From 2b07faacf6d1ce3de7ace73af366e5b84e652c14 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 13 十一月 2024 16:37:43 +0800
Subject: [PATCH] Merge branch '免布线标签-lora-泰斗GPS' of http://47.108.70.204:60062/r/XRange_Tag into 免布线标签-lora-泰斗GPS
---
Src/main.c | 764 +++++++++++++++++++++++++++-------------------------------
1 files changed, 354 insertions(+), 410 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6e71ed6..200c588 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -38,6 +38,8 @@
#include <stdlib.h>
#include <Lora.h>
#include "radio.h"
+#include "dps310.h"
+#include "dw_mbx_tag.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
@@ -98,17 +100,17 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+void LedTask(void);
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
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;
extern uint8_t module_power;
extern float nomove_count;
-uint8_t imu_enable,motor_enable;
+uint8_t imu_enable,motor_enable;
uint32_t lp_time;
extern uint32_t lora_txtime_old;
uint8_t anjian_flag;
@@ -116,29 +118,29 @@
uint16_t stationary_num;
u16 GetLPTime(void)
{
- u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
- return count*LPTIMER_LSB/1000;
-}
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
void UsartInit(void)
{
- 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))
- {
- Error_Handler();
- }
+ 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))
+ {
+ Error_Handler();
+ }
}
static void MX_DMA_DeInit(void)
{
- /* DMA controller clock enable */
- __HAL_RCC_DMA1_CLK_DISABLE();
+ /* DMA controller clock enable */
+ __HAL_RCC_DMA1_CLK_DISABLE();
- /* DMA interrupt init */
- /* DMA1_Channel2_3_IRQn interrupt configuration */
- // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
- HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
+ /* DMA interrupt init */
+ /* DMA1_Channel2_3_IRQn interrupt configuration */
+// HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
+ HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
}
void UsartDeInit(void)
@@ -156,301 +158,206 @@
uint8_t state5v = 1;
extern uint8_t du_flag;
extern uint8_t xie_flag;
-float motor_keeptime;
+uint16_t 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))
- {
-
+
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
UART_CheckReceive();
- UART_CheckSend();
- nomove_count = 0;
- // bat_percent=Get_Battary();
- if(state5v==0)
- {
- state5v=1;
- UsartInit();
- }
- if(bat_percent>99)
- {
- LED2_TR_OFF;
- LED2_TB_ON;
- }else{
- LED2_TR_ON;
- LED2_TB_OFF;
- }
- }else{
+ UART_CheckSend();
+ nomove_count = 0;
+ // bat_percent=Get_Battary();
+ if(state5v==0)
+ {
+ state5v=1;
+ UsartInit();
+ }
+ if(bat_percent>99)
+ {
+ LED_TR_OFF;
+ LED_TB_ON;
+ } else {
+ LED_TR_ON;
+ LED_TB_OFF;
+ }
+ } else {
if(state5v==1)
{
state5v=0;
UsartDeInit();
}
- LED2_TR_OFF;
- LED2_TB_OFF;
+ LED2_TR_OFF;
+ LED2_TB_OFF;
// }
-}
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
-
- }
-
-
-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);
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(memcmp(g_com_map2,g_com_map,100)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
}
-/* 返回ch字符在sign数组中的序号 */
-int getIndexOfSigns(char ch)
-{
- 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;
- uint16_t i;
- Usart1ParseDataCallback = UsartParseDataHandler;
- parameter_init();
+{ 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)|0;
+ 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] = (2<<8)|3;
// g_com_map[DEV_ID]=1158;
- g_com_map[GROUP_ID]=5;
+ g_com_map[GROUP_ID]=0;
// g_com_map[COM_INTERVAL] = 1000;
if(g_com_map[COM_INTERVAL]<1000)
- {g_com_map[COM_INTERVAL] = 1000;}
+ {
+ g_com_map[COM_INTERVAL] = 1000;
+ }
+ g_com_map[STATIONARY_TIME] = 10;
+ g_com_map[LORA_POWER] = 22;
+ g_com_map[POWER] = 67;
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];
+// 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;
- 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;
- lastpoll_time=tyncpoll_time;
+ 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;
+ 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;
+ lastpoll_time=tyncpoll_time;
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)
- {
- g_com_map[COM_INTERVAL]=1000;
- }
- if(module_power>67)
- {module_power=67;}
- if(module_power<0)
- {module_power=0;}
+// g_com_map[COM_INTERVAL]=100;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ 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();
-// 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]);
-
+ g_com_map[MAP_SIGN_INDEX] =0x55AA;
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
}
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();
+ /* 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;
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
+ //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
-uint16_t temp2;
+uint16_t temp2;
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
{
static uint8_t first = 1;
- static float last_value = 100;
+ static float last_value = 100;
static uint16_t bat_count = 0;
//if(bat_count++%600==0)
{
- temp2=dwt_readtempvbat(1);
- dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
- if(fabs(dw_vbat-dw_vbat)>0.2)
- {
+ temp2=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
+ if(fabs(dw_vbat-dw_vbat)>0.2)
+ {
+ last_vbat = dw_vbat;
+ return last_value;
+ }
last_vbat = dw_vbat;
- return last_value;
+ if(dw_vbat>=3.0)
+ {
+ if(first)
+ {
+ first = 0;
+ last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
+ }
+ last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
+ if(last_value>100)
+ last_value = 100;
+ if(last_value<0)
+ last_value = 0;
+ }
}
- last_vbat = dw_vbat;
- if(dw_vbat>=3.0)
- {
- if(first)
- {
- first = 0;
- last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
- }
- last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
- if(last_value>100)
- last_value = 100;
- if(last_value<0)
- last_value = 0;
- }
- }
- return last_value;
+ return last_value;
}
void MX_ADC_DeInit(void)
{
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+uint8_t anjian_num;
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++;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
RadioIrqProcess();
}
if(GPIO_Pin == GPIO_PIN_1)//按键
{
SystemClock_Config();
- anjian_flag=1;
+ anjian_flag=1;
+// anjian_num++;
+// if(anjian_num==2)
+// {
+// g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
+// save_com_map_to_flash();
+// LED_TB_ON;
+// LED_TR_ON;
+// LED2_TB_ON;
+// LED2_TR_ON;
+// delay_ms(100);
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
}
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
SystemClock_Config();
- stationary_flag =0;
+ 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];
@@ -458,7 +365,7 @@
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 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";
@@ -469,7 +376,7 @@
uint8_t no_yingdaflag;
void MX_ADC1_Init()
{
-MX_ADC_Init();
+ MX_ADC_Init();
}
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
@@ -485,80 +392,66 @@
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 60);
}
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+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)
- {
+ 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;
+ 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;
+ }
}
- else
- {
- if(state5v==0)
- LED2_TR_ON;
- }
- }
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
}
}
-uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
+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)
+ SystemClock_Config();
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;
+uint8_t beep_flag;
+void BeepTask(void)
+{
+ if(1)//g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime>0)
+ {
+ motor_keeptime--;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+ beep_flag=1;
+ }else{
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
+ beep_flag=0;
+ }
+ }
+}
void OneSecondTask(void)
{
if(flag_onesecond==1)
{
flag_onesecond = 0;
+ BeepTask();
}
}
/* USER CODE END 0 */
@@ -586,7 +479,7 @@
SystemClock_Config();
/* USER CODE BEGIN SysInit */
-
+ MX_DMA_Init();
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
@@ -595,73 +488,82 @@
MX_SPI1_Init();
MX_ADC_Init();
MX_DMA_Init();
-// MX_IWDG_Init();
+ MX_IWDG_Init();
MX_TIM2_Init();
MX_LPUART1_UART_Init();
MX_LPTIM1_Init();
/* USER CODE BEGIN 2 */
-// LED_LG_ON;
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+
+ /*Configure GPIO pins : PA2 PA8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_12;
+ 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);
+
+
+
+ LED2_TB_ON;
Program_Init();
- LIS3DH_Data_Init();
-// Uwb_Lora_Switch(1,0);
+ LIS3DH_Data_Init();
Dw1000_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();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
- Error_Handler();
+ Error_Handler();
}
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
+
+ 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();
- }
+#ifdef _USE_BAR
+ BarInit();
+#endif
+// 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 */
/* USER CODE BEGIN WHILE */
- while (1)
- {
+ while (1)
+ {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// HAL_IWDG_Refresh(&hiwdg);
- OneSecondTask();
- IdleTask();
+ OneSecondTask();
+ IdleTask();
+// if(g_com_map[LORA_SEND_INDEX])
+// {
+ Lora_Send_Poll();
+// }
+ LoraUp_Poll();
+#ifndef DEBUG_MODE
+ if(beep_flag==0)
+ {
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+#endif
- #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 */
}
@@ -746,7 +648,7 @@
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;
@@ -765,7 +667,7 @@
}
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_VREFINT;
+ sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
@@ -882,7 +784,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
- GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -905,7 +807,7 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
+ 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;
@@ -915,7 +817,7 @@
// {
// Error_Handler();
// }
- Usart1InitVariables();
+ Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
}
@@ -953,7 +855,7 @@
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
-__HAL_SPI_ENABLE(&hspi1);
+ __HAL_SPI_ENABLE(&hspi1);
/* USER CODE END SPI1_Init 2 */
}
@@ -993,7 +895,7 @@
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 0;
+ sConfigOC.Pulse = 125;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
@@ -1134,82 +1036,124 @@
}
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();
+ 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 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;
+extern uint32_t wg_lost_count;
+uint8_t lora_yingdatime,gotosleep_flag,sleep_flag;
+extern uint8_t lora_chongfuyingda_flag,report_ancnum;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
-uint8_t no_yingdatime;
+uint8_t no_yingdatime,tflag1,tflag2;
+extern uint16_t tagdist_list[ANC_MAX_NUM];
+extern uint8_t Lora_send_flag;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
// uint8_t pinlv;
SystemClock_Config();
- lp_time++;
- anchor_send_num++;
- no_data_chongqi_num++;
- stationary_num++;
- if(Beepchixutime>0)
+ HAL_IWDG_Refresh(&hiwdg);
+ anjian_num=0;
+ if(active_flag==0) //未激活状态
{
- Beepchixutime--;
- if(Beepchixutime==0)
- {Beep_Off();}
- }
- if(no_yingdaflag==1)
- {
- no_yingdatime++;
- if(no_yingdatime>=5)
+ if(!GET_USERKEY)
{
- no_yingdaflag=0;
- no_yingdatime=0;
+ LED_TB_ON;
+ key_keeptime+=1;
+ if(key_keeptime>3)
+ {
+ u8 i=250,keystate=1;
+ while(i--)
+ {
+ if(i%10==0)
+ {
+ LED_TB_BLINK;
+ }
+ if(GET_USERKEY)
+ {
+ keystate = 0;
+ }
+ if(keystate==0&&!GET_USERKEY)
+ {
+ parameter_init();
+ g_com_map[ACTIVE_INDEX] = 1;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ delay_ms(10);
+ }
+ }
+ } else {
+ // LED_LG_OFF;
+ key_keeptime=0;
+ }
+
+ } else {
+ if(!sleep_flag)
+ {
+ flag_onesecond = 1;
+ Lora_send_flag=1;
+#ifndef DEBUG_MODE
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)
+ {
+ if(sleep_flag==0)
+ {
+ Radio.Standby();
+ Radio.Sleep();
+ sleep_flag = 1;
+ LedOff_task();
+ }
+ }
+#endif
+ 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;
+ }
+ }else{
+ if(nomove_count<g_com_map[NOMOVESLEEP_TIME])
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
}
}
-
- if( no_data_chongqi_num>600)
- {NVIC_SystemReset();}
-
- if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
+ if(!GET_USERKEY) //长按重启逻辑
{
-
- 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();
-// }
+ key_keeptime+=1;
+ if(key_keeptime>=KEY_KEEPRESET_TIME)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ } else {
+ key_keeptime=0;
}
-
- if(stationary_num>=10)
- {stationary_num=0;
- stationary_flag=1;
- }
-
}
/* USER CODE END 4 */
@@ -1220,7 +1164,7 @@
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
- /* User can add his own implementation to report the HAL error return state */
+ /* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
@@ -1236,8 +1180,8 @@
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
- /* User can add his own implementation to report the file name and line number,
- tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+ /* User can add his own implementation to report the file name and line number,
+ tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
--
Gitblit v1.9.3