V1.36 1.增加UWB芯片电量检测 2.解决基站轮流丢包的问题。

yincheng.zhong

2022-10-28 7b8a137768f244173209f115738366efa7878b2f

 Src/main.c

@@ -188,7 +188,7 @@
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
        bat_percent=Get_Battary();
       // bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
@@ -250,27 +250,33 @@

u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

u16 last_lpcount = 0;
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(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
   {
   lpcount+=LPTIMER_1S_COUNT;
   }
//   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(lpcount>LPTIMER_1S_COUNT)
//      lpcount-=LPTIMER_1S_COUNT;
//   if(lpcount<0)
//   {
//   lpcount+=LPTIMER_1S_COUNT;
//   }
    lpcount = last_lpcount+g_com_map[COM_INTERVAL]*32.768;
    while(lpcount>LPTIMER_1S_COUNT)
    {
        lpcount-=LPTIMER_1S_COUNT;
    }
    last_lpcount = lpcount;
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}

}

void HardWareTypeDiffConfig(void)
@@ -307,7 +313,7 @@
   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] = (1<<8)|35;
   g_com_map[VERSION] = (1<<8)|36;
    active_flag = g_com_map[ACTIVE_INDEX];
       module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
@@ -390,6 +396,39 @@
  * @brief  The application entry point.
  * @retval int
  */
uint16_t temp2; 
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
{
    static uint8_t first = 1;
    static float last_value = 100;   
    static uint16_t bat_count = 0;
    //if(bat_count++%600==0)
    {
   temp2=dwt_readtempvbat(1);
   dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
    if(fabs(dw_vbat-dw_vbat)>0.2)
    {
        last_vbat = dw_vbat;
        return last_value;
    }
    last_vbat = dw_vbat;      
   if(dw_vbat>=3.0)
   {
      if(first)
      {
            first = 0;			
         last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
      }
      last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
   if(last_value>100)
      last_value = 100;
   if(last_value<0)
      last_value = 0;
    }
    }
   return last_value;	       
}
int main(void)
{
  /* USER CODE BEGIN 1 */
@@ -418,16 +457,16 @@
   MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
 // MX_ADC_Init();
 
//  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
//   LIS3DH_Data_Init();	
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
//   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;;
@@ -463,7 +502,7 @@
//      }
//      LED_TR_BLINK;s
      
         bat_percent=Get_Battary();
			
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -952,12 +991,12 @@
   }else{
      key_keeptime=0;
   }
   if(nomove_count>STATIONARY_TIME)
   {
      stationary_flag = 1;
   }else{
      stationary_flag = 0;
   }
//   if(nomove_count>STATIONARY_TIME)
//   {
//      stationary_flag = 1;
//   }else{
//      stationary_flag = 0;
//   }
//if(nomove_count>=nomovesleeptime-1&&imu_enable)
//   {
//      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;