From 797fccdda3b17dda578a5e15e59958cd67dd180b Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 13 二月 2023 10:35:36 +0800
Subject: [PATCH] V1.45 V2.12 免布线标签必须搭配免布线基站1.44使用 1.通过4G可以下发标签可以读取和修改免布线基站参数，（看文档$readpara_anchor $writepara_anchor）. 2.增加基站频率动态修改功能（基站默认频率1HZ，如果周围标签，则按照频率最高的标签测距，没有标签后30秒变回1hz） 3.修改升级和恢复出厂设置逻辑，只能串口通讯才能触发。
---
Src/main.c | 71 +++++++++++++----------------------
1 files changed, 26 insertions(+), 45 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index b473b00..7b41856 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -145,38 +145,6 @@
LED_LG_OFF;
// }
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // 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
@@ -206,7 +174,7 @@
// {
// lpcount+=LPTIMER_1S_COUNT;
// }
- lpcount = last_lpcount+g_com_map[COM_INTERVAL]*32.768;
+ lpcount = last_lpcount+32768/tag_frequency;
while(lpcount>LPTIMER_1S_COUNT)
{
lpcount-=LPTIMER_1S_COUNT;
@@ -250,7 +218,16 @@
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] = (1<<8)|43;
+ g_com_map[VERSION] = (1<<8)|45;
+
+ #ifdef DEBUG_MODE
+// g_com_map[GROUP_ID]=21;
+// g_com_map[DEV_ID]=4;
+ // g_com_map[COM_INTERVAL]=100;
+ // g_com_map[MAX_REPORT_ANC_NUM]=1;
+ // g_com_map[NOMOVESLEEP_TIME]=10;
+ #endif
+
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
@@ -271,13 +248,7 @@
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)
{
@@ -456,7 +427,11 @@
waitusart_timer--;
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
+ {
+ if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
@@ -908,21 +883,27 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
+extern float freqlost_count;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
current_slotnum++;
+ freqlost_count+=1/(float)tag_frequency;
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ tag_frequency = NOTAG_FREQ;
+ }
SetNextPollTime(tyncpoll_time);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
}
if(!GET_USERKEY)
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
g_com_map[ACTIVE_INDEX]=!active_flag;
--
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