From 34a46bcbc3a65ff69369a697c7a10d5992be6161 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 02 八月 2023 17:06:11 +0800
Subject: [PATCH] V1.37
---
Src/main.c | 80 +++++++++++++++++++++++++---------------
1 files changed, 50 insertions(+), 30 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index e9843db..b5c4dae 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -75,7 +75,7 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
-static void MX_ADC_Init(void);
+void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
@@ -188,6 +188,7 @@
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
+ bat_percent=Get_VDDVlotage();
if(state5v==0)
{
state5v=1;
@@ -226,10 +227,7 @@
}
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);
+ ReturnFactory();
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
if(g_com_map[CNT_RESTART]==1)
@@ -282,7 +280,7 @@
{
case 1:
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
GPIO_InitStruct.Pin = MOTOR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -295,6 +293,8 @@
break;
}
}
+int16_t g_commap_antdelay;
+u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -305,7 +305,27 @@
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)|37;
+ 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==0)
+ {
+ imu_enable=1;
+ nomovesleeptime =10;
+ }
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -321,19 +341,11 @@
{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];
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
+ g_commap_antdelay = -g_com_map[DIST_OFFSET];
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
@@ -374,6 +386,11 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+void MX_ADC_DeInit(void)
+{
+ HAL_ADC_DeInit(&hadc);
+ HAL_ADCEx_DisableVREFINT();
+}
/* USER CODE END 0 */
/**
@@ -405,16 +422,15 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- MX_DMA_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
-
-// MX_TIM2_Init();
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -440,7 +456,7 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
+ if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -453,7 +469,7 @@
// }
// LED_TR_BLINK;s
- bat_percent=Get_Battary();
+ bat_percent=Get_VDDVlotage();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -549,7 +565,7 @@
* @param None
* @retval None
*/
-static void MX_ADC_Init(void)
+void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
@@ -586,7 +602,7 @@
}
/** Configure for the selected ADC regular channel to be converted.
*/
- sConfig.Channel = ADC_CHANNEL_1;
+ sConfig.Channel = ADC_CHANNEL_VREFINT;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
@@ -933,6 +949,10 @@
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 +964,11 @@
}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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