From 66a0a3cb781c5818d8ad5f4aaddfd606d0b2acc5 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 10 十月 2023 11:28:40 +0800
Subject: [PATCH] 1
---
Src/main.c | 28 +++++++++++++++++-----------
1 files changed, 17 insertions(+), 11 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 0e0f583..e1be2fd 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -277,6 +277,7 @@
}
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
+u16 nomovesleep_time=0,interval;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -287,7 +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)|65;
+ g_com_map[VERSION] = (2<<8)|55;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -304,13 +305,7 @@
// 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];
@@ -324,14 +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]);
@@ -361,7 +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)
@@ -1020,7 +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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