From e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 17 二月 2025 17:24:29 +0800
Subject: [PATCH] 1.29，改为轮询查询uwb测距
---
Src/main.c | 1046 +++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 707 insertions(+), 339 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 92e97d9..3ead772 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -35,10 +35,16 @@
#include "string.h"
#include "stdio.h"
#include "delay.h"
+#include <stdlib.h>
+#include <Lora.h>
+#include "radio.h"
+#include "dps310.h"
+#include "dw_mbx_tag.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
+//#define DEBUG_MODE
+UART_WakeUpTypeDef Selection;
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -64,11 +70,14 @@
LPTIM_HandleTypeDef hlptim1;
-SPI_HandleTypeDef hspi1;
-
+UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
+
+SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim2;
/* USER CODE BEGIN PV */
@@ -77,54 +86,61 @@
/* 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_DMA_Init(void);
+static void MX_SPI1_Init(void);
+static void MX_ADC_Init(void);
+static void MX_USART1_UART_Init(void);
static void MX_IWDG_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_LPUART1_UART_Init(void);
+static void MX_LPTIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
+void LedTask(void);
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
uint8_t bat_percent=0,g_start_send_flag;
-extern u8 motor_state;
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
extern uint8_t module_power;
extern float nomove_count;
-uint8_t imu_enable,motor_enable;
+uint8_t imu_enable,motor_enable;
+uint32_t lp_time;
+extern uint32_t lora_txtime_old;
+uint8_t anjian_flag;
+uint8_t stationary_flag;
+uint16_t stationary_num;
u16 GetLPTime(void)
{
- u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
- return count*LPTIMER_LSB/1000;
-}
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
void UsartInit(void)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
- MX_DMA_Init();
- MX_USART1_UART_Init();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
+ waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
}
static void MX_DMA_DeInit(void)
{
- /* DMA controller clock enable */
- __HAL_RCC_DMA1_CLK_DISABLE();
+ /* 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);
+ /* 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)
@@ -140,238 +156,325 @@
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
-float motor_keeptime;
+extern uint8_t du_flag;
+extern uint8_t xie_flag;
+uint16_t motor_keeptime;
void IdleTask(void)
{
-//if(huart1.Instance->ISR&USART_ISR_FE)
-// {
-// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
-// }
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
-
+
+ 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;
- UsartInit();
- }
- if(bat_percent>99)
- {
- LED_LR_OFF;
- LED_LG_ON;
- }else{
- LED_LR_ON;
- LED_LG_OFF;
- }
- }else{
+ UART_CheckSend();
+ nomove_count = 0;
+ // bat_percent=Get_Battary();
+ if(state5v==0)
+ {
+ state5v=1;
+ UsartInit();
+ }
+ HAL_IWDG_Refresh(&hiwdg);
+ if(bat_percent>99)
+ {
+ LED_TR_OFF;
+ LED_TB_ON;
+ } else {
+ LED_TR_ON;
+ LED_TB_OFF;
+ }
+ } else {
+ HAL_IWDG_Refresh(&hiwdg);
if(state5v==1)
{
state5v=0;
UsartDeInit();
}
- LED_LR_OFF;
- LED_LG_OFF;
+ LED2_TR_OFF;
+ LED2_TB_OFF;
// }
-}
- 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
- }
-
- }
-
-
-u16 total_slotnum,current_slotnum;
-extern int32_t offsettimeus;
-u16 last_lpcount = 0;
-void SetNextPollTime(u16 time)
-{
- int32_t lpcount,lptime,target_time;
-
-// 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);
+ 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
+ }
+ if(memcmp(g_com_map2,g_com_map,100)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
}
+
+
+//u32 Loratx_frequency;
u8 active_flag,nomovesleeptime;
+
+//}
void Program_Init(void)
-{ float temp;
- uint16_t temp2;
- uint16_t i;
- Usart1ParseDataCallback = UsartParseDataHandler;
- parameter_init();
+{ 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;
-
- #ifdef DEBUG_MODE
- // g_com_map[GROUP_ID]=21;
-// g_com_map[DEV_ID]=4;
- // g_com_map[COM_INTERVAL]=100;
- // g_com_map[MAX_REPORT_ANC_NUM]=1;
- // g_com_map[NOMOVESLEEP_TIME]=10;
- #endif
+ 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)|29;
+// g_com_map[DEV_ID]=1158;
g_com_map[GROUP_ID]=3;
- g_com_map[COM_INTERVAL] = 1000;
+// g_com_map[COM_INTERVAL] = 1000;
+ if(g_com_map[COM_INTERVAL]<1000)
+ {
+ g_com_map[COM_INTERVAL] = 1000;
+ }
+ g_com_map[STATIONARY_TIME] = 10;
+ g_com_map[LORA_POWER] = 22;
+ g_com_map[POWER] = 67;
active_flag = g_com_map[ACTIVE_INDEX];
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;
+// 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;
- }
+ 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;}
+// g_com_map[COM_INTERVAL]=100;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=1000;
+ }
+ 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);
- 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]);
-
+ g_com_map[MAP_SIGN_INDEX] =0x55AA;
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
}
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();
+ /* 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
+ //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
-uint16_t temp2;
+uint16_t temp2;
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
{
static uint8_t first = 1;
- static float last_value = 100;
+ static float last_value = 100;
static uint16_t bat_count = 0;
//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)
- {
+ 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;
- return last_value;
+ 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;
+ }
}
- 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;
+ return last_value;
}
void MX_ADC_DeInit(void)
{
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+uint8_t anjian_num;
uint16_t irq_num;
+uint16_t irq_num1;
+uint8_t uwb_work_flag;
+uint8_t dw1000_init_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
- if(GPIO_Pin == GPIO_PIN_11)
+ if(dw1000_init_flag&&!sleep_flag)
{
-// l_bIsVibration = HIDO_TRUE;
-// nomove_time=0;
-// printf("RXD :77777\r\n");
+// if(GPIO_Pin == GPIO_PIN_11)
+// {
+// SystemClock_Config();
+// uwb_work_flag=1;
+// irq_num1++;
+// MbxTagUwbRec();
+// }
+
+ if(GPIO_Pin == GPIO_PIN_3)
+ {
+ SystemClock_Config();
irq_num++;
RadioIrqProcess();
}
-// if(GPIO_Pin == GPIO_PIN_8)
-// {
-// Anchor_App();
-// }
-}
-void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
-{
-if(uwb)
-HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
-else
-HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);
+ if(GPIO_Pin == GPIO_PIN_1)//按键
+ {
+ SystemClock_Config();
+ 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();
+// LED_TB_ON;
+// LED_TR_ON;
+// LED2_TB_ON;
+// LED2_TR_ON;
+// delay_ms(100);
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+ }
-if(lora)
-HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
-else
-HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET);
+ }
+ if(GPIO_Pin == GPIO_PIN_0)//加速度
+ {
+ SystemClock_Config();
+ if(sleep_flag)
+ {HAL_NVIC_SystemReset();}
+ stationary_flag =0;
+ stationary_num=0;
+ }
}
+
+static uint8_t send_frame1[EUART_RX_BUF_SIZE];
+#define BleRxBufferSize 1
+uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
+uint8_t ble_rx_success_flag;
+uint8_t fangzhijinrushuimian_flag;
+uint8_t GPS_zhongzhuandate[200];
+uint8_t GPS_zhongzhuannum;
+uint8_t GPS_GGAdate[200]= {1,2,3,4,5,6,7,8,9};
+uint8_t GPSchangdu;
+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 gps_ceju=0;
+uint8_t no_yingdaflag;
+void MX_ADC1_Init()
+{
+ MX_ADC_Init();
+}
+extern uint16_t Lora_rece_error;
+extern uint16_t Beepchixutime;
+void Beep_Off()
+{
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
+ HAL_TIM_Base_Stop_IT(&htim2);
+}
+void Beep_On()
+{
+ HAL_TIM_Base_Start_IT(&htim2);
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+ __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 60);
+}
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+//HAL_UART_Transmit(&huart1,&ble_zhongzhuannum,1,1000);
+ {
+ 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;
+ fangzhijinrushuimian_flag=0;
+ ble_rx_success_flag=1;
+ if(GPSchangdu>40)
+ {
+ if(state5v==0)
+ LED2_TB_ON;
+ }
+ else
+ {
+ if(state5v==0)
+ LED2_TR_ON;
+ }
+ }
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ }
+}
+uint8_t ble_rxdate111[3]= {0x11,0x22,0x33};
+void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
+{
+ SystemClock_Config();
+ fangzhijinrushuimian_flag=1;
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+}
+
+uint8_t usart5_state,flag_onesecond;
+uint8_t beep_flag;
+void BeepTask(void)
+{
+ if(1)//g_com_map[MOTOR_ENABLE])
+ {
+ if(motor_keeptime>0)
+ {
+ motor_keeptime--;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+ beep_flag=1;
+ }else{
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
+ beep_flag=0;
+ }
+ }
+}
+void OneSecondTask(void)
+{
+ if(flag_onesecond==1)
+ {
+ flag_onesecond = 0;
+ BeepTask();
+ }
+}
+uint8_t uwb_kaiguanrx_falg;
+extern uint8_t uwbrxflag;
+uint8_t dwt_entersleep_flag;
/* USER CODE END 0 */
/**
@@ -397,65 +500,111 @@
SystemClock_Config();
/* USER CODE BEGIN SysInit */
-
+ MX_DMA_Init();
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_USART1_UART_Init();
+// MX_DMA_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
-// MX_IWDG_Init();
+ MX_USART1_UART_Init();
+ MX_IWDG_Init();
+ MX_TIM2_Init();
+ MX_LPUART1_UART_Init();
+ MX_LPTIM1_Init();
/* USER CODE BEGIN 2 */
- LED_LG_ON;
+ LED2_TB_ON;
Program_Init();
- // LIS3DH_Data_Init();
-// Uwb_Lora_Switch(1,0);
+ LIS3DH_Data_Init();
+// HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
Dw1000_Init();
- Dw1000_App_Init();
+ dw1000_init_flag=1;
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_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))
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
- Error_Handler();
+ Error_Handler();
}
- HAL_Delay(2000);
-// Uwb_Lora_Switch(0,1);
- Lora_Init();
Delay_Ms(10);
-// Uwb_Lora_Switch(0,0);
- printf("RXD :66666\r\n");
usart_send[0]=0x55;
usart_send[1]=0xaa;
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
+ HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //开GPS电源
+ LoraInit();
+#ifdef _USE_BAR
+ BarInit();
+#endif
+// Delay_Ms(1000);
+// HAL_UART_Transmit(&hlpuart1,Close_RMC,22,1000);
+// HAL_UART_Transmit(&hlpuart1,Close_GSA,22,1000);
+// HAL_UART_Transmit(&hlpuart1,Close_GSV,22,1000);
+// HAL_UART_Transmit(&hlpuart1,Close_GLL,22,1000);
+// HAL_UART_Transmit(&hlpuart1,Close_TXT,22,1000);
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+ {
+ Error_Handler();
+ }
+
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
- while (1)
- {
+ while (1)
+ {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-Lora_rx_open();
// HAL_IWDG_Refresh(&hiwdg);
-// IdleTask();
-// Radio.IrqProcess( ); // Process Radio IRQ
-// Anchor_App();
- #ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- #endif
-
- }
+// if(uwb_work_flag)
+// {
+// uwb_work_flag=0;
+// MbxTagUwbRec();
+// }
+ if(sleep_flag)
+ {
+ while(1)
+ {
+ if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
+ {
+ dwt_entersleep();
+ dwt_entersleep_flag=1;
+ }
+ HAL_IWDG_Refresh(&hiwdg);
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+ }
+
+ if(uwb_kaiguanrx_falg==1)
+ {
+ MbxTagUwbRec();
+// uwb_kaiguanrx_falg=0;
+// UWB_RXON();
+ }
+ if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
+ {
+ dwt_entersleep();
+ dwt_entersleep_flag=1;
+ }
+ OneSecondTask();
+ IdleTask();
+// if(g_com_map[LORA_SEND_INDEX])
+// {
+ Lora_Send_Poll();
+// }
+ LoraUp_Poll();
+//#ifndef DEBUG_MODE
+// if(beep_flag==0&&uwbrxflag!=1)
+// {
+// if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// }
+//#endif
+
+ }
/* USER CODE END 3 */
}
@@ -475,7 +624,7 @@
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
@@ -505,8 +654,10 @@
{
Error_Handler();
}
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
+ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
+ |RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+ PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -520,7 +671,7 @@
* @param None
* @retval None
*/
-void MX_ADC_Init(void)
+static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -538,7 +689,7 @@
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;
@@ -557,7 +708,7 @@
}
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_VREFINT;
+ sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
@@ -626,11 +777,89 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
-// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+
+ /* USER CODE END LPTIM1_Init 2 */
+
+}
+
+/**
+ * @brief LPUART1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_LPUART1_UART_Init(void)
+{
+
+ /* USER CODE BEGIN LPUART1_Init 0 */
+
+ /* USER CODE END LPUART1_Init 0 */
+
+ /* USER CODE BEGIN LPUART1_Init 1 */
+
+ /* USER CODE END LPUART1_Init 1 */
+ hlpuart1.Instance = LPUART1;
+ hlpuart1.Init.BaudRate = 9600;
+ hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
+ hlpuart1.Init.StopBits = UART_STOPBITS_1;
+ hlpuart1.Init.Parity = UART_PARITY_NONE;
+ hlpuart1.Init.Mode = UART_MODE_TX_RX;
+ hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ if (HAL_UART_Init(&hlpuart1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN LPUART1_Init 2 */
+
+ /* USER CODE END LPUART1_Init 2 */
+
+}
+
+/**
+ * @brief USART1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART1_UART_Init(void)
+{
+
+ /* USER CODE BEGIN USART1_Init 0 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ /* USER CODE END USART1_Init 0 */
+
+ /* USER CODE BEGIN USART1_Init 1 */
+
+ /* USER CODE END USART1_Init 1 */
+ huart1.Instance = USART1;
+ huart1.Init.BaudRate = 115200;
+ huart1.Init.WordLength = UART_WORDLENGTH_8B;
+ huart1.Init.StopBits = UART_STOPBITS_1;
+ huart1.Init.Parity = UART_PARITY_NONE;
+ huart1.Init.Mode = UART_MODE_TX_RX;
+ huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
+ if (HAL_UART_Init(&huart1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN USART1_Init 2 */
+ GPIO_InitStruct.Pin = GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
// }
- /* USER CODE END LPTIM1_Init 2 */
+ Usart1InitVariables();
+ /* USER CODE END USART1_Init 2 */
}
@@ -667,55 +896,57 @@
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
-__HAL_SPI_ENABLE(&hspi1);
+ __HAL_SPI_ENABLE(&hspi1);
/* USER CODE END SPI1_Init 2 */
}
/**
- * @brief USART1 Initialization Function
+ * @brief TIM2 Initialization Function
* @param None
* @retval None
*/
-static void MX_USART1_UART_Init(void)
+static void MX_TIM2_Init(void)
{
- /* USER CODE BEGIN USART1_Init 0 */
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- /* USER CODE END USART1_Init 0 */
+ /* USER CODE BEGIN TIM2_Init 0 */
- /* USER CODE BEGIN USART1_Init 1 */
+ /* USER CODE END TIM2_Init 0 */
- /* USER CODE END USART1_Init 1 */
- huart1.Instance = USART1;
- huart1.Init.BaudRate = 115200;
- huart1.Init.WordLength = UART_WORDLENGTH_8B;
- huart1.Init.StopBits = UART_STOPBITS_1;
- huart1.Init.Parity = UART_PARITY_NONE;
- huart1.Init.Mode = UART_MODE_TX_RX;
- huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
- huart1.Init.OverSampling = UART_OVERSAMPLING_16;
- huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
- huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
- huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
- if (HAL_UART_Init(&huart1) != HAL_OK)
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+
+ /* USER CODE BEGIN TIM2_Init 1 */
+
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 32-1;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 250-1;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
- /* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
-// {
-// Error_Handler();
-// }
- Usart1InitVariables();
- /* USER CODE END USART1_Init 2 */
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 125;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
}
@@ -751,29 +982,29 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2|GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin|RADIO_nRESET_Pin
- |RADIO_NSS_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|SDA_Pin|SCL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);
- /*Configure GPIO pins : PA0 RADIO_DIO1_Pin */
- GPIO_InitStruct.Pin = GPIO_PIN_0|RADIO_DIO1_Pin;
+ /*Configure GPIO pins : PA0 PA11 PA15 */
+ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_11|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /*Configure GPIO pins : SCL_Pin SDA_Pin */
- GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ /*Configure GPIO pins : PA2 PA8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
@@ -796,46 +1027,49 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_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 RADIO_nRESET_Pin
- RADIO_NSS_Pin PWR_CTL_Pin */
- GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|LED2_R_Pin|RADIO_nRESET_Pin
- |RADIO_NSS_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;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOA, &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 : PWR_ON_Pin */
- GPIO_InitStruct.Pin = PWR_ON_Pin;
+ /*Configure GPIO pins : LED1_G_Pin LED1_R_Pin PB14 RADIO_nRESET_Pin
+ RADIO_NSS_Pin PB7 */
+ GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
+ |RADIO_NSS_Pin|GPIO_PIN_7;
+ 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 : 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);
+
+ /*Configure GPIO pin : INPUT_5V_Pin */
+ GPIO_InitStruct.Pin = INPUT_5V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : SDA_Pin SCL_Pin */
+ GPIO_InitStruct.Pin = SDA_Pin|SCL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
- HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
+ HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
- HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
- HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
+ HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
+
+// HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
+// HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -846,32 +1080,166 @@
}
void mcu_sleep(void)
{
- HAL_LPTIM_DeInit(&hlptim1);
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- GPIO_InitStruct.Pin = GPIO_PIN_All;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
- /*Clear all related wakeup flags*/
- __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
- /*Re-enable all used wakeup sources: Pin1(PA.0)*/
- HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
- /*Enter the Standby mode*/
- HAL_PWR_EnterSTANDBYMode();
+ HAL_LPTIM_DeInit(&hlptim1);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = GPIO_PIN_All;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Clear all related wakeup flags*/
+ __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
+ /*Re-enable all used wakeup sources: Pin1(PA.0)*/
+ HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Enter the Standby mode*/
+ HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+
+extern uint8_t tx_near_msg[80];
float key_keeptime;
extern float freqlost_count,range_lost_time;
-uint32_t lp_time;
+extern uint8_t lora_yingda_flag;
+extern uint32_t wg_lost_count;
+uint8_t lora_yingdatime,gotosleep_flag,sleep_flag;
+extern uint8_t lora_chongfuyingda_flag,report_ancnum;
+uint16_t no_data_chongqi_num;
+uint16_t anchor_send_num;
+uint8_t no_yingdatime,tflag1,tflag2;
+extern uint16_t tagdist_list[ANC_MAX_NUM];
+extern uint8_t Lora_send_flag;
+uint8_t Lora_send_time;
+extern u8 lora_jianting_flag;
+uint16_t test1;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
- lp_time++;
-
+// uint8_t pinlv;
+ SystemClock_Config();
+// HAL_IWDG_Refresh(&hiwdg);
+ anjian_num=0;
+ if(active_flag==0) //未激活状态
+ {
+ if(!GET_USERKEY)
+ {
+ LED_TB_ON;
+ key_keeptime+=1;
+ if(key_keeptime>3)
+ {
+ u8 i=250,keystate=1;
+ while(i--)
+ {
+ if(i%10==0)
+ {
+ LED_TB_BLINK;
+ }
+ if(GET_USERKEY)
+ {
+ keystate = 0;
+ }
+ if(keystate==0&&!GET_USERKEY)
+ {
+ parameter_init();
+ g_com_map[ACTIVE_INDEX] = 1;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ delay_ms(10);
+ }
+ }
+ } else {
+ // LED_LG_OFF;
+ key_keeptime=0;
+ }
+
+ } else {
+ if(!sleep_flag)
+ {
+ Lora_send_time++;
+ flag_onesecond = 1;
+ if(lora_jianting_flag)
+ {
+ if(Lora_send_time%3==1)
+ {
+// UWB_RXON();
+ uwb_kaiguanrx_falg=1;
+ }
+ if(Lora_send_time%3==2)
+ {
+// UWB_RXOFF();
+
+ uwb_kaiguanrx_falg=2;
+ dwt_entersleep_flag=0;
+// dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
+// test1++;
+// delay_ms(100);
+// dwt_entersleep();
+ }
+ }
+ else
+ {
+ if(uwb_kaiguanrx_falg!=0)
+ {
+ uwb_kaiguanrx_falg=0;
+ uwb_kaiguanrx_falg=2;
+ dwt_entersleep_flag=0;
+ }
+ }
+ if(Lora_send_time%3==0)
+ {
+ Lora_send_flag=1;
+ uwb_kaiguanrx_falg=0;
+ }
+
+#ifndef DEBUG_MODE
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)
+ {
+ if(sleep_flag==0)
+ {
+ Radio.Standby();
+ Radio.Sleep();
+ sleep_flag = 1;
+ LedOff_task();
+ delay_ms(100);
+// dwt_entersleep();
+ uwb_kaiguanrx_falg=2;
+ dwt_entersleep_flag=0;
+ uwbrxflag=0;
+ }
+ }
+#endif
+ if(nomove_count++>g_com_map[STATIONARY_TIME])
+ {
+ stationary_flag = 1;
+ } else {
+ stationary_flag = 0;
+ }
+ if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+ {
+ gotosleep_flag=1;
+ } else {
+ gotosleep_flag=0;
+ }
+ }else{
+ if(nomove_count<g_com_map[NOMOVESLEEP_TIME])
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ }
+ }
+ if(!GET_USERKEY) //长按重启逻辑
+ {
+ key_keeptime+=1;
+ if(key_keeptime>=KEY_KEEPRESET_TIME)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ } else {
+ key_keeptime=0;
+ }
}
/* USER CODE END 4 */
@@ -882,7 +1250,7 @@
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
- /* User can add his own implementation to report the HAL error return state */
+ /* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
@@ -898,8 +1266,8 @@
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 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 */
--
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