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 | 387 +++++++++++++++++++++++++++++++++++-------------------
1 files changed, 251 insertions(+), 136 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 51401ce..bea8c3a 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -34,10 +34,14 @@
#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
+//#define DEBUG_MODE
+
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -88,7 +92,9 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
-uint16_t Anchor_Vcc_time;
+#define DIANLIANG_TIME 3600
+uint8_t Anchor_Vcc_Flag;
+uint16_t Anchor_Vcc_time=DIANLIANG_TIME-2;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
@@ -146,7 +152,7 @@
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
-{u16 current_time;
+{
//if(huart1.Instance->ISR&USART_ISR_FE)
// {
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -188,13 +194,25 @@
}
-
+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;
@@ -222,9 +240,7 @@
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);
@@ -232,7 +248,7 @@
hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
//deca_sleep(1000);
g_com_map[VERSION] = (1<<8)|0;
- testprogram();
+ // testprogram();
// g_com_map[DEV_ID]=0x6777;
#ifdef DEBUG_MODE
// g_com_map[GROUP_ID]=21;
@@ -241,12 +257,14 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
#endif
-// g_com_map[GROUP_ID]=33;
+ 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;
+// g_com_map[POWER]=0;
module_power = g_com_map[POWER];
g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
@@ -264,8 +282,7 @@
nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
if(active_flag==0)
{
- imu_enable=1;
- nomovesleeptime =10;
+
}
// g_com_map[COM_INTERVAL]=100;
@@ -275,8 +292,6 @@
}
if(module_power>67)
{module_power=67;}
- if(module_power<0)
- {module_power=0;}
current_slotnum=1;
current_time=GetLPTime();
@@ -285,32 +300,16 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- 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);
+ 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;
-//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
@@ -321,7 +320,7 @@
{
static uint8_t first = 1;
static float last_value = 100;
- static uint16_t bat_count = 0;
+
//if(bat_count++%600==0)
{
temp2=dwt_readtempvbat(1);
@@ -354,18 +353,6 @@
HAL_ADCEx_DisableVREFINT();
}
extern uint8_t TX_Buffer;
-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(lora)
-HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
-else
-HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET);
-}
uint8_t tx_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
@@ -374,34 +361,150 @@
RadioIrqProcess();
}
}
+extern uint16_t AD_value[500];
u16 poll_startcount;
-u16 Anchor_Vcc_time1;
-uint8_t TX_Anchor_Vcc[100]={0x55,0xAA,0x14,20,0,0/*标签id*/,0,0/*基站ID*/,0/*保留*/,};
-extern float bat_volt;
-void Send_Anchor_Vcc_Poll()
+u8 flag_entersleep = 1;
+uint32_t status_reg111 = 0;
+void Get_Dianliang_Poll()
{
- uint8_t vcc_send;
- if(Anchor_Vcc_time>=3600)
- {
- Lora470_Init();
- SX126xSetRfTxPower( 22 );//切换大发射功率
- g_start_send_flag=0;
- Anchor_Vcc_time=0;
- memcpy(&TX_Anchor_Vcc[6],&g_com_map[DEV_ID],2);
- memcpy(&TX_Anchor_Vcc[9],&g_com_map[VERSION],2);
- vcc_send=(bat_volt-2.8)*100;
- memcpy(&TX_Anchor_Vcc[11],&vcc_send,1);
- memcpy(&TX_Anchor_Vcc[12],&g_com_map[POWER],1);
- memcpy(&TX_Anchor_Vcc[13],&g_com_map[GROUP_ID],2);
- memcpy(&TX_Anchor_Vcc[15],&g_com_map[DIST_OFFSET],2);
-// memcpy(&TX_Anchor_Vcc[18],&g_com_map[DIST_OFFSET],2);
- Radio.Send( TX_Anchor_Vcc, 2+20);
- SX126xSetRfTxPower( 22 );//切换回小发射功率；
-
- Lora_Init();
-
- }
+ 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 */
/**
@@ -437,12 +540,54 @@
MX_LPTIM1_Init();
MX_SPI1_Init();
MX_USART1_UART_Init();
-// MX_IWDG_Init();
+ MX_IWDG_Init();
/* USER CODE BEGIN 2 */
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);
@@ -451,15 +596,15 @@
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();
-SwitchLoraSettingstest(469000000,7);
+ 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 */
@@ -470,32 +615,22 @@
/* USER CODE BEGIN 3 */
// Send_Anchor_Vcc_Poll();
- if(g_start_send_flag)
- { static uint16_t blink_count=0;
+ if(g_start_send_flag/*&&g_com_map[ACTIVE_INDEX]*/)
+ {
SystemClock_Config();
g_start_send_flag = 0;
HAL_IWDG_Refresh(&hiwdg);
-
-
-
-// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
-
-
-// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
-// Radio.Send( &TX_Buffer, 4);
-// UWB_Wkup();
-// delay_us(700);
if(bat_percent>15)
{
LED_TB_ON;
-// Tag_App();
+ Tag_App();
LED_TB_OFF;
}else{
LED_TR_ON;
-// Tag_App();
+ Tag_App();
LED_TR_OFF;
}
- test1();
+// test1();
//LED0_BLINK;
IdleTask();
@@ -514,16 +649,17 @@
}
// 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))
+// #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
+// #endif
}
// HAL_Delay(100);
// Get_Battary();
// LIS3DH_Data_Init();
}
+// }
/* USER CODE END 3 */
}
@@ -934,53 +1070,32 @@
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,lost_jumpcount=0;
+ static uint8_t i=0;
i++;
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;
-// if(freqlost_count>FREQ_LOST_TIME)
-// {
-// tag_frequency = NOTAG_FREQ;
-// if(lost_jumpcount++>=0) //无测距情况下，每5秒发一次；
-// {
-// lost_jumpcount = 0;
-// g_start_send_flag=1;
-// }
-// }else{
- g_start_send_flag=1;
-// }
- if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
- {
- SetNextPollTime(0);
- }else{
- SetNextPollTime(5);
- }
-
-// nomove_count+=1/(float)tag_frequency;
-// if(motor_keeptime>0)
-// {
-// nomove_count+=1/(float)tag_frequency;
-// }
-// if(!GET_USERKEY)
-// {
-// key_keeptime+=1/(float)tag_frequency;
-// if(key_keeptime>=KEY_KEEPRESET_TIME)
-// {
-// g_com_map[ACTIVE_INDEX]=!active_flag;
-// save_com_map_to_flash();
-//// MOTOR_ON;
-// HAL_Delay(2000);
-// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
-// }
-// }else{
-// key_keeptime=0;
-// }
-
+ g_start_send_flag=1;
}
/* USER CODE END 4 */
--
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