1

zhyinch

2022-04-29 3836c31d5f4c9908f7b288f20742dfc87e858e2f

 Src/main.c

@@ -92,7 +92,7 @@
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;   
u16 GetLPTime(void)
@@ -295,6 +295,7 @@
         break;
      }
}
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -305,7 +306,27 @@
   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] = 0x0118;
   g_com_map[VERSION] = 0x011a;
    active_flag = g_com_map[ACTIVE_INDEX];
       module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
	
   group_id=g_com_map[GROUP_ID];
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   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];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
    nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
   if(active_flag==0)
   {   
      imu_enable=1;
      nomovesleeptime =10;		
   }
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
@@ -321,19 +342,7 @@
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
   module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
	
   group_id=g_com_map[GROUP_ID];
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   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];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];

   current_slotnum=1;
   current_time=GetLPTime();
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
@@ -404,11 +413,12 @@

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
  //MX_LPTIM1_Init();
   MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  MX_DMA_Init();
 
//  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
@@ -416,15 +426,18 @@
   LIS3DH_Data_Init();   
   Dw1000_Init();
   Dw1000_App_Init();
    dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
    while(1);
   //   NearPoll();
   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;;
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
  
//   HAL_Delay(2000);
//   mcu_sleep();
   //LED0_BLINK;      
@@ -439,7 +452,7 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      if(g_start_send_flag)
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
@@ -450,7 +463,7 @@
//      }else{
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
//      LED_TR_BLINK;s
      
         bat_percent=Get_Battary();
      if(bat_percent>15)
@@ -932,6 +945,10 @@
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
            g_com_map[ACTIVE_INDEX]=!active_flag;
            save_com_map_to_flash();
            MOTOR_ON;
            HAL_Delay(2000);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
      }
   }else{
@@ -943,11 +960,11 @@
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
if(nomove_count>=nomovesleeptime-1&&imu_enable)
   {
      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
   }
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
   if(nomove_count>nomovesleeptime&&imu_enable)
   {
      mcu_sleep();
   }