From 53bb6e5ba5b3d3c1b0088a0e7e58f37cbba90cac Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 十二月 2023 15:45:54 +0800
Subject: [PATCH] 1
---
Src/main.c | 267 ++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 191 insertions(+), 76 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a3598de..04306c4 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -67,6 +67,8 @@
SPI_HandleTypeDef hspi1;
+TIM_HandleTypeDef htim2;
+
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
@@ -84,6 +86,7 @@
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_IWDG_Init(void);
+static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -146,13 +149,25 @@
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
+extern uint8_t du_flag;
+extern uint8_t xie_flag;
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))
{
@@ -167,11 +182,11 @@
}
if(bat_percent>99)
{
-// LED_LR_OFF;
- LED_LG_ON;
+ LED2_TR_OFF;
+ LED2_TB_ON;
}else{
-// LED_LR_ON;
- LED_LG_OFF;
+ LED2_TR_ON;
+ LED2_TB_OFF;
}
}else{
if(state5v==1)
@@ -179,8 +194,8 @@
state5v=0;
UsartDeInit();
}
-// LED_LR_OFF;
- LED_LG_OFF;
+ LED2_TR_OFF;
+ LED2_TB_OFF;
// }
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
@@ -303,9 +318,14 @@
//{Loratx_frequency=489000000;}
//if(g_com_map[NEARBASE_ID1]==0x490)
//{Loratx_frequency=490000000;}
+Loratx_frequency=470000000;
srand(HAL_LPTIM_ReadCounter(&hlptim1));
Loratx_frequency=((rand()%5)+470)*1000000;
-//Loratx_frequency=474000000;
+ 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;
@@ -326,8 +346,10 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- g_com_map[GROUP_ID]=33;
- g_com_map[COM_INTERVAL] = 1000;
+ g_com_map[GROUP_ID]=5;
+// 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;
@@ -353,7 +375,7 @@
// g_com_map[COM_INTERVAL]=100;
if(g_com_map[COM_INTERVAL]==0)
{
- g_com_map[COM_INTERVAL]=100;
+ g_com_map[COM_INTERVAL]=1000;
}
if(module_power>67)
{module_power=67;}
@@ -457,6 +479,7 @@
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
stationary_flag =0;
+ stationary_num=0;
}
}
void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
@@ -482,71 +505,83 @@
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);
+}
+uint8_t no_yingdaflag;
void Lora_Tx_Poll()
{
+
if(lora_tx_flag)
- {
-// Lora47X_change();
-// Delay_Ms(50);
-// SX126xReset();
-// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
- Lora47X_Init();
- lora_tx_flag=0;
- LED_TB_ON;
+ {
+ lora_tx_flag=0;
+ 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)
+ {LED_TR_ON;}
+ else
+ {LED_TB_ON;}
+
lora_seq_nb2++;
Lora_tx_zubao();
// Lora_tx_mode();
- Radio.Send( usart_send, 13+Lora_tx_ancnum*4);
+// if(usart_send[2]==0x99)
+// {LED_TB_ON;}
+ Radio.Send( usart_send, 15+Lora_tx_ancnum*4);
Lora_tx_ancnum=0;
memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
anjian_flag=0;
+ }
}
- if(lora_txanchor_power_flag)
- {
-// SX126xReset();
-// Lora47X_change();
-// Delay_Ms(50);
- Lora47X_Init();
- LED_TB_ON;
- lora_seq_nb1++;
- lora_txanchor_power_flag=0;
- uint16_t checksum;
- usart_send[2] = 0x23;//基站电量模式
- usart_send[3] = 6+Lora_tx_ancnum*3;//数据段长度
- memcpy(&usart_send[4],&dev_id,2);
- usart_send[6] = lora_seq_nb1;//包序
- usart_send[7] = Lora_tx_ancnum;
- memcpy(&usart_send[8],&Lora_tx_ancid,2*Lora_tx_ancnum);
- memcpy(&usart_send[8+Lora_tx_ancnum*2],&Lora_tx_anc_electricity,Lora_tx_ancnum);
- checksum = Checksum_u16(&usart_send[2],8+3*Lora_tx_ancnum);
- memcpy(&usart_send[8+3*Lora_tx_ancnum],&checksum,2);
-// Lora_tx_mode();
- Radio.Send( usart_send, 10+Lora_tx_ancnum*3);
- Lora_tx_ancnum=0;
-
- }
-
-
-// Lora_Txcount=HAL_LPTIM_ReadCounter(&hlptim1);
-//
-// if(Lora_Txcount-Old_Lora_Txcount>=6554)
-// {
-// Old_Lora_Txcount=Lora_Txcount;
-// LED_TB_ON;
-// lora_seq_nb2++;
-// Lora_tx_zubao();
-// Lora_tx_mode();
-// Radio.Send( usart_send, 12+Lora_tx_ancnum*4);
-// Lora_tx_ancnum=0;
-// memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
-// memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
-// }
+
}
void MX_ADC1_Init()
{
MX_ADC_Init();
}
+extern uint16_t Lora_rece_error;
+extern uint16_t Beepchixutime;
+void Beep_Off()
+{
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_Base_Stop_IT(&htim2);
+}
+void Beep_On()
+{
+ HAL_TIM_Base_Start_IT(&htim2);
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 60);
+}
+
/* USER CODE END 0 */
/**
@@ -582,8 +617,8 @@
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
-
// MX_IWDG_Init();
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
// LED_LG_ON;
Program_Init();
@@ -634,8 +669,10 @@
//Lora_rx_open();
// Lora_Tx_Poll();
Lora_Tx_Poll();
+
// HAL_IWDG_Refresh(&hiwdg);
IdleTask();
+ Lora_rece_error=0;
// Radio.IrqProcess( ); // Process Radio IRQ
// Anchor_App();
@@ -862,6 +899,65 @@
}
/**
+ * @brief TIM2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM2_Init(void)
+{
+
+ /* USER CODE BEGIN TIM2_Init 0 */
+
+ /* USER CODE END TIM2_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+
+ /* USER CODE BEGIN TIM2_Init 1 */
+
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 32-1;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 250-1;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
* @brief USART1 Initialization Function
* @param None
* @retval None
@@ -946,8 +1042,8 @@
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|SDA_Pin|SCL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14
- |RADIO_nRESET_Pin|RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
@@ -984,20 +1080,20 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : PB10 LED1_G_Pin LED1_R_Pin PB14
- RADIO_nRESET_Pin RADIO_NSS_Pin PB7 */
- GPIO_InitStruct.Pin = GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14
- |RADIO_nRESET_Pin|RADIO_NSS_Pin|GPIO_PIN_7;
- 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);
-
/*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 PB14 RADIO_nRESET_Pin
+ RADIO_NSS_Pin PB7 */
+ GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7;
+ 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);
/*Configure GPIO pins : PA8 DW_CTRL_Pin LED2_G_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_8|DW_CTRL_Pin|LED2_G_Pin;
@@ -1061,13 +1157,31 @@
extern uint8_t lora_chongfuyingda_flag;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
+uint8_t no_yingdatime;
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)
+ {
+ 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);
@@ -1083,18 +1197,19 @@
// }
// 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>=600)
+ 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>=10)
{stationary_num=0;
--
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