1

zhyinch

2021-10-21 61445f53207dce2dce3ae11450297aa33908b1e6

 Src/main.c

@@ -184,6 +184,7 @@
         break;   
   }
}
    bat_percent=Get_Battary();
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
@@ -192,7 +193,7 @@
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
      {
         LED_LR_OFF;
         LED_LG_ON;
@@ -253,38 +254,38 @@
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS; 
int32_t lpcount,lptime,target_time;
extern u16 tagslotpos;
//u16 lpcount,lptime,;
//extern u16 tagslotpos;
void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{

#ifdef FIXSLOT
   fix_slotpos =FIXSLOTPOS;
   //fix_slotpos = g_com_map[ALARM_DISTANCE1];
   slotpos = fix_slotpos;
   tagslotpos = fix_slotpos;
#endif
//#ifdef FIXSLOT
//   fix_slotpos =FIXSLOTPOS;
//   fix_slotpos = g_com_map[ALARM_DISTANCE2];
//   slotpos = fix_slotpos;
//   tagslotpos = fix_slotpos;
//#endif

   while(current_slotnum>=tag_frequency)
   {   current_slotnum-=tag_frequency;}
   slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
//   while(current_slotnum>=tag_frequency)
//   {   current_slotnum-=tag_frequency;}
//   slotpos_intoatl = current_slotnum*bigslot_num+slotpos;

   if(current_slotnum==19)
   {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
   target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
	
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus+1200;
      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);
}
//   if(current_slotnum==19)
//   {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
//   target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
//	
//   //if(target_time<90000)
//   {
//      lptime=target_time-offsettimeus+1200;
//      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 ErrorConfig_Handler(void)
{
@@ -310,7 +311,8 @@
   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] = 0x021b;
   g_com_map[VERSION] = 0x0223;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
@@ -327,7 +329,8 @@
//    g_com_map[COM_INTERVAL]=1000;
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   { g_com_map[COM_INTERVAL]=1000;
   {   
        g_com_map[COM_INTERVAL]=1000;
      g_com_map[IMU_ENABLE]=1;
      g_com_map[NOMOVESLEEP_TIME]=10;
      g_com_map[MOTOR_ENABLE]=0;
@@ -382,17 +385,17 @@
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 2;
    hardware_type = 1;
   switch(hardware_type)
      {
        case 1:
     
       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;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
            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;
            GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
            HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
         break;
      case 2:
         MX_TIM2_Init();
@@ -435,7 +438,7 @@
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
   MX_DMA_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
@@ -475,6 +478,7 @@
//      {
//      MODBUS_Poll();
//      }
      active_flag = 1;
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
@@ -487,8 +491,6 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
		
         bat_percent=Get_Battary();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();