From e5d499776ae8dbebdc2d11b4aab44a3f9314b4bc Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 19 十一月 2024 15:03:41 +0800
Subject: [PATCH] V1.16 3秒触发一次
---
Src/main.c | 354 +++++++++++++++++++++++++++++++---------------------------
1 files changed, 189 insertions(+), 165 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 6274914..bc8c403 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -30,10 +29,19 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
+#include "user.h"
+#include "sx126x-board.h"
+#include "string.h"
+#include "stdio.h"
+#include "delay.h"
+#include "lora.h"
+#include "dps310.h"
+#include "dw_mbx_anc.h"
#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
+
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -53,7 +61,7 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
IWDG_HandleTypeDef hiwdg;
@@ -72,11 +80,11 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
-static void MX_LPTIM1_Init(void);
-static void MX_USART1_UART_Init(void);
-static void MX_SPI1_Init(void);
-void MX_ADC_Init(void);
+static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_LPTIM1_Init(void);
+static void MX_SPI1_Init(void);
+static void MX_USART1_UART_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
@@ -84,6 +92,9 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+#define DIANLIANG_TIME 3600
+uint8_t Anchor_Vcc_Flag;
+uint16_t Anchor_Vcc_time=DIANLIANG_TIME+1;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -95,6 +106,10 @@
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;
+void READC_Init(void)
+{
+MX_ADC_Init();
+}
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -137,7 +152,7 @@
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
-{u16 current_time;
+{
//if(huart1.Instance->ISR&USART_ISR_FE)
// {
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -156,10 +171,10 @@
}
if(bat_percent>99)
{
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_ON;
}else{
- LED_LR_ON;
+// LED_LR_ON;
LED_LG_OFF;
}
}else{
@@ -168,7 +183,7 @@
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_OFF;
// }
}
@@ -179,13 +194,25 @@
}
-
+void delay_us(uint32_t nTimer)
+{
+ uint32_t i=0;
+ for(i=0;i<nTimer;i++){
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
+ __NOP();__NOP();__NOP();__NOP();
+ }
+}
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
- int32_t lpcount,lptime,target_time;
+ int32_t lpcount;
// if(current_slotnum>=total_slotnum)
// current_slotnum-=total_slotnum;
@@ -210,93 +237,64 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
+
u8 active_flag,nomovesleeptime;
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] = (1<<8)|68;
-
+ g_com_map[VERSION] = (1<<8)|16;
+ // testprogram();
+// g_com_map[DEV_ID]=0x6777;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
-// g_com_map[DEV_ID]=4;
+// g_com_map[DEV_ID]=0x6777;
// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- g_com_map[GROUP_ID]=3;
+ g_com_map[ACTIVE_INDEX] = 1;
+ g_com_map[GROUP_ID]=0;
+
g_com_map[COM_INTERVAL] = 1000;
- active_flag = g_com_map[ACTIVE_INDEX];
+ if(g_com_map[UWBPOLLTIME_MS_IDX]<10) //如果uwbpoll 时间小于10，随机生成一个小于一千的数。
+ {g_com_map[UWBPOLLTIME_MS_IDX] = GetRandomValue()%1000+10;}
+
+ if(g_com_map[UWBPOLLTIME_MS_IDX]>1000)
+ {
+ g_com_map[UWBPOLLTIME_MS_IDX] = GetRandomValue()%1000+10;
+ }
+
module_power = g_com_map[POWER];
g_com_map[IMU_ENABLE] = 0;
- imu_enable=g_com_map[IMU_ENABLE];
- motor_enable=g_com_map[MOTOR_ENABLE];
+
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;
- 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];
- nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
- if(active_flag==0)
- {
- imu_enable=1;
- nomovesleeptime =10;
- }
- // g_com_map[COM_INTERVAL]=100;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
if(module_power>67)
{module_power=67;}
- if(module_power<0)
- {module_power=0;}
-
- 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
{
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("固件版本: 免布线基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ printf("固件版本: LORA免布线基站 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);
// 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]);
}
-
-static void SystemPower_Config(void)
-{
- /* Enable Ultra low power mode */
- HAL_PWREx_EnableUltraLowPower();
-
- /* Enable the fast wake up from Ultra low power mode */
- HAL_PWREx_EnableFastWakeUp();
-}
void mcu_sleep(void);
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 HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -307,7 +305,7 @@
{
static uint8_t first = 1;
static float last_value = 100;
- static uint16_t bat_count = 0;
+
//if(bat_count++%600==0)
{
temp2=dwt_readtempvbat(1);
@@ -339,6 +337,54 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+extern uint8_t TX_Buffer;
+uint8_t tx_num;
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin == GPIO_PIN_3)
+ {
+ RadioIrqProcess();
+ }
+}
+extern uint16_t AD_value[500];
+ u16 poll_startcount;
+u8 flag_entersleep = 1;
+uint32_t status_reg111 = 0;
+void Get_Dianliang_Poll()
+{
+ if(Anchor_Vcc_Flag)
+ {
+ Anchor_Vcc_Flag=0;
+ bat_percent=Get_VDDVlotage();
+ UWB_Wkup();
+Delay_Ms(50);
+ dwt_setrxtimeout(0);////设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ while(1)
+ {
+ while (!((status_reg111 = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ bat_percent=Get_VDDVlotage();}
+ if (status_reg111 & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ dwt_setrxtimeout(0);////设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ }
+ else
+ {
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ dwt_rxenable(0);
+
+ }
+
+ }
+
+ Delay_Ms(50);
+ dwt_forcetrxoff();
+ dwt_entersleep();
+ }
+}
/* USER CODE END 0 */
/**
@@ -369,19 +415,31 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_DMA_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
MX_ADC_Init();
-
+ MX_DMA_Init();
+ MX_LPTIM1_Init();
+ MX_SPI1_Init();
+ MX_USART1_UART_Init();
MX_IWDG_Init();
/* USER CODE BEGIN 2 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
+ /*Configure GPIO pins : SCL_Pin SDA_Pin */
+ GPIO_InitStruct.Pin = GPIO_PIN_14;
+ 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);
+
LED_LG_ON;
Program_Init();
// LIS3DH_Data_Init();
+ // Uwb_Lora_Switch(1,0);
Dw1000_Init();
Dw1000_App_Init();
+ Delay_Ms(10);
+ // Uwb_Lora_Switch(0,0);
// HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
@@ -390,11 +448,15 @@
{
Error_Handler();
}
- HAL_Delay(2000);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_Delay(1500);
+ Lora_Init();
+ MbxInit();
+ // SwitchLoraSettingstest(UWB_CHANNEL_FRQ,UWB_CHANNEL_SF);
+ Delay_Ms(10);
+#ifdef _USE_BAR_
+ BarInit();
+#endif
+// HAL_ADC_Start_DMA(&hadc,(uint32_t*)&AD_value,sizeof(AD_value));
/* USER CODE END 2 */
/* Infinite loop */
@@ -404,22 +466,15 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
- SystemClock_Config();
+ // Send_Anchor_Vcc_Poll();
+ if(g_start_send_flag&&g_com_map[ACTIVE_INDEX])
+ {
+
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
-
-
if(bat_percent>15)
- { LED_TB_ON;
+ {
+ LED_TB_ON;
Tag_App();
LED_TB_OFF;
}else{
@@ -427,13 +482,15 @@
Tag_App();
LED_TR_OFF;
}
+// test1();
+
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
}
- }else{
+ }else{
IdleTask();
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
@@ -442,8 +499,10 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&flag_entersleep)
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -468,11 +527,14 @@
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
- /** Initializes the CPU, AHB and APB busses clocks
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
|RCC_OSCILLATORTYPE_LSE;
@@ -488,7 +550,8 @@
{
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;
@@ -516,7 +579,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -528,6 +591,7 @@
/* 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)
*/
hadc.Instance = ADC1;
@@ -551,6 +615,7 @@
{
Error_Handler();
}
+
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_VREFINT;
@@ -753,7 +818,8 @@
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);
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
@@ -766,7 +832,7 @@
/*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(GPIOA, &GPIO_InitStruct);
@@ -778,31 +844,32 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_GND_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ /*Configure GPIO pins : BAT_MEAS_GND_Pin PB10 LED1_G_Pin LED1_R_Pin
+ RADIO_nRESET_Pin RADIO_NSS_Pin PB7 PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin|GPIO_PIN_10|LED1_G_Pin|LED1_R_Pin
+ |RADIO_nRESET_Pin|RADIO_NSS_Pin|GPIO_PIN_7|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(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+ GPIO_InitStruct.Mode = GPIO_MODE_EVT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : RADIO_BUSY_Pin */
+ GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &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;
@@ -811,15 +878,18 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : RADIO_DIO1_Pin */
+ GPIO_InitStruct.Pin = RADIO_DIO1_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RADIO_DIO1_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
@@ -851,65 +921,21 @@
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
+uint8_t g_start_send_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- static uint8_t i=0,lost_jumpcount=0;
+ static uint8_t i=0;
+ SystemClock_Config();
i++;
-
+ if(Anchor_Vcc_time++>DIANLIANG_TIME)
+ {
+ Anchor_Vcc_Flag=1;
+ Anchor_Vcc_time=0;
+ }
current_slotnum++;
freqlost_count+=1/(float)tag_frequency;
range_lost_time +=1/(float)tag_frequency;
-
- if(freqlost_count>FREQ_LOST_TIME)
- {
- tag_frequency = NOTAG_FREQ;
- if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
- {
- lost_jumpcount = 0;
- g_start_send_flag=1;
- }
- }else{
- g_start_send_flag=1;
- }
- if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
- {
- SetNextPollTime(0);
- }else{
- SetNextPollTime(5);
- }
- nomove_count+=1/(float)tag_frequency;
- if(motor_keeptime>0)
- {
- nomove_count+=1/(float)tag_frequency;
- }
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- g_com_map[ACTIVE_INDEX]=!active_flag;
- save_com_map_to_flash();
- MOTOR_ON;
- HAL_Delay(2000);
- 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>=nomovesleeptime-1&&imu_enable)
-// {
-// tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
-// }
-// if(nomove_count>nomovesleeptime&&imu_enable)
-// {
-// mcu_sleep();
-// }
+ g_start_send_flag=1;
}
/* USER CODE END 4 */
@@ -941,5 +967,3 @@
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--
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