From 1ed0e9100899ee15b4f5da46ff5f65db79b1fdf7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 29 六月 2020 23:23:46 +0800
Subject: [PATCH] 远程改参数测试完成
---
Src/main.c | 147 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 104 insertions(+), 43 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 3ec5580..7d067a9 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -37,7 +37,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
+//#define DEBUG_MODE
#define Period (uint32_t) 32768 - 1
#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */
@@ -79,9 +79,20 @@
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
-
-void IdleTask(void)
+uint8_t bat_percent=0,g_start_send_flag;
+extern u8 motor_state;
+uint16_t tyncpoll_time,lpsettime;
+uint16_t slottime,max_slotpos;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
+extern uint8_t module_power;
+uint8_t imu_enable,motor_enable;
+u16 GetLPTime(void)
{
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
+void IdleTask(void)
+{u16 current_time;
UART_CheckReceive();
UART_CheckSend();
@@ -90,16 +101,48 @@
{
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;
+//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;
+ switch(motor_state)
+ {case 0:
+ MOTOR_OFF;
+ break;
+ case 1:
+ if(current_time<MOTOR_ONTIME)
+ {
+ MOTOR_ON;
+ }else{
+ MOTOR_OFF;
+ }
+
+ break;
+ case 2:
+ MOTOR_ON;
+ break;
+ case 3:
+ MOTOR_OFF;
+ break;
+ }
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
- LED_TB_ON;
- }
+ if(bat_percent>99)
+ {
+ LED_TR_OFF;
+ LED_TB_ON;
+ }else{
+ LED_TR_ON;
+ LED_TB_OFF;
+ }
+ }else{
+ LED_TR_OFF;
+ LED_TB_OFF;
+// }
}
if(g_com_map[CNT_UPDATE]==1)
{
@@ -136,11 +179,32 @@
}
-uint16_t tyncpoll_time,lpsettime;
-uint16_t slottime,max_slotpos;
-uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency;
-extern uint8_t module_power;
-uint8_t imu_enable,motor_enable;
+
+u16 total_slotnum,current_slotnum;
+extern int32_t offsettimeus;
+
+void SetNextPollTime(u16 time)
+{
+ int32_t lpcount,lptime,target_time;
+
+ time=0;
+ if(current_slotnum>=total_slotnum)
+ current_slotnum-=total_slotnum;
+
+ target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+ //if(target_time<90000)
+ {
+ lptime=target_time-offsettimeus;
+ 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 Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -148,7 +212,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0109;
+ g_com_map[VERSION] = 0x010A;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -164,14 +228,15 @@
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
-
- slot_startcount=(float)(tyncpoll_time+10)*1000/LPTIMER_LSB;
- lastpoll_count=slot_startcount;
- interval_count=(float)g_com_map[COM_INTERVAL]*1000/LPTIMER_LSB;
+ 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];
+ 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
{
Error_Handler();
@@ -199,7 +264,6 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-uint8_t bat_percent=0,g_start_send_flag;
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
// /* Set transmission flag: trasfer complete*/
@@ -254,9 +318,10 @@
Dw1000_App_Init();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
-// dwt_entersleep();
+ dwt_entersleep();
waitusart_timer=1;
DW_DISABLE;
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -273,25 +338,26 @@
/* USER CODE BEGIN 3 */
if(g_start_send_flag)
{ static uint16_t blink_count=0;
- //SystemClock_Config();
+ SystemClock_Config();
g_start_send_flag = 0;
+
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
// }else{
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
- LED_TR_BLINK;
+// LED_TR_BLINK;
bat_percent=Get_Battary();
if(bat_percent>15)
- {// LED0_ON;
+ { LED0_ON;
Tag_App();
- // LED0_OFF;
+ LED0_OFF;
}else{
- //LED_LR_ON;
+ LED_LR_ON;
Tag_App();
- // LED_LR_OFF;
+ LED_LR_OFF;
}
//LED0_BLINK;
IdleTask();
@@ -452,10 +518,10 @@
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
- {
- Error_Handler();
- }
+// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
+// {
+// Error_Handler();
+// }
/* USER CODE END LPTIM1_Init 2 */
}
@@ -605,7 +671,7 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
- GPIO_InitStruct.Pin = SPI_CS_Pin;
+ GPIO_InitStruct.Pin = SPI_CS_Pin|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
@@ -688,17 +754,12 @@
static uint8_t i=0;
i++;
g_start_send_flag=1;
- lastpoll_count+=interval_count;
- if(lastpoll_count>LPTIMER_1S_COUNT-30)
- {
- lastpoll_count = slot_startcount;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
-
+ current_slotnum++;
+ SetNextPollTime(tyncpoll_time);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
- // mcu_sleep();
+ mcu_sleep();
}
}
/* USER CODE END 4 */
--
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