1

yincheng.zhong

2023-08-04 58d4ffeb779fbd8dec7dcf0659ec9fa7d0539b1a

 Src/main.c

@@ -271,13 +271,13 @@
   current_time=GetLPTime();
    nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
    interval = g_com_map[COM_INTERVAL];
    if(active_flag==0)
   {   
        interval=1000;
      imu_enable=1;
      nomovesleep_time = 10;
      motor_enable=0;
   }
//    if(active_flag==0)
//   {   
//        interval=1000;
//      imu_enable=1;
//      nomovesleep_time = 10;
//      motor_enable=0;
//   }
    tag_frequency = 1000/interval;
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
@@ -386,50 +386,48 @@

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
    MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
//  MX_LPTIM1_Init();
//    MX_DMA_Init();
//  MX_USART1_UART_Init();
//  MX_SPI1_Init();
//  MX_ADC_Init();

  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   Accelerometer_Init();	
   // BarInit();
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
//  MX_TIM2_Init();
//  /* USER CODE BEGIN 2 */
//   LED_LG_ON;
//   Program_Init();
//   Accelerometer_Init();	
//   // BarInit();
//   Dw1000_Init();
//   Dw1000_App_Init();
//   HardWareTypeDiffConfig();
//   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//   dwt_entersleep();
//   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
    dwt_setrxtimeout(0);//设定接收超时时间，0位没有
    dwt_rxenable(0);
   DW_DISABLE;
//    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
//    dwt_setrxtimeout(0);//设定接收超时时间，0位没有
//    dwt_rxenable(0);
//   DW_DISABLE;
   Bmp390Init();
   while(1);
    /*气压计*/
    IIC_Init();
    u8 BMP390_ID;
    u8 Config;
    BMP390_ID = BMP390_Init();
    Parameter_Reading(Pressure_Para,Temperature_Para);
//    IIC_Init();
//    u8 BMP390_ID;
//    u8 Config;
//    BMP390_ID = BMP390_Init();
//    Parameter_Reading(Pressure_Para,Temperature_Para);
   //Judge the relevant state of the sensor
   Config = BMP390_Read_Byte(ERR_REG_Addr);
   if(Config&0x01) 
    printf("Fatal Error");
   else 
    printf("No errors.");
   if((Config>>1)&0x01) 
    printf("Failed.");
   else 
    printf("Successful.");
//   Config = BMP390_Read_Byte(ERR_REG_Addr);
//   if(Config&0x01) 
//    printf("Fatal Error");
//   else 
//    printf("No errors.");
//   if((Config>>1)&0x01) 
//    printf("Failed.");
//   else 
//    printf("Successful.");
    /*气压计*/
    
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }

   
   
//   HAL_Delay(2000);
@@ -443,52 +441,7 @@
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//            while(1)
//      {
//      MODBUS_Poll();
//      }
if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
         {	
#ifndef DEBUG_MODE	
            if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
      g_start_send_flag = 0;	
   //   GetPressAndTemp();
//      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;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
         LED_TB_OFF;
      }else{
         LED_TR_ON;
         Tag_App();
         LED_TR_OFF;		
      }
         __enable_irq();
      //LED0_BLINK;		
      IdleTask();	
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }
			
   }else{
   IdleTask();	
   }

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