From 003aff1766ffd3ccfe9df6096ef137340ebfeabf Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 十二月 2020 16:57:26 +0800
Subject: [PATCH] Merge branch '调试' into 定位-临近
---
Src/main.c | 151 +++++++++++++++++++++++++++++++++++++------------
1 files changed, 113 insertions(+), 38 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a0b6624..2afbd19 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -113,7 +113,7 @@
if(huart1.Instance->ISR&USART_ISR_FE)
{
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
@@ -123,11 +123,8 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
- if(g_com_map[MOTOR_ONTIME]>0)
- {
- g_com_map[MOTOR_ONTIME]--;
- motor_state = 1;
- }
+if(g_com_map[MOTOR_ENABLE])
+{
switch(motor_state)
{case 0:
MOTOR_OFF;
@@ -138,8 +135,7 @@
MOTOR_ON;
}else{
MOTOR_OFF;
- }
-
+ }
break;
case 2:
MOTOR_ON;
@@ -148,6 +144,7 @@
MOTOR_OFF;
break;
}
+}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -210,20 +207,36 @@
}
-u16 total_slotnum,current_slotnum;
+u16 current_slotnum;
extern int32_t offsettimeus;
-
-void SetNextPollTime(u16 time)
+#define FIXSLOT
+#define FIXSLOTPOS 2
+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)
{
- int32_t lpcount,lptime,target_time;
- if(current_slotnum>=total_slotnum)
- current_slotnum-=total_slotnum;
+#ifdef FIXSLOT
+// fix_slotpos =FIXSLOTPOS;
+ fix_slotpos = g_com_map[ALARM_DISTANCE1];
+ slotpos = fix_slotpos;
+ tagslotpos = fix_slotpos;
+#endif
+
+ 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;
- target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
//if(target_time<90000)
{
- lptime=target_time-offsettimeus;
+ lptime=target_time-offsettimeus+1200;
lpcount = lptime/LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
@@ -234,6 +247,7 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
+u8 active_flag=0;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -241,25 +255,36 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0201;
+ g_com_map[VERSION] = 0x0210;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x123;
- g_com_map[COM_INTERVAL]=100;
+ // g_com_map[DEV_ID]=0x11;
+// 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[IMU_ENABLE]=0;
+ //g_com_map[COM_INTERVAL]=50;
#endif
-
- // g_com_map[COM_INTERVAL]=100;
+//g_com_map[NOMOVESLEEP_TIME]=10;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=1000;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ if(active_flag==0)
+ { 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(module_power>67)
- {module_power=67;}
- if(module_power<0)
- {module_power=0;}
+ 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;}
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -273,7 +298,7 @@
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];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
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
@@ -379,7 +404,11 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
+// while(1)
+// {
+// MODBUS_Poll();
+// }
+ if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -410,7 +439,8 @@
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
{
-#ifndef DEBUG_MODE
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -641,16 +671,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
-// {
-// Error_Handler();
-// }
+ if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+ {
+ Error_Handler();
+ }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
@@ -797,16 +827,59 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
+extern u16 tagslotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
+extern float motor_ontime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(active_flag==0)
+ {
+ if(!GET_USERKEY)
+ {
+ LED_LG_ON;
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>3)
+ {
+ u8 i=250,keystate=1;
+ while(i--)
+ {
+ if(i%10==0)
+ {
+ LED_LG_BLINK;
+ }
+ if(GET_USERKEY)
+ {keystate = 0;}
+ if(keystate==0&&!GET_USERKEY)
+ {
+ parameter_init();
+ g_com_map[ACTIVE_INDEX] = 1;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ delay_ms(10);
+ }
+ }
+ }else{
+ LED_LG_OFF;
+ key_keeptime=0;
+ }
+
+ }
+ if(motor_ontime>0)
+ {
+ motor_ontime-=(float)1/tag_frequency;
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
if(!GET_USERKEY)
{
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
@@ -825,7 +898,9 @@
}
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
{
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+ gotosleep_flag=1;
+ }else{
+ gotosleep_flag=0;
}
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
--
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