From d8a6d069f2a7f2b836c84c5be40abed3dd393297 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 04 十二月 2024 16:26:57 +0800
Subject: [PATCH] V1.33,修复充电重启bug，修复灯充电常量bug，可以跟1.24的lora免布线基站测距
---
Src/main.c | 83 +++++++++++++++++++++++++++++++++--------
1 files changed, 66 insertions(+), 17 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 679caab..858d1f3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -222,18 +222,36 @@
{ state5v=1;
LoraInit();
HAL_UART_DMAStop(&hlpuart1); // 停止DMA传输，防止
+ Radio.Sleep();
+ powerled=LEDOFF;
+ loraled=LEDOFF;
+ gpsled=LEDOFF;
+ uwbled=LEDOFF;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
+ HAL_SPI_DeInit(&hspi1);
+ HAL_SPI_DeInit(&hspi2);
+ HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora cs
+ HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
+ HAL_GPIO_WritePin( GPIOC, GPIO_PIN_3,GPIO_PIN_RESET);//LORA REST
+ Usart5DeInit();
+ LpusartDeInit();
+// HAL_ADC_DeInit(&hadc);
while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
-
+ HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>95)
{
powerled=GREEN;
}else{
powerled=RED;
}
+ uwbled=0;
+ gpsled=0;
+ loraled=0;
}
HAL_NVIC_SystemReset();
}else{
@@ -316,7 +334,7 @@
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)|23;
+ g_com_map[VERSION] = (1<<8)|33;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -325,7 +343,7 @@
// // g_com_map[MAX_REPORT_ANC_NUM]=1;
// // g_com_map[NOMOVESLEEP_TIME]=10;
// #endif
- g_com_map[GROUP_ID]=0;
+// g_com_map[GROUP_ID]=0;
// g_com_map[COM_INTERVAL] = 1000;
if(g_com_map[COM_INTERVAL]<1000)
{g_com_map[COM_INTERVAL] = 1000;}
@@ -373,7 +391,7 @@
// }
//g_com_map[NOMOVESLEEP_TIME]=5;
printf("固件版本: URT-LORA-GPS版本 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
- memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
+// memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
// 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]);
@@ -443,6 +461,9 @@
extern u8 gps_chafenlingqi;
uint16_t irq_num;
u8 lora_irq_flag,lora_working_flag;
+//u8 uwb_irq_flag;
+extern uint8_t LoraUp_flag;
+uint8_t anjian_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == RADIO_DIO1_Pin)
@@ -450,13 +471,31 @@
// SystemClock_Config();
irq_num++;
+
+ if(LoraUp_flag)
+ {
+ RadioIrqProcess();
+ }
+ else
+ {
lora_irq_flag = 1;
- // RadioIrqProcess();
+ }
}
if(GPIO_Pin == GPIO_PIN_1)//按键
{
// SystemClock_Config();
- anjian_flag=1;
+ anjian_flag=1;
+ anjian_num++;
+ if(anjian_num==2)
+ {
+ g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
+ save_com_map_to_flash();
+ Set4LEDColor(YELLOW,YELLOW,YELLOW,YELLOW);
+ delay_ms(100);
+ Set4LEDColor_Off();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
@@ -469,11 +508,12 @@
}
if(GPIO_Pin == GPIO_PIN_9)//UWB
{
- if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
- {
- gps_chafenlingqi++;
- return;
- }
+// if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
+// {
+// gps_chafenlingqi++;
+// return;
+// }
+// uwb_irq_flag = 1;
MbxTagUwbRec();
}
}
@@ -704,7 +744,7 @@
delay_ms(100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
Program_Init();
-// MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
+ MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, GPIO_PIN_SET);
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -720,9 +760,9 @@
LIS3DH_Data_Init();
Set4LEDColor(RED,RED,RED,RED);
- HAL_Delay(500);
+ delay_ms(100);
Set4LEDColor_Off();
- HAL_Delay(500);
+ delay_ms(100);
LoraInit();
// delay_ms(1000);
bat_percent=Get_Battary();
@@ -739,6 +779,7 @@
Error_Handler();
}
HAL_TIM_Base_Start_IT(&htim6);
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
/* USER CODE END 2 */
/* Infinite loop */
@@ -759,16 +800,24 @@
// HAL_IWDG_Refresh(&hiwdg);
if(lora_irq_flag)
{
- lora_irq_flag = 0;
+ lora_irq_flag = 0;
lora_working_flag = 1;
RadioIrqProcess();
lora_working_flag = 0;
}
+// if(uwb_irq_flag)
+// {
+// MbxTagUwbRec();
+// uwb_irq_flag=0;
+// }
Lpuart_rx_Poll();
OneSecondTask();
IdleTask();
PowerDownDetect();
- Lora_Send_Poll();
+ if(g_com_map[LORA_SEND_INDEX])
+ {
+ Lora_Send_Poll();
+ }
TTSchaxun_Busy();
LoraUp_Poll();
// #ifndef DEBUG_MODE
@@ -1410,7 +1459,7 @@
{
// SystemClock_Config();
Set4LEDColor(uwbled,gpsled,loraled,powerled); //代码有BUG需要执行2次，否则电源灯不亮
- Set4LEDColor(uwbled,gpsled,loraled,powerled);
+// Set4LEDColor(uwbled,gpsled,loraled,powerled);
//Set4LEDColor(powerled,loraled,gpsled,uwbled);
ledon_time = GetLPTime();
Bat_Percent_Poll();
--
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