From 2aa6f092e2003c3c5d421f3d09f9a7907f89cac4 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 04 一月 2023 11:27:51 +0800
Subject: [PATCH] 2
---
Src/main.c | 75 +++++++++++++++++++------------------
1 files changed, 38 insertions(+), 37 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 9a82b32..612786c 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -208,31 +208,7 @@
LED_LG_OFF;
// }
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_REBOOT]==1)
- {
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
+
if(g_com_map[CNT_RESTART]==1)
{
g_com_map[CNT_RESTART]=0;
@@ -281,14 +257,14 @@
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] = 0x022b;
+ g_com_map[VERSION] = (2<<8)|62;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=0x4009;
+ // g_com_map[DEV_ID]=0x4009;
// g_com_map[ACTIVE_INDEX]=1;
- g_com_map[COM_INTERVAL]=50;
+// g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -318,7 +294,7 @@
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];
+ tag_frequency = 1;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
@@ -355,7 +331,7 @@
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
{
- g_com_map[MOTORBEEPER_INDEX] = 1;
+ g_com_map[MOTORBEEPER_INDEX] = 2;
}
hardware_type = g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
@@ -416,8 +392,8 @@
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
- BarInit();
+ Accelerometer_Init();
+ BarInit();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -429,7 +405,8 @@
{
Error_Handler();
}
-
+
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -912,6 +889,8 @@
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
/*Clear all related wakeup flags*/
@@ -921,21 +900,43 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern u16 tagslotpos;
-extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
+
+extern u16 tagslotpos,current_slotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag,current_sync_sec,tagpoll_sync_sec,flag_tagnewpos;
float key_keeptime;
extern float motor_ontime;
+extern uint16_t rec_tagperiod;
+void GetRandomPos(void)
+{
+ current_slotpos = HAL_LPTIM_ReadCounter(&hlptim1)%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
SystemClock_Config();
- g_start_send_flag=1;
+
// current_slotnum++;
// SetNextPollTime(tagslotpos);
+ if(current_slotpos>=max_slotpos)
+ {
+ GetRandomPos();
+ }
+ if(current_sync_sec==tagpoll_sync_sec)
+ {
+ g_start_send_flag=1;
+ }
+ current_sync_sec++;
+ if(current_sync_sec>=(rec_tagperiod)/10||current_sync_sec>10)
+ {
+ current_sync_sec=0;
+ }
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=1/(float)tag_frequency;
+ motor_keeptime-=1/(float)tag_frequency;
}
if(motor_keeptime<0)
{motor_keeptime = 0;}
--
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