From cf92a2fedf94d889b1a39e8557221149ea554a3c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 19 五月 2023 14:30:44 +0800
Subject: [PATCH] v2.8
---
Src/main.c | 407 ++++++++++++++++++++++++++++++++-------------------------
1 files changed, 228 insertions(+), 179 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index d982ef7..aaada68 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}
void UsartInit(void)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
MX_DMA_Init();
MX_USART1_UART_Init();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -109,9 +109,34 @@
Error_Handler();
}
}
+void LP_delayms(u16 time)
+{
+ u16 startcount = HAL_LPTIM_ReadCounter(&hlptim1);
+ u16 endcount = startcount+time*33;
+ if(endcount>LPTIMER_1S_COUNT)
+ endcount-=LPTIMER_1S_COUNT;
+ while(HAL_LPTIM_ReadCounter(&hlptim1)<endcount ||HAL_LPTIM_ReadCounter(&hlptim1)>endcount+LPTIMER_1S_COUNT/2);
+
+}
+void JianXieMotorProcess(void)
+{
+ MOTOR_ON;
+ LP_delayms(120);
+ MOTOR_OFF;
+ LP_delayms(110);
+ MOTOR_ON;
+ LP_delayms(120);
+ MOTOR_OFF;
+ LP_delayms(110);
+ MOTOR_ON;
+ LP_delayms(120);
+ MOTOR_OFF;
+ LP_delayms(110);
+}
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
-uint8_t state5v;
+float motor5s_timer=1000;
+uint8_t state5v,motorskip_flag;
void IdleTask(void)
{
@@ -130,60 +155,94 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
+ //motor_state = 1;
if(g_com_map[MOTOR_ENABLE])
{
-
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- switch(motor_state)
- {case 0:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 1:
- if(current_time<MOTOR_ONTIME)
- {
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- }else{
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- }
- break;
- case 2:
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 3:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- }
+ static u8 motor5s_state = 0,outside_count=0;
+ if(motorskip_flag==0)
+ {
+ if(motor_state==2)
+ {
+ outside_count =0;
+ if(motor5s_state)
+ {
+ if(motor5s_timer>4)
+ {
+ motor5s_timer = 0;
+ motor5s_state = 0;
+ JianXieMotorProcess();
+ }
+ }else{
+ if(motor5s_timer>300)
+ {
+ motor5s_timer = 0;
+ motor5s_state = 1;
+ JianXieMotorProcess();
+ }
+ }
+ }else{
+ if(outside_count++>3)
+ {
+ motor5s_state = 1;
+ motor5s_timer = 0;
+ }
+ }
+ }else{
+ if(motor5s_timer>7200) //2个小时 7200
+ {
+ motorskip_flag = 0;
+ motor5s_timer = 1000;
+ motor5s_state = 0;
+ JianXieMotorProcess();
+ }
+ }
+// switch(motor_state)
+// {case 0:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// case 1:
+// if(current_time<MOTOR_ONTIME)
+// {
+// if(hardware_type==NSH1)
+// {
+// MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// }else{
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// }
+// break;
+// case 2:
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// case 3:
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// }
}
+ bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -192,7 +251,7 @@
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(bat_percent>90)
{
LED_LR_OFF;
LED_LG_ON;
@@ -206,31 +265,7 @@
LED_LG_OFF;
// }
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_REBOOT]==1)
- {
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
+
if(g_com_map[CNT_RESTART]==1)
{
g_com_map[CNT_RESTART]=0;
@@ -252,42 +287,23 @@
#define FIXSLOTPOS 4
u16 slotpos_intoatl;
uint16_t bigslot_num;
-uint8_t fix_slotpos =FIXSLOTPOS;
-int32_t lpcount,lptime,target_time;
-extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
+
+
+
+void ErrorConfig_Handler(void)
{
-
-#ifdef FIXSLOT
- fix_slotpos =FIXSLOTPOS;
- //fix_slotpos = g_com_map[ALARM_DISTANCE1];
- slotpos = fix_slotpos;
- tagslotpos = fix_slotpos;
-#endif
-
- while(current_slotnum>=tag_frequency)
- { current_slotnum-=tag_frequency;}
- slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
-
- if(current_slotnum==19)
- {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
- target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
-
- //if(target_time<90000)
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
- lptime=target_time-offsettimeus+1200;
- lpcount = lptime/LPTIMER_LSB;
- if(lpcount>LPTIMER_1S_COUNT)
- lpcount-=LPTIMER_1S_COUNT;
- if(lpcount<0)
- {
- lpcount+=LPTIMER_1S_COUNT;
+ g_com_map[COM_INTERVAL]=100;
}
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
+ if(g_com_map[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=2;}
+ if(g_com_map[POWER]>MAX_RFPOWER)
+ {g_com_map[POWER]=MAX_RFPOWER;}
+ if(g_com_map[POWER]<0)
+ {g_com_map[POWER]=0;}
}
u8 active_flag=0;
-
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -298,13 +314,14 @@
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] = 0x0216;
-// g_com_map[DEV_ID]=0x11;
+ g_com_map[VERSION] = (2<<8)|8;
+
+// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x4008;
- g_com_map[ACTIVE_INDEX]=1;
-// g_com_map[COM_INTERVAL]=100;
+// g_com_map[DEV_ID]=0x4009;
+// g_com_map[ACTIVE_INDEX]=1;
+// g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -312,24 +329,16 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=1000;
+// g_com_map[COM_INTERVAL]=50;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
- { g_com_map[COM_INTERVAL]=1000;
+ {
+ g_com_map[COM_INTERVAL]=1000;
g_com_map[IMU_ENABLE]=1;
g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[MOTOR_ENABLE]=0;
}
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(g_com_map[IMU_THRES]>10)
- {g_com_map[IMU_THRES]=2;}
- if(g_com_map[POWER]>MAX_RFPOWER)
- {g_com_map[POWER]=MAX_RFPOWER;}
- if(g_com_map[POWER]<0)
- {g_com_map[POWER]=0;}
+//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -337,12 +346,12 @@
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;
- slottime = 5;
+ slottime = 5;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
lastpoll_time=tyncpoll_time;
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ tag_frequency = 1;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
@@ -355,7 +364,7 @@
// 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:标签-定位防撞-青岛 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
// 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]);
@@ -376,24 +385,24 @@
void HardWareTypeDiffConfig(void)
{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
-//hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+ {
+ g_com_map[MOTORBEEPER_INDEX] = 2;
+ }
+ hardware_type = 1;//g_com_map[MOTORBEEPER_INDEX];;
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);
+ 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;
}
}
@@ -432,7 +441,7 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- MX_DMA_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
@@ -440,18 +449,21 @@
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
+ BarInit();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- //dwt_entersleep();
- waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
+ dwt_entersleep();
+// waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
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;
@@ -466,14 +478,17 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-// while(1)
-// {
-// MODBUS_Poll();
-// }
+if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
+ {
+#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&&active_flag)
{ static uint16_t blink_count=0;
- SystemClock_Config();
g_start_send_flag = 0;
+ static u8 uwbcount =0;
// GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
@@ -482,8 +497,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
+ __disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -493,21 +507,15 @@
Tag_App();
LED_TR_OFF;
}
+
+ __enable_irq();
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#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();
}
@@ -882,11 +890,11 @@
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;
+ /*Configure GPIO pins : USER_KEY_Pin PB14 */
+ GPIO_InitStruct.Pin = USER_KEY_Pin|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : INPUT_5V_Pin */
GPIO_InitStruct.Pin = INPUT_5V_Pin;
@@ -918,6 +926,9 @@
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
+
}
/* USER CODE BEGIN 4 */
@@ -936,6 +947,8 @@
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
/*Clear all related wakeup flags*/
@@ -945,22 +958,50 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern u16 tagslotpos;
-extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
+
+extern u16 tagslotpos,current_slotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag,current_sync_sec,tagpoll_sync_sec,flag_tagnewpos,userkey_state;
float key_keeptime;
extern float motor_ontime;
+extern uint16_t rec_tagperiod;
+void GetRandomPos(void)
+{
+ current_slotpos = HAL_LPTIM_ReadCounter(&hlptim1)%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
+}
+float lptimedelay=0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
- i++;
-
- g_start_send_flag=1;
- current_slotnum++;
- SetNextPollTime(tagslotpos);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ SystemClock_Config();
+ if(tag_frequency>1)
+ {
+ g_start_send_flag=1;
+ lptimedelay = 1/(float)tag_frequency;
+ }else{
+ lptimedelay = 1;
+ tag_frequency = 1;
+ if(current_slotpos>=max_slotpos)
+ {
+ GetRandomPos();
+ }
+ if(current_sync_sec==tagpoll_sync_sec)
+ {
+ g_start_send_flag=1;
+ }
+ current_sync_sec++;
+ if(current_sync_sec>=(rec_tagperiod)/10||current_sync_sec>10)
+ {
+ current_sync_sec=0;
+ }
+ }
+ motor5s_timer+=lptimedelay;
+ nomove_count+=lptimedelay;
if(motor_keeptime>0)
{
- motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
+ motor_keeptime-=lptimedelay;
}
if(motor_keeptime<0)
{motor_keeptime = 0;}
@@ -969,7 +1010,7 @@
if(!GET_USERKEY)
{
LED_LG_ON;
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=lptimedelay;
if(key_keeptime>3)
{
u8 i=250,keystate=1;
@@ -999,13 +1040,19 @@
}
- if(!GET_USERKEY)
+ if(!GET_USERKEY||!HAL_GPIO_ReadPin(USER_KEY_GPIO_Port,GPIO_PIN_14))
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=lptimedelay;
+ if(key_keeptime>=3)
+ {
+ JianXieMotorProcess();
+ userkey_state = 1;
+ }
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
+
}else{
key_keeptime=0;
}
@@ -1021,10 +1068,12 @@
}else{
gotosleep_flag=0;
}
+#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
+#endif
}
/* USER CODE END 4 */
--
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