From 748e84eba0b5d27b681652df9e23f9d5a28e9b9b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 04 十一月 2020 18:41:09 +0800
Subject: [PATCH] V2.7 医院发货的下一次版本，增加5v输入不休眠
---
Src/main.c | 160 ++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 120 insertions(+), 40 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 29e6e16..1a151a8 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 -----------------------------------------------------------*/
@@ -85,12 +87,24 @@
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)
{
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;
@@ -109,6 +123,8 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
+if(g_com_map[MOTOR_ENABLE])
+{
switch(motor_state)
{case 0:
MOTOR_OFF;
@@ -129,19 +145,27 @@
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_TR_OFF;
- LED_TB_ON;
+ LED_LR_OFF;
+ LED_LG_ON;
}else{
- LED_TR_ON;
- LED_TB_OFF;
+ LED_LR_ON;
+ LED_LG_OFF;
}
}else{
- LED_TR_OFF;
- LED_TB_OFF;
+ state5v=0;
+ LED_LR_OFF;
+ LED_LG_OFF;
// }
}
if(g_com_map[CNT_UPDATE]==1)
@@ -176,21 +200,36 @@
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
+ }
}
-u16 total_slotnum,current_slotnum;
+u16 current_slotnum;
extern int32_t offsettimeus;
-
-void SetNextPollTime(u16 time)
+#define FIXSLOT
+#define FIXSLOTPOS 5
+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;
@@ -211,29 +250,40 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x010d;
+ g_com_map[VERSION] = 0x0207;
#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]=50;
#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(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]*0.4)+2;
+ //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
@@ -306,18 +356,19 @@
/* 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();
/* USER CODE BEGIN 2 */
+ 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();
+ //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))
@@ -338,6 +389,10 @@
/* 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();
@@ -353,13 +408,13 @@
bat_percent=Get_Battary();
if(bat_percent>15)
- { LED0_ON;
+ { LED_TB_ON;
Tag_App();
- LED0_OFF;
+ LED_TB_OFF;
}else{
- LED_LR_ON;
+ LED_TR_ON;
Tag_App();
- LED_LR_OFF;
+ LED_TR_OFF;
}
//LED0_BLINK;
IdleTask();
@@ -369,8 +424,10 @@
}
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
}
@@ -599,12 +656,12 @@
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();
@@ -649,7 +706,7 @@
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);
@@ -696,8 +753,10 @@
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;
@@ -753,16 +812,25 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern float nomove_count;
+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;
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ 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;
@@ -773,6 +841,18 @@
}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();
--
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