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 | 285 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 228 insertions(+), 57 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index dbdb8ad..c40e58e 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -86,6 +86,9 @@
DMA_HandleTypeDef hdma_usart1_tx;
SPI_HandleTypeDef hspi1;
+SPI_HandleTypeDef hspi2;
+
+TIM_HandleTypeDef htim6;
/* USER CODE BEGIN PV */
@@ -102,12 +105,15 @@
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);
+static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* 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;
@@ -214,11 +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;
@@ -229,8 +236,8 @@
}else{
powerled=RED;
}
- }
- HAL_NVIC_SystemReset();
+// }
+// HAL_NVIC_SystemReset();
}else{
state5v=0;
if(bat_percent>20)
@@ -311,7 +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)|21;
+ g_com_map[VERSION] = (2<<8)|1;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -367,7 +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]);
@@ -435,28 +442,45 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+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)
{
- 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;
+ 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;
+// }
+// uwb_irq_flag = 1;
+ MbxTagUwbRec();
}
}
extern void Lora_tx_zubao( void );
@@ -579,6 +603,7 @@
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
HAL_SPI_DeInit(&hspi1);
+ HAL_SPI_DeInit(&hspi2);
HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora cs
HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
HAL_GPIO_WritePin( GPIOC, GPIO_PIN_3,GPIO_PIN_RESET);//LORA REST
@@ -618,6 +643,7 @@
loraled=BLUE;
LoraReportPoll();
flag_onesecond = 1;
+ Test_Poll();
}
}
@@ -638,6 +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 */
@@ -668,21 +720,30 @@
/* 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();
+ MX_SPI2_Init();
/* USER CODE BEGIN 2 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
- delay_ms(10);
+ delay_ms(100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
Program_Init();
- 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_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。
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = GPIO_PIN_1;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
#ifdef _USE_BAR
//BarInit();
#endif
@@ -692,9 +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();
@@ -710,6 +771,19 @@
{
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 */
@@ -728,12 +802,24 @@
else
{
// HAL_IWDG_Refresh(&hiwdg);
+ if(lora_irq_flag)
+ {
+ 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))
@@ -1100,6 +1186,82 @@
}
/**
+ * @brief SPI2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_SPI2_Init(void)
+{
+
+ /* USER CODE BEGIN SPI2_Init 0 */
+
+ /* USER CODE END SPI2_Init 0 */
+
+ /* USER CODE BEGIN SPI2_Init 1 */
+
+ /* USER CODE END SPI2_Init 1 */
+ /* SPI2 parameter configuration*/
+ hspi2.Instance = SPI2;
+ hspi2.Init.Mode = SPI_MODE_MASTER;
+ hspi2.Init.Direction = SPI_DIRECTION_2LINES;
+ hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
+ hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
+ hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+ hspi2.Init.NSS = SPI_NSS_SOFT;
+ hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+ hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
+ hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
+ hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+ hspi2.Init.CRCPolynomial = 7;
+ if (HAL_SPI_Init(&hspi2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN SPI2_Init 2 */
+__HAL_SPI_ENABLE(&hspi2);
+ /* USER CODE END SPI2_Init 2 */
+
+}
+
+/**
+ * @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)
@@ -1136,27 +1298,25 @@
/*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 */
- HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_8, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5
- |GPIO_PIN_7, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|SCL_Pin|SDA_Pin|GPIO_PIN_6, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin|RADIO_nRESET_Pin|SCL_Pin|SDA_Pin
+ |GPIO_PIN_6, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12|GPIO_PIN_15, GPIO_PIN_RESET);
- /*Configure GPIO pins : PC13 RADIO_NSS_Pin RADIO_nRESET_Pin PC4
- PC7 PC8 */
- GPIO_InitStruct.Pin = GPIO_PIN_13|RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4
- |GPIO_PIN_7|GPIO_PIN_8;
+ /*Configure GPIO pins : PC13 PC4 PC7 PC8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_4|GPIO_PIN_7|GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -1175,9 +1335,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pins : PB0 PB2 PB10 PB4
+ /*Configure GPIO pins : RADIO_NSS_Pin PB2 RADIO_nRESET_Pin PB4
PB5 PB6 PB7 */
- GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_10|GPIO_PIN_4
+ GPIO_InitStruct.Pin = RADIO_NSS_Pin|GPIO_PIN_2|RADIO_nRESET_Pin|GPIO_PIN_4
|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -1209,18 +1369,18 @@
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;
@@ -1293,25 +1453,37 @@
}
}
#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);
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;
+// }
Lora_send_flag=1;
if(nomove_count++>g_com_map[STATIONARY_TIME])
{
@@ -1327,14 +1499,13 @@
} else {
gotosleep_flag=0;
}
- }
+
// powerled=LEDOFF;
// loraled=LEDOFF;
// gpsled=LEDOFF;
// uwbled=LEDOFF;
// Set4LEDColor_Off();
}
- HAL_IWDG_Refresh(&hiwdg);
}
/* USER CODE END 4 */
--
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