开始写部分程序

zhyinch

2022-06-10 2177dac722f1fb8f5bcc409900f3e5aa5065c1bf

 Src/main.c

@@ -30,6 +30,7 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
#include "wirless_uwb_app.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
@@ -295,6 +296,8 @@
         break;
      }
}
E_DMode active_flag;
u8 nomovesleeptime;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -305,7 +308,27 @@
   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] = 0x0119;
   g_com_map[VERSION] = (1<<8)|28;
    active_flag = g_com_map[ACTIVE_INDEX];
    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]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
   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 == DMODE_SLEEP)
   {   
      imu_enable=1;
      nomovesleeptime =10;		
   }
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
@@ -321,19 +344,7 @@
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
   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]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
   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
@@ -440,7 +451,32 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      if(g_start_send_flag)
      switch(active_flag)
      {
        case DMODE_SLEEP:
            #ifndef DEBUG_MODE	
                if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
                {
                    mcu_sleep();
                }else{
                    IdleTask();	
                }
                IdleTask();	
            #endif
          break;
        case DMODE_WAITCONFIG:
          WaitConfigProc();
          break;
        case DMODE_SEARCHSYNC:
           SearchSyncProc();
          break;
        case DMODE_RANGING:
          RangingProc();
          break;
          
      
      }
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
@@ -933,6 +969,10 @@
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      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{
@@ -944,11 +984,11 @@
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
if(nomove_count>=nomovesleeptime-1&&imu_enable)
   {
      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
   }
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
   if(nomove_count>nomovesleeptime&&imu_enable)
   {
      mcu_sleep();
   }