From 60c22dec163efa6611827bf1f71466a133aed731 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 04 十二月 2020 12:12:42 +0800
Subject: [PATCH] 关闭DEBUG MODE
---
Src/main.c | 465 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 382 insertions(+), 83 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 72c54d1..73db1de 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -28,6 +28,8 @@
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
+#include "dw_app.h"
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -37,8 +39,8 @@
/* 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 */
@@ -77,15 +79,95 @@
/* 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;
-
-void IdleTask(void)
+uint8_t aRxBuffer[1],group_id;
+uint8_t bat_percent=0,g_start_send_flag;
+extern u8 motor_state;
+uint16_t tyncpoll_time,lpsettime;
+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)
{
- g_start_sync_flag=0;
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
+void UsartInit(void)
+{
+ waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
+}
+uint8_t state5v;
+void IdleTask(void)
+{u16 current_time;
+
UART_CheckReceive();
UART_CheckSend();
+if(huart1.Instance->ISR&USART_ISR_FE)
+ {
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
+//{
+// LED_TR_ON;
+// LED_TB_OFF;
+//}else{
+// LED_TR_OFF;
+ current_time=GetLPTime();
+ //motor_state=2;
+if(g_com_map[MOTOR_ENABLE])
+{
+ switch(motor_state)
+ {case 0:
+ MOTOR_OFF;
+ break;
+ case 1:
+ if(current_time<MOTOR_ONTIME)
+ {
+ MOTOR_ON;
+ }else{
+ MOTOR_OFF;
+ }
+
+ break;
+ case 2:
+ MOTOR_ON;
+ break;
+ case 3:
+ MOTOR_OFF;
+ break;
+ }
+}
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ nomove_count = 0;
+ if(state5v==0)
+ {
+ state5v=1;
+ UsartInit();
+ }
+ if(bat_percent>99)
+ {
+ LED_LR_OFF;
+ LED_LG_ON;
+ }else{
+ LED_LR_ON;
+ LED_LG_OFF;
+ }
+ }else{
+ state5v=0;
+ LED_LR_OFF;
+ LED_LG_OFF;
+// }
+}
if(g_com_map[CNT_UPDATE]==1)
{
uint32_t result = 0;
@@ -103,10 +185,66 @@
// 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
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
-uint16_t tyncpoll_time,lpsettime;
-uint16_t slottime,max_slotpos;
+
+
+u16 current_slotnum;
+extern int32_t offsettimeus;
+//#define FIXSLOT
+#define FIXSLOTPOS 0
+u16 slotpos_intoatl;
+uint16_t bigslot_num;
+uint8_t fix_slotpos =FIXSLOTPOS;
+int32_t lpcount,lptime,target_time;
+void SetNextPollTime(u16 slotpos)
+{
+
+#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-10000;
+ 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);
+}
+}
+u8 active_flag=0;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -114,24 +252,57 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
-
+ g_com_map[VERSION] = 0x020b;
#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[DEV_ROLE]=1;
+ g_com_map[DEV_ID]=0x11;
+// g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[NOMOVESLEEP_TIME]=10;
+ g_com_map[IMU_ENABLE]=0;
+ //g_com_map[COM_INTERVAL]=50;
#endif
- g_com_map[VERSION] = 0x0107;
+//g_com_map[NOMOVESLEEP_TIME]=10;
+// 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;
+ }
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(g_com_map[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=2;}
+ if(g_com_map[POWER]>MAX_RFPOWER)
+ {g_com_map[POWER]=MAX_RFPOWER;}
+ if(g_com_map[POWER]<0)
+ {g_com_map[POWER]=0;}
+ 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]*SLOT_SCALE)+3;
+ slottime = 5;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
- lpsettime=g_com_map[COM_INTERVAL]*32.8;
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, lpsettime, lpsettime) != HAL_OK)
+ 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();
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
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]);
@@ -141,6 +312,7 @@
// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
}
+
static void SystemPower_Config(void)
{
/* Enable Ultra low power mode */
@@ -149,8 +321,21 @@
/* 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;
+extern uint8_t sleep_flag,m_bEUARTTxEn;
+uint16_t waitusart_timer;
+//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
+}
/* USER CODE END 0 */
/**
@@ -170,7 +355,7 @@
HAL_Init();
/* USER CODE BEGIN Init */
-
+//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
/* USER CODE END Init */
/* Configure the system clock */
@@ -183,22 +368,29 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
/* USER CODE BEGIN 2 */
- LIS3DH_Data_Init();
+ LED_LG_ON;
Program_Init();
+ LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
+
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ //dwt_entersleep();
+ waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
+ DW_DISABLE;
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
Error_Handler();
}
- SystemPower_Config();
+// HAL_Delay(2000);
+// mcu_sleep();
+ //LED0_BLINK;
+// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* USER CODE END 2 */
@@ -209,23 +401,52 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
-
-// if(sleep_flag)
+// while(1)
// {
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// MODBUS_Poll();
// }
- if(g_start_send_flag)
- {
+ if(g_start_send_flag&&active_flag)
+ { static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
- LED0_BLINK;
- Tag_App();
+
+// 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)
+ { LED_TB_ON;
+ Tag_App();
+ LED_TB_OFF;
+ }else{
+ LED_TR_ON;
+ Tag_App();
+ LED_TR_OFF;
+ }
+ //LED0_BLINK;
IdleTask();
- // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
+ if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ {
+#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();
}
- //HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
// HAL_Delay(100);
// Get_Battary();
@@ -369,10 +590,10 @@
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 */
}
@@ -424,7 +645,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
-
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -439,15 +660,25 @@
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);//??idle??
+// 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();
+// }
Usart1InitVariables();
- LED0_BLINK;
/* USER CODE END USART1_Init 2 */
}
@@ -487,13 +718,13 @@
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|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(MOTOR_GPIO_Port, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -534,15 +765,23 @@
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;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
- /*Configure GPIO pins : DW_WKUP_Pin LED2_G_Pin */
- GPIO_InitStruct.Pin = DW_WKUP_Pin|LED2_G_Pin;
+ /*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;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -565,45 +804,105 @@
{
HAL_GPIO_TogglePin(GPIOx, GPIO_Pin);
}
+void mcu_sleep(void)
+{
+ HAL_LPTIM_DeInit(&hlptim1);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = GPIO_PIN_All;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Clear all related wakeup flags*/
+ __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
+ /*Re-enable all used wakeup sources: Pin1(PA.0)*/
+ HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
+ /*Enter the Standby mode*/
+ HAL_PWR_EnterSTANDBYMode();
+}
+extern u16 tagslotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
+float key_keeptime;
+extern float motor_ontime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
-// switch(i)
-// {
-// case 1:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 2:
-// GPIO_Toggle(GPIOB,LED1_G_Pin);
-// break;
-// case 3:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 4:
-// GPIO_Toggle(GPIOB,LED1_R_Pin);
-// break;
-// case 5:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 6:
-// GPIO_Toggle(GPIOA,LED2_G_Pin);
-// break;
-// case 7:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 8:
-// GPIO_Toggle(GPIOB,LED2_R_Pin);
-// break;
-// case 9:
-// i=0;
-// break;
-//
-//
-//
-// }
-
+ current_slotnum++;
+ SetNextPollTime(tagslotpos);
+ nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(active_flag==0)
+ {
+ if(!GET_USERKEY)
+ {
+ LED_LG_ON;
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>3)
+ {
+ u8 i=250,keystate=1;
+ while(i--)
+ {
+ if(i%10==0)
+ {
+ LED_LG_BLINK;
+ }
+ if(GET_USERKEY)
+ {keystate = 0;}
+ if(keystate==0&&!GET_USERKEY)
+ {
+ parameter_init();
+ g_com_map[ACTIVE_INDEX] = 1;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ delay_ms(10);
+ }
+ }
+ }else{
+ LED_LG_OFF;
+ key_keeptime=0;
+ }
+
+ }
+ if(motor_ontime>0)
+ {
+ motor_ontime-=(float)1/tag_frequency;
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ if(!GET_USERKEY)
+ {
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>=KEY_KEEPRESET_TIME)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ }else{
+ key_keeptime=0;
+ }
+ if(nomove_count>STATIONARY_TIME)
+ {
+ stationary_flag = 1;
+ }else{
+ stationary_flag = 0;
+ }
+if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+ {
+ gotosleep_flag=1;
+ }else{
+ gotosleep_flag=0;
+ }
+ if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+ {
+ mcu_sleep();
+ }
}
/* USER CODE END 4 */
--
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