 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
-#define Period (uint32_t) 32768
+//#define DEBUG_MODE
+#define Period (uint32_t) 32768 - 1
#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */
@@ -77,15 +77,73 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t dev_id;
-extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
-
-void IdleTask(void)
+uint8_t aRxBuffer[1],group_id;
+uint8_t bat_percent=0,g_start_send_flag;
+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;
+extern uint8_t module_power;
+uint8_t imu_enable,motor_enable;
+u16 GetLPTime(void)
{
- g_start_sync_flag=0;
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
+void IdleTask(void)
+{u16 current_time;
+
UART_CheckReceive();
UART_CheckSend();
-
+
+ if(huart1.Instance->ISR&USART_ISR_ORE)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
+//{
+// LED_TR_ON;
+// LED_TB_OFF;
+//}else{
+// LED_TR_OFF;
+ current_time=GetLPTime();
+ //motor_state=2;
+ switch(motor_state)
+ {case 0:
+ MOTOR_OFF;
+ break;
+ case 1:
+ if(current_time<MOTOR_ONTIME)
+ {
+ MOTOR_ON;
+ }else{
+ MOTOR_OFF;
+ }
+
+ break;
+ case 2:
+ MOTOR_ON;
+ break;
+ case 3:
+ MOTOR_OFF;
+ break;
+ }
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ if(bat_percent>99)
+ {
+ LED_TR_OFF;
+ LED_TB_ON;
+ }else{
+ LED_TR_ON;
+ LED_TB_OFF;
+ }
+ }else{
+ LED_TR_OFF;
+ LED_TB_OFF;
+// }
+}
if(g_com_map[CNT_UPDATE]==1)
{
uint32_t result = 0;
@@ -103,10 +161,50 @@
// Delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+ if(g_com_map[CNT_REBOOT]==1)
+ {
+ g_com_map[CNT_REBOOT]=0;
+ g_com_map[MAP_SIGN_INDEX]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
-uint16_t tyncpoll_time,lpsettime;
-uint16_t slottime,max_slotpos;
+
+
+u16 total_slotnum,current_slotnum;
+extern int32_t offsettimeus;
+
+void SetNextPollTime(u16 time)
+{
+ int32_t lpcount,lptime,target_time;
+
+ time=0;
+ 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;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+}
+}
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -114,20 +212,32 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
-
+ g_com_map[VERSION] = 0x010A;
#ifdef DEBUG_MODE
- g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=1;
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
g_com_map[COM_INTERVAL]=100;
- g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- g_com_map[VERSION] = 0x0107;
+
+
+ module_power = g_com_map[POWER];
+ 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]*4/3);
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
- lpsettime=g_com_map[COM_INTERVAL]*32.8;
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, lpsettime, lpsettime) != HAL_OK)
+ slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
+ lastpoll_time=tyncpoll_time;
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ 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();
}
@@ -141,6 +251,7 @@
// 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 */
@@ -149,8 +260,21 @@
/* Enable the fast wake up from Ultra low power mode */
HAL_PWREx_EnableFastWakeUp();
}
+void mcu_sleep(void);
uint32_t temp;
-extern uint8_t sleep_flag;
+extern uint8_t sleep_flag,m_bEUARTTxEn;
+uint16_t waitusart_timer;
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
+//{
+// /* Set transmission flag: trasfer complete*/
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+//
+
+//}
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+ //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+}
/* USER CODE END 0 */
/**
@@ -188,17 +312,20 @@
MX_ADC_Init();
MX_DMA_Init();
/* USER CODE BEGIN 2 */
- LIS3DH_Data_Init();
Program_Init();
+ LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
+
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();
- }
- SystemPower_Config();
+ waitusart_timer=1;
+ DW_DISABLE;
+
+// HAL_Delay(2000);
+// mcu_sleep();
+ //LED0_BLINK;
+// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* USER CODE END 2 */
@@ -209,21 +336,45 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(sleep_flag)
- {
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
if(g_start_send_flag)
- {
+ { static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
- LED0_BLINK;
- Tag_App();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
+// 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;
+
+ bat_percent=Get_Battary();
+ if(bat_percent>15)
+ { LED0_ON;
+ Tag_App();
+ LED0_OFF;
+ }else{
+ LED_LR_ON;
+ Tag_App();
+ LED_LR_OFF;
+ }
+ //LED0_BLINK;
+ IdleTask();
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
+ if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ {
+ // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+
+
}else{
IdleTask();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
// HAL_Delay(100);
// Get_Battary();
@@ -307,7 +458,7 @@
*/
hadc.Instance = ADC1;
hadc.Init.OversamplingMode = DISABLE;
- hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
+ hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
@@ -367,10 +518,10 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
- {
- Error_Handler();
- }
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+// {
+// Error_Handler();
+// }
/* USER CODE END LPTIM1_Init 2 */
}
@@ -443,8 +594,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);//??idle??
-// Usart1InitVariables();
+
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+// {
+// Error_Handler();
+// }
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
+ Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
}
@@ -481,16 +640,22 @@
__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, DW_CTRL_Pin|SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_Pin, GPIO_PIN_SET);
-
- /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+
+ /*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 pin : BAT_MEAS_Pin */
GPIO_InitStruct.Pin = BAT_MEAS_Pin;
@@ -506,7 +671,7 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
- GPIO_InitStruct.Pin = SPI_CS_Pin;
+ GPIO_InitStruct.Pin = SPI_CS_Pin|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
@@ -532,8 +697,14 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- /*Configure GPIO pins : DW_WKUP_Pin LED2_G_Pin */
- GPIO_InitStruct.Pin = DW_WKUP_Pin|LED2_G_Pin;
+ /*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 : 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;
@@ -542,7 +713,7 @@
/*Configure GPIO pin : PWR_ON_Pin */
GPIO_InitStruct.Pin = PWR_ON_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
@@ -556,45 +727,40 @@
{
HAL_GPIO_TogglePin(GPIOx, GPIO_Pin);
}
+void mcu_sleep(void)
+{
+ HAL_LPTIM_DeInit(&hlptim1);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = GPIO_PIN_All;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Clear all related wakeup flags*/
+ __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
+ /*Re-enable all used wakeup sources: Pin1(PA.0)*/
+ HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Enter the Standby mode*/
+ HAL_PWR_EnterSTANDBYMode();
+}
+extern float nomove_count;
+
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
-// switch(i)
-// {
-// case 1:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 2:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 3:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 4:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 5:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 6:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 7:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 8:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 9:
-// i=0;
-// break;
-//
-//
-//
-// }
-
+ current_slotnum++;
+ SetNextPollTime(tyncpoll_time);
+ nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+ {
+ mcu_sleep();
+ }
}
/* USER CODE END 4 */
--
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