From 5c6608fc16627430bcdbaf4917c608e61b7db77c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 四月 2023 10:26:57 +0800
Subject: [PATCH] 初步测试完成
---
Src/main.c | 199 ++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 155 insertions(+), 44 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index e9843db..191cbc1 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -187,7 +187,8 @@
}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
- nomove_count = 0;
+ //nomove_count = 0;
+ bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
@@ -196,9 +197,9 @@
if(bat_percent>99)
{
LED_LR_OFF;
- LED_LG_ON;
+ //LED_LG_ON;
}else{
- LED_LR_ON;
+ // LED_LR_ON;
LED_LG_OFF;
}
}else{
@@ -249,19 +250,20 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-
+ int32_t lpcount,lptime,target_time;
void SetNextPollTime(u16 time)
{
- 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;
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus;
- lpcount = lptime/LPTIMER_LSB;
+
+// 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;
+ lpcount+=g_com_map[COM_INTERVAL]*LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
if(lpcount<0)
@@ -269,7 +271,6 @@
lpcount+=LPTIMER_1S_COUNT;
}
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
}
void HardWareTypeDiffConfig(void)
@@ -282,7 +283,7 @@
{
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 +296,8 @@
break;
}
}
+int16_t g_commap_antdelay;
+u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -305,26 +308,13 @@
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;
-#ifdef DEBUG_MODE
-// 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
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(module_power>67)
- {module_power=67;}
- if(module_power<0)
- {module_power=0;}
- module_power = g_com_map[POWER];
+ g_com_map[VERSION] = (1<<8)|33;
+ 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];
+ g_com_map[GROUP_ID] = 98;
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;
@@ -332,8 +322,36 @@
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];
+ 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;
+ g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
+#endif
+
+ 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<0)
+ {module_power=0;}
+ 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
@@ -341,9 +359,32 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
- printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.bco=63488");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.txt=\"等待串口通讯\"");
+
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.bco=63488");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.txt=\"等待测距\"");
+
+// USART_putc(0xff);
+// USART_putc(0xff);
+// USART_putc(0xff);
+// printf("t2.bco=2024");
+// USART_putc(0xff);
+// USART_putc(0xff);
+// USART_putc(0xff);
+// printf("t2.txt=\"无测距\"");
// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -374,6 +415,7 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+u8 flag_entersleep1=0,flag_entersleep2=0;
/* USER CODE END 0 */
/**
@@ -414,7 +456,7 @@
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -472,7 +514,7 @@
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))
+if(flag_entersleep1*flag_entersleep2==1)
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -914,8 +956,67 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
+extern u8 flag_usartrecok,flag_uwbrange_ok;
+extern int32_t uwb_dist;
+void LCDPROCESS(void)
+{
+ if(flag_usartrecok)
+ {
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.bco=2024");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.txt=\"串口通讯成功\"");
+ flag_entersleep1 = 1;
+
+ }else{
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.bco=63488");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t0.txt=\"等待串口通讯\"");
+ }
+ if(flag_uwbrange_ok)
+ {
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.bco=2024");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.txt=\"测距成功\"");
+
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t2.bco=2024");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t2.txt=\"距离:%d\"",uwb_dist);
+ flag_entersleep2 = 1;
+ }else{
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.bco=63488");
+ USART_putc(0xff);
+ USART_putc(0xff);
+ USART_putc(0xff);
+ printf("t1.txt=\"等待测距\"");
+ }
+
+}
+float lcd_count=0;
extern uint8_t tx_near_msg[80],stationary_flag;
-float key_keeptime;
+float key_keeptime,lcdtimer;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -924,6 +1025,12 @@
current_slotnum++;
SetNextPollTime(tyncpoll_time);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ lcdtimer+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(lcdtimer-lcd_count>0.5)
+ {
+ lcd_count = lcdtimer;
+ LCDPROCESS();
+ }
if(motor_keeptime>0)
{
motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
@@ -933,6 +1040,10 @@
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{
@@ -944,14 +1055,14 @@
}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)
- {
- mcu_sleep();
- }
+// if(nomove_count>nomovesleeptime&&imu_enable)
+// {
+// mcu_sleep();
+// }
}
/* USER CODE END 4 */
--
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