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| | | #define NSH1 0x0001 |
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| | | #define GP 0x0002 |
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| | | #define FLASH_HARDWARE_VERSION_MAP (uint32_t)0x08004F00 //硬件版本号和批次信息位置 |
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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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| | | 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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| | | bigslot_num = TOTAL_SLOTNUM/tag_frequency; |
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| | | // bigslot_num = TOTAL_SLOTNUM/tag_frequency; |
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| | | total_slotnum = 1000/g_com_map[COM_INTERVAL]; |
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| | | nomovesleeptime = g_com_map[NOMOVESLEEP_TIME]; |
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| | | if(active_flag==0) |
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| | |
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| | | } |
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| | | extern uint8_t tx_near_msg[80],stationary_flag; |
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| | | float key_keeptime; |
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| | | uint16_t current_count1; |
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| | | uint16_t lpcount1; |
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| | | void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim) |
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| | | { |
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| | | static uint8_t i=0; |
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| | |
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| | | g_start_send_flag=1; |
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| | | current_slotnum++; |
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| | | // SetNextPollTime(tyncpoll_time); |
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| | | |
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| | | current_count1=HAL_LPTIM_ReadCounter(&hlptim1); |
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| | | lpcount1 = current_count1+32.768*g_com_map[COM_INTERVAL];; |
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| | | if(lpcount1>=32768) |
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| | | { |
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| | | lpcount1 -=32768; |
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| | | } |
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| | | __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1); |
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| | | |
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| | | |
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| | | nomove_count+=(float)g_com_map[COM_INTERVAL]/1000; |
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| | | if(motor_keeptime>0) |
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| | | { |
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| | |
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| | | } |
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| | | if(nomove_count>=nomovesleeptime-1&&imu_enable) |
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| | | { |
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| | | tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT; |
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| | | // tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT; |
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| | | } |
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| | | if(nomove_count>nomovesleeptime&&imu_enable) |
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| | | { |
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