From b5cf79a0523697b760579eeac2e3ac60af62c55c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 29 四月 2025 18:06:35 +0800
Subject: [PATCH] Merge branch 'L051K8U6-SS定位-临近-防撞基站' of http://47.108.70.204:60062/r/XRange_Tag into L051K8U6-SS定位-临近-防撞基站
---
Src/main.c | 333 +++++++++++++++++++++++++++----------------------------
1 files changed, 162 insertions(+), 171 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2b26d4c..9208771 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -115,9 +115,15 @@
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
uint8_t state5v;
+uint8_t uart_time;
+uint8_t uart_init_flag;
void IdleTask(void)
{
-
+ if(uart_init_flag)
+ {
+ UsartInit();
+ uart_init_flag=0;
+ }
UART_CheckReceive();
UART_CheckSend();
@@ -133,31 +139,31 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
-
- bat_percent=Get_Battary();
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
-// nomove_count = 0;
- if(state5v==0)
- {
- UWB_RXOFF();
- state5v=1;
- UsartInit();
- }
- if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
- {
- LED_LR_OFF;
- LED_LG_ON;
- }else{
- LED_LR_ON;
- LED_LG_OFF;
- }
- }else{
- state5v=0;
- LED_LR_OFF;
- LED_LG_OFF;
-// }
-}
+
+// bat_percent=Get_Battary();
+// if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// {
+//// nomove_count = 0;
+// if(state5v==0)
+// {
+// UWB_RXOFF();
+// state5v=1;
+// UsartInit();
+// }
+// if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
+// {
+// LED_LR_OFF;
+// LED_LG_ON;
+// }else{
+// LED_LR_ON;
+// LED_LG_OFF;
+// }
+// }else{
+// state5v=0;
+// LED_LR_OFF;
+// LED_LG_OFF;
+//// }
+//}
if(g_com_map[CNT_UPDATE]==1)
{
uint32_t result = 0;
@@ -239,9 +245,9 @@
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] = (2<<8)|13;
+ g_com_map[VERSION] = (1<<8)|2;
-// g_com_map[DEV_ID]=0x7;
+// g_com_map[DEV_ID]=0x0011;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=0x4009;
@@ -369,6 +375,7 @@
}
uint8_t userkey_num;
+extern u32 id,error_times;
/* USER CODE END 0 */
/**
@@ -398,22 +405,21 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_IWDG_Init();
MX_GPIO_Init();
- MX_LPTIM1_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
-
+ MX_LPTIM1_Init();
MX_TIM2_Init();
-
+ MX_IWDG_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
+// LED_LG_ON;
Program_Init();
- Accelerometer_Init();
+// Accelerometer_Init();
// BarInit();
Dw1000_Init();
+ id = dwt_readdevid() ;
Dw1000_App_Init();
HardWareTypeDiffConfig();
// dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
@@ -422,14 +428,14 @@
// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
// dwt_setrxtimeout(0);//设定接收超时时间，0位没有
// dwt_rxenable(0);
- if(uwb_onflag)
- {
- UWB_RXON();
- }
- else
- {
- UWB_RXOFF();
- }
+// if(uwb_onflag)
+// {
+// UWB_RXON();
+// }
+// else
+// {
+// UWB_RXOFF();
+// }
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
@@ -455,13 +461,13 @@
// {
// MODBUS_Poll();
// }
-if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
- {
-#ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-#endif
- }
+//if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
+// {
+//#ifndef DEBUG_MODE
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+//#endif
+// }
if(g_start_send_flag/*&&uwb_onflag*/)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
@@ -474,22 +480,28 @@
// }
// LED_TR_BLINK;
__disable_irq();
- if(bat_percent>15)
- { LED_TB_ON;
+// if(bat_percent>15)
+// {
+//// LED_TB_ON;
+// Tag_App();
+//// LED_TB_OFF;
+// }
+// else
+// {
+// LED_TR_ON;
Tag_App();
- LED_TB_OFF;
- }else{
- LED_TR_ON;
- Tag_App();
- LED_TR_OFF;
- }
+// HAL_IWDG_Refresh(&hiwdg);
+// id = dwt_readdevid() ;
+// IdleTask();
+// LED_TR_OFF;
+// }
__enable_irq();
//LED0_BLINK;
IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
+// if(waitusart_timer>0)
+// {
+// waitusart_timer--;
+// }
}else{
IdleTask();
@@ -857,36 +869,13 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- 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|PWR_CTL_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(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|SPI_CS_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- 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 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 */
- GPIO_InitStruct.Pin = SPI_CS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
- HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_WritePin(GPIOB, SPI_RST_Pin|SPI_WAKEUP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : BAT_MEAS_GND_Pin */
GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
@@ -907,30 +896,24 @@
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 DW_CTRL_Pin LED2_G_Pin */
- GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
+ /*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin SPI_CS_Pin */
+ GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|SPI_CS_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 : PB8 */
- GPIO_InitStruct.Pin = GPIO_PIN_8;
+ /*Configure GPIO pin : PB6 */
+ GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : SPI_RST_Pin SPI_WAKEUP_Pin PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = SPI_RST_Pin|SPI_WAKEUP_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);
/* EXTI interrupt init*/
@@ -973,6 +956,8 @@
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime,button_delay;
+uint8_t uart_time;
+uint8_t uart_init_flag;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -984,75 +969,81 @@
if(button_delay<1)
button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
- if(motor_keeptime>0)
- {
- motor_keeptime-=1/(float)tag_frequency;
- }
- if(motor_keeptime<0)
- {motor_keeptime = 0;}
- if(active_flag==0)
- {
- if(!GET_USERKEY)
- {
- LED_LG_ON;
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>3)
- {
- u8 i=250,keystate=1;
- while(i--)
- {
- if(i%10==0)
- {
- LED_LG_BLINK;
- }
- if(GET_USERKEY)
- {keystate = 0;}
- if(keystate==0&&!GET_USERKEY)
- {
- parameter_init();
- g_com_map[ACTIVE_INDEX] = 1;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- delay_ms(10);
- }
- }
- }else{
- LED_LG_OFF;
- key_keeptime=0;
- }
-
- }
+ uart_time++;
+ if(uart_time>60)
+ {
+ uart_init_flag=1;
+ uart_time=0;
+ }
+// if(motor_keeptime>0)
+// {
+// motor_keeptime-=1/(float)tag_frequency;
+// }
+// if(motor_keeptime<0)
+// {motor_keeptime = 0;}
+// if(active_flag==0)
+// {
+// if(!GET_USERKEY)
+// {
+//// LED_LG_ON;
+// key_keeptime+=1/(float)tag_frequency;
+// if(key_keeptime>3)
+// {
+// u8 i=250,keystate=1;
+// while(i--)
+// {
+// if(i%10==0)
+// {
+//// LED_LG_BLINK;
+// }
+// if(GET_USERKEY)
+// {keystate = 0;}
+// if(keystate==0&&!GET_USERKEY)
+// {
+// parameter_init();
+// g_com_map[ACTIVE_INDEX] = 1;
+// save_com_map_to_flash();
+// delay_ms(100);
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+// delay_ms(10);
+// }
+// }
+// }else{
+//// LED_LG_OFF;
+// key_keeptime=0;
+// }
+//
+// }
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }else{
- key_keeptime=0;
- }
- if(nomove_count>g_com_map[STATIONARY_TIME])
- {
- stationary_flag = 1;
- }else{
- stationary_flag = 0;
- }
-if(nomove_count>=nomovesleep_time-1&&imu_enable)
- {
- gotosleep_flag=1;
- }else{
- gotosleep_flag=0;
- }
-//#ifndef DEBUG_MODE
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
-//#endif
+// if(!GET_USERKEY)
+// {
+// key_keeptime+=1/(float)tag_frequency;
+// if(key_keeptime>=KEY_KEEPRESET_TIME)
+// {
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// }
+// }else{
+// key_keeptime=0;
+// }
+// if(nomove_count>g_com_map[STATIONARY_TIME])
+// {
+// stationary_flag = 1;
+// }else{
+// stationary_flag = 0;
+// }
+//if(nomove_count>=nomovesleep_time-1&&imu_enable)
+// {
+// gotosleep_flag=1;
+// }else{
+// gotosleep_flag=0;
+// }
+////#ifndef DEBUG_MODE
+// if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+// {
+// mcu_sleep();
+// }
+////#endif
}
/* USER CODE END 4 */
--
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