V1.58 香港机场测试，有BUG

yincheng.zhong

2023-05-27 a5e16e925923fa444276ca51f0e7c0cbbe07a96c

 Src/main.c

@@ -75,7 +75,7 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
@@ -115,78 +115,15 @@
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
	
         UART_CheckReceive();
      UART_CheckSend();

if(huart1.Instance->ISR&USART_ISR_FE)
   {
   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }	
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
//   LED_TR_ON;
//   LED_TB_OFF;
//}else{
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
//      if(g_com_map[MOTOR_ONTIME]>0)
//if(huart1.Instance->ISR&USART_ISR_FE)
//   {
//      g_com_map[MOTOR_ONTIME]--;
//      motor_state = 1;
//   }
if(0)//g_com_map[MOTOR_ENABLE])
{
    

   switch(motor_state)
      {case 0:
         if(hardware_type==NSH1)
         {MOTOR_OFF;
         }else if(hardware_type==GP)
         {
         HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
         }
         break;
      case 1:
         if(current_time<MOTOR_ONTIME)
         {
            if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         }else{
            if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         }				
         break;
      case 2:
         if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         break;
      case 3:
         if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         break;	
   }
}
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//   }	
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
        	
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
       // bat_percent=Get_Battary();
      if(state5v==0)
@@ -208,41 +145,9 @@
      LED_LG_OFF;
//   }
}
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      uint16_t tmp = 0xAAAA;
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 128);
   if(result)
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("进入升级模式\r\n");
   g_com_map[CNT_UPDATE]=0;
   save_com_map_to_flash();
   delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }
         if(g_com_map[CNT_REBOOT]==1)
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
         g_com_map[CNT_REBOOT]=0;
         g_com_map[MAP_SIGN_INDEX]=0;
         save_com_map_to_flash();
         delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
         if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }
@@ -269,7 +174,7 @@
//   {
//   lpcount+=LPTIMER_1S_COUNT;
//   }
    lpcount = last_lpcount+g_com_map[COM_INTERVAL]*32.768;
    lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
    while(lpcount>LPTIMER_1S_COUNT)
    {
        lpcount-=LPTIMER_1S_COUNT;
@@ -281,20 +186,20 @@

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 1;
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    //hardware_type=2;
    if(hardware_type == 0)
        hardware_type = 1;
   switch(hardware_type)
      {
        case 1:
     
       HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = MOTOR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
          GPIO_InitStruct.Pin = MOTOR_Pin;
          GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
          GPIO_InitStruct.Pull = GPIO_NOPULL;
          GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
          HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
         break;
      case 2:
         MX_TIM2_Init();
@@ -313,9 +218,20 @@
   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)|37;
   g_com_map[VERSION] = (1<<8)|58;
    
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
//          g_com_map[DEV_ID]=4;
    //   g_com_map[COM_INTERVAL]=100;
    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
    //   g_com_map[NOMOVESLEEP_TIME]=10;
    #endif
    g_com_map[GROUP_ID]=2;
    g_com_map[COM_INTERVAL] = 1000;
    active_flag = g_com_map[ACTIVE_INDEX];
       module_power = g_com_map[POWER];
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
   
@@ -334,13 +250,8 @@
      imu_enable=1;
      nomovesleeptime =10;      
   }
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
//   g_com_map[COM_INTERVAL]=100;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
//   g_com_map[NOMOVESLEEP_TIME]=10;
#endif

 //   g_com_map[COM_INTERVAL]=100;
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
@@ -357,11 +268,8 @@
    Error_Handler();
  }
//g_com_map[NOMOVESLEEP_TIME]=5;
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	

    printf("固件版本: 免布线基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

@@ -469,13 +377,12 @@
//   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);
   HAL_Delay(2000);
//   mcu_sleep();
   //LED0_BLINK;      
//   SystemPower_Config();
@@ -489,7 +396,7 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      if(g_start_send_flag&&active_flag)
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
@@ -519,7 +426,11 @@
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         {	
         {
             if(memcmp(g_com_map2,g_com_map,200)!=0)
             {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
             }
#ifndef DEBUG_MODE   
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))            
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
@@ -598,7 +509,12 @@
  * @param None
  * @retval None
  */
static void MX_ADC_Init(void)
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
void MX_ADC_Init(void)
{

  /* USER CODE BEGIN ADC_Init 0 */
@@ -635,14 +551,15 @@
  }
  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC_Init 2 */
HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
    HAL_ADCEx_EnableVREFINT();
    HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
  /* USER CODE END ADC_Init 2 */

}
@@ -965,21 +882,34 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   i++;
   g_start_send_flag=1;
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;
    
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
    }
    if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
    {
        SetNextPollTime(0);
    }else{
        SetNextPollTime(5);
    }
   nomove_count+=1/(float)tag_frequency;
    if(motor_keeptime>0)
   {   
   motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
        nomove_count+=1/(float)tag_frequency;
   }
   if(!GET_USERKEY)
   {
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
            g_com_map[ACTIVE_INDEX]=!active_flag;