From f152f0dd5cb4aaf867b8976e357291001bb2eebe Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 21 十月 2024 16:06:24 +0800
Subject: [PATCH] 开发完成，版本V1.0
---
Src/main.c | 838 ++++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 616 insertions(+), 222 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index cf15f62..bea8c3a 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -28,6 +27,21 @@
#include "deca_device_api.h"
#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 -----------------------------------------------------------*/
@@ -37,9 +51,8 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
-#define Period (uint32_t) 32768
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+//#define DEBUG_MODE
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -48,7 +61,9 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
+
+IWDG_HandleTypeDef hiwdg;
LPTIM_HandleTypeDef hlptim1;
@@ -65,153 +80,431 @@
/* 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-2;
uint32_t dev_id;
-extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
-
-void IdleTask(void)
-{
- g_start_sync_flag=0;
- UART_CheckReceive();
- UART_CheckSend();
-
- if(huart1.Instance->ISR&USART_ISR_ORE)
- {
- 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;
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- LED_TB_ON;
- }
-}
- 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)
- {
- 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
- }
-
- }
-
+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;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
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);
+ 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();
+ }
+}
+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)
+{
+//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))
+ {
+
+ 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{
+ if(state5v==1)
+ {
+ state5v=0;
+ UsartDeInit();
+ }
+// LED_LR_OFF;
+ LED_LG_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
+ }
+
+ }
+
+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;
+
+// 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] = 0x0107;
-#ifdef DEBUG_MODE
-// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
-// g_com_map[COM_INTERVAL]=1000;
-// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
-#endif
-
-
- module_power = g_com_map[POWER];
+ g_com_map[VERSION] = (1<<8)|0;
+ // 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]=88;
+ g_com_map[UWBPOLLTIME_MS_IDX] = 520;
+ g_com_map[COM_INTERVAL] = 1000;
+ if(g_com_map[COM_INTERVAL]<1000)
+ {g_com_map[COM_INTERVAL] = 1000;}
+ active_flag = g_com_map[ACTIVE_INDEX];
+// g_com_map[POWER]=0;
+ 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]*4/3);
+ 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=(float)(tyncpoll_time+10)*1000/LPTIMER_LSB;
- lastpoll_count=slot_startcount;
- interval_count=(float)g_com_map[COM_INTERVAL]*1000/LPTIMER_LSB;
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ 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)
+ {
+
+ }
+
+ // 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;}
+
+ 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();
}
-
- 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]);
-
-
+//g_com_map[NOMOVESLEEP_TIME]=5;
+ printf("固件版本: LORA免布线基站-工装测试 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;
-uint8_t bat_percent=0;
-//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();
+ }
+}
+extern dwt_config_t config ;
+uint8_t shuzu[3]={0xff,0xff,0xff};
+uint8_t datashuju[50];
+uint8_t datachangdu;
+/*mode:区域 UART_PushFrame(send_frame, data_length+9); */
+void uartsend(uint8_t quyu,uint16_t data)
+{
+ if(quyu==4)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t4.txt=\"%d\"",data);
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(quyu==5)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t5.txt=\"YES\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(quyu==6)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t6.txt=\"%d\"",data);
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(quyu==7)
+ {
+// memset(datashuju,0,sizeof(datashuju));
+// USART_puts(shuzu, 3);//开始结束都要发
+// datachangdu=sprintf(datashuju,"t7.txt=\"%f\"",data);
+// USART_puts(datashuju, datachangdu);
+// USART_puts(shuzu, 3);
+ }
+ if(quyu==8)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t8.txt=\"%d\"",data);
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+}
+void Lcd_Rest()
+{
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t0.bco=63488");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t1.bco=63488");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t2.bco=63488");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t3.bco=63488");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t4.txt=\"0\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t5.txt=\"0\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t6.txt=\"0\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t7.txt=\"0\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+// memset(datashuju,0,sizeof(datashuju));
+// USART_puts(shuzu, 3);//开始结束都要发
+// datachangdu=sprintf(datashuju,"t8.txt=\"power\"");
+// USART_puts(datashuju, datachangdu);
+// USART_puts(shuzu, 3);
+}
+uint8_t ceshimode;
/* USER CODE END 0 */
/**
@@ -223,7 +516,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -231,7 +523,7 @@
HAL_Init();
/* USER CODE BEGIN Init */
-
+//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
/* USER CODE END Init */
/* Configure the system clock */
@@ -243,26 +535,76 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
- MX_LPTIM1_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 */
- 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=1;
- DW_DISABLE;
-// HAL_Delay(2000);
-// mcu_sleep();
- //LED0_BLINK;
-// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ LED_LG_ON;
+ Program_Init();
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
+ Lcd_Rest();
+ // LIS3DH_Data_Init();
+ // Uwb_Lora_Switch(1,0);
+// if(g_com_map[NEARBASE_ID10]==0)
+// {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t8.txt=\"功率\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
+ Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
+ dwt_initialise(DWT_LOADUCODE);//初始化DW1000
+ dwt_configure(&config);//配置DW1000
+ dwt_setrxantennadelay(32899); //设置接收天线延迟
+ dwt_settxantennadelay(0); //设置发射天线延迟
+ Dw1000_App_Init();
+ Delay_Ms(10);
+ dwt_configcontinuousframemode(124800);
+ dwt_writetxfctrl(13, 0);
+ // dwt_starttx(DWT_START_TX_IMMEDIATE);
+ while(1)
+ {
+ IdleTask();
+// ceshimode=1;
+ if(ceshimode)
+ {
+ break;
+ }
+ }
+// }
+// else
+// {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t8.txt=\"测试\"");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+
+ 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;
+ 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 */
@@ -272,48 +614,52 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
+ // Send_Anchor_Vcc_Poll();
+ if(g_start_send_flag/*&&g_com_map[ACTIVE_INDEX]*/)
+ {
SystemClock_Config();
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);
-// }
-
- bat_percent=Get_Battary();
+ HAL_IWDG_Refresh(&hiwdg);
if(bat_percent>15)
- { LED0_ON;
+ {
+ LED_TB_ON;
Tag_App();
- LED0_OFF;
+ LED_TB_OFF;
}else{
- LED_LR_ON;
+ LED_TR_ON;
Tag_App();
- LED_LR_OFF;
+ LED_TR_OFF;
}
+// test1();
+
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
-
-
- }else{
+ }
+ }else{
IdleTask();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ 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();
// LIS3DH_Data_Init();
}
+// }
/* USER CODE END 3 */
}
@@ -327,19 +673,24 @@
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;
@@ -348,7 +699,8 @@
{
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;
@@ -388,13 +740,14 @@
/* 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;
@@ -411,17 +764,48 @@
{
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 */
}
@@ -452,10 +836,10 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
- {
- Error_Handler();
- }
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+// {
+// Error_Handler();
+// }
/* USER CODE END LPTIM1_Init 2 */
}
@@ -507,7 +891,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
-
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -522,30 +906,33 @@
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_NO_INIT;
+ 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();
// }
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -577,10 +964,11 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, MOTOR_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, BAT_MEAS_GND_Pin|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);
@@ -591,15 +979,9 @@
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);
@@ -611,25 +993,26 @@
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 */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_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;
@@ -644,15 +1027,18 @@
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);
}
@@ -681,25 +1067,35 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern float nomove_count;
-
+extern uint8_t tx_near_msg[80],stationary_flag;
+float key_keeptime;
+extern float freqlost_count,range_lost_time;
+extern uint16_t verfint_cal;
+extern float bat_volt;
+extern u16 rec_nearbaseid,temp_index,adc_val1,adc_val_min;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
- g_start_send_flag=1;
- lastpoll_count+=interval_count;
- if(lastpoll_count>LPTIMER_1S_COUNT-30)
- {
- lastpoll_count = slot_startcount;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
-
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
+ Anchor_Vcc_time++;
+ if(Anchor_Vcc_time>2)
+ {
+// Anchor_Vcc_Flag=1;
+// Anchor_Vcc_time=0;
+ Anchor_Vcc_time=0;
+ READC_Init();
+ verfint_cal = *(__IO uint16_t *)(0X1FF80078);
+ adc_val1 = Get_ADC_Value();
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+ Anchor_Vcc_Flag=0;
+ MX_ADC_DeInit();
+ bat_volt = 3*(float)verfint_cal/adc_val1-0.28;
+
+ }
+ current_slotnum++;
+ freqlost_count+=1/(float)tag_frequency;
+ range_lost_time +=1/(float)tag_frequency;
+ g_start_send_flag=1;
}
/* USER CODE END 4 */
@@ -724,12 +1120,10 @@
* @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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