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 | 606 +++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 436 insertions(+), 170 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a0b6624..145d5a1 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -29,6 +28,9 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
+
+#define NSH1 0x0001
+#define GP 0x0002
//#define DEBUG_MODE
/* USER CODE END Includes */
@@ -40,8 +42,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
-#define Period (uint32_t) 32768 - 1
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -55,6 +56,8 @@
LPTIM_HandleTypeDef hlptim1;
SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -72,6 +75,7 @@
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -88,32 +92,61 @@
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
+float motor_keeptime;
uint8_t imu_enable,motor_enable;
u16 GetLPTime(void)
{
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;
+// 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))
{
Error_Handler();
}
+ m_EUART_DMA_RXPtr = 0;
}
-uint8_t state5v;
-void IdleTask(void)
-{u16 current_time;
-
- UART_CheckReceive();
- UART_CheckSend();
+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 = 1;
+void IdleTask(void)
+{
+ 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
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
@@ -123,31 +156,62 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
- if(g_com_map[MOTOR_ONTIME]>0)
- {
- g_com_map[MOTOR_ONTIME]--;
- motor_state = 1;
- }
+if(g_com_map[MOTOR_ENABLE])
+{
+
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ //motor_state=2;
switch(motor_state)
{case 0:
- MOTOR_OFF;
+ 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)
{
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
}else{
- MOTOR_OFF;
- }
-
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ }
break;
case 2:
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
break;
case 3:
- MOTOR_OFF;
+ 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;
@@ -156,7 +220,7 @@
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
LED_LR_OFF;
LED_LG_ON;
@@ -165,7 +229,11 @@
LED_LG_OFF;
}
}else{
- state5v=0;
+ if(state5v==1)
+ {
+ state5v=0;
+ UsartDeInit();
+ }
LED_LR_OFF;
LED_LG_OFF;
// }
@@ -210,70 +278,85 @@
}
-u16 total_slotnum,current_slotnum;
+u16 current_slotnum;
extern int32_t offsettimeus;
+//#define FIXSLOT
+#define FIXSLOTPOS 4
+u16 slotpos_intoatl;
+uint16_t bigslot_num;
-void SetNextPollTime(u16 time)
+
+
+void CheckComMap(void)
{
- 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)
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
- lptime=target_time-offsettimeus;
- 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;}
+ if(g_com_map[STATIONARY_TIME]==0)
+ {
+ g_com_map[STATIONARY_TIME]=10;
+ }
+
}
-}
+uint8_t uwb_active_flag = 0;
+u8 active_flag=0;
void Program_Init(void)
{ float temp;
uint16_t temp2;
uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
+ hardware_version= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
+ 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] = 0x0201;
+ g_com_map[VERSION] = (2<<8)|1;
+
+// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x123;
- 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;
+// g_com_map[COM_INTERVAL]=50;
#endif
-
- // g_com_map[COM_INTERVAL]=100;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
+//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)
+ {
+ 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(module_power>67)
- {module_power=67;}
- if(module_power<0)
- {module_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];
-
+ 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;
- 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];
- total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
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
@@ -281,9 +364,9 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- 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("标签ID: %d .\r\n",dev_id);
+// 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("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -303,13 +386,49 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
-//{
-// /* Set transmission flag: trasfer complete*/
-// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
-//
-//}
+void HardWareTypeDiffConfig(void)
+{
+ 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 = 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);
+ break;
+ case 2:
+ MX_TIM2_Init();
+ 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
@@ -325,7 +444,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -346,25 +464,38 @@
/* 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();
+ //MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
- Dw1000_Init();
- Dw1000_App_Init();
+ Accelerometer_Init();
+ // BarInit();
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+ HAL_GPIO_WritePin(DW1000_RSTn_GPIO, DW1000_RSTn, GPIO_PIN_RESET);
- 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;;
+ 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))
{
Error_Handler();
}
+
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -379,46 +510,49 @@
/* 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;
-
-// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
+// while(1)
// {
-// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
-// }else{
-// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+// MODBUS_Poll();
// }
-// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
- 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--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
+if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
{
-#ifndef DEBUG_MODE
+#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{
+// 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{
+// LED_TR_ON;
+// Tag_App();
+// LED_TR_OFF;
+// }
+// __enable_irq();
+// //LED0_BLINK;
+// IdleTask();
+// if(waitusart_timer>0)
+// {
+// waitusart_timer--;
+// }
+//
+// }else{
IdleTask();
- }
+// }
// HAL_Delay(100);
// Get_Battary();
@@ -438,14 +572,15 @@
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
+ /** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
+ /** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
@@ -459,7 +594,7 @@
{
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;
@@ -499,7 +634,7 @@
/* 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)
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
hadc.Init.OversamplingMode = DISABLE;
@@ -522,7 +657,7 @@
{
Error_Handler();
}
- /** Configure for the selected ADC regular channel to be converted.
+ /** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
@@ -610,6 +745,69 @@
}
/**
+ * @brief TIM2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM2_Init(void)
+{
+
+ /* USER CODE BEGIN TIM2_Init 0 */
+
+ /* USER CODE END TIM2_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+
+ /* USER CODE BEGIN TIM2_Init 1 */
+
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 9;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 1171;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 599;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
+// {
+// /* Starting Error */
+// Error_Handler();
+// }
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
* @brief USART1 Initialization Function
* @param None
* @retval None
@@ -641,12 +839,12 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// GPIO_InitStruct.Pin = GPIO_PIN_9;
+// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+// GPIO_InitStruct.Pull = GPIO_PULLUP;
+// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+// GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
@@ -656,10 +854,10 @@
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -691,7 +889,7 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
@@ -704,12 +902,6 @@
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /*Configure GPIO pin : BAT_MEAS_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
@@ -738,20 +930,18 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin
- PWR_CTL_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin
- |PWR_CTL_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);
-
/*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;
+ 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;
@@ -788,6 +978,8 @@
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*/
@@ -797,40 +989,109 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+extern u16 tagslotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
+extern float motor_ontime,button_delay;
+u32 kongzhi_f4_kaiji_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
- i++;
+ SystemClock_Config();
g_start_send_flag=1;
- current_slotnum++;
- SetNextPollTime(tyncpoll_time);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
- if(!GET_USERKEY)
- {
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- 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>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
- {
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
- }
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
+// current_slotnum++;
+// SetNextPollTime(tagslotpos);
+// 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
}
/* USER CODE END 4 */
@@ -842,7 +1103,12 @@
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
-
+// while (1)
+// {}
+// /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+// //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// /* USER CODE END W1_HardFault_IRQn 0 */
+// }
/* USER CODE END Error_Handler_Debug */
}
@@ -855,7 +1121,7 @@
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
-{
+{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
--
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