From 2eeb6bd4fbcb8fc684f022f411b49bffb45671f1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 22 十月 2021 18:19:00 +0800
Subject: [PATCH] 测试完成
---
Src/main.c | 186 ++++++++++++++++++++++++++--------------------
1 files changed, 104 insertions(+), 82 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 3148de6..ad15dbb 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -132,6 +132,7 @@
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
+
if(motor_keeptime>0)
{
motor_state = 2;
@@ -183,6 +184,7 @@
break;
}
}
+ bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -191,7 +193,7 @@
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
LED_LR_OFF;
LED_LG_ON;
@@ -252,41 +254,53 @@
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
-int32_t lpcount,lptime,target_time;
-extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos)
+//u16 lpcount,lptime,;
+//extern u16 tagslotpos;
+void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{
-#ifdef FIXSLOT
- fix_slotpos =FIXSLOTPOS;
- //fix_slotpos = g_com_map[ALARM_DISTANCE1];
- slotpos = fix_slotpos;
- tagslotpos = fix_slotpos;
-#endif
+//#ifdef FIXSLOT
+// fix_slotpos =FIXSLOTPOS;
+// fix_slotpos = g_com_map[ALARM_DISTANCE2];
+// slotpos = fix_slotpos;
+// tagslotpos = fix_slotpos;
+//#endif
- while(current_slotnum>=tag_frequency)
- { current_slotnum-=tag_frequency;}
- slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
+// while(current_slotnum>=tag_frequency)
+// { current_slotnum-=tag_frequency;}
+// slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
- if(current_slotnum==19)
- {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
- target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
-
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus+1200;
- lpcount = lptime/LPTIMER_LSB;
- if(lpcount>LPTIMER_1S_COUNT)
- lpcount-=LPTIMER_1S_COUNT;
- if(lpcount<0)
- {
- lpcount+=LPTIMER_1S_COUNT;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+// if(current_slotnum==19)
+// {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
+// target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
+//
+// //if(target_time<90000)
+// {
+// lptime=target_time-offsettimeus+1200;
+// lpcount = lptime/LPTIMER_LSB;
+// if(lpcount>LPTIMER_1S_COUNT)
+// lpcount-=LPTIMER_1S_COUNT;
+// if(lpcount<0)
+// {
+// lpcount+=LPTIMER_1S_COUNT;
+// }
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+//}
}
+void ErrorConfig_Handler(void)
+{
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(g_com_map[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=2;}
+ if(g_com_map[POWER]>MAX_RFPOWER)
+ {g_com_map[POWER]=MAX_RFPOWER;}
+ if(g_com_map[POWER]<0)
+ {g_com_map[POWER]=0;}
}
u8 active_flag=0;
-
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -297,37 +311,32 @@
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] = 0x0213;
-// g_com_map[DEV_ID]=0x11;
+ g_com_map[VERSION] = 0x0223;
+
+// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x10;
-// g_com_map[COM_INTERVAL]=100;
+// g_com_map[DEV_ID]=0x4009;
+// g_com_map[ACTIVE_INDEX]=1;
+ g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[IMU_ENABLE]=0;
- g_com_map[COM_INTERVAL]=50;
+// g_com_map[COM_INTERVAL]=50;
#endif
-//g_com_map[NOMOVESLEEP_TIME]=10;
-// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=1000;
+g_com_map[NOMOVESLEEP_TIME]=1000;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=1000;
active_flag = g_com_map[ACTIVE_INDEX];
+ active_flag = 1;
if(active_flag==0)
- { g_com_map[COM_INTERVAL]=1000;
+ {
+ g_com_map[COM_INTERVAL]=1000;
g_com_map[IMU_ENABLE]=1;
g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[MOTOR_ENABLE]=0;
}
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(g_com_map[IMU_THRES]>10)
- {g_com_map[IMU_THRES]=2;}
- if(g_com_map[POWER]>MAX_RFPOWER)
- {g_com_map[POWER]=MAX_RFPOWER;}
- if(g_com_map[POWER]<0)
- {g_com_map[POWER]=0;}
+g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -376,18 +385,22 @@
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
+if(hardware_type == 0)
+ hardware_type = 1;
switch(hardware_type)
- {case 1:
+ {
+ 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);
+ 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);
break;
case 2:
MX_TIM2_Init();
+ BarInit();
break;
}
}
@@ -426,26 +439,28 @@
/* Initialize all configured peripherals */
MX_GPIO_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;
Program_Init();
LIS3DH_Data_Init();
+ // BarInit();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- //dwt_entersleep();
+ 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;
@@ -464,11 +479,23 @@
// {
// MODBUS_Poll();
// }
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
+ if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+ {
+ HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+#endif
+ }
+ active_flag = 1;
if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
- SystemClock_Config();
g_start_send_flag = 0;
-
+ // GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -477,7 +504,6 @@
// }
// LED_TR_BLINK;
- bat_percent=Get_Battary();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -489,17 +515,6 @@
}
//LED0_BLINK;
IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-#endif
- }
}else{
@@ -947,20 +962,25 @@
{
static uint8_t i=0;
i++;
+ HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+ SystemClock_Config();
+
g_start_send_flag=1;
current_slotnum++;
SetNextPollTime(tagslotpos);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
+ motor_keeptime-=1/(float)tag_frequency;
}
+ if(motor_keeptime<0)
+ {motor_keeptime = 0;}
if(active_flag==0)
{
if(!GET_USERKEY)
{
LED_LG_ON;
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>3)
{
u8 i=250,keystate=1;
@@ -992,7 +1012,7 @@
if(!GET_USERKEY)
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
@@ -1000,7 +1020,7 @@
}else{
key_keeptime=0;
}
- if(nomove_count>STATIONARY_TIME)
+ if(nomove_count>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
}else{
@@ -1012,10 +1032,12 @@
}else{
gotosleep_flag=0;
}
+#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
+#endif
}
/* USER CODE END 4 */
@@ -1027,12 +1049,12 @@
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
- while (1)
- {
- /* USER CODE BEGIN W1_HardFault_IRQn 0 */
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
- /* USER CODE END W1_HardFault_IRQn 0 */
- }
+// while (1)
+// {}
+// /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+// //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// /* USER CODE END W1_HardFault_IRQn 0 */
+// }
/* USER CODE END Error_Handler_Debug */
}
--
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