初步测试完成

yincheng.zhong

2023-04-24 5c6608fc16627430bcdbaf4917c608e61b7db77c

 Src/main.c

@@ -187,7 +187,8 @@
}
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
      //nomove_count = 0;
        bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
@@ -196,9 +197,9 @@
      if(bat_percent>99)
      {
         LED_LR_OFF;
         LED_LG_ON;
         //LED_LG_ON;
      }else{
         LED_LR_ON;
      //   LED_LR_ON;
         LED_LG_OFF;      
      }      
   }else{
@@ -249,19 +250,20 @@

u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

  int32_t lpcount,lptime,target_time;
void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;

   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(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;
    lpcount+=g_com_map[COM_INTERVAL]*LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
@@ -269,7 +271,6 @@
   lpcount+=LPTIMER_1S_COUNT;
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}

void HardWareTypeDiffConfig(void)
@@ -282,7 +283,7 @@
      {
        case 1:
     
       HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = MOTOR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -295,6 +296,8 @@
         break;
      }
}
int16_t g_commap_antdelay;
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -305,26 +308,13 @@
   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;
#ifdef DEBUG_MODE
//   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
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(module_power>67)
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
   module_power = g_com_map[POWER];
   g_com_map[VERSION] = (1<<8)|33;
    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];
   
    g_com_map[GROUP_ID] = 98;
   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;
@@ -332,8 +322,36 @@
   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];
    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==0)
   {   
      imu_enable=1;
      nomovesleeptime =10;		
   }
#ifdef DEBUG_MODE
//   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
    
    g_com_map[COM_INTERVAL]=100;
    if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(module_power>67)
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
    if(g_com_map[ANT_LENGTH]>10000)
    {
        g_com_map[ANT_LENGTH] = 0;
    }
    g_commap_antdelay = -g_com_map[DIST_OFFSET];
   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
@@ -341,9 +359,32 @@
    Error_Handler();
  }
//g_com_map[NOMOVESLEEP_TIME]=5;
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.bco=63488");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.txt=\"等待串口通讯\"");  

        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.bco=63488");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.txt=\"等待测距\"");        
  
//          USART_putc(0xff);
//        USART_putc(0xff);
//        USART_putc(0xff);
//        printf("t2.bco=2024");
//        USART_putc(0xff);
//        USART_putc(0xff);
//        USART_putc(0xff);
//        printf("t2.txt=\"无测距\"");   
   

//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -374,6 +415,7 @@
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
}
u8 flag_entersleep1=0,flag_entersleep2=0;
/* USER CODE END 0 */

/**
@@ -414,7 +456,7 @@
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
   Accelerometer_Init();	
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
@@ -472,7 +514,7 @@
         if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
         {   
#ifndef DEBUG_MODE   
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
if(flag_entersleep1*flag_entersleep2==1)				
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
@@ -914,8 +956,67 @@
  /*Enter the Standby mode*/
  HAL_PWR_EnterSTANDBYMode();   
}
extern u8 flag_usartrecok,flag_uwbrange_ok;
extern int32_t uwb_dist;
void LCDPROCESS(void)
{
    if(flag_usartrecok)
    {
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.bco=2024");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.txt=\"串口通讯成功\"");   
        flag_entersleep1 = 1;

    }else{
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.bco=63488");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t0.txt=\"等待串口通讯\"");        
    }
    if(flag_uwbrange_ok)
    {
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.bco=2024");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.txt=\"测距成功\"");   

        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t2.bco=2024");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t2.txt=\"距离:%d\"",uwb_dist); 
        flag_entersleep2 = 1;        
    }else{
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.bco=63488");
        USART_putc(0xff);
        USART_putc(0xff);
        USART_putc(0xff);
        printf("t1.txt=\"等待测距\"");        
    }

}
float lcd_count=0;
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
float key_keeptime,lcdtimer;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
@@ -924,6 +1025,12 @@
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
    lcdtimer+=(float)g_com_map[COM_INTERVAL]/1000;
    if(lcdtimer-lcd_count>0.5)
    {   
        lcd_count = lcdtimer;
        LCDPROCESS();
    }
    if(motor_keeptime>0)
   {   
   motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
@@ -933,6 +1040,10 @@
      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{
@@ -944,14 +1055,14 @@
   }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)
   {
      mcu_sleep();
   }
//   if(nomove_count>nomovesleeptime&&imu_enable)
//   {
//      mcu_sleep();
//   }
}
/* USER CODE END 4 */