From 36667ff9eed83df5f6460d596220908afc9b9a11 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 07 五月 2024 19:31:50 +0800
Subject: [PATCH] 改成中断触发模式，但是还是有BUG，会死机，还会有临近基站不测距的问题。
---
Src/main.c | 124 +++++++++++++++++++++++++++++++++--------
1 files changed, 99 insertions(+), 25 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index dbdb8ad..1e080a8 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -87,6 +87,8 @@
SPI_HandleTypeDef hspi1;
+TIM_HandleTypeDef htim6;
+
/* USER CODE BEGIN PV */
/* USER CODE END PV */
@@ -102,6 +104,7 @@
static void MX_SPI1_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART5_UART_Init(void);
+static void MX_TIM6_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -311,7 +314,7 @@
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)|21;
+ g_com_map[VERSION] = (1<<8)|23;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -435,28 +438,41 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+extern u8 gps_chafenlingqi;
uint16_t irq_num;
+u8 lora_irq_flag,lora_working_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == RADIO_DIO1_Pin)
{
- SystemClock_Config();
- irq_num++;
- RadioIrqProcess();
+
+ // SystemClock_Config();
+ // irq_num++;
+ lora_irq_flag = 1;
+ // 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();
+ // SystemClock_Config();
if(chongqi_flag==1)
{
HAL_NVIC_SystemReset();
}
nomove_count = 0;
+ }
+ if(GPIO_Pin == GPIO_PIN_9)//UWB
+ {
+ if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
+ {
+ gps_chafenlingqi++;
+ return;
+ }
+ MbxTagUwbRec();
}
}
extern void Lora_tx_zubao( void );
@@ -668,15 +684,16 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_GPIO_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_DMA_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_ADC_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_LPTIM1_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_USART1_UART_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_SPI1_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_LPUART1_UART_Init();//看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
-// MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
- MX_USART5_UART_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
+ MX_GPIO_Init();
+ MX_DMA_Init();
+ MX_ADC_Init();
+ // MX_IWDG_Init();
+ MX_LPTIM1_Init();
+ MX_USART1_UART_Init();
+ MX_SPI1_Init();
+ MX_LPUART1_UART_Init();
+ MX_USART5_UART_Init();
+ MX_TIM6_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
delay_ms(10);
@@ -710,6 +727,7 @@
{
Error_Handler();
}
+ HAL_TIM_Base_Start_IT(&htim6);
/* USER CODE END 2 */
/* Infinite loop */
@@ -728,6 +746,13 @@
else
{
// HAL_IWDG_Refresh(&hiwdg);
+ if(lora_irq_flag)
+ {
+ lora_irq_flag = 0;
+ lora_working_flag = 1;
+ RadioIrqProcess();
+ lora_working_flag = 0;
+ }
Lpuart_rx_Poll();
OneSecondTask();
IdleTask();
@@ -1100,6 +1125,44 @@
}
/**
+ * @brief TIM6 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM6_Init(void)
+{
+
+ /* USER CODE BEGIN TIM6_Init 0 */
+
+ /* USER CODE END TIM6_Init 0 */
+
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+ /* USER CODE BEGIN TIM6_Init 1 */
+
+ /* USER CODE END TIM6_Init 1 */
+ htim6.Instance = TIM6;
+ htim6.Init.Prescaler = 32-1;
+ htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim6.Init.Period = 1000-1;
+ htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM6_Init 2 */
+
+ /* USER CODE END TIM6_Init 2 */
+
+}
+
+/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
@@ -1136,8 +1199,8 @@
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_7|GPIO_PIN_8, GPIO_PIN_RESET);
-
- /*Configure GPIO pin O__set_MSPutput Level */
+
+ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
@@ -1209,18 +1272,18 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+ /*Configure GPIO pins : PC9 RADIO_DIO1_Pin */
+ GPIO_InitStruct.Pin = GPIO_PIN_9|RADIO_DIO1_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
/*Configure GPIO pins : PA8 PA12 PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_12|GPIO_PIN_15;
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 : 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;
@@ -1293,11 +1356,12 @@
}
}
#define NOGPS_RESET_TIME 300
+u8 state_count = 0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
if(chongqi_flag==0&&shengji_flag==0)
{
- SystemClock_Config();
+// SystemClock_Config();
Set4LEDColor(uwbled,gpsled,loraled,powerled); //代码有BUG需要执行2次，否则电源灯不亮
Set4LEDColor(uwbled,gpsled,loraled,powerled);
//Set4LEDColor(powerled,loraled,gpsled,uwbled);
@@ -1312,6 +1376,17 @@
{HAL_NVIC_SystemReset();}
}
Yuying_Poll();
+ state_count++;
+ switch(state_count)
+ {
+ case 0:
+
+ break;
+ case 1:
+ break;
+ case 2:
+ break;
+ }
Lora_send_flag=1;
if(nomove_count++>g_com_map[STATIONARY_TIME])
{
@@ -1334,7 +1409,6 @@
// uwbled=LEDOFF;
// Set4LEDColor_Off();
}
- HAL_IWDG_Refresh(&hiwdg);
}
/* USER CODE END 4 */
--
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