From d74cb2bd098186eef245b733aae6945db77a7431 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 28 七月 2023 18:11:40 +0800
Subject: [PATCH] 修复bug，可以跟dw3000的接收端测距。
---
Src/main.c | 159 ++++++++++------------------------------------------
1 files changed, 32 insertions(+), 127 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 93720ec..02c5b00 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -33,7 +33,7 @@
#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 -----------------------------------------------------------*/
@@ -61,8 +61,6 @@
SPI_HandleTypeDef hspi1;
-TIM_HandleTypeDef htim2;
-
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
@@ -79,7 +77,6 @@
static void MX_SPI1_Init(void);
void MX_ADC_Init(void);
static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
@@ -213,30 +210,6 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
-
-void HardWareTypeDiffConfig(void)
-{
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- //hardware_type=2;
- if(hardware_type == 0)
- hardware_type = 1;
- 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();
- //BarInit();
- break;
- }
-}
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
@@ -248,7 +221,7 @@
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] = (1<<8)|64;
+ g_com_map[VERSION] = (1<<8)|68;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
@@ -257,7 +230,7 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
-// g_com_map[GROUP_ID]=2;
+ g_com_map[GROUP_ID]=3;
g_com_map[COM_INTERVAL] = 1000;
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
@@ -337,7 +310,7 @@
static uint16_t bat_count = 0;
//if(bat_count++%600==0)
{
- temp2=dwt_readtempvbat(1);
+ temp2=dwt_readtempvbat();
dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
if(fabs(dw_vbat-dw_vbat)>0.2)
{
@@ -366,6 +339,7 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+extern uint32_t dw3000_id;
/* USER CODE END 0 */
/**
@@ -395,34 +369,30 @@
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_LPTIM1_Init();
+ MX_GPIO_Init();
+ MX_LPTIM1_Init();
MX_DMA_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
- MX_ADC_Init();
+ MX_USART1_UART_Init();
+ MX_SPI1_Init();
+ MX_ADC_Init();
- // MX_TIM2_Init();
- MX_IWDG_Init();
- /* USER CODE BEGIN 2 */
+// MX_IWDG_Init();
+// /* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
// LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
// HardWareTypeDiffConfig();
- dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
+ dwt_configuresleep(DWT_CONFIG|DWT_PGFCAL, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN|DWT_SLEEP);
dwt_entersleep();
- DW_DISABLE;
+// 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;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -437,15 +407,9 @@
SystemClock_Config();
g_start_send_flag = 0;
HAL_IWDG_Refresh(&hiwdg);
-// 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;s
-
-
+
+
+// Tag_App();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -455,7 +419,7 @@
Tag_App();
LED_TR_OFF;
}
- //LED0_BLINK;
+// //LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
@@ -464,17 +428,21 @@
}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(m_bEUARTTxEn==0&&waitusart_timer==0)
+// {
+// if(memcmp(g_com_map2,g_com_map,200)!=0)
+// {
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// }
+// #ifndef DEBUG_MODE
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// #endif
+// }
#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();
@@ -562,7 +530,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -581,7 +549,7 @@
}
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_1;
+ sConfig.Channel = ADC_CHANNEL_VREFINT;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
@@ -693,69 +661,6 @@
/* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
/* USER CODE END SPI1_Init 2 */
-
-}
-
-/**
- * @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);
}
--
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