From 3e165b6f13bfaf66385d857819cacff6e4d6f37c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 20 六月 2020 22:31:03 +0800
Subject: [PATCH] 时间同步完成，多基站有问题，时间不对
---
Src/main.c | 80 +++++++++++++++++++++++++++-------------
1 files changed, 54 insertions(+), 26 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2d854a7..2f8c0ba 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 */
@@ -138,9 +138,39 @@
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
-uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency;
+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;
+}
+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;
@@ -164,14 +194,15 @@
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();
@@ -243,7 +274,7 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- MX_USART1_UART_Init();
+ // MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
MX_DMA_Init();
@@ -254,7 +285,7 @@
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);
@@ -275,22 +306,24 @@
{ static uint16_t blink_count=0;
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;
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();
@@ -451,10 +484,10 @@
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 */
}
@@ -604,7 +637,7 @@
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;
@@ -687,17 +720,12 @@
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 */
--
Gitblit v1.9.3