From 1dcc8f022ebbcd6422bae262a8b1debf77fa954a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 22 一月 2025 10:03:07 +0800
Subject: [PATCH] 2.63，修改上一版bug。下发震动时候不进入stopmode
---
Src/main.c | 81 ++++++++++++++++++++++++++++++----------
1 files changed, 61 insertions(+), 20 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 8568553..f8dec00 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -135,10 +135,22 @@
if(motor_keeptime>0)
{
- motor_state = 2;
- }else{
- motor_state = 0;
+// motor_state = 2;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
}
+ else{
+// motor_state = 0;
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
//motor_state=2;
switch(motor_state)
{case 0:
@@ -184,6 +196,7 @@
}
break;
}
+ }
}
bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -275,7 +288,9 @@
}
}
+uint8_t uwb_active_flag = 0;
u8 active_flag=0;
+u16 nomovesleep_time=0,interval;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -286,7 +301,7 @@
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] = (2<<8)|58;
+ g_com_map[VERSION] = (2<<8)|63;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -303,18 +318,12 @@
// g_com_map[IMU_ENABLE]=0;
// g_com_map[COM_INTERVAL]=50;
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;
- }
+
//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];
-
+ uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
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;
@@ -323,14 +332,25 @@
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];
+
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
+ nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
+ interval = g_com_map[COM_INTERVAL];
+ if(active_flag==0)
+ {
+ interval=1000;
+ imu_enable=1;
+ nomovesleep_time = 10;
+ motor_enable=0;
+ }
+ tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+ printf("固件版本:SS双路定位标签-防撞标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -360,9 +380,9 @@
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
{
- g_com_map[MOTORBEEPER_INDEX] = 2;
+ g_com_map[MOTORBEEPER_INDEX] = 1;
}
- hardware_type = g_com_map[MOTORBEEPER_INDEX];
+ hardware_type = /*NSH1;//*/g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
{
case 1:
@@ -377,6 +397,25 @@
MX_TIM2_Init();
break;
}
+}
+
+void DoubleClickProcess(void)
+{ char temp[50];
+ uint8_t len;
+if(uwb_active_flag)
+{
+ uwb_active_flag = 0;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(3000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}else{
+ uwb_active_flag = 1;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(1000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}
+ g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
+save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
@@ -454,14 +493,14 @@
// {
// MODBUS_Poll();
// }
-if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
+if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3)&&motor_keeptime==0)
{
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
- if(g_start_send_flag&&active_flag)
+ if(g_start_send_flag&&active_flag/*&&uwb_active_flag*/)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
// GetPressAndTemp();
@@ -932,7 +971,7 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
-extern float motor_ontime;
+extern float motor_ontime,button_delay;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -940,6 +979,8 @@
g_start_send_flag=1;
// current_slotnum++;
// SetNextPollTime(tagslotpos);
+ if(button_delay<1)
+ button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
@@ -998,7 +1039,7 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleep_time-1&&imu_enable)
{
gotosleep_flag=1;
}else{
--
Gitblit v1.9.3