| | |
|---|
| | | } |
|---|
| | | uint8_t uwb_active_flag = 0; |
|---|
| | | u8 active_flag=0; |
|---|
| | | u16 nomovesleep_time=0,interval; |
|---|
| | | void Program_Init(void) |
|---|
| | | { float temp; |
|---|
| | | uint16_t temp2; |
|---|
| | |
|---|
| | | 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] = (2<<8)|65; |
|---|
| | | g_com_map[VERSION] = (2<<8)|67; |
|---|
| | | |
|---|
| | | // g_com_map[DEV_ID]=0x7; |
|---|
| | | #ifdef DEBUG_MODE |
|---|
| | |
|---|
| | | // g_com_map[IMU_ENABLE]=0; |
|---|
| | | // g_com_map[COM_INTERVAL]=50; |
|---|
| | | active_flag = g_com_map[ACTIVE_INDEX]; |
|---|
| | | if(active_flag==0) |
|---|
| | | { |
|---|
| | | g_com_map[COM_INTERVAL]=1000; |
|---|
| | | g_com_map[IMU_ENABLE]=1; |
|---|
| | | g_com_map[NOMOVESLEEP_TIME]=10; |
|---|
| | | g_com_map[MOTOR_ENABLE]=0; |
|---|
| | | } |
|---|
| | | |
|---|
| | | //g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM]; |
|---|
| | | module_power = g_com_map[POWER]; |
|---|
| | | imu_enable=g_com_map[IMU_ENABLE]; |
|---|
| | |
|---|
| | | 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]; |
|---|
| | | |
|---|
| | | bigslot_num = TOTAL_SLOTNUM/tag_frequency; |
|---|
| | | current_slotnum=1; |
|---|
| | | 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; |
|---|
| | | } |
|---|
| | | 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 |
|---|
| | | { |
|---|
| | | Error_Handler(); |
|---|
| | |
|---|
| | | }else{ |
|---|
| | | stationary_flag = 0; |
|---|
| | | } |
|---|
| | | if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable) |
|---|
| | | if(nomove_count>=nomovesleep_time-1&&imu_enable) |
|---|
| | | { |
|---|
| | | gotosleep_flag=1; |
|---|
| | | }else{ |
|---|
