From a146034365a3ae06d9e4310a40c3857fcf4cc2ff Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 18 七月 2024 18:14:22 +0800
Subject: [PATCH] 1.29，开放看门狗
---
Src/main.c | 649 ++++++++++++++++++++++++++++++++++------------------------
1 files changed, 377 insertions(+), 272 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 92e041b..dcf75a3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -38,6 +38,8 @@
#include "WS2812.h"
#include "syn6288.h"
#include "dw_mbx_tag.h"
+#include "GPS.h"
+#include "lora.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
@@ -45,11 +47,11 @@
uint8_t chongqi_flag;
uint32_t uwbled,gpsled,loraled,powerled;
UART_WakeUpTypeDef Selection;
-uint8_t Close_RMC[20]="$CCMSG,RMC,1,0,*04\r\n";
-uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
-uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
-uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
-uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
+uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
+//uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
+//uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
+//uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
+//uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -70,7 +72,6 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
-DMA_HandleTypeDef hdma_adc;
IWDG_HandleTypeDef hiwdg;
@@ -79,12 +80,14 @@
UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart5;
+DMA_HandleTypeDef hdma_lpuart1_rx;
+DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
-DMA_HandleTypeDef hdma_usart5_rx;
-DMA_HandleTypeDef hdma_usart5_tx;
SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim6;
/* USER CODE BEGIN PV */
@@ -97,16 +100,18 @@
static void MX_ADC_Init(void);
static void MX_IWDG_Init(void);
static void MX_LPTIM1_Init(void);
-static void MX_LPUART1_UART_Init(void);
static void MX_USART1_UART_Init(void);
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);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+extern uint8_t shengji_flag;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -123,6 +128,7 @@
uint8_t anjian_flag;
uint8_t stationary_flag;
uint16_t stationary_num;
+uint16_t recv_end_time,ledon_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -199,47 +205,59 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
-uint8_t state5v = 1;
+uint8_t state5v;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
-{
+{uint16_t current_lptime = GetLPTime();
+ if(current_lptime-ledon_time>100||current_lptime<ledon_time-500)
+ {
+ // Set4LEDColor(0,0,0,0);
+ 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))
+ {
+ HAL_IWDG_Refresh(&hiwdg);
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
- // bat_percent=Get_Battary();
- if(state5v==0)
- {
- state5v=1;
- UsartInit();
- }
- if(bat_percent>99)
+
+ if(bat_percent>95)
{
powerled=GREEN;
-
}else{
powerled=RED;
- }
+ }
+ }
+ HAL_NVIC_SystemReset();
}else{
- if(state5v==1)
- {
- state5v=0;
- UsartDeInit();
- }
-// powerled=LEDOFF;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// gpsled=LEDOFF;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
-// }
+ state5v=0;
+ if(bat_percent>20)
+ {
+ powerled=BLUE;
+ }else{
+ powerled=RED;
+ }
+
+// if(state5v==1)
+// {
+// state5v=0;
+// UsartDeInit();
+// }
}
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
}
+ if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
}
@@ -247,34 +265,7 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
//u16 last_lpcount = 0;
-void SetNextPollTime(u16 time)
-{
- int32_t lpcount1,lptime1,target_time1;
-int32_t last_lpcount1;
-// 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;
-// }
- last_lpcount1=HAL_LPTIM_ReadCounter(&hlptim1);
- lpcount1 = last_lpcount1+32.768*time;
- while(lpcount1>LPTIMER_1S_COUNT)
- {
- lpcount1-=LPTIMER_1S_COUNT;
- }
-// last_lpcount = lpcount;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1+32768);
-}
/* 返回ch字符在sign数组中的序号 */
int getIndexOfSigns(char ch)
@@ -314,7 +305,8 @@
u8 active_flag,nomovesleeptime;
void Program_Init(void)
-{ float temp;
+{
+ float temp;
uint16_t temp2;
uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
@@ -323,7 +315,7 @@
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)|0;
+ g_com_map[VERSION] = (1<<8)|29;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -332,13 +324,13 @@
// // g_com_map[MAX_REPORT_ANC_NUM]=1;
// // g_com_map[NOMOVESLEEP_TIME]=10;
// #endif
- g_com_map[GROUP_ID]=5;
+ g_com_map[GROUP_ID]=0;
// g_com_map[COM_INTERVAL] = 1000;
if(g_com_map[COM_INTERVAL]<1000)
{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;
+// g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -352,17 +344,21 @@
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;
- }
+// 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]=1000;
}
+ if(g_com_map[LORA_POWER]>22)
+ {
+ g_com_map[LORA_POWER] = 22;
+ }
if(module_power>67)
{module_power=67;}
if(module_power<0)
@@ -370,10 +366,6 @@
current_slotnum=1;
// current_time=GetLPTime();
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
- {
- Error_Handler();
- }
// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
// {
// Error_Handler();
@@ -447,27 +439,42 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+extern u8 gps_chafenlingqi;
uint16_t irq_num;
+u8 lora_irq_flag,lora_working_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == RADIO_DIO1_Pin)
{
- SystemClock_Config();
-// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
-// HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
-// l_bIsVibration = HIDO_TRUE;
-// nomove_time=0;
-// printf("RXD :77777\r\n");
- irq_num++;
+
+ // SystemClock_Config();
+ // irq_num++;
+ lora_irq_flag = 1;
+ if(shengji_flag)
RadioIrqProcess();
}
if(GPIO_Pin == GPIO_PIN_1)//按键
{
+ // SystemClock_Config();
anjian_flag=1;
}
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
-
+ // SystemClock_Config();
+ if(chongqi_flag==1)
+ {
+ HAL_NVIC_SystemReset();
+ }
+ nomove_count = 0;
+ }
+ if(GPIO_Pin == GPIO_PIN_9)//UWB
+ {
+ if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
+ {
+ gps_chafenlingqi++;
+ return;
+ }
+ MbxTagUwbRec();
}
}
extern void Lora_tx_zubao( void );
@@ -478,32 +485,8 @@
uint8_t lora_tx_flag;
uint8_t lora_txanchor_power_flag;
-u8 lora_seq_nb1;
-static uint8_t send_frame1[EUART_RX_BUF_SIZE];
-uint8_t data_length1;
-void LoraSendComMap(uint8_t data_length, uint8_t index)
-{
- uint16_t checksum = 0;
- send_frame1[0] = 0x55;
- send_frame1[1] = 0xAA;
- send_frame1[2] = 0x39;
- send_frame1[3] = data_length+5;
- send_frame1[4] = 3;
- send_frame1[5] = index;
- send_frame1[6] = data_length;
- memcpy(&send_frame1[7], &g_com_map[index], data_length);
- for(int i = 0; i<(data_length+5); i++)
- {
- checksum += send_frame1[2+i];
- }
- checksum = Checksum_u16(&send_frame1[2],5+data_length);
- memcpy(&send_frame1[7+data_length],&checksum,2);
- data_length1=data_length+9;
-// UART_PushFrame(send_frame1, data_length+9);
-}
extern uint8_t GPSchangdu;
uint8_t no_yingdaflag;
-extern uint8_t GPS_GGAdate[200];
uint8_t GPS_GGAdate111[200]="报警";
@@ -513,63 +496,36 @@
}
void GPS_Close_Init()
{
-
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GSA,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GSV,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GLL,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_TXT,20,1000);
- Delay_Ms(100);
+ HAL_UART_Transmit_DMA(&hlpuart1,Close_RMC,100);
+ Delay_Ms(150);
}
+#define GPS_SIZE 400
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
-#define BleRxBufferSize 1
-uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
-uint8_t ble_rx_success_flag;
+uint8_t group_id;
uint8_t fangzhijinrushuimian_flag;
-uint8_t GPS_zhongzhuandate[200];
-uint8_t GPS_zhongzhuannum;
-uint8_t GPSchangdu;
-uint8_t GPS_GGAdate[200]={1,2,3,4,5,6,7,8,9};
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-{
- {
- GPS_zhongzhuandate[GPS_zhongzhuannum]=GPSRxBuffer[0];
- GPS_zhongzhuannum++;
- if(GPS_zhongzhuandate[GPS_zhongzhuannum-1]==0x0A&&GPS_zhongzhuandate[GPS_zhongzhuannum-2]==0x0D)
- {
-// HAL_UART_Transmit(&hlpuart1,ble_rxdate,5,1000);
- memcpy(GPS_GGAdate,GPS_zhongzhuandate,GPS_zhongzhuannum);
- GPSchangdu= GPS_zhongzhuannum;
- memset(GPS_zhongzhuandate,0,sizeof(GPS_zhongzhuandate));
- GPS_zhongzhuannum=0;
- fangzhijinrushuimian_flag=0;
- ble_rx_success_flag=1;
- if(GPSchangdu>40)
- {
- gpsled=BLUE;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);
- }
- else
- {
- gpsled=RED;
-// Set4LEDColor(powerled,loraled,gpsled,uwbled);z
- }
- }
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
- }
-}
-uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
-void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
-{
- SystemClock_Config();
+uint8_t GPS_GGAdate[GPS_SIZE];
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+//{
+// {
+// GPS_RecvFsm(GPSRxBuffer[0]);
+// GPS_Recv_Poll(GPSRxBuffer[0]);
+// GPS_GGAdate[GPS_GGAdatenum]=GPSRxBuffer[0];
+// GPS_GGAdatenum++;
+// if(GPS_GGAdate[GPS_GGAdatenum-1]==0x0A&&GPS_GGAdate[GPS_GGAdatenum-2]==0x0D)
+// {
+// GPS_ParseGGA(GPS_GGAdate, GPS_GGAdatenum);
+// memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
+// GPS_GGAdatenum=0;
+// fangzhijinrushuimian_flag=0;
+// }
+// HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+// }
+//}
+//uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
+//void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
+//{
+// SystemClock_Config();
// HAL_UART_Transmit(&hlpuart1,(uint8_t*)ble_rxdate111,3,1000);
//// huart->RxState = HAL_UART_STATE_BUSY_RX;
// ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
@@ -581,16 +537,14 @@
// memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
// }
// if(lp_time>3)
- fangzhijinrushuimian_flag=1;
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+// if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))
+// {
+// Error_Handler();
+// }
+// fangzhijinrushuimian_flag=1;
+// HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
// HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
-}
-//void GPS_rx_Poll()
-//{
-// if(ble_rx_success_flag)
-// {
-// ble_rx_success_flag=0;
-// }
+
//}
extern uint8_t yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
@@ -602,18 +556,9 @@
if(yuyin_sendflag)
{
yuyin_sendflag=0;
- SYN_FrameInfo(0,yuyin_yinliang);//设置音量等级V10
- delay_ms(10);
SYN_FrameInfo(0,xiafayuyin_data); //播放内容
-// HAL_UART_Receive_IT(&huart6, &Get_Uart6_data, 1);
memset(xiafayuyin_data,0,sizeof(xiafayuyin_data));
}
-// if(Get_Uart6_data==0x4F)
-// {
-//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
-//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
-// Get_Uart6_data=0;
-// }
}
void PowerDownDetect(void)
{
@@ -621,11 +566,13 @@
static uint32_t powercount=0;
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
{
- delay_ms(1000);
+ delay_ms(500);
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
{
while(1)
{
+ Set4LEDColor(RED,RED,RED,RED);
+ recv_end_time=0;
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
{
delay_ms(100);
@@ -635,9 +582,14 @@
}
}
}
+uint8_t only_one_flag;
+uint8_t gotosleep_flag;
uint8_t usart5_state,flag_onesecond;
void Jingzhi_Poll(void)
{
+ if(only_one_flag==0)
+ {
+ only_one_flag=1;
powerled=LEDOFF;
loraled=LEDOFF;
gpsled=LEDOFF;
@@ -654,6 +606,7 @@
Set4LEDColor_Off(); //关led总电源
chongqi_flag=1;
+ }
}
void OneSecondTask(void)
{
@@ -661,6 +614,49 @@
{
flag_onesecond = 0;
}
+}
+uint8_t GPS_Close_time;
+uint8_t GPS_Close_flag=1;
+uint8_t debugnum;
+uint8_t Lora_send_flag;
+extern uint8_t rec_secdelay;
+extern u16 uwb_rx_remaintime_ms;
+void Lora_Send_Poll(void)
+{
+
+ if(Lora_send_flag&&uwb_rx_remaintime_ms==0)
+ {
+ debugnum++;
+ Lora_send_flag=0;
+// if(rec_secdelay>0)
+// {
+// loraled=YELLOW;
+// rec_secdelay--;
+// return;
+// }
+ loraled=BLUE;
+ LoraReportPoll();
+ flag_onesecond = 1;
+ }
+
+}
+extern volatile uint16_t rx_len ; //接收一帧数据的长度
+extern volatile uint8_t recv_end_flag; //一帧数据接收完成标志
+void Lpuart_rx_Poll(void)
+{
+ if(recv_end_flag == 1) //接收完成标志
+ {
+ uint16_t i;
+ recv_end_time=0;
+ for(i=0;i<GPS_SIZE;i++)
+ {GPS_RecvFsm(GPS_GGAdate[i]);}
+ //GPS_ParseGGA(GPS_GGAdate, rx_len);
+ memset(GPS_GGAdate,0,GPS_SIZE);
+ rx_len = 0;//清除计数
+ recv_end_flag = 0;//清除接收结束标志位
+ fangzhijinrushuimian_flag=0;
+ }
+ HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
}
/* USER CODE END 0 */
@@ -694,38 +690,47 @@
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC_Init();
-// MX_IWDG_Init();
+ // MX_IWDG_Init();
MX_LPTIM1_Init();
- MX_LPUART1_UART_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
+ MX_LPUART1_UART_Init();
MX_USART5_UART_Init();
+ MX_TIM6_Init();
/* USER CODE BEGIN 2 */
-// LED_LG_ON;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
delay_ms(10);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
-//delay_ms(1000);
-
Program_Init();
- LIS3DH_Data_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。
+#ifdef _USE_BAR
+//BarInit();
+#endif
Dw1000_Init();
- // HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
+
+ LIS3DH_Data_Init();
+ Set4LEDColor(RED,RED,RED,RED);
+ HAL_Delay(500);
+ Set4LEDColor_Off();
+ HAL_Delay(500);
+ LoraInit();
+// delay_ms(1000);
+bat_percent=Get_Battary();
+ GPS_Close_flag=0;
+ GPS_Close_Init();
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+ {
+ Error_Handler();
+ }
+// HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
+ __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_IDLE); //使能IDLE中断
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
- Set4LEDColor(GREEN,RED,RED,RED);
- HAL_Delay(500);
- Set4LEDColor(GREEN,GREEN,GREEN,RED);
- HAL_Delay(500);
- Set4LEDColor_Off();
- LoraInit();
-// Lora47X_Init();
-// Radio.Sleep();
+ HAL_TIM_Base_Start_IT(&htim6);
/* USER CODE END 2 */
/* Infinite loop */
@@ -735,31 +740,53 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
+ if(gotosleep_flag==1)
+ {
+ Jingzhi_Poll();
+// HAL_IWDG_Refresh(&hiwdg);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+ else
+ {
+// HAL_IWDG_Refresh(&hiwdg);
+ if(lora_irq_flag)
+ {
+ lora_irq_flag = 0;
+ lora_working_flag = 1;
+ RadioIrqProcess();
+ lora_working_flag = 0;
+ }
+ Lpuart_rx_Poll();
OneSecondTask();
IdleTask();
PowerDownDetect();
-
- #ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
- {
- if(usart5_state==0)
- {
- usart5_state=1;
- Usart5DeInit();
+ Lora_Send_Poll();
+ TTSchaxun_Busy();
+ LoraUp_Poll();
+// #ifndef DEBUG_MODE
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// {
+// if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
+// {
+// if(usart5_state==0)
+// {
+// usart5_state=1;
+// Usart5DeInit();
+// }
+// if(GPS_Close_flag==0)
+// {
+// Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
+// HAL_UARTEx_EnableClockStopMode(&hlpuart1);
+// HAL_UARTEx_EnableStopMode( &hlpuart1 );
+// HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
+// __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);
+// }
+//// Set4LEDColor_Off();
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// }
+// }
+// #endif
}
- Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
- HAL_UARTEx_EnableClockStopMode(&hlpuart1);
- HAL_UARTEx_EnableStopMode( &hlpuart1 );
- HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
- __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);
- Set4LEDColor_Off();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
- }
- #endif
-
}
/* USER CODE END 3 */
}
@@ -817,7 +844,7 @@
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
|RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
- PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
+ PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_HSI;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -850,7 +877,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -872,14 +899,6 @@
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
- if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
- {
- Error_Handler();
- }
-
- /** Configure for the selected ADC regular channel to be converted.
- */
- sConfig.Channel = ADC_CHANNEL_VREFINT;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
@@ -1109,6 +1128,44 @@
}
/**
+ * @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)
@@ -1118,11 +1175,8 @@
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
- /* DMA1_Channel1_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_3_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
/* DMA1_Channel4_5_6_7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_5_6_7_IRQn, 0, 0);
@@ -1210,7 +1264,7 @@
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -1221,18 +1275,18 @@
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;
@@ -1244,7 +1298,7 @@
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
- HAL_NVIC_SetPriority(EXTI4_15_IRQn, 2, 0);
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -1281,51 +1335,102 @@
uint8_t lora_yingdatime;
extern uint8_t lora_chongfuyingda_flag;
uint16_t no_data_chongqi_num;
-
uint8_t no_yingdatime;
+#define YUYINSTOP_TIME 10
+uint8_t bat_time;
+void Bat_Percent_Poll()
+{
+ bat_time++;
+ if(bat_time>100)
+ {
+ bat_time=0;
+ bat_percent=Get_Battary();
+ }
+}
+void Yuying_Poll()
+{
+ yuyinzidongguan_time++;
+ if(yuyinzidongguan_time>YUYINSTOP_TIME)
+ {
+ yuyinzidongguan_time=0;
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
+ yuyin_no_sleep_flag=0;
+ }
+}
+#define NOGPS_RESET_TIME 300
+u8 state_count = 0;
+extern u8 lora_jianting_flag,seq_num;
+extern u32 wg_lost_count;
+extern u16 uwb_rx_remaintime_ms;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
-// uint8_t pinlv;
- SystemClock_Config();
+ if(chongqi_flag==0&&shengji_flag==0)
+ {
+// 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);
- LoraReportPoll();
- lp_time++;
-
- no_data_chongqi_num++;
- stationary_num++;
-
- flag_onesecond = 1;
- if(no_yingdaflag==1)
+ //Set4LEDColor(powerled,loraled,gpsled,uwbled);
+ ledon_time = GetLPTime();
+ Bat_Percent_Poll();
+ if(state5v==0)
{
- no_yingdatime++;
- if(no_yingdatime>=5)
+ if(yuyin_no_sleep_flag==0)
{
- no_yingdaflag=0;
- no_yingdatime=0;
+ recv_end_time++;
+ if(recv_end_time>NOGPS_RESET_TIME)
+ {HAL_NVIC_SystemReset();}
+ }
+ Yuying_Poll();
+ switch(state_count)
+ {
+ case 0:
+ state_count = 1;
+ if(lora_jianting_flag)
+ {
+ uwb_rx_remaintime_ms = 990;
+ UWB_RXStart(0);
+ }else{
+ seq_num--;
+ Lora_send_flag=1;
+ }
+ break;
+ case 1:
+ if(wg_lost_count>0)
+ {
+ seq_num--;
+ Lora_send_flag=1;
+ }
+ state_count = 2;
+ break;
+ case 2:
+ Lora_send_flag=1;
+ state_count = 0;
+ break;
+ default:
+ state_count = 0;
+ }
+ if(nomove_count++>g_com_map[STATIONARY_TIME])
+ {
+ stationary_flag = 1;
+ }
+ else
+ {
+ stationary_flag = 0;
+ }
+ if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+ {
+ gotosleep_flag=1;
+ } else {
+ gotosleep_flag=0;
}
}
-
- if( no_data_chongqi_num>600)
- {NVIC_SystemReset();}
- SetNextPollTime(0);
-
- if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
- {
- lora_txanchor_power_flag=0;
- }
-
- if(stationary_num>=30)
- {stationary_num=0;
- stationary_flag=1;
- }
- yuyinzidongguan_time++;
- if(yuyinzidongguan_time>10)
- {
- yuyinzidongguan_time=0;
- HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
- HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
- yuyin_no_sleep_flag=0;
- }
+// powerled=LEDOFF;
+// loraled=LEDOFF;
+// gpsled=LEDOFF;
+// uwbled=LEDOFF;
+// Set4LEDColor_Off();
+ }
}
/* USER CODE END 4 */
--
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