From d9321b6a77d97a67fb6e9f0a9fd4da73a1da4078 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 18 三月 2024 09:15:37 +0800
Subject: [PATCH] 1
---
Src/main.c | 312 +++++++++++++++++++++++++++------------------------
1 files changed, 163 insertions(+), 149 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index d92495c..d9c9771 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -46,11 +46,11 @@
uint8_t chongqi_flag;
uint32_t uwbled,gpsled,loraled,powerled;
UART_WakeUpTypeDef Selection;
-uint8_t Close_RMC[20]="$CCMSG,RMC,1,0,*04\r\n";
-uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
-uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
-uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
-uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
+uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
+//uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
+//uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
+//uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
+//uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -71,7 +71,6 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
-DMA_HandleTypeDef hdma_adc;
IWDG_HandleTypeDef hiwdg;
@@ -80,10 +79,10 @@
UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart5;
+DMA_HandleTypeDef hdma_lpuart1_rx;
+DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
-DMA_HandleTypeDef hdma_usart5_rx;
-DMA_HandleTypeDef hdma_usart5_tx;
SPI_HandleTypeDef hspi1;
@@ -98,9 +97,9 @@
static void MX_ADC_Init(void);
static void MX_IWDG_Init(void);
static void MX_LPTIM1_Init(void);
-static void MX_LPUART1_UART_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
+static void MX_LPUART1_UART_Init(void);
static void MX_USART5_UART_Init(void);
/* USER CODE BEGIN PFP */
@@ -124,6 +123,7 @@
uint8_t anjian_flag;
uint8_t stationary_flag;
uint16_t stationary_num;
+uint8_t recv_end_time;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -200,36 +200,44 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
-uint8_t state5v = 1;
+uint8_t state5v;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
{
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
-
+ { state5v=1;
+ LoraInit();
+ HAL_UART_DMAStop(&hlpuart1); // 停止DMA传输，防止
+ while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
- // bat_percent=Get_Battary();
- if(state5v==0)
- {
- state5v=1;
- UsartInit();
- }
- if(bat_percent>99)
+
+ if(bat_percent>95)
{
powerled=GREEN;
}else{
powerled=RED;
- }
+ }
+ }
+ HAL_NVIC_SystemReset();
}else{
- if(state5v==1)
- {
- state5v=0;
- UsartDeInit();
- }
+ state5v=0;
+ if(bat_percent>20)
+ {
+ powerled=BLUE;
+ }else{
+ powerled=RED;
+ }
+
+// if(state5v==1)
+// {
+// state5v=0;
+// UsartDeInit();
+// }
}
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
@@ -291,7 +299,7 @@
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)|0;
+ g_com_map[VERSION] = (1<<8)|1;
// g_com_map[DEV_ID]=1158;
// #ifdef DEBUG_MODE
// // g_com_map[GROUP_ID]=21;
@@ -417,11 +425,6 @@
if(GPIO_Pin == RADIO_DIO1_Pin)
{
SystemClock_Config();
-// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
-// HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
-// l_bIsVibration = HIDO_TRUE;
-// nomove_time=0;
-// printf("RXD :77777\r\n");
irq_num++;
RadioIrqProcess();
}
@@ -450,7 +453,6 @@
extern uint8_t GPSchangdu;
uint8_t no_yingdaflag;
-extern uint8_t GPS_GGAdate[200];
uint8_t GPS_GGAdate111[200]="报警";
@@ -460,20 +462,8 @@
}
void GPS_Close_Init()
{
-
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GSA,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GSV,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_GLL,20,1000);
- Delay_Ms(100);
- HAL_UART_Transmit(&hlpuart1,Close_TXT,20,1000);
- Delay_Ms(100);
+ HAL_UART_Transmit_DMA(&hlpuart1,Close_RMC,100);
+ Delay_Ms(150);
}
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
@@ -482,34 +472,24 @@
uint8_t ble_rx_success_flag;
uint8_t fangzhijinrushuimian_flag;
uint8_t GPSchangdu;
-uint8_t GPS_GGAdate[200]={1,2,3,4,5,6,7,8,9};
+uint8_t GPS_GGAdate[400];
+uint8_t GPS_GGAdatenum;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
- {
-// GPS_RecvFsm(GPSRxBuffer[0]);
- GPS_Recv_Poll(GPSRxBuffer[0]);
-// GPS_zhongzhuandate[GPS_zhongzhuannum]=GPSRxBuffer[0];
-// GPS_zhongzhuannum++;
-// if(GPS_zhongzhuandate[GPS_zhongzhuannum-1]==0x0A&&GPS_zhongzhuandate[GPS_zhongzhuannum-2]==0x0D)
// {
-//// HAL_UART_Transmit(&hlpuart1,ble_rxdate,5,1000);
-// memcpy(GPS_GGAdate,GPS_zhongzhuandate,GPS_zhongzhuannum);
-// GPSchangdu= GPS_zhongzhuannum;
-// memset(GPS_zhongzhuandate,0,sizeof(GPS_zhongzhuandate));
-// GPS_zhongzhuannum=0;
+// GPS_RecvFsm(GPSRxBuffer[0]);
+// GPS_Recv_Poll(GPSRxBuffer[0]);
+// GPS_GGAdate[GPS_GGAdatenum]=GPSRxBuffer[0];
+// GPS_GGAdatenum++;
+// if(GPS_GGAdate[GPS_GGAdatenum-1]==0x0A&&GPS_GGAdate[GPS_GGAdatenum-2]==0x0D)
+// {
+// GPS_ParseGGA(GPS_GGAdate, GPS_GGAdatenum);
+// memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
+// GPS_GGAdatenum=0;
// fangzhijinrushuimian_flag=0;
-// ble_rx_success_flag=1;
-// if(GPSchangdu>40)
-// {
-// gpsled=BLUE;
-// }
-// else
-// {
-// gpsled=RED;
-// }
// }
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
- }
+// HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+// }
}
uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
@@ -526,9 +506,14 @@
// memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
// }
// if(lp_time>3)
+ if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))
+ {
+ Error_Handler();
+ }
fangzhijinrushuimian_flag=1;
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+// HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
// HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
+
}
extern uint8_t yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
@@ -540,18 +525,9 @@
if(yuyin_sendflag)
{
yuyin_sendflag=0;
- // SYN_FrameInfo(0,yuyin_yinliang);//设置音量等级V10
- // delay_ms(10);
SYN_FrameInfo(0,xiafayuyin_data); //播放内容
-// HAL_UART_Receive_IT(&huart6, &Get_Uart6_data, 1);
memset(xiafayuyin_data,0,sizeof(xiafayuyin_data));
}
-// if(Get_Uart6_data==0x4F)
-// {
-//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
-//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
-// Get_Uart6_data=0;
-// }
}
void PowerDownDetect(void)
{
@@ -559,11 +535,13 @@
static uint32_t powercount=0;
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
{
- delay_ms(1000);
+ delay_ms(500);
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
{
while(1)
{
+ Set4LEDColor(RED,RED,RED,RED);
+ recv_end_time=0;
if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
{
delay_ms(100);
@@ -601,20 +579,36 @@
flag_onesecond = 0;
}
}
+uint8_t GPS_Close_time;
+uint8_t GPS_Close_flag=1;
+uint8_t debugnum;
uint8_t Lora_send_flag;
void Lora_Send_Poll(void)
{
if(Lora_send_flag)
- {
+ {
+ debugnum++;
Lora_send_flag=0;
-// LedTask();
loraled=BLUE;
LoraReportPoll();
flag_onesecond = 1;
-
-Set4LEDColor_Off();
}
+}
+extern volatile uint16_t rx_len ; //接收一帧数据的长度
+extern volatile uint8_t recv_end_flag; //一帧数据接收完成标志
+void Lpuart_rx_Poll(void)
+{
+if(recv_end_flag == 1) //接收完成标志
+{
+ recv_end_time=0;
+GPS_ParseGGA(GPS_GGAdate, rx_len);
+memset(GPS_GGAdate,0,rx_len);
+rx_len = 0;//清除计数
+recv_end_flag = 0;//清除接收结束标志位
+fangzhijinrushuimian_flag=0;
+}
+HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
}
/* USER CODE END 0 */
@@ -650,48 +644,42 @@
MX_ADC_Init();
// MX_IWDG_Init();
MX_LPTIM1_Init();
- MX_LPUART1_UART_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
+ MX_LPUART1_UART_Init();
MX_USART5_UART_Init();
/* USER CODE BEGIN 2 */
-// LED_LG_ON;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
delay_ms(10);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
-//delay_ms(1000);
-
Program_Init();
- LIS3DH_Data_Init();
+#ifdef _USE_BAR
+BarInit();
+#endif
Dw1000_Init();
- // HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
- delay_ms(1000);
- GPS_Close_Init();
- HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ LIS3DH_Data_Init();
Set4LEDColor(RED,RED,RED,RED);
- HAL_Delay(500);
- Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
HAL_Delay(500);
Set4LEDColor_Off();
HAL_Delay(500);
LoraInit();
-
-#ifdef _USE_BAR
-BarInit();
-#endif
+// delay_ms(1000);
+bat_percent=Get_Battary();
+ GPS_Close_flag=0;
+ GPS_Close_Init();
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
- }
-// Lora47X_Init();
-// Radio.Sleep();
+ }
+// HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
+ __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_IDLE); //使能IDLE中断
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
/* USER CODE END 2 */
/* Infinite loop */
@@ -708,30 +696,35 @@
}
else
{
+ Lpuart_rx_Poll();
OneSecondTask();
IdleTask();
PowerDownDetect();
Lora_Send_Poll();
- #ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
- {
- if(usart5_state==0)
- {
- usart5_state=1;
- Usart5DeInit();
- }
- Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
- HAL_UARTEx_EnableClockStopMode(&hlpuart1);
- HAL_UARTEx_EnableStopMode( &hlpuart1 );
- HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
- __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);
-// Set4LEDColor_Off();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
- }
- #endif
+ TTSchaxun_Busy();
+// #ifndef DEBUG_MODE
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// {
+// if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
+// {
+// if(usart5_state==0)
+// {
+// usart5_state=1;
+// Usart5DeInit();
+// }
+// if(GPS_Close_flag==0)
+// {
+// Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
+// HAL_UARTEx_EnableClockStopMode(&hlpuart1);
+// HAL_UARTEx_EnableStopMode( &hlpuart1 );
+// HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
+// __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);
+// }
+//// Set4LEDColor_Off();
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// }
+// }
+// #endif
}
}
/* USER CODE END 3 */
@@ -790,7 +783,7 @@
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
|RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
- PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
+ PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_HSI;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -823,7 +816,7 @@
hadc.Init.OversamplingMode = DISABLE;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ContinuousConvMode = DISABLE;
@@ -845,14 +838,6 @@
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
- if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
- {
- Error_Handler();
- }
-
- /** Configure for the selected ADC regular channel to be converted.
- */
- sConfig.Channel = ADC_CHANNEL_VREFINT;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
@@ -1091,11 +1076,8 @@
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
- /* DMA1_Channel1_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_3_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
/* DMA1_Channel4_5_6_7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_5_6_7_IRQn, 0, 0);
@@ -1183,7 +1165,7 @@
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -1217,7 +1199,7 @@
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
- HAL_NVIC_SetPriority(EXTI4_15_IRQn, 2, 0);
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -1256,12 +1238,18 @@
uint16_t no_data_chongqi_num;
uint8_t no_yingdatime;
#define YUYINSTOP_TIME 10
-void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
+uint8_t bat_time;
+void Bat_Percent_Poll()
{
-// uint8_t pinlv;
- SystemClock_Config();
- HAL_IWDG_Refresh(&hiwdg);
-Set4LEDColor(powerled,loraled,gpsled,uwbled);
+ bat_time++;
+ if(bat_time>100)
+ {
+ bat_time=0;
+ bat_percent=Get_Battary();
+ }
+}
+void Yuying_Poll()
+{
yuyinzidongguan_time++;
if(yuyinzidongguan_time>YUYINSTOP_TIME)
{
@@ -1270,12 +1258,31 @@
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
yuyin_no_sleep_flag=0;
}
+}
+void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
+{
+// uint8_t pinlv;
+ SystemClock_Config();
+ HAL_IWDG_Refresh(&hiwdg);
+Set4LEDColor(powerled,loraled,gpsled,uwbled);
+Bat_Percent_Poll();
+ if(state5v==0)
+ {
+ if(yuyin_no_sleep_flag==0)
+ {
+ recv_end_time++;
+// if(recv_end_time>3)
+// {HAL_NVIC_SystemReset();}
+ }
+ Yuying_Poll();
Lora_send_flag=1;
if(nomove_count++>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
- } else {
- stationary_flag = 0;
+ }
+ else
+ {
+ stationary_flag = 0;
}
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
{
@@ -1283,6 +1290,13 @@
} else {
gotosleep_flag=0;
}
+ }
+ powerled=LEDOFF;
+ loraled=LEDOFF;
+ gpsled=LEDOFF;
+ uwbled=LEDOFF;
+Set4LEDColor_Off();
+//delay_ms(10);
}
/* USER CODE END 4 */
--
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