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 | 385 ++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 286 insertions(+), 99 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index bd80e0e..499155c 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -86,6 +86,9 @@
DMA_HandleTypeDef hdma_usart1_tx;
SPI_HandleTypeDef hspi1;
+SPI_HandleTypeDef hspi2;
+
+TIM_HandleTypeDef htim6;
/* USER CODE BEGIN PV */
@@ -102,6 +105,8 @@
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);
+static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -125,7 +130,7 @@
uint8_t anjian_flag;
uint8_t stationary_flag;
uint16_t stationary_num;
-uint16_t recv_end_time;
+uint16_t recv_end_time,ledon_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -207,23 +212,46 @@
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
+ 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;
-
+ HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>95)
{
powerled=GREEN;
}else{
powerled=RED;
}
+ uwbled=0;
+ gpsled=0;
+ loraled=0;
}
HAL_NVIC_SystemReset();
}else{
@@ -245,7 +273,7 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
- if(memcmp(g_com_map2,g_com_map,200)!=0)
+ if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
@@ -306,7 +334,8 @@
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)|11;
+ g_com_map[VERSION] = (1<<8)|37;
+
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -315,7 +344,7 @@
// // g_com_map[MAX_REPORT_ANC_NUM]=1;
// // g_com_map[NOMOVESLEEP_TIME]=10;
// #endif
- g_com_map[GROUP_ID]=0;
+// 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;}
@@ -324,7 +353,7 @@
// 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;
@@ -363,7 +392,7 @@
// }
//g_com_map[NOMOVESLEEP_TIME]=5;
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);
+// 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]);
@@ -430,28 +459,63 @@
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++;
- RadioIrqProcess();
+
+ // 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;
- }
+// 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();
+ // 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 );
@@ -574,6 +638,7 @@
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
@@ -596,35 +661,43 @@
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;
- loraled=BLUE;
+
+ 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
+ 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 */
@@ -655,21 +728,30 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_GPIO_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。
- MX_DMA_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。
- MX_ADC_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。
- MX_LPTIM1_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。
- MX_USART1_UART_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。
- MX_SPI1_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。
- MX_LPUART1_UART_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。
-// 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。
- MX_USART5_UART_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。
+ MX_GPIO_Init();
+ MX_DMA_Init();
+ MX_ADC_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();
+ MX_SPI2_Init();
/* USER CODE BEGIN 2 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
- delay_ms(10);
+ delay_ms(100);
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。
+ 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
@@ -679,9 +761,9 @@
LIS3DH_Data_Init();
Set4LEDColor(RED,RED,RED,RED);
- HAL_Delay(500);
+ delay_ms(100);
Set4LEDColor_Off();
- HAL_Delay(500);
+ delay_ms(100);
LoraInit();
// delay_ms(1000);
bat_percent=Get_Battary();
@@ -697,6 +779,8 @@
{
Error_Handler();
}
+ HAL_TIM_Base_Start_IT(&htim6);
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
/* USER CODE END 2 */
/* Infinite loop */
@@ -715,11 +799,26 @@
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();
- Lora_Send_Poll();
+ if(g_com_map[LORA_SEND_INDEX])
+ {
+ Lora_Send_Poll();
+ }
TTSchaxun_Busy();
LoraUp_Poll();
// #ifndef DEBUG_MODE
@@ -767,7 +866,7 @@
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
@@ -1087,6 +1186,82 @@
}
/**
+ * @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)
@@ -1125,25 +1300,23 @@
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_7|GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4, GPIO_PIN_SET);
-
- /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_8, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5
- |GPIO_PIN_7, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|SCL_Pin|SDA_Pin|GPIO_PIN_6, GPIO_PIN_SET);
+ 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 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;
+ /*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;
@@ -1162,9 +1335,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pins : PB0 PB2 PB10 PB4
+ /*Configure GPIO pins : RADIO_NSS_Pin PB2 RADIO_nRESET_Pin PB4
PB5 PB6 PB7 */
- GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_10|GPIO_PIN_4
+ 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;
@@ -1196,18 +1369,18 @@
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;
@@ -1280,45 +1453,59 @@
}
}
#define NOGPS_RESET_TIME 300
+u8 state_count = 0;
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>NOGPS_RESET_TIME)
- {HAL_NVIC_SystemReset();}
+ if(yuyin_no_sleep_flag==0)
+ {
+ recv_end_time++;
+ if(recv_end_time>NOGPS_RESET_TIME)
+ {HAL_NVIC_SystemReset();}
+ }
+ 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;
+ }
}
- 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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