From d1f86e2717e82d116a0329f33f57435e8f1d4a45 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 15 四月 2020 21:40:05 +0800
Subject: [PATCH] V1.8
---
Src/main.c | 150 +++++++++++++++++++++++++++++++++++++++----------
1 files changed, 118 insertions(+), 32 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 0bfeb8f..8772dc7 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -37,7 +37,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
+//#define DEBUG_MODE
#define Period (uint32_t) 32768
#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */
@@ -79,17 +79,28 @@
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_LR_ON;
+ LED_TR_ON;
+ LED_TB_OFF;
}else{
- LED_LR_OFF;
+ LED_TR_OFF;
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ LED_TB_ON;
+ }
}
if(g_com_map[CNT_UPDATE]==1)
{
@@ -108,12 +119,29 @@
// 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
+ }
}
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
-uint16_t lastpoll_count,interval_count,slot_startcount;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency;
+extern uint8_t module_power;
+uint8_t imu_enable,motor_enable;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -121,25 +149,30 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0107;
+ g_com_map[VERSION] = 0x0109;
#ifdef DEBUG_MODE
- g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=1;
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
g_com_map[COM_INTERVAL]=100;
- g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
#endif
+ module_power = g_com_map[POWER];
+ 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);
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];
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
@@ -163,8 +196,22 @@
/* 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;
+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
+}
/* USER CODE END 0 */
/**
@@ -206,12 +253,13 @@
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();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
+ 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);
@@ -224,18 +272,43 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(1)//g_start_send_flag)
- {
- // SystemClock_Config();
+ if(g_start_send_flag)
+ { static uint16_t blink_count=0;
+ SystemClock_Config();
g_start_send_flag = 0;
- Tag_App();
+// 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();
+ if(bat_percent>15)
+ { LED0_ON;
+ Tag_App();
+ LED0_OFF;
+ }else{
+ LED_LR_ON;
+ Tag_App();
+ LED_LR_OFF;
+ }
//LED0_BLINK;
IdleTask();
- // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
+ if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ {
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ }
+
+
}else{
IdleTask();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
// HAL_Delay(100);
// Get_Battary();
@@ -455,9 +528,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);//??idle??
+
+// 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();
- LED0_BLINK;
/* USER CODE END USART1_Init 2 */
}
@@ -494,16 +574,16 @@
__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, DW_CTRL_Pin|SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, MOTOR_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);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_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(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -550,6 +630,12 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &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 : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
@@ -603,16 +689,16 @@
i++;
g_start_send_flag=1;
lastpoll_count+=interval_count;
- if(lastpoll_count>LPTIMER_1S_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])
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
- // mcu_sleep();
+ mcu_sleep();
}
}
/* USER CODE END 4 */
--
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