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 | 186 ++++++++++++++++++++++++++++++---------------
1 files changed, 123 insertions(+), 63 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index e836c4a..2f8c0ba 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -37,8 +37,8 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-//#define DEBUG_MODE
-#define Period (uint32_t) 32768
+#define DEBUG_MODE
+#define Period (uint32_t) 32768 - 1
#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */
@@ -77,13 +77,12 @@
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t dev_id;
-extern uint8_t g_start_sync_flag;
uint16_t heartbeat_timer,poll_timer,sync_timer;
-uint8_t aRxBuffer[1];
+uint8_t aRxBuffer[1],group_id;
void IdleTask(void)
{
- g_start_sync_flag=0;
+
UART_CheckReceive();
UART_CheckSend();
@@ -93,9 +92,14 @@
}
if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
- LED_LR_ON;
+ LED_TR_ON;
+ LED_TB_OFF;
}else{
- LED_LR_OFF;
+ LED_TR_OFF;
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ LED_TB_ON;
+ }
}
if(g_com_map[CNT_UPDATE]==1)
{
@@ -114,12 +118,59 @@
// 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;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
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;
@@ -127,26 +178,31 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0107;
+ g_com_map[VERSION] = 0x0109;
#ifdef DEBUG_MODE
- g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=1000;
- g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+ g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
#endif
+ 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]*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();
@@ -170,20 +226,18 @@
/* Enable the fast wake up from Ultra low power mode */
HAL_PWREx_EnableFastWakeUp();
}
+void mcu_sleep(void);
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-uint8_t bat_percent=0;
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
-{
- /* Set transmission flag: trasfer complete*/
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
-
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
-}
+uint8_t bat_percent=0,g_start_send_flag;
+//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
+//{
+// /* Set transmission flag: trasfer complete*/
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+//
+
+//}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -220,7 +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();
@@ -233,6 +287,9 @@
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
waitusart_timer=1;
+ DW_DISABLE;
+// HAL_Delay(2000);
+// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
@@ -249,21 +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();
@@ -273,11 +333,6 @@
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
{
- HAL_UART_DMAStop(&huart1);
- if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
- {
- Error_Handler();
- }
// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
}
@@ -285,7 +340,7 @@
}else{
IdleTask();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
// HAL_Delay(100);
// Get_Battary();
@@ -429,10 +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 */
}
@@ -506,10 +561,14 @@
}
/* USER CODE BEGIN USART1_Init 2 */
- if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
- {
- Error_Handler();
- }
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+// {
+// Error_Handler();
+// }
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
@@ -547,16 +606,16 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, DW_CTRL_Pin|SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_Pin, GPIO_PIN_SET);
-
- /*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -578,7 +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;
@@ -603,6 +662,12 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : INPUT_5V_Pin */
+ GPIO_InitStruct.Pin = INPUT_5V_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
@@ -655,15 +720,10 @@
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])
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
// mcu_sleep();
}
--
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