From d53db68d643026fc207af89dfb36f67f331852fe Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 22 八月 2024 15:02:30 +0800
Subject: [PATCH] V2.1,去掉全部功能，只负责开机，配合urt进入高精度后自动关机的固件使用
---
Src/main.c | 312 ++++++++++++++++++++++++++++++++-------------------
1 files changed, 197 insertions(+), 115 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 4341937..145d5a1 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -99,6 +99,7 @@
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
return count*LPTIMER_LSB/1000;
}
+extern volatile int32_t m_EUART_DMA_RXPtr;
void UsartInit(void)
{
// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
@@ -108,16 +109,41 @@
{
Error_Handler();
}
+ m_EUART_DMA_RXPtr = 0;
+}
+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);
}
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
-uint8_t state5v;
+uint8_t state5v = 1;
void IdleTask(void)
{
-
- UART_CheckReceive();
+ if(state5v)
+ {
+ UART_CheckReceive();
UART_CheckSend();
-
+ }
if(huart1.Instance->ISR&USART_ISR_FE)
{
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -203,7 +229,11 @@
LED_LG_OFF;
}
}else{
- state5v=0;
+ if(state5v==1)
+ {
+ state5v=0;
+ UsartDeInit();
+ }
LED_LR_OFF;
LED_LG_OFF;
// }
@@ -257,9 +287,9 @@
-void ErrorConfig_Handler(void)
+void CheckComMap(void)
{
- if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
g_com_map[COM_INTERVAL]=100;
}
@@ -275,6 +305,7 @@
}
}
+uint8_t uwb_active_flag = 0;
u8 active_flag=0;
void Program_Init(void)
{ float temp;
@@ -286,7 +317,7 @@
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] = (2<<8)|63;
+ g_com_map[VERSION] = (2<<8)|1;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -302,6 +333,7 @@
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
// g_com_map[COM_INTERVAL]=50;
+CheckComMap();
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{
@@ -314,7 +346,7 @@
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
-
+ uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
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;
@@ -378,6 +410,25 @@
break;
}
}
+
+void DoubleClickProcess(void)
+{ char temp[50];
+ uint8_t len;
+if(uwb_active_flag)
+{
+ uwb_active_flag = 0;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(3000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}else{
+ uwb_active_flag = 1;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(1000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}
+ g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
+save_com_map_to_flash();
+}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -422,12 +473,21 @@
LED_LG_ON;
Program_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();
+ // BarInit();
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+ HAL_GPIO_WritePin(DW1000_RSTn_GPIO, DW1000_RSTn, GPIO_PIN_RESET);
+
+ GPIO_InitStruct.Pin = DW1000_RSTn;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(DW1000_RSTn_GPIO, &GPIO_InitStruct);
+// 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;;
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -461,38 +521,38 @@
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
- if(g_start_send_flag&&active_flag)
- { static uint16_t blink_count=0;
- g_start_send_flag = 0;
- // GetPressAndTemp();
-// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
-// {
-// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+// if(g_start_send_flag&&active_flag)
+// { static uint16_t blink_count=0;
+// g_start_send_flag = 0;
+// // GetPressAndTemp();
+//// 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;
+// __disable_irq();
+// if(bat_percent>15)
+// { LED_TB_ON;
+// Tag_App();
+// LED_TB_OFF;
// }else{
-// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+// LED_TR_ON;
+// Tag_App();
+// LED_TR_OFF;
// }
-// LED_TR_BLINK;
- __disable_irq();
- if(bat_percent>15)
- { LED_TB_ON;
- Tag_App();
- LED_TB_OFF;
- }else{
- LED_TR_ON;
- Tag_App();
- LED_TR_OFF;
- }
- __enable_irq();
- //LED0_BLINK;
- IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
-
- }else{
+// __enable_irq();
+// //LED0_BLINK;
+// IdleTask();
+// if(waitusart_timer>0)
+// {
+// waitusart_timer--;
+// }
+//
+// }else{
IdleTask();
- }
+// }
// HAL_Delay(100);
// Get_Battary();
@@ -518,7 +578,7 @@
/** 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.
*/
@@ -932,7 +992,8 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
-extern float motor_ontime;
+extern float motor_ontime,button_delay;
+u32 kongzhi_f4_kaiji_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -940,76 +1001,97 @@
g_start_send_flag=1;
// current_slotnum++;
// SetNextPollTime(tagslotpos);
- nomove_count+=1/(float)tag_frequency;
- if(motor_keeptime>0)
- {
- motor_keeptime-=1/(float)tag_frequency;
- }
- if(motor_keeptime<0)
- {motor_keeptime = 0;}
- if(active_flag==0)
- {
- if(!GET_USERKEY)
- {
- LED_LG_ON;
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>3)
- {
- u8 i=250,keystate=1;
- while(i--)
- {
- if(i%10==0)
- {
- LED_LG_BLINK;
- }
- if(GET_USERKEY)
- {keystate = 0;}
- if(keystate==0&&!GET_USERKEY)
- {
- parameter_init();
- g_com_map[ACTIVE_INDEX] = 1;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- delay_ms(10);
- }
- }
- }else{
- LED_LG_OFF;
- key_keeptime=0;
- }
-
- }
+// if(button_delay<1)
+ kongzhi_f4_kaiji_time++;
+ if(kongzhi_f4_kaiji_time>10800)
+ {
+ kongzhi_f4_kaiji_time=0;
+ HAL_GPIO_WritePin(DW1000_RSTn_GPIO, DW1000_RSTn, GPIO_PIN_SET);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = DW1000_RSTn;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(DW1000_RSTn_GPIO, &GPIO_InitStruct);
+
+ delay_ms(1000);
+
+GPIO_InitStruct.Pin = DW1000_RSTn;
+GPIO_InitStruct.Mode = GPIO_MODE_INPUT;// 设置为输入模式
+GPIO_InitStruct.Pull = GPIO_PULLUP;//不使用上拉或下拉
+HAL_GPIO_Init(DW1000_RSTn_GPIO,&GPIO_InitStruct); //初始化GPIO
+ }
+// button_delay+=1/(float)tag_frequency;
+// nomove_count+=1/(float)tag_frequency;
+// if(motor_keeptime>0)
+// {
+// motor_keeptime-=1/(float)tag_frequency;
+// }
+// if(motor_keeptime<0)
+// {motor_keeptime = 0;}
+// if(active_flag==0)
+// {
+//// if(!GET_USERKEY)
+//// {
+//// LED_LG_ON;
+//// key_keeptime+=1/(float)tag_frequency;
+//// if(key_keeptime>3)
+//// {
+//// u8 i=250,keystate=1;
+//// while(i--)
+//// {
+//// if(i%10==0)
+//// {
+//// LED_LG_BLINK;
+//// }
+//// if(GET_USERKEY)
+//// {keystate = 0;}
+//// if(keystate==0&&!GET_USERKEY)
+//// {
+//// parameter_init();
+//// g_com_map[ACTIVE_INDEX] = 1;
+//// save_com_map_to_flash();
+//// delay_ms(100);
+//// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+//// }
+//// delay_ms(10);
+//// }
+//// }
+//// }else{
+//// LED_LG_OFF;
+//// key_keeptime=0;
+//// }
+//
+// }
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }else{
- key_keeptime=0;
- }
- 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;
- }
-#ifndef DEBUG_MODE
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
-#endif
+// if(!GET_USERKEY)
+// {
+// key_keeptime+=1/(float)tag_frequency;
+// if(key_keeptime>=KEY_KEEPRESET_TIME)
+// {
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// }
+// }else{
+// key_keeptime=0;
+// }
+// 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;
+// }
+//#ifndef DEBUG_MODE
+// if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+// {
+// mcu_sleep();
+// }
+//#endif
}
/* USER CODE END 4 */
--
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