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 | 666 ++++++++++++++++++++++++++++++++-----------------------
1 files changed, 385 insertions(+), 281 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 59bc4d1..bc8c403 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -29,7 +28,20 @@
#include "global_param.h"
#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 -----------------------------------------------------------*/
@@ -40,8 +52,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
-#define Period (uint32_t) 32768 - 1
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -50,7 +61,9 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
+
+IWDG_HandleTypeDef hiwdg;
LPTIM_HandleTypeDef hlptim1;
@@ -67,17 +80,21 @@
/* 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);
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 */
/* USER CODE END PFP */
/* 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;
@@ -89,6 +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);
@@ -104,54 +125,45 @@
Error_Handler();
}
}
-uint8_t state5v;
+static void MX_DMA_DeInit(void)
+{
+
+ /* DMA controller clock enable */
+ __HAL_RCC_DMA1_CLK_DISABLE();
+
+ /* DMA interrupt init */
+ /* DMA1_Channel2_3_IRQn interrupt configuration */
+ // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
+ HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
+
+}
+void UsartDeInit(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ waitusart_timer = 0;
+ MX_DMA_DeInit();
+ HAL_UART_DeInit(&huart1);
+ GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+}
+uint16_t hardware_version,hardware_pici,hardware_type;
+uint8_t state5v = 1;
+float motor_keeptime;
void IdleTask(void)
-{u16 current_time;
-
- UART_CheckReceive();
- UART_CheckSend();
-
-if(huart1.Instance->ISR&USART_ISR_FE)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
-//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
-//{
-// LED_TR_ON;
-// LED_TB_OFF;
-//}else{
-// LED_TR_OFF;
- current_time=GetLPTime();
- //motor_state=2;
-// if(g_com_map[MOTOR_ONTIME]>0)
+{
+//if(huart1.Instance->ISR&USART_ISR_FE)
// {
-// g_com_map[MOTOR_ONTIME]--;
-// motor_state = 1;
-// }
-
- switch(motor_state)
- {case 0:
- MOTOR_OFF;
- break;
- case 1:
- if(current_time<WARNING_MOTORONTIME)
- {
- MOTOR_ON;
- }else{
- MOTOR_OFF;
- }
-
- break;
- case 2:
- MOTOR_ON;
- break;
- case 3:
- MOTOR_OFF;
- break;
- }
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
if(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;
@@ -159,158 +171,219 @@
}
if(bat_percent>99)
{
- LED_LR_OFF;
+// LED_LR_OFF;
LED_LG_ON;
}else{
- LED_LR_ON;
+// LED_LR_ON;
LED_LG_OFF;
}
}else{
- state5v=0;
- LED_LR_OFF;
+ if(state5v==1)
+ {
+ state5v=0;
+ UsartDeInit();
+ }
+// LED_LR_OFF;
LED_LG_OFF;
// }
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_REBOOT]==1)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_RESTART]==1)
- {
- g_com_map[CNT_RESTART]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
-
+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;
-
- target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus;
- lpcount = lptime/LPTIMER_LSB;
- if(lpcount>LPTIMER_1S_COUNT)
- lpcount-=LPTIMER_1S_COUNT;
- if(lpcount<0)
- {
- lpcount+=LPTIMER_1S_COUNT;
- }
+// if(current_slotnum>=total_slotnum)
+// current_slotnum-=total_slotnum;
+//
+// target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+// //if(target_time<90000)
+// {
+// lptime=target_time-offsettimeus;
+// lpcount = lptime/LPTIMER_LSB;
+// if(lpcount>LPTIMER_1S_COUNT)
+// lpcount-=LPTIMER_1S_COUNT;
+// if(lpcount<0)
+// {
+// lpcount+=LPTIMER_1S_COUNT;
+// }
+ lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
+ while(lpcount>LPTIMER_1S_COUNT)
+ {
+ lpcount-=LPTIMER_1S_COUNT;
+ }
+ last_lpcount = lpcount;
__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] = 0x0112;
-#ifdef DEBUG_MODE
-// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
-// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
-#endif
-
- 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;}
- module_power = g_com_map[POWER];
- imu_enable=g_com_map[IMU_ENABLE];
- motor_enable=g_com_map[MOTOR_ENABLE];
+ 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]=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[ACTIVE_INDEX] = 1;
+ g_com_map[GROUP_ID]=0;
+
+ g_com_map[COM_INTERVAL] = 1000;
+ 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;
+
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];
- current_slotnum=1;
- current_time=GetLPTime();
+
+ if(module_power>67)
+ {module_power=67;}
+
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("标签ID: %d .\r\n",dev_id);
- printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
- printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-
-
+ 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
+}
+uint16_t temp2;
+float dw_vbat,last_vbat;
+uint8_t Get_Battary_UWB(void)
+{
+ static uint8_t first = 1;
+ static float last_value = 100;
+
+ //if(bat_count++%600==0)
+ {
+ temp2=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
+ if(fabs(dw_vbat-dw_vbat)>0.2)
+ {
+ last_vbat = dw_vbat;
+ return last_value;
+ }
+ last_vbat = dw_vbat;
+ if(dw_vbat>=3.0)
+ {
+ if(first)
+ {
+ first = 0;
+ last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
+ }
+ last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
+ if(last_value>100)
+ last_value = 100;
+ if(last_value<0)
+ last_value = 0;
+ }
+ }
+ return last_value;
+}
+void MX_ADC_DeInit(void)
+{
+ 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 */
@@ -323,7 +396,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -343,31 +415,48 @@
/* 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 */
- LED_LG_ON;
- Program_Init();
- LIS3DH_Data_Init();
- Dw1000_Init();
- Dw1000_App_Init();
-
- 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;;
- 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);
+ 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();
+ DW_DISABLE;
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
+ 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 */
@@ -377,22 +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;
-
-// 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;
-
- bat_percent=Get_Battary();
+ HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>15)
- { LED_TB_ON;
+ {
+ LED_TB_ON;
Tag_App();
LED_TB_OFF;
}else{
@@ -400,25 +482,30 @@
Tag_App();
LED_TR_OFF;
}
+// test1();
+
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#ifndef DEBUG_MODE
-if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-#endif
- }
-
-
- }else{
+ }
+ }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(!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)&&flag_entersleep)
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ #endif
+ }
// HAL_Delay(100);
// Get_Battary();
@@ -437,19 +524,24 @@
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
+ /** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
+
+ /** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
+ |RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
@@ -458,7 +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;
@@ -498,13 +591,14 @@
/* 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)
+
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
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;
@@ -521,17 +615,48 @@
{
Error_Handler();
}
- /** Configure for the selected ADC regular channel to be converted.
+
+ /** 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)
{
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
-HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
+ HAL_ADCEx_EnableVREFINT();
+ HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
/* USER CODE END ADC_Init 2 */
+
+}
+
+/**
+ * @brief IWDG Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_IWDG_Init(void)
+{
+
+ /* USER CODE BEGIN IWDG_Init 0 */
+
+ /* USER CODE END IWDG_Init 0 */
+
+ /* USER CODE BEGIN IWDG_Init 1 */
+
+ /* USER CODE END IWDG_Init 1 */
+ hiwdg.Instance = IWDG;
+ hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
+ hiwdg.Init.Window = 4095;
+ hiwdg.Init.Reload = 4095;
+ if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN IWDG_Init 2 */
+
+ /* USER CODE END IWDG_Init 2 */
}
@@ -655,10 +780,10 @@
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -690,10 +815,11 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ 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);
@@ -704,15 +830,9 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);
-
/*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);
@@ -724,27 +844,26 @@
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;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pin : USER_KEY_Pin */
- GPIO_InitStruct.Pin = USER_KEY_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin
- PWR_CTL_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin
- |PWR_CTL_Pin;
+ /*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(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : USER_KEY_Pin */
+ GPIO_InitStruct.Pin = USER_KEY_Pin;
+ 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;
@@ -759,15 +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);
}
@@ -798,38 +920,22 @@
}
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;
+ SystemClock_Config();
i++;
- g_start_send_flag=1;
+ if(Anchor_Vcc_time++>DIANLIANG_TIME)
+ {
+ Anchor_Vcc_Flag=1;
+ Anchor_Vcc_time=0;
+ }
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
- if(!GET_USERKEY)
- {
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- 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>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
- {
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
- }
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
+ freqlost_count+=1/(float)tag_frequency;
+ range_lost_time +=1/(float)tag_frequency;
+ g_start_send_flag=1;
}
/* USER CODE END 4 */
@@ -854,12 +960,10 @@
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
-{
+{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--
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