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 | 286 +++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 205 insertions(+), 81 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index aaa72a2..dcf75a3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -87,6 +87,8 @@
SPI_HandleTypeDef hspi1;
+TIM_HandleTypeDef htim6;
+
/* USER CODE BEGIN PV */
/* USER CODE END PV */
@@ -102,6 +104,7 @@
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 */
@@ -125,7 +128,7 @@
uint8_t anjian_flag;
uint8_t stationary_flag;
uint16_t stationary_num;
-uint8_t recv_end_time;
+uint16_t recv_end_time,ledon_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -207,13 +210,19 @@
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;
@@ -245,6 +254,10 @@
{
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;
+ }
}
@@ -302,7 +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)|7;
+ g_com_map[VERSION] = (1<<8)|29;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -342,6 +355,10 @@
{
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)
@@ -422,28 +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();
- irq_num++;
+
+ // SystemClock_Config();
+ // irq_num++;
+ lora_irq_flag = 1;
+ if(shengji_flag)
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;
+ }
+ 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 );
@@ -468,17 +499,14 @@
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 GPSchangdu;
-uint8_t GPS_GGAdate[400];
-uint8_t GPS_GGAdatenum;
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-{
+uint8_t GPS_GGAdate[GPS_SIZE];
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+//{
// {
// GPS_RecvFsm(GPSRxBuffer[0]);
// GPS_Recv_Poll(GPSRxBuffer[0]);
@@ -493,11 +521,11 @@
// }
// 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 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];
@@ -509,15 +537,15 @@
// memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
// }
// if(lp_time>3)
- if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))
- {
- Error_Handler();
- }
- fangzhijinrushuimian_flag=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);
-}
+//}
extern uint8_t yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
extern uint8_t xiafayuyin_data[200];
@@ -591,32 +619,44 @@
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)
- {
- debugnum++;
- Lora_send_flag=0;
- loraled=BLUE;
+
+ 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
-{
- recv_end_time=0;
-GPS_ParseGGA(GPS_GGAdate, rx_len);
-memset(GPS_GGAdate,0,rx_len);
-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
+ 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 */
@@ -650,19 +690,21 @@
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC_Init();
-// MX_IWDG_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();
/* USER CODE BEGIN 2 */
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
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。
#ifdef _USE_BAR
-BarInit();
+//BarInit();
#endif
Dw1000_Init();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
@@ -688,6 +730,7 @@
{
Error_Handler();
}
+ HAL_TIM_Base_Start_IT(&htim6);
/* USER CODE END 2 */
/* Infinite loop */
@@ -700,10 +743,19 @@
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();
@@ -1076,6 +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)
@@ -1185,18 +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;
@@ -1268,45 +1358,79 @@
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)
{
if(chongqi_flag==0&&shengji_flag==0)
{
- SystemClock_Config();
-Set4LEDColor(powerled,loraled,gpsled,uwbled);
-Bat_Percent_Poll();
+// 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>3)
-// {HAL_NVIC_SystemReset();}
+ if(yuyin_no_sleep_flag==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;
+ }
}
- Yuying_Poll();
- Lora_send_flag=1;
- 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;
- }
- }
- powerled=LEDOFF;
- loraled=LEDOFF;
- gpsled=LEDOFF;
- uwbled=LEDOFF;
-Set4LEDColor_Off();
+// powerled=LEDOFF;
+// loraled=LEDOFF;
+// gpsled=LEDOFF;
+// uwbled=LEDOFF;
+// Set4LEDColor_Off();
}
- HAL_IWDG_Refresh(&hiwdg);
}
/* USER CODE END 4 */
--
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