From 5739481744a7d26671190f6f327726e23843dd6d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 02 十一月 2020 15:34:13 +0800
Subject: [PATCH] Merge branch '定位-临近' into 定位临近_工卡
---
Src/main.c | 95 ++++++++++++++++++++++++++++++-----------------
1 files changed, 61 insertions(+), 34 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 8ea24f8..fde37e5 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -87,6 +87,7 @@
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
+extern float nomove_count;
uint8_t imu_enable,motor_enable;
u16 GetLPTime(void)
{
@@ -122,9 +123,9 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
- if(g_com_map[MOTOR_ONTIME]>0)
+ if(g_com_map[MOTOR_ONTIME_INDEX]>0)
{
- g_com_map[MOTOR_ONTIME]--;
+ g_com_map[MOTOR_ONTIME_INDEX]--;
motor_state = 1;
}
switch(motor_state)
@@ -149,6 +150,7 @@
}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
+ nomove_count = 0;
if(state5v==0)
{
state5v=1;
@@ -208,17 +210,28 @@
}
-u16 total_slotnum,current_slotnum;
+u16 current_slotnum;
extern int32_t offsettimeus;
-
-void SetNextPollTime(u16 time)
+#define FIXSLOT
+#define FIXSLOTPOS 3
+u16 slotpos_intoatl;
+uint16_t bigslot_num;
+uint8_t fix_slotpos =FIXSLOTPOS;
+int32_t lpcount,lptime,target_time;
+void SetNextPollTime(u16 slotpos)
{
- int32_t lpcount,lptime,target_time;
- if(current_slotnum>=total_slotnum)
- current_slotnum-=total_slotnum;
-
- target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+#ifdef FIXSLOT
+ slotpos = fix_slotpos;
+#endif
+
+ if(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;
@@ -239,21 +252,24 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0110;
+ g_com_map[VERSION] = 0x0205;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
+// g_com_map[DEV_ID]=0x123;
+// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[NOMOVESLEEP_TIME]=10;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=100;
#endif
-
+//g_com_map[NOMOVESLEEP_TIME]=10;
+ // g_com_map[COM_INTERVAL]=100;
if(g_com_map[COM_INTERVAL]==0)
{
g_com_map[COM_INTERVAL]=100;
}
- if(module_power>67)
- {module_power=67;}
+ if(module_power>MAX_RFPOWER)
+ {module_power=MAX_RFPOWER;}
if(module_power<0)
{module_power=0;}
module_power = g_com_map[POWER];
@@ -262,13 +278,14 @@
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;
+ //slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
+ slottime = 5;
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];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
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
@@ -298,6 +315,7 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
+extern double pressure,temperature;
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
// /* Set transmission flag: trasfer complete*/
@@ -341,7 +359,7 @@
/* 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();
@@ -349,6 +367,7 @@
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
+ BarInit();
Dw1000_Init();
Dw1000_App_Init();
@@ -374,11 +393,15 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
+// while(1)
+// {
+// MODBUS_Poll();
+// }
if(g_start_send_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)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -636,12 +659,12 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// GPIO_InitStruct.Pin = GPIO_PIN_9;
+// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+// GPIO_InitStruct.Pull = GPIO_PULLUP;
+// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+// GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
@@ -686,7 +709,7 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
@@ -733,8 +756,10 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
+ /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin
+ PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin
+ |PWR_CTL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -790,8 +815,8 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern uint8_t tx_near_msg[80],stationary_flag;
-extern float nomove_count;
+extern u16 tagslotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
@@ -799,7 +824,7 @@
i++;
g_start_send_flag=1;
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
if(!GET_USERKEY)
{
@@ -819,7 +844,9 @@
}
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
{
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+ gotosleep_flag=1;
+ }else{
+ gotosleep_flag=0;
}
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
--
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