From 49ea99f3529ef4519d2e2a2db26d3fc81668e35c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 28 十月 2021 22:15:13 +0800
Subject: [PATCH] 时间片问题解决，10秒 2千包
---
Src/main.c | 69 ++++++++--------------------------
1 files changed, 17 insertions(+), 52 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 806fe84..b41edc2 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -253,40 +253,9 @@
#define FIXSLOTPOS 4
u16 slotpos_intoatl;
uint16_t bigslot_num;
-uint8_t fix_slotpos =FIXSLOTPOS;
-int32_t lpcount,lptime,target_time;
-extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
-{
-#ifdef FIXSLOT
- fix_slotpos =FIXSLOTPOS;
- fix_slotpos = g_com_map[ALARM_DISTANCE2];
- slotpos = fix_slotpos;
- tagslotpos = fix_slotpos;
-#endif
- while(current_slotnum>=tag_frequency)
- { current_slotnum-=tag_frequency;}
- slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
- if(current_slotnum==19)
- {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
- target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
-
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus+1200;
- 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 ErrorConfig_Handler(void)
{
if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
@@ -311,14 +280,14 @@
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] = 0x0223;
+ g_com_map[VERSION] = 0x0225;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=0x4009;
// g_com_map[ACTIVE_INDEX]=1;
- g_com_map[COM_INTERVAL]=100;
+ 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;
@@ -326,7 +295,7 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=1000;
+ g_com_map[COM_INTERVAL]=50;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{
@@ -335,7 +304,7 @@
g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[MOTOR_ENABLE]=0;
}
-g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
+//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -399,7 +368,6 @@
break;
case 2:
MX_TIM2_Init();
- BarInit();
break;
}
}
@@ -447,7 +415,7 @@
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
- // BarInit();
+ BarInit();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -478,9 +446,15 @@
// {
// MODBUS_Poll();
// }
+if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+ {
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+#endif
+ }
if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
- SystemClock_Config();
g_start_send_flag = 0;
// GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
@@ -505,15 +479,7 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#ifndef DEBUG_MODE
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-#endif
- }
-
-
+
}else{
IdleTask();
}
@@ -958,11 +924,10 @@
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
- i++;
-
+ SystemClock_Config();
g_start_send_flag=1;
- current_slotnum++;
- SetNextPollTime(tagslotpos);
+// current_slotnum++;
+// SetNextPollTime(tagslotpos);
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
--
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