From db36f74f33fca1df7b2ac72e54178db4d14b00a2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 07 二月 2025 10:12:46 +0800
Subject: [PATCH] 2.11，修改重启bug当周围防撞标签多的时候
---
Src/main.c | 222 +++++++++++++++++++++++++++++--------------------------
1 files changed, 117 insertions(+), 105 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index ac7e52a..b823004 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -130,67 +130,14 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
-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:
- 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)
- {
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- }else{
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- }
- break;
- case 2:
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 3:
- 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;
+// nomove_count = 0;
if(state5v==0)
{
+ UWB_RXOFF();
state5v=1;
UsartInit();
}
@@ -265,12 +212,20 @@
}
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[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;
+u16 nomovesleep_time=0,interval;
+extern uint8_t uwb_onflag;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -281,7 +236,7 @@
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)|53;
+ g_com_map[VERSION] = (2<<8)|11;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -298,18 +253,13 @@
// g_com_map[IMU_ENABLE]=0;
// g_com_map[COM_INTERVAL]=50;
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;
- }
+
//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
+ uwb_onflag=g_com_map[UWB_ONFLAG];
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;
@@ -318,14 +268,25 @@
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];
+
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
+ nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
+ interval = g_com_map[COM_INTERVAL];
+ if(active_flag==0)
+ {
+ interval=1000;
+ imu_enable=1;
+ nomovesleep_time = 10;
+ motor_enable=0;
+ }
+ tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+ printf("固件版本:SS双路定位标签-防撞基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -352,31 +313,59 @@
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;
- }
+// 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);
+}
+if(uwb_onflag)
+{
+UWB_RXOFF();
+}
+else
+{
+UWB_RXON();
+}
+ 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
}
+
+uint8_t userkey_num;
/* USER CODE END 0 */
/**
@@ -408,28 +397,40 @@
/* 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();
+
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
- BarInit();
+ 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();
+// 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;;
+// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+// dwt_setrxtimeout(0);//设定接收超时时间，0位没有
+// dwt_rxenable(0);
+ if(uwb_onflag)
+ {
+ UWB_RXON();
+ }
+ else
+ {
+ UWB_RXOFF();
+ }
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
- LIS3DH_Check();
+
// HAL_Delay(2000);
// mcu_sleep();
@@ -456,7 +457,7 @@
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
- if(g_start_send_flag&&active_flag)
+ if(g_start_send_flag/*&&uwb_onflag*/)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
// GetPressAndTemp();
@@ -488,7 +489,6 @@
}else{
IdleTask();
}
-
// HAL_Delay(100);
// Get_Battary();
@@ -891,9 +891,18 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : PB8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -913,7 +922,7 @@
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
- LIS3DH_Check();
+
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
@@ -927,14 +936,17 @@
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;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
SystemClock_Config();
g_start_send_flag=1;
+ userkey_num=0;
// current_slotnum++;
// SetNextPollTime(tagslotpos);
+ if(button_delay<1)
+ button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
@@ -993,18 +1005,18 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleep_time-1&&imu_enable)
{
gotosleep_flag=1;
}else{
gotosleep_flag=0;
}
-#ifndef DEBUG_MODE
+//#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
-#endif
+//#endif
}
/* USER CODE END 4 */
--
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