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 | 600 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 457 insertions(+), 143 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 72c54d1..d3ecf83 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -28,6 +28,12 @@
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
+#include "dw_app.h"
+#include "Flash.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
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -37,9 +43,8 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
-#define Period (uint32_t) 32768
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+//#define DEBUG_MODE
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -49,6 +54,8 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
+
+IWDG_HandleTypeDef hiwdg;
LPTIM_HandleTypeDef hlptim1;
@@ -68,8 +75,9 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
-static void MX_ADC_Init(void);
+void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -77,70 +85,199 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t dev_id;
-extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
-
-void IdleTask(void)
-{
- g_start_sync_flag=0;
- UART_CheckReceive();
- UART_CheckSend();
-
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
-
- }
+uint8_t aRxBuffer[1],group_id;
+uint8_t bat_percent=0,g_start_send_flag;
+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;
+extern uint8_t module_power;
+extern float nomove_count;
+uint8_t imu_enable,motor_enable;
+u16 GetLPTime(void)
+{
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
+void UsartInit(void)
+{
+ waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ 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 = 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(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+
+ UART_CheckReceive();
+ UART_CheckSend();
+ nomove_count = 0;
+ // bat_percent=Get_Battary();
+ if(state5v==0)
+ {
+ state5v=1;
+ UsartInit();
+ }
+ if(bat_percent>99)
+ {
+ LED_LR_OFF;
+ LED_LG_ON;
+ }else{
+ LED_LR_ON;
+ LED_LG_OFF;
+ }
+ }else{
+ 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)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
+ }
+
+
+u16 total_slotnum,current_slotnum;
+extern int32_t offsettimeus;
+u16 last_lpcount = 0;
+void SetNextPollTime(u16 time)
+{
+ int32_t lpcount,lptime,target_time;
+
+// if(current_slotnum>=total_slotnum)
+// current_slotnum-=total_slotnum;
+//
+// target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+// //if(target_time<90000)
+// {
+// lptime=target_time-offsettimeus;
+// lpcount = lptime/LPTIMER_LSB;
+// if(lpcount>LPTIMER_1S_COUNT)
+// lpcount-=LPTIMER_1S_COUNT;
+// if(lpcount<0)
+// {
+// lpcount+=LPTIMER_1S_COUNT;
+// }
+ lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
+ while(lpcount>LPTIMER_1S_COUNT)
+ {
+ lpcount-=LPTIMER_1S_COUNT;
+ }
+ last_lpcount = lpcount;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+
+}
+u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
+ hardware_version = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
+ 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)|72;
+
+ #ifdef DEBUG_MODE
+ // 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];
-#ifdef DEBUG_MODE
- g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
- g_com_map[MAX_REPORT_ANC_NUM]=1;
-#endif
- g_com_map[VERSION] = 0x0107;
+ group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
- lpsettime=g_com_map[COM_INTERVAL]*32.8;
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, lpsettime, lpsettime) != HAL_OK)
+ slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
+ lastpoll_time=tyncpoll_time;
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
+ if(active_flag==0)
+ {
+ imu_enable=1;
+ nomovesleeptime =10;
+ }
+
+ // g_com_map[COM_INTERVAL]=100;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(module_power>67)
+ {module_power=67;}
+ if(module_power<0)
+ {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
{
Error_Handler();
}
-
- 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]);
-
-
+//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);
+ 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]);
}
+
static void SystemPower_Config(void)
{
/* Enable Ultra low power mode */
@@ -149,8 +286,59 @@
/* Enable the fast wake up from Ultra low power mode */
HAL_PWREx_EnableFastWakeUp();
}
+void mcu_sleep(void);
uint32_t temp;
-extern uint8_t sleep_flag;
+extern uint8_t sleep_flag,m_bEUARTTxEn;
+uint16_t waitusart_timer;
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
+//{
+// /* Set transmission flag: trasfer complete*/
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+//
+
+//}
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+ //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+}
+uint16_t temp2;
+float dw_vbat,last_vbat;
+uint8_t Get_Battary_UWB(void)
+{
+ static uint8_t first = 1;
+ static float last_value = 100;
+ static uint16_t bat_count = 0;
+ //if(bat_count++%600==0)
+ {
+ temp2=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
+ if(fabs(dw_vbat-dw_vbat)>0.2)
+ {
+ last_vbat = dw_vbat;
+ return last_value;
+ }
+ last_vbat = dw_vbat;
+ if(dw_vbat>=3.0)
+ {
+ if(first)
+ {
+ first = 0;
+ last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
+ }
+ last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
+ if(last_value>100)
+ last_value = 100;
+ if(last_value<0)
+ last_value = 0;
+ }
+ }
+ return last_value;
+}
+void MX_ADC_DeInit(void)
+{
+ HAL_ADC_DeInit(&hadc);
+ HAL_ADCEx_DisableVREFINT();
+}
/* USER CODE END 0 */
/**
@@ -162,7 +350,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -170,7 +357,7 @@
HAL_Init();
/* USER CODE BEGIN Init */
-
+//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
/* USER CODE END Init */
/* Configure the system clock */
@@ -183,22 +370,37 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
+ MX_IWDG_Init();
/* USER CODE BEGIN 2 */
- LIS3DH_Data_Init();
- Program_Init();
- Dw1000_Init();
- Dw1000_App_Init();
- dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
- SystemPower_Config();
+ 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();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* USER CODE END 2 */
@@ -209,23 +411,50 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-
-// if(sleep_flag)
-// {
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-// }
+ 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;
- LED0_BLINK;
- Tag_App();
+ 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();
- // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
}else{
IdleTask();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ 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();
@@ -244,19 +473,21 @@
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
+ /** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
+ /** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+ __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;
@@ -265,7 +496,7 @@
{
Error_Handler();
}
- /** Initializes the CPU, AHB and APB busses clocks
+ /** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -293,7 +524,7 @@
* @param None
* @retval None
*/
-static void MX_ADC_Init(void)
+void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -305,13 +536,13 @@
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
- /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
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;
@@ -328,17 +559,47 @@
{
Error_Handler();
}
- /** Configure for the selected ADC regular channel to be converted.
+ /** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_1;
+ sConfig.Channel = ADC_CHANNEL_VREFINT;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
-HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
+ 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 */
}
@@ -369,10 +630,10 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
- {
- Error_Handler();
- }
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+// {
+// Error_Handler();
+// }
/* USER CODE END LPTIM1_Init 2 */
}
@@ -424,7 +685,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
-
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -439,23 +700,33 @@
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);//??idle??
+ GPIO_InitStruct.Pin = GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+// {
+// Error_Handler();
+// }
Usart1InitVariables();
- LED0_BLINK;
/* USER CODE END USART1_Init 2 */
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -487,25 +758,19 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|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 pin : BAT_MEAS_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
@@ -534,15 +799,21 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
+ /*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;
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 LED2_G_Pin */
- GPIO_InitStruct.Pin = DW_WKUP_Pin|LED2_G_Pin;
+ /*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
+ GPIO_InitStruct.Pin = DW_WKUP_Pin|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;
@@ -565,45 +836,88 @@
{
HAL_GPIO_TogglePin(GPIOx, GPIO_Pin);
}
+void mcu_sleep(void)
+{
+ HAL_LPTIM_DeInit(&hlptim1);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = GPIO_PIN_All;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Clear all related wakeup flags*/
+ __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
+ /*Re-enable all used wakeup sources: Pin1(PA.0)*/
+ HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Enter the Standby mode*/
+ HAL_PWR_EnterSTANDBYMode();
+}
+extern uint8_t tx_near_msg[80],stationary_flag;
+float key_keeptime;
+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;
-// switch(i)
-// {
-// case 1:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 2:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 3:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 4:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 5:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 6:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 7:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 8:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 9:
-// i=0;
-// break;
-//
-//
-//
-// }
+ 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;
+ }
+ 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)
+ {
+ 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();
+// }
}
/* USER CODE END 4 */
@@ -628,7 +942,7 @@
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
-{
+{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
--
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