From 2177dac722f1fb8f5bcc409900f3e5aa5065c1bf Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 10 六月 2022 08:39:04 +0800
Subject: [PATCH] 开始写部分程序
---
Src/main.c | 74 ++++++++++++++++++++++++++++--------
1 files changed, 57 insertions(+), 17 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index e9843db..6e320bf 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,6 +30,7 @@
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
+#include "wirless_uwb_app.h"
#define NSH1 0x0001
#define GP 0x0002
#define FLASH_HARDWARE_VERSION_MAP (uint32_t)0x08004F00 //硬件版本号和批次信息位置
@@ -295,6 +296,8 @@
break;
}
}
+E_DMode active_flag;
+u8 nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -305,7 +308,27 @@
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] = 0x0119;
+ g_com_map[VERSION] = (1<<8)|28;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ module_power = g_com_map[POWER];
+ imu_enable=g_com_map[IMU_ENABLE];
+ motor_enable=g_com_map[MOTOR_ENABLE];
+
+ 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;
+ max_slotpos=g_com_map[COM_INTERVAL]/slottime;
+ 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];
+ total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
+ if(active_flag == DMODE_SLEEP)
+ {
+ imu_enable=1;
+ nomovesleeptime =10;
+ }
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -321,19 +344,7 @@
{module_power=67;}
if(module_power<0)
{module_power=0;}
- module_power = g_com_map[POWER];
- imu_enable=g_com_map[IMU_ENABLE];
- motor_enable=g_com_map[MOTOR_ENABLE];
-
- 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;
- max_slotpos=g_com_map[COM_INTERVAL]/slottime;
- 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];
- 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
@@ -440,7 +451,32 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
+ switch(active_flag)
+ {
+ case DMODE_SLEEP:
+ #ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ mcu_sleep();
+ }else{
+ IdleTask();
+ }
+ IdleTask();
+ #endif
+ break;
+ case DMODE_WAITCONFIG:
+ WaitConfigProc();
+ break;
+ case DMODE_SEARCHSYNC:
+ SearchSyncProc();
+ break;
+ case DMODE_RANGING:
+ RangingProc();
+ break;
+
+
+ }
+ if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -933,6 +969,10 @@
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
+ g_com_map[ACTIVE_INDEX]=!active_flag;
+ save_com_map_to_flash();
+ MOTOR_ON;
+ HAL_Delay(2000);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
}else{
@@ -944,11 +984,11 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleeptime-1&&imu_enable)
{
tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
}
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+ if(nomove_count>nomovesleeptime&&imu_enable)
{
mcu_sleep();
}
--
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