远程改参数测试完成

zhyinch

2020-06-29 1ed0e9100899ee15b4f5da46ff5f65db79b1fdf7

 Src/main.c

@@ -38,7 +38,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
#define Period               (uint32_t) 32768
#define Period               (uint32_t) 32768 - 1
#define Timeout              (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */

@@ -77,13 +77,23 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t dev_id;
extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1];

void IdleTask(void)
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,current_time;
extern uint8_t module_power;
uint8_t imu_enable,motor_enable;	
u16 GetLPTime(void)
{
   g_start_sync_flag=0;
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}	
void IdleTask(void)
{u16 current_time;
	
         UART_CheckReceive();
      UART_CheckSend();
   
@@ -91,11 +101,48 @@
   {
   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;
}else{
   LED_LR_OFF;
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
//   LED_TR_ON;
//   LED_TB_OFF;
//}else{
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
   switch(motor_state)
      {case 0:
         MOTOR_OFF;
         break;
      case 1:
         if(current_time<MOTOR_ONTIME)
         {
            MOTOR_ON;		
         }else{
            MOTOR_OFF;	
         }	
				
         break;
      case 2:
         MOTOR_ON;	
         break;
      case 3:
         MOTOR_OFF;
         break;	
   }
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      if(bat_percent>99)
      {
         LED_TR_OFF;
         LED_TB_ON;
      }else{
         LED_TR_ON;
         LED_TB_OFF;		
      }		
   }else{
      LED_TR_OFF;
      LED_TB_OFF;
//   }
}
   if(g_com_map[CNT_UPDATE]==1)
   {
@@ -114,12 +161,50 @@
      //   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,tag_frequency;

u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;
	
   time=0;
   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;
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -127,26 +212,31 @@
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   g_com_map[VERSION] = 0x0107;
   g_com_map[VERSION] = 0x010A;
#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[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[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);
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
   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;
   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];
   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();
@@ -170,20 +260,17 @@
  /* 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;
	
      if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
}
//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   
@@ -233,6 +320,10 @@
   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);   
@@ -249,12 +340,15 @@
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
		
//      if(current_count>slot_startcount&&current_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);
//      }
//      LED_TR_BLINK;
		
         bat_percent=Get_Battary();
      if(bat_percent>15)
      {   LED0_ON;
@@ -273,11 +367,6 @@
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         {   
               HAL_UART_DMAStop(&huart1);
              if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
               {
                  Error_Handler();
               }
         //   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
         }
      
@@ -285,7 +374,7 @@
   }else{
   IdleTask();   
   }
   //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   

// HAL_Delay(100);
    //  Get_Battary();

@@ -429,10 +518,10 @@
    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 */

}
@@ -506,10 +595,14 @@
  }
  /* USER CODE BEGIN USART1_Init 2 */
   
  if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
  {
    Error_Handler();
  }
//  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 */

@@ -547,16 +640,16 @@
  __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;
@@ -578,7 +671,7 @@
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI_CS_Pin */
  GPIO_InitStruct.Pin = SPI_CS_Pin;
  GPIO_InitStruct.Pin = SPI_CS_Pin|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
@@ -603,6 +696,12 @@
  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;
@@ -655,17 +754,12 @@
   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);
	
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
   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 */