From 5cb49dea0738db6c205fcaf21a7cb3cc043e5dc8 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 25 六月 2023 16:16:00 +0800
Subject: [PATCH] V2.50
---
Src/main.c | 56 ++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 42 insertions(+), 14 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 4341937..7f5a575 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -275,7 +275,9 @@
}
}
+uint8_t uwb_active_flag = 0;
u8 active_flag=0;
+u16 nomovesleep_time=0,interval;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -286,7 +288,7 @@
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] = (2<<8)|63;
+ g_com_map[VERSION] = (2<<8)|50;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -303,18 +305,12 @@
// g_com_map[IMU_ENABLE]=0;
// g_com_map[COM_INTERVAL]=50;
active_flag = g_com_map[ACTIVE_INDEX];
- if(active_flag==0)
- {
- g_com_map[COM_INTERVAL]=1000;
- g_com_map[IMU_ENABLE]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
- g_com_map[MOTOR_ENABLE]=0;
- }
+
//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];
-
+ uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
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;
@@ -323,14 +319,25 @@
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];
+
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
+ nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
+ interval = g_com_map[COM_INTERVAL];
+ if(active_flag==0)
+ {
+ interval=1000;
+ imu_enable=1;
+ nomovesleep_time = 10;
+ motor_enable=0;
+ }
+ tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+ printf("固件版本:SS双路定位标签-防撞标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -360,7 +367,7 @@
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
{
- g_com_map[MOTORBEEPER_INDEX] = 2;
+ g_com_map[MOTORBEEPER_INDEX] = 1;
}
hardware_type = g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
@@ -377,6 +384,25 @@
MX_TIM2_Init();
break;
}
+}
+
+void DoubleClickProcess(void)
+{ char temp[50];
+ uint8_t len;
+if(uwb_active_flag)
+{
+ uwb_active_flag = 0;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(3000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}else{
+ uwb_active_flag = 1;
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_Delay(1000);
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+}
+ g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
+save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
@@ -461,7 +487,7 @@
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
- if(g_start_send_flag&&active_flag)
+ if(g_start_send_flag&&active_flag&&uwb_active_flag)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
// GetPressAndTemp();
@@ -932,7 +958,7 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
-extern float motor_ontime;
+extern float motor_ontime,button_delay;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -940,6 +966,8 @@
g_start_send_flag=1;
// current_slotnum++;
// SetNextPollTime(tagslotpos);
+ if(button_delay<1)
+ button_delay+=1/(float)tag_frequency;
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
@@ -998,7 +1026,7 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleep_time-1&&imu_enable)
{
gotosleep_flag=1;
}else{
--
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