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| | | |
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| | | #define NSH1 0x0001 |
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| | | #define GP 0x0002 |
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| | | //#define DEBUG_MODE |
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| | | #define DEBUG_MODE |
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| | | /* USER CODE END Includes */ |
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| | | |
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| | | /* Private typedef -----------------------------------------------------------*/ |
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| | |
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| | | extern float nomove_count; |
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| | | float motor_keeptime; |
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| | | uint8_t imu_enable,motor_enable; |
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| | | uint8_t chongqi_num; |
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| | | u16 GetLPTime(void) |
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| | | { |
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| | | u16 count=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | |
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| | | hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2); |
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| | | hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4); |
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| | | //deca_sleep(1000); |
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| | | g_com_map[VERSION] = (2<<8)|6; |
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| | | |
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| | | g_com_map[VERSION] = (2<<8)|11; |
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| | | // g_com_map[COM_INTERVAL]=200; |
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| | | // g_com_map[DEV_ID]=0x7; |
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| | | #ifdef DEBUG_MODE |
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| | | // g_com_map[DEV_ROLE]=1; |
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| | |
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| | | { |
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| | | //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader |
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| | | } |
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| | | uint8_t i; |
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| | | uint8_t uwb_tx[300]={0,}; |
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| | | /* USER CODE END 0 */ |
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| | | |
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| | | /** |
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| | |
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| | | { |
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| | | Error_Handler(); |
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| | | } |
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| | | |
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| | | for(i=0;i<255;i++) |
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| | | { |
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| | | uwb_tx[i]=i; |
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| | | } |
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| | | |
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| | | // HAL_Delay(2000); |
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| | | // mcu_sleep(); |
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| | |
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| | | // HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET); |
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| | | // } |
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| | | // LED_TR_BLINK; |
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| | | chongqi_num=0; |
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| | | __disable_irq(); |
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| | | if(bat_percent>15) |
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| | | { LED_TB_ON; |
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| | |
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| | | extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag; |
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| | | float key_keeptime; |
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| | | extern float motor_ontime,button_delay; |
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| | | uint32_t tagdisterror_list[TAG_NUM_IN_SYS]; |
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| | | extern uint16_t taglist_num; |
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| | | extern int32_t tagdist_list[TAG_NUM_IN_SYS]; |
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| | | extern uint16_t tagid_list[TAG_NUM_IN_SYS]; |
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| | | void Up_tagdisterror_list_Poll() |
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| | | { |
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| | | static uint8_t r=0; |
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| | | static uint8_t t=0; |
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| | | for(r=0;r<taglist_num;r++) |
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| | | { |
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| | | tagdisterror_list[r]++; |
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| | | if(tagdisterror_list[r]>10) |
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| | | { |
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| | | for(t=r;t<taglist_num;t++) |
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| | | { |
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| | | tagdist_list[t]=tagdist_list[t+1]; |
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| | | tagid_list[t]=tagid_list[t+1]; |
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| | | tagdisterror_list[t]=tagdisterror_list[t+1]; |
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| | | taglist_num=taglist_num-1; |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim) |
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| | | { |
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| | | static uint8_t i=0; |
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| | | SystemClock_Config(); |
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| | | g_start_send_flag=1; |
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| | | chongqi_num++; |
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| | | if(chongqi_num>20) |
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| | | {NVIC_SystemReset();} |
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| | | // current_slotnum++; |
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| | | // SetNextPollTime(tagslotpos); |
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| | | if(button_delay<1) |
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| | | button_delay+=1/(float)tag_frequency; |
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| | | nomove_count+=1/(float)tag_frequency; |
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| | | //Up_tagdisterror_list_Poll(); |
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| | | // memset(tagdist_list,0,taglist_num); |
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| | | // memset(tagid_list,0,taglist_num); |
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| | | // taglist_num=0; |
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| | | TagListUpdate(); |
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| | | bubble_sort(tagdist_list,taglist_num); |
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| | | if(motor_keeptime>0) |
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| | | { |
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| | | motor_keeptime-=1/(float)tag_frequency; |
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