From f009a24908e7dde23c95cf6aa00bc30218b9cfd0 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 09 一月 2025 16:47:54 +0800
Subject: [PATCH] 1.23，去掉网关下发时间机制 防止一直丢包
---
Src/main.c | 119 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 102 insertions(+), 17 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 8241e21..b600fbc 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -86,10 +86,10 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
-static void MX_USART1_UART_Init(void);
+static void MX_DMA_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
-static void MX_DMA_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);
@@ -195,6 +195,10 @@
{
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;
+ }
}
@@ -213,7 +217,7 @@
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)|9;
+ g_com_map[VERSION] = (1<<8)|23;
// g_com_map[DEV_ID]=1158;
g_com_map[GROUP_ID]=0;
// g_com_map[COM_INTERVAL] = 1000;
@@ -222,6 +226,8 @@
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;
@@ -258,7 +264,7 @@
module_power=0;
}
-
+ g_com_map[MAP_SIGN_INDEX] =0x55AA;
memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
}
@@ -316,9 +322,20 @@
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
+uint8_t anjian_num;
uint16_t irq_num;
+uint16_t irq_num1;
+uint8_t uwb_work_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
+ if(GPIO_Pin == GPIO_PIN_11)
+ {
+ SystemClock_Config();
+ uwb_work_flag=1;
+ irq_num1++;
+ MbxTagUwbRec();
+ }
+
if(GPIO_Pin == GPIO_PIN_3)
{
SystemClock_Config();
@@ -329,6 +346,18 @@
{
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(GPIO_Pin == GPIO_PIN_0)//加速度
{
@@ -410,6 +439,7 @@
}
uint8_t usart5_state,flag_onesecond;
+uint8_t beep_flag;
void BeepTask(void)
{
if(1)//g_com_map[MOTOR_ENABLE])
@@ -418,8 +448,10 @@
{
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;
}
}
}
@@ -431,6 +463,7 @@
BeepTask();
}
}
+uint8_t uwb_kaiguanrx_falg;
/* USER CODE END 0 */
/**
@@ -461,10 +494,10 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
- MX_USART1_UART_Init();
+// MX_DMA_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
+ MX_USART1_UART_Init();
MX_IWDG_Init();
MX_TIM2_Init();
MX_LPUART1_UART_Init();
@@ -476,7 +509,7 @@
Dw1000_Init();
Delay_Ms(10);
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
+// dwt_entersleep();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
@@ -511,12 +544,34 @@
/* USER CODE BEGIN 3 */
// HAL_IWDG_Refresh(&hiwdg);
+// if(uwb_work_flag)
+// {
+// uwb_work_flag=0;
+// MbxTagUwbRec();
+// }
+ if(uwb_kaiguanrx_falg==1)
+ {
+ uwb_kaiguanrx_falg=0;
+ UWB_RXON();
+ }
+ if(uwb_kaiguanrx_falg==2)
+ {
+ uwb_kaiguanrx_falg=0;
+ UWB_RXOFF();
+ }
OneSecondTask();
IdleTask();
+// if(g_com_map[LORA_SEND_INDEX])
+// {
Lora_Send_Poll();
+// }
+ LoraUp_Poll();
#ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ if(beep_flag==0)
+ {
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
#endif
}
@@ -909,8 +964,8 @@
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 PA15 */
- GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_15;
+ /*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);
@@ -983,6 +1038,9 @@
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);
+
}
/* USER CODE BEGIN 4 */
@@ -1023,11 +1081,14 @@
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;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
// uint8_t pinlv;
SystemClock_Config();
HAL_IWDG_Refresh(&hiwdg);
+ anjian_num=0;
if(active_flag==0) //未激活状态
{
if(!GET_USERKEY)
@@ -1066,23 +1127,42 @@
} 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;
+ }
+ }
+ else
+ {
+ uwb_kaiguanrx_falg=0;
+ UWB_RXOFF();
+ }
+ if(Lora_send_time%3==0)
+ {
Lora_send_flag=1;
+ }
+
#ifndef DEBUG_MODE
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+ 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();
}
- } else {
- if(sleep_flag)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }
+ }
#endif
if(nomove_count++>g_com_map[STATIONARY_TIME])
{
@@ -1096,6 +1176,11 @@
} 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
--
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