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| | | |
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| | | #define NSH1 0x0001 |
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| | | #define GP 0x0002 |
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| | | //#define DEBUG_MODE |
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| | | #define DEBUG_MODE |
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| | | /* USER CODE END Includes */ |
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| | | |
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| | | /* Private typedef -----------------------------------------------------------*/ |
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| | |
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| | | } |
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| | | uint8_t uwb_active_flag = 0; |
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| | | u8 active_flag=0; |
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| | | u16 nomovesleep_time=0,interval; |
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| | | void Program_Init(void) |
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| | | { float temp; |
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| | | uint16_t temp2; |
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| | |
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| | | hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2); |
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| | | hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4); |
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| | | //deca_sleep(1000); |
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| | | g_com_map[VERSION] = (2<<8)|65; |
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| | | g_com_map[VERSION] = (2<<8)|1; |
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| | | |
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| | | // g_com_map[DEV_ID]=0x7; |
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| | | #ifdef DEBUG_MODE |
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| | |
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| | | // g_com_map[IMU_ENABLE]=0; |
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| | | // g_com_map[COM_INTERVAL]=50; |
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| | | active_flag = g_com_map[ACTIVE_INDEX]; |
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| | | if(active_flag==0) |
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| | | { |
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| | | g_com_map[COM_INTERVAL]=1000; |
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| | | g_com_map[IMU_ENABLE]=1; |
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| | | g_com_map[NOMOVESLEEP_TIME]=10; |
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| | | g_com_map[MOTOR_ENABLE]=0; |
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| | | } |
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| | | |
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| | | //g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM]; |
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| | | module_power = g_com_map[POWER]; |
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| | | imu_enable=g_com_map[IMU_ENABLE]; |
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| | |
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| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
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| | | slot_startcount=tyncpoll_time*1000/LPTIMER_LSB; |
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| | | lastpoll_time=tyncpoll_time; |
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| | | tag_frequency = 1000/g_com_map[COM_INTERVAL]; |
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| | | |
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| | | bigslot_num = TOTAL_SLOTNUM/tag_frequency; |
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| | | current_slotnum=1; |
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| | | current_time=GetLPTime(); |
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| | | nomovesleep_time = g_com_map[NOMOVESLEEP_TIME]; |
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| | | interval = g_com_map[COM_INTERVAL]; |
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| | | if(active_flag==0) |
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| | | { |
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| | | interval=1000; |
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| | | imu_enable=1; |
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| | | nomovesleep_time = 10; |
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| | | motor_enable=0; |
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| | | } |
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| | | tag_frequency = 1000/interval; |
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| | | if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us |
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| | | { |
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| | | Error_Handler(); |
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| | | } |
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| | | printf("设备ID: %x .\r\n",dev_id); |
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| | | printf("固件版本:定位标签-双次测距-抗反射遮挡 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff); |
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| | | //g_com_map[NOMOVESLEEP_TIME]=5; |
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| | | // printf("标签ID: %d .\r\n",dev_id); |
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| | | // printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]); |
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| | | HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI); |
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| | | #endif |
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| | | } |
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| | | if(g_start_send_flag&&active_flag&&uwb_active_flag) |
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| | | if(g_start_send_flag&&active_flag/*&&uwb_active_flag*/) |
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| | | { static uint16_t blink_count=0; |
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| | | g_start_send_flag = 0; |
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| | | // GetPressAndTemp(); |
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| | |
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| | | }else{ |
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| | | stationary_flag = 0; |
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| | | } |
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| | | if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable) |
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| | | if(nomove_count>=nomovesleep_time-1&&imu_enable) |
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| | | { |
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| | | gotosleep_flag=1; |
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| | | }else{ |
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