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 | 612 +++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 459 insertions(+), 153 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6274914..04306c4 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,10 +30,16 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
+#include "user.h"
+#include "sx126x-board.h"
+#include "string.h"
+#include "stdio.h"
+#include "delay.h"
+#include <stdlib.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
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -61,6 +67,8 @@
SPI_HandleTypeDef hspi1;
+TIM_HandleTypeDef htim2;
+
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
@@ -75,9 +83,10 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
-void MX_ADC_Init(void);
+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 */
@@ -91,10 +100,15 @@
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;
+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;
+uint32_t lp_time;
+extern uint32_t lora_txtime_old;
+uint8_t anjian_flag;
+uint8_t stationary_flag;
+uint16_t stationary_num;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -135,13 +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)
-{u16 current_time;
+{
//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))
{
@@ -156,11 +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)
@@ -168,8 +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)
@@ -182,11 +208,11 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-u16 last_lpcount = 0;
+//u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
- int32_t lpcount,lptime,target_time;
-
+ int32_t lpcount1,lptime1,target_time1;
+int32_t last_lpcount1;
// if(current_slotnum>=total_slotnum)
// current_slotnum-=total_slotnum;
//
@@ -201,16 +227,106 @@
// {
// lpcount+=LPTIMER_1S_COUNT;
// }
- lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
- while(lpcount>LPTIMER_1S_COUNT)
+ last_lpcount1=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount1 = last_lpcount1+32.768*time;
+ while(lpcount1>LPTIMER_1S_COUNT)
{
- lpcount-=LPTIMER_1S_COUNT;
+ lpcount1-=LPTIMER_1S_COUNT;
}
- last_lpcount = lpcount;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+// last_lpcount = lpcount;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1+32768);
}
+
+/* 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)
+{
+//if(g_com_map[NEARBASE_ID1]==0x470)
+//{Loratx_frequency=470000000;}
+//if(g_com_map[NEARBASE_ID1]==0x471)
+//{Loratx_frequency=471000000;}
+//if(g_com_map[NEARBASE_ID1]==0x472)
+//{Loratx_frequency=472000000;}
+//if(g_com_map[NEARBASE_ID1]==0x473)
+//{Loratx_frequency=473000000;}
+//if(g_com_map[NEARBASE_ID1]==0x474)
+//{Loratx_frequency=474000000;}
+//if(g_com_map[NEARBASE_ID1]==0x475)
+//{Loratx_frequency=475000000;}
+//if(g_com_map[NEARBASE_ID1]==0x476)
+//{Loratx_frequency=476000000;}
+//if(g_com_map[NEARBASE_ID1]==0x477)
+//{Loratx_frequency=477000000;}
+//if(g_com_map[NEARBASE_ID1]==0x478)
+//{Loratx_frequency=478000000;}
+//if(g_com_map[NEARBASE_ID1]==0x479)
+//{Loratx_frequency=479000000;}
+//if(g_com_map[NEARBASE_ID1]==0x480)
+//{Loratx_frequency=480000000;}
+//if(g_com_map[NEARBASE_ID1]==0x481)
+//{Loratx_frequency=481000000;}
+//if(g_com_map[NEARBASE_ID1]==0x482)
+//{Loratx_frequency=482000000;}
+//if(g_com_map[NEARBASE_ID1]==0x483)
+//{Loratx_frequency=483000000;}
+//if(g_com_map[NEARBASE_ID1]==0x484)
+//{Loratx_frequency=484000000;}
+//if(g_com_map[NEARBASE_ID1]==0x485)
+//{Loratx_frequency=485000000;}
+//if(g_com_map[NEARBASE_ID1]==0x486)
+//{Loratx_frequency=486000000;}
+//if(g_com_map[NEARBASE_ID1]==0x487)
+//{Loratx_frequency=487000000;}
+//if(g_com_map[NEARBASE_ID1]==0x488)
+//{Loratx_frequency=488000000;}
+//if(g_com_map[NEARBASE_ID1]==0x489)
+//{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;
+ 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;
@@ -221,8 +337,8 @@
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)|68;
-
+ g_com_map[VERSION] = (1<<8)|0;
+// g_com_map[DEV_ID]=1158;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
// g_com_map[DEV_ID]=4;
@@ -230,14 +346,16 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- g_com_map[GROUP_ID]=3;
- 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;
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;
@@ -257,7 +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;}
@@ -265,13 +383,14 @@
{module_power=0;}
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
+// current_time=GetLPTime();
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 32767) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("固件版本: 免布线基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ printf("固件版本: 免布线基站LORA版本 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]);
@@ -339,6 +458,130 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+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++;
+ RadioIrqProcess();
+ }
+ if(GPIO_Pin == GPIO_PIN_1)//按键
+ {
+ anjian_flag=1;
+ }
+ 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)
+{
+if(uwb)
+HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
+else
+HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);
+
+if(lora)
+HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
+else
+HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET);
+}
+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];
+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)
+ {
+ 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();
+// 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;
+ }
+ }
+
+}
+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 */
/**
@@ -370,31 +613,50 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- MX_DMA_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
-
- MX_IWDG_Init();
+// MX_IWDG_Init();
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
+// LED_LG_ON;
Program_Init();
- // LIS3DH_Data_Init();
+ LIS3DH_Data_Init();
+// Uwb_Lora_Switch(1,0);
Dw1000_Init();
Dw1000_App_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();
- DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
- HAL_Delay(2000);
+ Delay_Ms(2);
+// Uwb_Lora_Switch(0,1);
+// Lora433rx_Init();
+// Lora47xrx_Init();
+// Lora_Init();
+// Lora47xrx_Init();
+// Radio.Sleep( );
+ 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();
+ GetLoratx_frequency();
+// Lora47X_Init();
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_SET); //片选lora无效
+// lora_tx_flag=1;
+// Lora_Tx_Poll();
/* USER CODE END 2 */
/* Infinite loop */
@@ -404,53 +666,21 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
- SystemClock_Config();
- g_start_send_flag = 0;
- HAL_IWDG_Refresh(&hiwdg);
-// 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;s
-
-
- if(bat_percent>15)
- { LED_TB_ON;
- Tag_App();
- LED_TB_OFF;
- }else{
- LED_TR_ON;
- Tag_App();
- LED_TR_OFF;
- }
- //LED0_BLINK;
- IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- }else{
- IdleTask();
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
- if(memcmp(g_com_map2,g_com_map,200)!=0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
+//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();
+
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
- }
-// HAL_Delay(100);
- // Get_Battary();
-
- // LIS3DH_Data_Init();
+
}
/* USER CODE END 3 */
}
@@ -516,7 +746,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -669,6 +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
@@ -747,28 +1036,22 @@
__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(SPI_CS_GPIO_Port, SPI_CS_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|SCL_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);
+ 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, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8|DW_CTRL_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 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 */
@@ -791,35 +1074,53 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : RADIO_BUSY_Pin */
+ GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RADIO_BUSY_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;
+ /*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 : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
- GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
+ /*Configure GPIO pins : PA8 DW_CTRL_Pin LED2_G_Pin */
+ GPIO_InitStruct.Pin = GPIO_PIN_8|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;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(PWR_ON_GPIO_Port, &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 pins : SDA_Pin SCL_Pin */
+ GPIO_InitStruct.Pin = SDA_Pin|SCL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
- HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
@@ -848,68 +1149,73 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+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;
+uint16_t no_data_chongqi_num;
+uint16_t anchor_send_num;
+uint8_t no_yingdatime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0,lost_jumpcount=0;
- i++;
-
- current_slotnum++;
- freqlost_count+=1/(float)tag_frequency;
- range_lost_time +=1/(float)tag_frequency;
-
- if(freqlost_count>FREQ_LOST_TIME)
+// uint8_t pinlv;
+ SystemClock_Config();
+ lp_time++;
+ anchor_send_num++;
+ no_data_chongqi_num++;
+ stationary_num++;
+ if(Beepchixutime>0)
{
- tag_frequency = NOTAG_FREQ;
- if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+ Beepchixutime--;
+ if(Beepchixutime==0)
+ {Beep_Off();}
+ }
+ if(no_yingdaflag==1)
+ {
+ no_yingdatime++;
+ if(no_yingdatime>=5)
{
- lost_jumpcount = 0;
- g_start_send_flag=1;
+ no_yingdaflag=0;
+ no_yingdatime=0;
}
- }else{
- g_start_send_flag=1;
}
- if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
+
+ if( no_data_chongqi_num>600)
+ {NVIC_SystemReset();}
+ SetNextPollTime(0);
+// if(lora_yingda_flag)
+// {
+// lora_yingdatime++;
+// if(lora_yingdatime>=2)
+// {lora_yingdatime=0;
+// lora_yingda_flag=0;
+// Lora_tx_mode();
+// Radio.Send( usart_send, 2);
+// }
+// }
+// else
+// {
+// pinlv=g_com_map[COM_MAP_SIZE]/1000;
+ if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
{
- SetNextPollTime(0);
- }else{
- SetNextPollTime(5);
+ 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();
}
- nomove_count+=1/(float)tag_frequency;
- if(motor_keeptime>0)
- {
- nomove_count+=1/(float)tag_frequency;
- }
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- g_com_map[ACTIVE_INDEX]=!active_flag;
- save_com_map_to_flash();
- MOTOR_ON;
- HAL_Delay(2000);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }else{
- key_keeptime=0;
- }
-// if(nomove_count>STATIONARY_TIME)
-// {
-// stationary_flag = 1;
-// }else{
-// stationary_flag = 0;
-// }
-//if(nomove_count>=nomovesleeptime-1&&imu_enable)
-// {
-// tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
-// }
-// if(nomove_count>nomovesleeptime&&imu_enable)
-// {
-// mcu_sleep();
-// }
+ }
+
+ if(stationary_num>=10)
+ {stationary_num=0;
+ stationary_flag=1;
+ }
+
}
/* USER CODE END 4 */
--
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