From aef7e985db5668aee622b656748c1216fbd5ff75 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 13 十二月 2024 17:11:29 +0800
Subject: [PATCH] V1.37
---
Src/main.c | 1154 +++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 874 insertions(+), 280 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 1184712..499155c 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
+#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 +71,24 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
IWDG_HandleTypeDef hiwdg;
LPTIM_HandleTypeDef hlptim1;
-SPI_HandleTypeDef hspi1;
-
+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;
+SPI_HandleTypeDef hspi2;
+
+TIM_HandleTypeDef htim6;
/* USER CODE BEGIN PV */
@@ -72,18 +97,23 @@
/* 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_IWDG_Init(void);
+static void MX_LPUART1_UART_Init(void);
+static void MX_USART5_UART_Init(void);
+static void MX_TIM6_Init(void);
+static void MX_SPI2_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 +121,16 @@
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;
+uint16_t recv_end_time,ledon_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -109,6 +145,11 @@
{
Error_Handler();
}
+}
+void Usart5Init(void)
+{
+ MX_DMA_Init();
+ MX_USART5_UART_Init();
}
static void MX_DMA_DeInit(void)
{
@@ -133,86 +174,158 @@
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 = 1;
+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
-// }
+{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
+ Radio.Sleep();
+ 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_SPI_DeInit(&hspi2);
+ 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);
+ 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)
+ HAL_IWDG_Refresh(&hiwdg);
+ 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;
- }
+ powerled=RED;
+ }
+ uwbled=0;
+ gpsled=0;
+ loraled=0;
+ }
+ HAL_NVIC_SystemReset();
}else{
- if(state5v==1)
- {
- state5v=0;
- UsartDeInit();
- }
- LED_LR_OFF;
- LED_LG_OFF;
-// }
+ 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;
+ }
}
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-u16 last_lpcount = 0;
-void SetNextPollTime(u16 time)
+//u16 last_lpcount = 0;
+
+
+/* 返回ch字符在sign数组中的序号 */
+int getIndexOfSigns(char ch)
{
- 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)
+ 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;
}
+/* 十六进制数转换为十进制数 */
+long hexToDec(char *source)
+{
+ 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;
@@ -221,23 +334,26 @@
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)|67;
+ g_com_map[VERSION] = (1<<8)|37;
- #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;
+// 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;
+// g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
-
+ g_com_map[LORA_SEND_INDEX] = 1;
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;
@@ -248,31 +364,35 @@
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(g_com_map[LORA_POWER]>22)
+ {
+ g_com_map[LORA_POWER] = 22;
+ }
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();
- }
+// 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("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("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]);
@@ -339,6 +459,246 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+extern u8 gps_chafenlingqi;
+uint16_t irq_num;
+u8 lora_irq_flag,lora_working_flag;
+//u8 uwb_irq_flag;
+extern uint8_t LoraUp_flag;
+uint8_t anjian_num;
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin == RADIO_DIO1_Pin)
+ {
+
+ // SystemClock_Config();
+ irq_num++;
+
+ if(LoraUp_flag)
+ {
+ RadioIrqProcess();
+ }
+ else
+ {
+ lora_irq_flag = 1;
+ }
+ }
+// if(GPIO_Pin == GPIO_PIN_1)//按键
+// {
+// // SystemClock_Config();
+// anjian_flag=1;
+// anjian_num++;
+// if(anjian_num==2)
+// {
+// g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
+// save_com_map_to_flash();
+// Set4LEDColor(YELLOW,YELLOW,YELLOW,YELLOW);
+// delay_ms(100);
+// Set4LEDColor_Off();
+// delay_ms(100);
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+// }
+ 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;
+// }
+// uwb_irq_flag = 1;
+ MbxTagUwbRec();
+ }
+}
+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_SPI_DeInit(&hspi2);
+ 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;
+extern uint8_t rec_secdelay;
+void Lora_Send_Poll(void)
+{
+
+ if(Lora_send_flag)
+ {
+ 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 */
/**
@@ -369,32 +729,58 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
+ MX_DMA_Init();
+ MX_ADC_Init();
+// MX_IWDG_Init();
MX_LPTIM1_Init();
- MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
- MX_ADC_Init();
-
- MX_IWDG_Init();
+ MX_LPUART1_UART_Init();
+ MX_USART5_UART_Init();
+ MX_TIM6_Init();
+ MX_SPI2_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
+ delay_ms(100);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
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。
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = GPIO_PIN_1;
+ 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);
+#ifdef _USE_BAR
+//BarInit();
+#endif
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;
+
+ LIS3DH_Data_Init();
+ Set4LEDColor(RED,RED,RED,RED);
+ delay_ms(100);
+ Set4LEDColor_Off();
+ delay_ms(100);
+ 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_Delay(2000);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_TIM_Base_Start_IT(&htim6);
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
/* USER CODE END 2 */
/* Infinite loop */
@@ -404,53 +790,61 @@
/* 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;
- 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();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- }else{
- IdleTask();
- }
- 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();
-
- // 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);
+ if(lora_irq_flag)
+ {
+ lora_irq_flag = 0;
+ lora_working_flag = 1;
+ RadioIrqProcess();
+ lora_working_flag = 0;
+ }
+// if(uwb_irq_flag)
+// {
+// MbxTagUwbRec();
+// uwb_irq_flag=0;
+// }
+ Lpuart_rx_Poll();
+ OneSecondTask();
+ IdleTask();
+ PowerDownDetect();
+ if(g_com_map[LORA_SEND_INDEX])
+ {
+ 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 */
}
@@ -468,11 +862,14 @@
/** 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_HIGH);
- /** 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_LSI
|RCC_OSCILLATORTYPE_LSE;
@@ -488,7 +885,8 @@
{
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;
@@ -501,8 +899,10 @@
{
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)
@@ -516,7 +916,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -528,13 +928,14 @@
/* 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;
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;
@@ -551,9 +952,10 @@
{
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)
{
@@ -622,49 +1024,42 @@
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 */
+
+ /* USER CODE END LPUART1_Init 2 */
}
@@ -716,6 +1111,157 @@
}
/**
+ * @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 */
+
+}
+
+/**
+ * @brief SPI2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_SPI2_Init(void)
+{
+
+ /* USER CODE BEGIN SPI2_Init 0 */
+
+ /* USER CODE END SPI2_Init 0 */
+
+ /* USER CODE BEGIN SPI2_Init 1 */
+
+ /* USER CODE END SPI2_Init 1 */
+ /* SPI2 parameter configuration*/
+ hspi2.Instance = SPI2;
+ hspi2.Init.Mode = SPI_MODE_MASTER;
+ hspi2.Init.Direction = SPI_DIRECTION_2LINES;
+ hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
+ hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
+ hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+ hspi2.Init.NSS = SPI_NSS_SOFT;
+ hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+ hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
+ hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
+ hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+ hspi2.Init.CRCPolynomial = 7;
+ if (HAL_SPI_Init(&hspi2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN SPI2_Init 2 */
+__HAL_SPI_ENABLE(&hspi2);
+ /* USER CODE END SPI2_Init 2 */
+
+}
+
+/**
+ * @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)
@@ -726,8 +1272,11 @@
/* 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);
}
@@ -745,18 +1294,33 @@
__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(GPIOA, GPIO_PIN_4|GPIO_PIN_8, 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(GPIOC, GPIO_PIN_4, 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, RADIO_NSS_Pin|RADIO_nRESET_Pin|SCL_Pin|SDA_Pin
+ |GPIO_PIN_6, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_7, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12|GPIO_PIN_15, GPIO_PIN_RESET);
+
+ /*Configure GPIO pins : PC13 PC4 PC7 PC8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_13|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;
@@ -764,62 +1328,72 @@
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 : RADIO_NSS_Pin PB2 RADIO_nRESET_Pin PB4
+ PB5 PB6 PB7 */
+ GPIO_InitStruct.Pin = RADIO_NSS_Pin|GPIO_PIN_2|RADIO_nRESET_Pin|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 : 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 : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
+ /*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);
}
@@ -848,68 +1422,90 @@
/*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,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;
+ }
+}
+#define NOGPS_RESET_TIME 300
+u8 state_count = 0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0,lost_jumpcount=0;
- i++;
-
- current_slotnum++;
- freqlost_count+=1/(float)tag_frequency;
- range_lost_time +=1/(float)tag_frequency;
-
- if(freqlost_count>FREQ_LOST_TIME)
+ 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);
+ //Set4LEDColor(powerled,loraled,gpsled,uwbled);
+ ledon_time = GetLPTime();
+ Bat_Percent_Poll();
+ if(state5v==0)
{
- tag_frequency = NOTAG_FREQ;
- if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
+ if(yuyin_no_sleep_flag==0)
{
- lost_jumpcount = 0;
- g_start_send_flag=1;
+ recv_end_time++;
+ if(recv_end_time>NOGPS_RESET_TIME)
+ {HAL_NVIC_SystemReset();}
}
- }else{
- g_start_send_flag=1;
+ Yuying_Poll();
+ state_count++;
+ switch(state_count)
+ {
+ case 0:
+
+ break;
+ case 1:
+ break;
+ case 2:
+ break;
+ }
+ 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;
+ }
}
- 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();
-// }
+// powerled=LEDOFF;
+// loraled=LEDOFF;
+// gpsled=LEDOFF;
+// uwbled=LEDOFF;
+// Set4LEDColor_Off();
+ }
}
/* USER CODE END 4 */
@@ -941,5 +1537,3 @@
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--
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