From 8dd2c20ddb32d065b877d66394e52a73c0376838 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 13 五月 2025 09:39:54 +0800
Subject: [PATCH] 1.72，加入拉高lora的cs脚，兼容带lora的免布线基站
---
Src/main.c | 313 +++++++++++++++++++++++++---------------------------
1 files changed, 151 insertions(+), 162 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 7b41856..d3ecf83 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -33,7 +33,7 @@
#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 -----------------------------------------------------------*/
@@ -55,11 +55,11 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
+IWDG_HandleTypeDef hiwdg;
+
LPTIM_HandleTypeDef hlptim1;
SPI_HandleTypeDef hspi1;
-
-TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -77,7 +77,7 @@
static void MX_SPI1_Init(void);
void MX_ADC_Init(void);
static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
+static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -110,15 +110,38 @@
Error_Handler();
}
}
+static void MX_DMA_DeInit(void)
+{
+
+ /* DMA controller clock enable */
+ __HAL_RCC_DMA1_CLK_DISABLE();
+
+ /* DMA interrupt init */
+ /* DMA1_Channel2_3_IRQn interrupt configuration */
+ // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
+ HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
+
+}
+void UsartDeInit(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ waitusart_timer = 0;
+ MX_DMA_DeInit();
+ HAL_UART_DeInit(&huart1);
+ GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+}
uint16_t hardware_version,hardware_pici,hardware_type;
-uint8_t state5v;
+uint8_t state5v = 1;
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(huart1.Instance->ISR&USART_ISR_FE)
+// {
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -140,14 +163,18 @@
LED_LG_OFF;
}
}else{
- state5v=0;
+ if(state5v==1)
+ {
+ state5v=0;
+ UsartDeInit();
+ }
LED_LR_OFF;
LED_LG_OFF;
// }
}
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
@@ -174,7 +201,7 @@
// {
// lpcount+=LPTIMER_1S_COUNT;
// }
- lpcount = last_lpcount+32768/tag_frequency;
+ lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
while(lpcount>LPTIMER_1S_COUNT)
{
lpcount-=LPTIMER_1S_COUNT;
@@ -182,30 +209,6 @@
last_lpcount = lpcount;
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
-
-void HardWareTypeDiffConfig(void)
-{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
-//hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
- switch(hardware_type)
- {
- case 1:
-
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = MOTOR_Pin;
- 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);
- break;
- case 2:
- MX_TIM2_Init();
- //BarInit();
- break;
- }
}
u8 active_flag,nomovesleeptime;
void Program_Init(void)
@@ -218,18 +221,20 @@
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)|45;
+ g_com_map[VERSION] = (1<<8)|72;
#ifdef DEBUG_MODE
-// g_com_map[GROUP_ID]=21;
+ // g_com_map[GROUP_ID]=21;
// g_com_map[DEV_ID]=4;
// g_com_map[COM_INTERVAL]=100;
// 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;
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];
@@ -266,11 +271,8 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
- printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-
-
+ 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);
+ 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]);
@@ -299,12 +301,6 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
-/* USER CODE END 0 */
-
-/**
- * @brief The application entry point.
- * @retval int
- */
uint16_t temp2;
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
@@ -338,6 +334,17 @@
}
return last_value;
}
+void MX_ADC_DeInit(void)
+{
+ HAL_ADC_DeInit(&hadc);
+ HAL_ADCEx_DisableVREFINT();
+}
+/* USER CODE END 0 */
+
+/**
+ * @brief The application entry point.
+ * @retval int
+ */
int main(void)
{
/* USER CODE BEGIN 1 */
@@ -363,27 +370,34 @@
/* 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_TIM2_Init();
+ MX_ADC_Init();
+ MX_IWDG_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
- Program_Init();
-// LIS3DH_Data_Init();
- Dw1000_Init();
- Dw1000_App_Init();
-// 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);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = GPIO_PIN_5;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ LED_LG_ON;
+ Program_Init();
+ // LIS3DH_Data_Init();
+ Dw1000_Init();
+ Dw1000_App_Init();
+ // 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(1000);
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
@@ -397,11 +411,12 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag&&active_flag)
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
+ 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);
@@ -425,24 +440,21 @@
if(waitusart_timer>0)
{
waitusart_timer--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
- if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
-#ifndef DEBUG_MODE
-if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-#endif
- }
-
-
+ }
}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;
+ }
+ #ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ #endif
+ }
// HAL_Delay(100);
// Get_Battary();
@@ -467,13 +479,15 @@
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
/** Initializes the CPU, AHB and APB busses clocks
*/
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
+ |RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
@@ -510,11 +524,6 @@
* @param None
* @retval None
*/
-void MX_ADC_DeInit(void)
-{
- HAL_ADC_DeInit(&hadc);
- HAL_ADCEx_DisableVREFINT();
-}
void MX_ADC_Init(void)
{
@@ -533,7 +542,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -562,6 +571,35 @@
HAL_ADCEx_EnableVREFINT();
HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
/* USER CODE END ADC_Init 2 */
+
+}
+
+/**
+ * @brief IWDG Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_IWDG_Init(void)
+{
+
+ /* USER CODE BEGIN IWDG_Init 0 */
+
+ /* USER CODE END IWDG_Init 0 */
+
+ /* USER CODE BEGIN IWDG_Init 1 */
+
+ /* USER CODE END IWDG_Init 1 */
+ hiwdg.Instance = IWDG;
+ hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
+ hiwdg.Init.Window = 4095;
+ hiwdg.Init.Reload = 4095;
+ if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN IWDG_Init 2 */
+
+ /* USER CODE END IWDG_Init 2 */
}
@@ -635,69 +673,6 @@
/* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
/* USER CODE END SPI1_Init 2 */
-
-}
-
-/**
- * @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 = 9;
- htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim2.Init.Period = 1171;
- 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 = 599;
- 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 */
-//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
-// {
-// /* Starting Error */
-// Error_Handler();
-// }
- /* USER CODE END TIM2_Init 2 */
- HAL_TIM_MspPostInit(&htim2);
}
@@ -883,19 +858,33 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
-extern float freqlost_count;
+extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0;
+ static uint8_t i=0,lost_jumpcount=0;
i++;
- g_start_send_flag=1;
+
current_slotnum++;
freqlost_count+=1/(float)tag_frequency;
+ range_lost_time +=1/(float)tag_frequency;
+
if(freqlost_count>FREQ_LOST_TIME)
{
tag_frequency = NOTAG_FREQ;
+ if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+ {
+ lost_jumpcount = 0;
+ g_start_send_flag=1;
+ }
+ }else{
+ g_start_send_flag=1;
}
- SetNextPollTime(tyncpoll_time);
+ if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
+ {
+ SetNextPollTime(0);
+ }else{
+ SetNextPollTime(5);
+ }
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
@@ -903,7 +892,7 @@
}
if(!GET_USERKEY)
{
- nomove_count+=1/(float)tag_frequency;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
g_com_map[ACTIVE_INDEX]=!active_flag;
--
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