From f0e236adc153a6d06874704ec6ba39a22af05ff6 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 15 一月 2025 14:54:55 +0800
Subject: [PATCH] 1.25，修改看门狗喂狗时间。加入休眠后加速度计唤醒会直接重启
---
Src/main.c | 310 ++++++++++++++++++++++++++++++++++++---------------
1 files changed, 218 insertions(+), 92 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 4ea6108..eda5382 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);
@@ -100,11 +100,11 @@
/* 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;
@@ -158,9 +158,10 @@
uint8_t state5v = 1;
extern uint8_t du_flag;
extern uint8_t xie_flag;
-float motor_keeptime;
+uint16_t motor_keeptime;
void IdleTask(void)
{
+
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
UART_CheckReceive();
@@ -172,15 +173,17 @@
state5v=1;
UsartInit();
}
+ HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>99)
{
- LED2_TR_OFF;
- LED2_TB_ON;
+ LED_TR_OFF;
+ LED_TB_ON;
} else {
- LED2_TR_ON;
- LED2_TB_OFF;
+ LED_TR_ON;
+ LED_TB_OFF;
}
} else {
+ HAL_IWDG_Refresh(&hiwdg);
if(state5v==1)
{
state5v=0;
@@ -194,44 +197,13 @@
{
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;
+ }
}
-
-
-/* 返回ch字符在sign数组中的序号 */
-int getIndexOfSigns(char ch)
-{
- if(ch >= '0' && ch <= '9')
- {
- return ch - '0';
- }
- if(ch >= 'A' && ch <='F')
- {
- return ch - 'A' + 10;
- }
- if(ch >= 'a' && ch <= 'f')
- {
- return ch - 'a' + 10;
- }
- return -1;
-}
-/* 十六进制数转换为十进制数 */
-long hexToDec(char *source)
-{
- long sum = 0;
- long t = 1;
- int i, len;
-
- len = strlen(source);
- for(i=len-1; i>=0; i--)
- {
- sum += t * getIndexOfSigns(*(source + i));
- t *= 16;
- }
-
- return sum;
-}
//u32 Loratx_frequency;
u8 active_flag,nomovesleeptime;
@@ -247,17 +219,20 @@
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)|3;
+ g_com_map[VERSION] = (1<<8)|25;
// g_com_map[DEV_ID]=1158;
- g_com_map[GROUP_ID]=0;
+ g_com_map[GROUP_ID]=3;
// 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;
+// g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -291,7 +266,7 @@
module_power=0;
}
-
+ g_com_map[MAP_SIGN_INDEX] =0x55AA;
memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
}
@@ -349,9 +324,20 @@
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();
@@ -362,10 +348,24 @@
{
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
{
SystemClock_Config();
+ if(sleep_flag)
+ {HAL_NVIC_SystemReset();}
stationary_flag =0;
stationary_num=0;
}
@@ -443,13 +443,32 @@
}
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;
/* USER CODE END 0 */
/**
@@ -480,10 +499,10 @@
/* 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();
@@ -495,7 +514,7 @@
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();
@@ -507,7 +526,9 @@
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);
@@ -528,12 +549,34 @@
/* 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))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ 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
}
@@ -868,7 +911,7 @@
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 0;
+ 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)
@@ -926,8 +969,8 @@
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);
@@ -1000,6 +1043,9 @@
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 */
@@ -1027,54 +1073,134 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
+
extern uint8_t tx_near_msg[80];
float key_keeptime;
extern float freqlost_count,range_lost_time;
extern uint8_t lora_yingda_flag;
extern uint32_t wg_lost_count;
-uint8_t lora_yingdatime;
+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;
-void LedTask(void)
-{
- if(report_ancnum>0)
- {
- LED2_TB_ON;
- }
- // if(wg_lost_count<=1)
- {
- LED_TB_ON;
- }
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- if(bat_percent<15)
- {
- LED_TR_ON;
- }
-
-}
+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();
- LedTask();
- LoraReportPoll();
- flag_onesecond = 1;
- if(!GET_USERKEY)
- {
- key_keeptime+=1/(float)tag_frequency;
- if(key_keeptime>=KEY_KEEPRESET_TIME)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- }
- }else{
- key_keeptime=0;
- }
- LED_TB_OFF;
- LED_TR_OFF;
- LED2_TB_OFF;
- LED2_TR_OFF;
+// 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;
+ }
+ }
+ 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&&motor_keeptime==0)
+ {
+ if(sleep_flag==0)
+ {
+ Radio.Standby();
+ Radio.Sleep();
+ sleep_flag = 1;
+ LedOff_task();
+ UWB_RXOFF();
+ uwb_kaiguanrx_falg=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 */
--
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