From abd6a3fdf20a1d3e6629505386efe36006ef907d Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 三月 2024 10:30:43 +0800
Subject: [PATCH] V1.9，加入看门狗，注意看门狗初始化要放在lp串口初始化后面
---
Src/main.c | 1143 ++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 763 insertions(+), 380 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6fc9e4a..4121365 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -30,10 +29,29 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
+#include "user.h"
+#include "sx126x-board.h"
+#include "string.h"
+#include "stdio.h"
+#include "delay.h"
+#include <stdlib.h>
+#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
#define DEBUG_MODE
+uint8_t chongqi_flag;
+uint32_t uwbled,gpsled,loraled,powerled;
+UART_WakeUpTypeDef Selection;
+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 -----------------------------------------------------------*/
@@ -53,17 +71,21 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
+
+IWDG_HandleTypeDef hiwdg;
LPTIM_HandleTypeDef hlptim1;
-SPI_HandleTypeDef hspi1;
-
-TIM_HandleTypeDef htim2;
-
+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;
+
+SPI_HandleTypeDef hspi1;
/* USER CODE BEGIN PV */
@@ -72,18 +94,21 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_ADC_Init(void);
+static void MX_IWDG_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
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_LPUART1_UART_Init(void);
+static void MX_USART5_UART_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;
@@ -91,10 +116,16 @@
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;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;
+uint32_t lp_time;
+extern uint32_t lora_txtime_old;
+uint8_t anjian_flag;
+uint8_t stationary_flag;
+uint16_t stationary_num;
+uint8_t recv_end_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -110,106 +141,163 @@
Error_Handler();
}
}
+void Usart5Init(void)
+{
+ MX_DMA_Init();
+ MX_USART5_UART_Init();
+}
+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);
+}
+void Usart5DeInit(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ waitusart_timer = 0;
+// MX_DMA_DeInit();
+ HAL_UART_DeInit(&huart5);
+ GPIO_InitStruct.Pin = GPIO_PIN_12;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_2;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+}
+void LpusartDeInit(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ waitusart_timer = 0;
+// MX_DMA_DeInit();
+ HAL_UART_DeInit(&hlpuart1);
+ GPIO_InitStruct.Pin = GPIO_PIN_2;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_3;
+ 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;
+extern uint8_t du_flag;
+extern uint8_t xie_flag;
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))
- {
-
+ { 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))
+ {
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
- // bat_percent=Get_Battary();
- if(state5v==0)
+
+ if(bat_percent>95)
{
- state5v=1;
- UsartInit();
- }
- if(bat_percent>99)
- {
- LED_LR_OFF;
- LED_LG_ON;
+ powerled=GREEN;
}else{
- LED_LR_ON;
- LED_LG_OFF;
- }
- }else{
- state5v=0;
- 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
+ powerled=RED;
}
+ }
+ HAL_NVIC_SystemReset();
+ }else{
+ 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,200)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
}
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-u16 last_lpcount = 0;
-void SetNextPollTime(u16 time)
-{
- int32_t lpcount,lptime,target_time;
+//u16 last_lpcount = 0;
-// 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;
- while(lpcount>LPTIMER_1S_COUNT)
+
+/* 返回ch字符在sign数组中的序号 */
+int getIndexOfSigns(char ch)
+{
+ if(ch >= '0' && ch <= '9')
{
- lpcount-=LPTIMER_1S_COUNT;
+ return ch - '0';
}
- last_lpcount = lpcount;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-
+ if(ch >= 'A' && ch <='F')
+ {
+ return ch - 'A' + 10;
+ }
+ if(ch >= 'a' && ch <= 'f')
+ {
+ return ch - 'a' + 10;
+ }
+ return -1;
}
-
-void HardWareTypeDiffConfig(void)
+/* 十六进制数转换为十进制数 */
+long hexToDec(char *source)
{
-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;
- }
+ long sum = 0;
+ long t = 1;
+ int i, len;
+
+ len = strlen(source);
+ for(i=len-1; i>=0; i--)
+ {
+ sum += t * getIndexOfSigns(*(source + i));
+ t *= 16;
+ }
+
+ return sum;
}
+
+
u8 active_flag,nomovesleeptime;
+
void Program_Init(void)
-{ float temp;
+{
+ float temp;
uint16_t temp2;
uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
@@ -218,21 +306,25 @@
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)|51;
-
- #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[VERSION] = (1<<8)|9;
+// g_com_map[DEV_ID]=1158;
+// #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]=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;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
-
+
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
@@ -243,16 +335,16 @@
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]=100;
+ g_com_map[COM_INTERVAL]=1000;
}
if(module_power>67)
{module_power=67;}
@@ -260,15 +352,13 @@
{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();
- }
+// 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();
+// }
//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: URT-LORA-GPS版本 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]);
@@ -298,12 +388,6 @@
{
//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)
@@ -337,6 +421,213 @@
}
return last_value;
}
+void MX_ADC_DeInit(void)
+{
+ HAL_ADC_DeInit(&hadc);
+ HAL_ADCEx_DisableVREFINT();
+}
+uint16_t irq_num;
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin == RADIO_DIO1_Pin)
+ {
+ SystemClock_Config();
+ irq_num++;
+ 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;
+ }
+}
+extern void Lora_tx_zubao( void );
+extern void Lora_tx_mode( void );
+extern uint8_t Lora_tx_ancnum;
+extern u8 lora_seq_nb2;
+extern uint16_t lora_yingda_num;
+uint8_t lora_tx_flag;
+uint8_t lora_txanchor_power_flag;
+
+extern uint8_t GPSchangdu;
+uint8_t no_yingdaflag;
+uint8_t GPS_GGAdate111[200]="报警";
+
+
+void MX_ADC1_Init()
+{
+ MX_ADC_Init();
+}
+void GPS_Close_Init()
+{
+ 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;
+uint8_t group_id;
+uint8_t fangzhijinrushuimian_flag;
+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];
+// ble_zhongzhuannum++;
+// if(ble_rxzhongzhuandate[ble_zhongzhuannum-1]==0x0A&&ble_rxzhongzhuandate[ble_zhongzhuannum-2]==0x0D)
+// {
+// ble_zhongzhuannum=0;
+// memcpy(ble_rxdate,ble_rxzhongzhuandate,50);
+// 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;
+// 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];
+extern uint8_t yuyinzidongguan_time;
+uint8_t yuyin_yinliang[10]={0X5B,0X76,0X31,0X30,0X5D};//音量等级V10
+void TTSchaxun_Busy(void)
+{
+ if(yuyin_sendflag)
+ {
+ yuyin_sendflag=0;
+ SYN_FrameInfo(0,xiafayuyin_data); //播放内容
+ memset(xiafayuyin_data,0,sizeof(xiafayuyin_data));
+ }
+}
+void PowerDownDetect(void)
+{
+ static uint32_t l_u32QXpowerTick = 0;
+static uint32_t powercount=0;
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
+ {
+ 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);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
+ }
+ }
+ }
+ }
+}
+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;
+ uwbled=LEDOFF;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
+ HAL_SPI_DeInit(&hspi1);
+ HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora cs
+ HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
+ HAL_GPIO_WritePin( GPIOC, GPIO_PIN_3,GPIO_PIN_RESET);//LORA REST
+ Usart5DeInit();
+ LpusartDeInit();
+ HAL_ADC_DeInit(&hadc);
+
+ Set4LEDColor_Off(); //关led总电源
+ chongqi_flag=1;
+ }
+}
+void OneSecondTask(void)
+{
+ if(flag_onesecond==1)
+ {
+ flag_onesecond = 0;
+ }
+}
+uint8_t GPS_Close_time;
+uint8_t GPS_Close_flag=1;
+uint8_t debugnum;
+uint8_t Lora_send_flag;
+void Lora_Send_Poll(void)
+{
+ if(Lora_send_flag)
+ {
+ debugnum++;
+ Lora_send_flag=0;
+ 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 */
+
+/**
+ * @brief The application entry point.
+ * @retval int
+ */
int main(void)
{
/* USER CODE BEGIN 1 */
@@ -360,33 +651,47 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_DMA_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
- // MX_ADC_Init();
-
-// MX_TIM2_Init();
+ MX_GPIO_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_DMA_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_ADC_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_LPTIM1_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_USART1_UART_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_SPI1_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_LPUART1_UART_Init();//看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_IWDG_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
+ MX_USART5_UART_Init(); //看门狗务必放到lp串口后面，否则GPS工作不正常。
/* 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);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ 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();
+#ifdef _USE_BAR
+//BarInit();
+#endif
+ Dw1000_Init();
+ 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();
+ }
/* USER CODE END 2 */
/* Infinite loop */
@@ -396,56 +701,46 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
- SystemClock_Config();
- g_start_send_flag = 0;
-
-// 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();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- 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
- }
-
-
- }else{
- IdleTask();
- }
-
-// HAL_Delay(100);
- // Get_Battary();
-
- // LIS3DH_Data_Init();
+ if(gotosleep_flag==1)
+ {
+ Jingzhi_Poll();
+ HAL_IWDG_Refresh(&hiwdg);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+ else
+ {
+ HAL_IWDG_Refresh(&hiwdg);
+ Lpuart_rx_Poll();
+ OneSecondTask();
+ IdleTask();
+ PowerDownDetect();
+ 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
+ }
}
/* USER CODE END 3 */
}
@@ -463,16 +758,21 @@
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
- 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;
@@ -481,7 +781,8 @@
{
Error_Handler();
}
- /** Initializes the CPU, AHB and APB busses clocks
+
+ /** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -494,8 +795,10 @@
{
Error_Handler();
}
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
+ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
+ |RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+ PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_HSI;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -509,12 +812,7 @@
* @param None
* @retval None
*/
-void MX_ADC_DeInit(void)
-{
- HAL_ADC_DeInit(&hadc);
- HAL_ADCEx_DisableVREFINT();
-}
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -526,6 +824,7 @@
/* 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)
*/
hadc.Instance = ADC1;
@@ -549,9 +848,10 @@
{
Error_Handler();
}
+
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_VREFINT;
+ sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
@@ -561,6 +861,35 @@
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 */
}
@@ -591,112 +920,42 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
-// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
-// {
-// Error_Handler();
-// }
+
/* USER CODE END LPTIM1_Init 2 */
}
/**
- * @brief SPI1 Initialization Function
+ * @brief LPUART1 Initialization Function
* @param None
* @retval None
*/
-static void MX_SPI1_Init(void)
+static void MX_LPUART1_UART_Init(void)
{
- /* USER CODE BEGIN SPI1_Init 0 */
+ /* USER CODE BEGIN LPUART1_Init 0 */
- /* USER CODE END SPI1_Init 0 */
+ /* USER CODE END LPUART1_Init 0 */
- /* USER CODE BEGIN SPI1_Init 1 */
+ /* USER CODE BEGIN LPUART1_Init 1 */
- /* USER CODE END SPI1_Init 1 */
- /* SPI1 parameter configuration*/
- hspi1.Instance = SPI1;
- hspi1.Init.Mode = SPI_MODE_MASTER;
- hspi1.Init.Direction = SPI_DIRECTION_2LINES;
- hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
- hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
- hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
- hspi1.Init.NSS = SPI_NSS_SOFT;
- hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
- hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
- hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
- hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
- hspi1.Init.CRCPolynomial = 7;
- if (HAL_SPI_Init(&hspi1) != HAL_OK)
+ /* USER CODE END LPUART1_Init 1 */
+ hlpuart1.Instance = LPUART1;
+ hlpuart1.Init.BaudRate = 9600;
+ hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
+ hlpuart1.Init.StopBits = UART_STOPBITS_1;
+ hlpuart1.Init.Parity = UART_PARITY_NONE;
+ hlpuart1.Init.Mode = UART_MODE_TX_RX;
+ hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ if (HAL_UART_Init(&hlpuart1) != HAL_OK)
{
Error_Handler();
}
- /* USER CODE BEGIN SPI1_Init 2 */
-__HAL_SPI_ENABLE(&hspi1);
- /* USER CODE END SPI1_Init 2 */
+ /* USER CODE BEGIN LPUART1_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);
+ /* USER CODE END LPUART1_Init 2 */
}
@@ -748,6 +1007,81 @@
}
/**
+ * @brief USART5 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART5_UART_Init(void)
+{
+
+ /* USER CODE BEGIN USART5_Init 0 */
+
+ /* USER CODE END USART5_Init 0 */
+
+ /* USER CODE BEGIN USART5_Init 1 */
+
+ /* USER CODE END USART5_Init 1 */
+ huart5.Instance = USART5;
+ huart5.Init.BaudRate = 9600;
+ huart5.Init.WordLength = UART_WORDLENGTH_8B;
+ huart5.Init.StopBits = UART_STOPBITS_1;
+ huart5.Init.Parity = UART_PARITY_NONE;
+ huart5.Init.Mode = UART_MODE_TX_RX;
+ huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart5.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart5.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
+ if (HAL_UART_Init(&huart5) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN USART5_Init 2 */
+
+ /* USER CODE END USART5_Init 2 */
+
+}
+
+/**
+ * @brief SPI1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_SPI1_Init(void)
+{
+
+ /* USER CODE BEGIN SPI1_Init 0 */
+
+ /* USER CODE END SPI1_Init 0 */
+
+ /* USER CODE BEGIN SPI1_Init 1 */
+
+ /* USER CODE END SPI1_Init 1 */
+ /* SPI1 parameter configuration*/
+ hspi1.Instance = SPI1;
+ hspi1.Init.Mode = SPI_MODE_MASTER;
+ hspi1.Init.Direction = SPI_DIRECTION_2LINES;
+ hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
+ hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
+ hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
+ hspi1.Init.NSS = SPI_NSS_SOFT;
+ hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+ hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
+ hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
+ hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+ hspi1.Init.CRCPolynomial = 7;
+ if (HAL_SPI_Init(&hspi1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN SPI1_Init 2 */
+__HAL_SPI_ENABLE(&hspi1);
+ /* USER CODE END SPI1_Init 2 */
+
+}
+
+/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
@@ -758,8 +1092,11 @@
/* DMA interrupt init */
/* 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);
+ HAL_NVIC_EnableIRQ(DMA1_Channel4_5_6_7_IRQn);
}
@@ -777,18 +1114,35 @@
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
+ __HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_7|GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4, 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, GPIO_PIN_4|GPIO_PIN_8, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5
+ |GPIO_PIN_7, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|SCL_Pin|SDA_Pin|GPIO_PIN_6, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12|GPIO_PIN_15, GPIO_PIN_RESET);
+
+ /*Configure GPIO pins : PC13 RADIO_NSS_Pin RADIO_nRESET_Pin PC4
+ PC7 PC8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_13|RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4
+ |GPIO_PIN_7|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -796,62 +1150,72 @@
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;
+ /*Configure GPIO pin : PA4 */
+ GPIO_InitStruct.Pin = GPIO_PIN_4;
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_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_GND_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pin : USER_KEY_Pin */
- GPIO_InitStruct.Pin = USER_KEY_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
-
- /*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;
+ /*Configure GPIO pins : PB0 PB2 PB10 PB4
+ PB5 PB6 PB7 */
+ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_10|GPIO_PIN_4
+ |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
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 pin : PB1 */
+ GPIO_InitStruct.Pin = GPIO_PIN_1;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : PB12 */
+ GPIO_InitStruct.Pin = GPIO_PIN_12;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : SCL_Pin SDA_Pin */
+ GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
+ 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);
+
+ /*Configure GPIO pins : PC6 RADIO_BUSY_Pin */
+ GPIO_InitStruct.Pin = GPIO_PIN_6|RADIO_BUSY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ 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 : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
+ /*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;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
- HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -880,54 +1244,75 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+extern uint8_t tx_near_msg[80];
float key_keeptime;
-extern float freqlost_count;
+extern float freqlost_count,range_lost_time;
+extern uint8_t lora_yingda_flag;
+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;
+ }
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0;
- i++;
- g_start_send_flag=1;
- current_slotnum++;
- freqlost_count+=1/(float)tag_frequency;
- if(freqlost_count>FREQ_LOST_TIME)
+ if(chongqi_flag==0&&shengji_flag==0)
+ {
+ SystemClock_Config();
+Set4LEDColor(powerled,loraled,gpsled,uwbled);
+Bat_Percent_Poll();
+ if(state5v==0)
{
- tag_frequency = NOTAG_FREQ;
+ if(yuyin_no_sleep_flag==0)
+ {
+ recv_end_time++;
+// if(recv_end_time>3)
+// {HAL_NVIC_SystemReset();}
}
- SetNextPollTime(tyncpoll_time);
- 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();
-// }
+ 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();
+ }
+ HAL_IWDG_Refresh(&hiwdg);
}
/* USER CODE END 4 */
@@ -959,5 +1344,3 @@
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--
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