From 20bdb4be1fc4676cceaf09456b5ff4b648f4a4a4 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 14 七月 2022 15:21:33 +0800
Subject: [PATCH] v2.49 新版子功能调通
---
Src/main.c | 302 ++++++++++++++++++++++++++-----------------------
1 files changed, 160 insertions(+), 142 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index b41edc2..e106211 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -57,7 +57,7 @@
SPI_HandleTypeDef hspi1;
-TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim21;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -75,7 +75,7 @@
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
+static void MX_TIM21_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -101,7 +101,7 @@
}
void UsartInit(void)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
MX_DMA_Init();
MX_USART1_UART_Init();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -110,7 +110,7 @@
}
}
uint16_t hardware_version,hardware_pici,hardware_type;
-u16 current_time;
+u16 current_time,currentcount,beepcount;
uint8_t state5v;
void IdleTask(void)
{
@@ -128,62 +128,63 @@
// LED_TB_OFF;
//}else{
// LED_TR_OFF;
- current_time=GetLPTime();
+
//motor_state=2;
-if(g_com_map[MOTOR_ENABLE])
-{
-
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- switch(motor_state)
- {case 0:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 1:
- if(current_time<MOTOR_ONTIME)
- {
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- }else{
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- }
- break;
- case 2:
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 3:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- }
-}
+//if(g_com_map[MOTOR_ENABLE])
+//{
+//
+// if(motor_keeptime>0)
+// {
+// motor_state = 2;
+// }else{
+// motor_state = 0;
+// }
+// //motor_state=2;
+// switch(motor_state)
+// {case 0:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// case 1:
+// if(current_time<MOTOR_ONTIME)
+// {
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// }else{
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// }
+// break;
+// case 2:
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// case 3:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// }
+//}
bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -216,7 +217,7 @@
if(result)
result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
__enable_irq();
- printf("进入升级模式\r\n");
+ //printf("进入升级模式\r\n");
g_com_map[CNT_UPDATE]=0;
save_com_map_to_flash();
delay_ms(100);
@@ -280,14 +281,14 @@
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] = 0x0225;
+ g_com_map[VERSION] = 2<<8|49;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=0x4009;
// g_com_map[ACTIVE_INDEX]=1;
- g_com_map[COM_INTERVAL]=50;
+// g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -295,7 +296,7 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
- g_com_map[COM_INTERVAL]=50;
+// g_com_map[COM_INTERVAL]=50;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{
@@ -312,7 +313,7 @@
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;
- slottime = 5;
+ slottime = 5;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
@@ -351,25 +352,27 @@
void HardWareTypeDiffConfig(void)
{
-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();
- break;
- }
+// GPIO_InitTypeDef GPIO_InitStruct = {0};
+//// if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+//// {
+// g_com_map[MOTORBEEPER_INDEX] = 2;
+//// }
+// hardware_type = g_com_map[MOTORBEEPER_INDEX];
+// switch(hardware_type)
+// {
+// case 1:
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
+// GPIO_InitStruct.Pin = GPIO_PIN_11;
+// 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);
+// //motor_keeptime = 10;
+// break;
+// case 2:
+// MX_TIM2_Init();
+// break;
+// }
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
@@ -400,34 +403,34 @@
SystemClock_Config();
/* USER CODE BEGIN SysInit */
-
+ MX_DMA_Init();
/* 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_DMA_Init();
+ MX_TIM21_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
- BarInit();
+ // BarInit();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
- waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
+// waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
-
+// LIS3DH_Check();
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -446,7 +449,7 @@
// {
// MODBUS_Poll();
// }
-if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+if(m_bEUARTTxEn==0&&(motor_keeptime==0))
{
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -464,6 +467,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
+ __disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -473,8 +477,9 @@
Tag_App();
LED_TR_OFF;
}
+ __enable_irq();
//LED0_BLINK;
- IdleTask();
+ IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
@@ -675,65 +680,61 @@
}
/**
- * @brief TIM2 Initialization Function
+ * @brief TIM21 Initialization Function
* @param None
* @retval None
*/
-static void MX_TIM2_Init(void)
+static void MX_TIM21_Init(void)
{
- /* USER CODE BEGIN TIM2_Init 0 */
+ /* USER CODE BEGIN TIM21_Init 0 */
- /* USER CODE END TIM2_Init 0 */
+ /* USER CODE END TIM21_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
- /* USER CODE BEGIN TIM2_Init 1 */
+ /* USER CODE BEGIN TIM21_Init 1 */
- /* USER CODE END TIM2_Init 1 */
- htim2.Instance = TIM2;
- htim2.Init.Prescaler = 9;
- htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim2.Init.Period = 1171;
- htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ /* USER CODE END TIM21_Init 1 */
+ htim21.Instance = TIM21;
+ htim21.Init.Prescaler = 9;
+ htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim21.Init.Period = 1171;
+ htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
- if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
- if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ if (HAL_TIM_PWM_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 599;
+ sConfigOC.Pulse = 585;
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(&htim21, &sConfigOC, TIM_CHANNEL_2) != 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);
+ /* USER CODE BEGIN TIM21_Init 2 */
+
+ /* USER CODE END TIM21_Init 2 */
+ HAL_TIM_MspPostInit(&htim21);
}
@@ -816,10 +817,10 @@
__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, SPI_CS_Pin|SCL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|SDA_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);
@@ -833,13 +834,6 @@
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.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
/*Configure GPIO pin : SPI_CS_Pin */
GPIO_InitStruct.Pin = SPI_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -847,24 +841,18 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_GND_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
+ /*Configure GPIO pins : BAT_MEAS_GND_Pin SDA_Pin */
+ GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin|SDA_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.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_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;
@@ -879,6 +867,19 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : SCL_Pin */
+ GPIO_InitStruct.Pin = SCL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(SCL_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_NOPULL;
+ HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PWR_ON_Pin */
GPIO_InitStruct.Pin = PWR_ON_Pin;
@@ -899,6 +900,7 @@
}
void mcu_sleep(void)
{
+ LIS3DH_Check();
HAL_LPTIM_DeInit(&hlptim1);
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_All;
@@ -921,6 +923,27 @@
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime;
+void BeeperTask(void)
+{ static u8 beeper_state = 0;
+ if(g_com_map[MOTOR_ENABLE])
+{
+ if(motor_keeptime>0)
+ {
+ motor_keeptime-=1/(float)tag_frequency;
+ }
+ if(motor_keeptime>0&&beeper_state==0)
+ {
+
+ HAL_TIM_PWM_Start(&htim21, TIM_CHANNEL_2);
+ beeper_state = 1;
+ }
+ if(motor_keeptime<=0&&beeper_state==1)
+ {
+ beeper_state = 0;
+ motor_keeptime = 0;
+ HAL_TIM_PWM_Stop(&htim21, TIM_CHANNEL_2);
+ }
+}}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -929,12 +952,7 @@
// current_slotnum++;
// SetNextPollTime(tagslotpos);
nomove_count+=1/(float)tag_frequency;
- if(motor_keeptime>0)
- {
- motor_keeptime-=1/(float)tag_frequency;
- }
- if(motor_keeptime<0)
- {motor_keeptime = 0;}
+ BeeperTask();
if(active_flag==0)
{
if(!GET_USERKEY)
--
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