From b473b9e6b3a511358d127d5c8d3b56e42ab41bfc Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 27 九月 2023 11:08:29 +0800
Subject: [PATCH] 1
---
Src/main.c | 178 ++++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 138 insertions(+), 40 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 92e97d9..0d208be 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -38,7 +38,7 @@
#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
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -96,7 +96,7 @@
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;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;
@@ -142,7 +142,7 @@
uint8_t state5v = 1;
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
@@ -227,10 +227,10 @@
hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
//deca_sleep(1000);
g_com_map[VERSION] = (1<<8)|68;
-
+ g_com_map[DEV_ID]=0x6777;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
-// g_com_map[DEV_ID]=4;
+ g_com_map[DEV_ID]=0x6777;
// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
@@ -270,7 +270,7 @@
{module_power=0;}
current_slotnum=1;
-// current_time=GetLPTime();
+ 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();
@@ -344,22 +344,7 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
-uint16_t irq_num;
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
-{
- if(GPIO_Pin == GPIO_PIN_11)
- {
-// l_bIsVibration = HIDO_TRUE;
-// nomove_time=0;
-// printf("RXD :77777\r\n");
- irq_num++;
- RadioIrqProcess();
- }
-// if(GPIO_Pin == GPIO_PIN_8)
-// {
-// Anchor_App();
-// }
-}
+extern uint8_t TX_Buffer;
void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
{
if(uwb)
@@ -371,6 +356,14 @@
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET);
+}
+uint8_t tx_num;
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin == GPIO_PIN_11)
+ {
+ RadioIrqProcess();
+ }
}
/* USER CODE END 0 */
@@ -407,7 +400,7 @@
MX_SPI1_Init();
MX_ADC_Init();
MX_DMA_Init();
-// MX_IWDG_Init();
+ MX_IWDG_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
@@ -418,8 +411,9 @@
Delay_Ms(10);
// Uwb_Lora_Switch(0,0);
// HardWareTypeDiffConfig();
-// dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
-// dwt_entersleep();
+ 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();
@@ -427,11 +421,9 @@
HAL_Delay(2000);
// Uwb_Lora_Switch(0,1);
Lora_Init();
+// RadioSleep();
Delay_Ms(10);
// Uwb_Lora_Switch(0,0);
- printf("RXD :66666\r\n");
- usart_send[0]=0x55;
- usart_send[1]=0xaa;
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
@@ -445,16 +437,68 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-Lora_rx_open();
-// HAL_IWDG_Refresh(&hiwdg);
-// IdleTask();
-// Radio.IrqProcess( ); // Process Radio IRQ
-// Anchor_App();
- #ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- #endif
-
+ if(g_start_send_flag)
+ { static uint16_t blink_count=0;
+ SystemClock_Config();
+ g_start_send_flag = 0;
+ HAL_IWDG_Refresh(&hiwdg);
+
+// Uwb_Lora_Switch(0,1);
+// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
+ memcpy(&TX_Buffer+3,&tx_num,1);
+// HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET);
+// delay_us(100);
+// HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
+// delay_us(600);
+// Lora_Init();
+// printf("TX fasong\r\n");
+ Radio.Send( &TX_Buffer, 4);
+// delay_us(1000);
+//// RadioSleep();
+// delay_us(1000);
+ tx_num++;
+// delay_ms(10);
+// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
+ delay_ms(9);
+// Lora_Init();
+// Uwb_Lora_Switch(1,0);
+
+ if(bat_percent>15)
+ { LED_TB_ON;
+ Tag_App();
+ LED_TB_OFF;
+ }else{
+ LED_TR_ON;
+ Tag_App();
+ LED_TR_OFF;
+ }
+// Uwb_Lora_Switch(0,0);
+ //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;
+ }
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// #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();
}
/* USER CODE END 3 */
}
@@ -867,11 +911,65 @@
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
-uint32_t lp_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- lp_time++;
+ 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)
+ {
+ tag_frequency = NOTAG_FREQ;
+ if(lost_jumpcount++>=0) //无测距情况下，每5秒发一次；
+ {
+ lost_jumpcount = 0;
+ g_start_send_flag=1;
+ }
+ }else{
+ g_start_send_flag=1;
+ }
+ 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();
+// }
}
/* USER CODE END 4 */
--
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