| | |
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| | | hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2); |
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| | | hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4); |
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| | | //deca_sleep(1000); |
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| | | g_com_map[VERSION] = (2<<8)|56; |
|---|
| | | g_com_map[VERSION] = (2<<8)|61; |
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| | | |
|---|
| | | // g_com_map[DEV_ID]=0x7; |
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| | | #ifdef DEBUG_MODE |
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| | |
|---|
| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
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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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| | | tag_frequency = 1; |
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| | | bigslot_num = TOTAL_SLOTNUM/tag_frequency; |
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| | | current_slotnum=1; |
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| | | current_time=GetLPTime(); |
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| | |
|---|
| | | /*Enter the Standby mode*/ |
|---|
| | | HAL_PWR_EnterSTANDBYMode(); |
|---|
| | | } |
|---|
| | | extern u16 tagslotpos; |
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| | | extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag; |
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| | | |
|---|
| | | extern u16 tagslotpos,current_slotpos; |
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| | | extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag,current_sync_sec,tagpoll_sync_sec,flag_tagnewpos; |
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| | | float key_keeptime; |
|---|
| | | extern float motor_ontime; |
|---|
| | | extern uint16_t rec_tagperiod; |
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| | | void GetRandomPos(void) |
|---|
| | | { |
|---|
| | | current_slotpos = HAL_LPTIM_ReadCounter(&hlptim1)%max_slotpos; //如果丢失连接超过5次就随机换个时间片 |
|---|
| | | tagpoll_sync_sec = current_slotpos/200; |
|---|
| | | tagslotpos = current_slotpos%200; |
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| | | flag_tagnewpos = 0; |
|---|
| | | } |
|---|
| | | void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim) |
|---|
| | | { |
|---|
| | | static uint8_t i=0; |
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| | | SystemClock_Config(); |
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| | | g_start_send_flag=1; |
|---|
| | | |
|---|
| | | // current_slotnum++; |
|---|
| | | // SetNextPollTime(tagslotpos); |
|---|
| | | if(current_slotpos>=max_slotpos) |
|---|
| | | { |
|---|
| | | GetRandomPos(); |
|---|
| | | } |
|---|
| | | if(current_sync_sec==tagpoll_sync_sec) |
|---|
| | | { |
|---|
| | | g_start_send_flag=1; |
|---|
| | | } |
|---|
| | | current_sync_sec++; |
|---|
| | | if(current_sync_sec>=(rec_tagperiod)/10||current_sync_sec>10) |
|---|
| | | { |
|---|
| | | current_sync_sec=0; |
|---|
| | | } |
|---|
| | | nomove_count+=1/(float)tag_frequency; |
|---|
| | | if(motor_keeptime>0) |
|---|
| | | { |
|---|
