From 6fd69a703b639eb3bf339bfc296562594fd5a31f Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 04 十二月 2024 11:17:46 +0800
Subject: [PATCH] 2.1，修复测距的bug
---
Src/main.c | 126 +++++++++++++++++++++++++++++------------
1 files changed, 88 insertions(+), 38 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 679caab..c40e58e 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -113,6 +113,7 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+void Test_Poll();
extern uint8_t shengji_flag;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
@@ -219,11 +220,12 @@
Set4LEDColor_Off();
}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- { state5v=1;
- LoraInit();
- HAL_UART_DMAStop(&hlpuart1); // 停止DMA传输，防止
- while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
+ {
+// state5v=1;
+// LoraInit();
+// HAL_UART_DMAStop(&hlpuart1); // 停止DMA传输，防止
+// while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// {
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
@@ -234,8 +236,8 @@
}else{
powerled=RED;
}
- }
- HAL_NVIC_SystemReset();
+// }
+// HAL_NVIC_SystemReset();
}else{
state5v=0;
if(bat_percent>20)
@@ -316,7 +318,7 @@
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)|23;
+ g_com_map[VERSION] = (2<<8)|1;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -372,7 +374,7 @@
// Error_Handler();
// }
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("固件版本: URT-LORA-GPS版本 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ printf("固件版本: URT-LORA-GPS版本测试固件-双SPI 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]);
@@ -443,6 +445,8 @@
extern u8 gps_chafenlingqi;
uint16_t irq_num;
u8 lora_irq_flag,lora_working_flag;
+//u8 uwb_irq_flag;
+uint8_t test_jiasudu_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == RADIO_DIO1_Pin)
@@ -466,14 +470,16 @@
HAL_NVIC_SystemReset();
}
nomove_count = 0;
+ test_jiasudu_flag=1;
}
if(GPIO_Pin == GPIO_PIN_9)//UWB
{
- if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
- {
- gps_chafenlingqi++;
- return;
- }
+// if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
+// {
+// gps_chafenlingqi++;
+// return;
+// }
+// uwb_irq_flag = 1;
MbxTagUwbRec();
}
}
@@ -637,6 +643,7 @@
loraled=BLUE;
LoraReportPoll();
flag_onesecond = 1;
+ Test_Poll();
}
}
@@ -657,6 +664,32 @@
fangzhijinrushuimian_flag=0;
}
HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
+}
+extern uint8_t test_lora_flag;
+extern uint16_t test_ancdist;
+extern uint16_t test_ancid;
+extern int16_t intheight;
+void Test_Poll()
+{
+if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+{
+ if(test_jiasudu_flag)
+ {printf("加速度计触发\r\n");}
+ else
+ {printf("加速度计不行\r\n");}
+
+ if(test_ancid>0&&test_ancdist>0)
+ {printf("当前测距ID:%d,距离:%d\r\n",test_ancid,test_ancdist);}
+ else
+ {printf("当前UWB不好使\r\n");}
+
+ if(test_lora_flag)
+ {printf("当前LORA好使\r\n");}
+ else
+ {printf("当前LORA有问题\r\n");}
+
+ printf("当前气压计:%d\r\n",intheight);
+}
}
/* USER CODE END 0 */
@@ -720,9 +753,9 @@
LIS3DH_Data_Init();
Set4LEDColor(RED,RED,RED,RED);
- HAL_Delay(500);
+ delay_ms(100);
Set4LEDColor_Off();
- HAL_Delay(500);
+ delay_ms(100);
LoraInit();
// delay_ms(1000);
bat_percent=Get_Battary();
@@ -739,6 +772,18 @@
Error_Handler();
}
HAL_TIM_Base_Start_IT(&htim6);
+
+
+HAL_GPIO_WritePin(GPIOC, GPIO_PIN_7, GPIO_PIN_SET);
+HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
+delay_ms(500);
+//memcpy(&xiafayuyin_data,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],BufferSize-PWTAG_WRITE_VALUE_IDX);
+sprintf((char*)xiafayuyin_data,"设备ID%d,电量%d,",g_com_map[DEV_ID],bat_percent);
+SYN_FrameInfo(0,xiafayuyin_data); //播放内容
+yuyin_sendflag=1;
+yuyinzidongguan_time=0;
+yuyin_no_sleep_flag=1;
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -759,17 +804,22 @@
// HAL_IWDG_Refresh(&hiwdg);
if(lora_irq_flag)
{
- lora_irq_flag = 0;
+ lora_irq_flag = 0;
lora_working_flag = 1;
RadioIrqProcess();
lora_working_flag = 0;
}
+// if(uwb_irq_flag)
+// {
+// MbxTagUwbRec();
+// uwb_irq_flag=0;
+// }
Lpuart_rx_Poll();
OneSecondTask();
IdleTask();
PowerDownDetect();
Lora_Send_Poll();
- TTSchaxun_Busy();
+// TTSchaxun_Busy();
LoraUp_Poll();
// #ifndef DEBUG_MODE
// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -1414,26 +1464,26 @@
//Set4LEDColor(powerled,loraled,gpsled,uwbled);
ledon_time = GetLPTime();
Bat_Percent_Poll();
- if(state5v==0)
- {
- if(yuyin_no_sleep_flag==0)
- {
- recv_end_time++;
- if(recv_end_time>NOGPS_RESET_TIME)
- {HAL_NVIC_SystemReset();}
- }
+
+
+// if(yuyin_no_sleep_flag==0)
+// {
+// recv_end_time++;
+// if(recv_end_time>NOGPS_RESET_TIME)
+// {HAL_NVIC_SystemReset();}
+// }
Yuying_Poll();
- state_count++;
- switch(state_count)
- {
- case 0:
-
- break;
- case 1:
- break;
- case 2:
- break;
- }
+// 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])
{
@@ -1449,7 +1499,7 @@
} else {
gotosleep_flag=0;
}
- }
+
// powerled=LEDOFF;
// loraled=LEDOFF;
// gpsled=LEDOFF;
--
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