From 7b8a137768f244173209f115738366efa7878b2f Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 28 十月 2022 10:32:55 +0800
Subject: [PATCH] V1.36 1.增加UWB芯片电量检测 2.解决基站轮流丢包的问题。
---
Src/main.c | 168 +++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 111 insertions(+), 57 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index ac12441..21dc8d0 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -136,7 +136,7 @@
// g_com_map[MOTOR_ONTIME]--;
// motor_state = 1;
// }
-if(g_com_map[MOTOR_ENABLE])
+if(0)//g_com_map[MOTOR_ENABLE])
{
@@ -188,6 +188,7 @@
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
+ // bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
@@ -249,27 +250,33 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
-
+u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
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;
- //if(target_time<90000)
- {
- lptime=target_time-offsettimeus;
- lpcount = lptime/LPTIMER_LSB;
- if(lpcount>LPTIMER_1S_COUNT)
- lpcount-=LPTIMER_1S_COUNT;
- if(lpcount<0)
- {
- lpcount+=LPTIMER_1S_COUNT;
- }
+// if(current_slotnum>=total_slotnum)
+// current_slotnum-=total_slotnum;
+//
+// target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
+// //if(target_time<90000)
+// {
+// lptime=target_time-offsettimeus;
+// lpcount = lptime/LPTIMER_LSB;
+// if(lpcount>LPTIMER_1S_COUNT)
+// lpcount-=LPTIMER_1S_COUNT;
+// if(lpcount<0)
+// {
+// lpcount+=LPTIMER_1S_COUNT;
+// }
+ lpcount = last_lpcount+g_com_map[COM_INTERVAL]*32.768;
+ while(lpcount>LPTIMER_1S_COUNT)
+ {
+ lpcount-=LPTIMER_1S_COUNT;
+ }
+ last_lpcount = lpcount;
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
+
}
void HardWareTypeDiffConfig(void)
@@ -295,6 +302,7 @@
break;
}
}
+u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -305,23 +313,9 @@
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] = 0x0116;
-#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
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(module_power>67)
- {module_power=67;}
- if(module_power<0)
- {module_power=0;}
- module_power = g_com_map[POWER];
+ g_com_map[VERSION] = (1<<8)|36;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -332,8 +326,30 @@
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];
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
+ if(active_flag==0)
+ {
+ 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
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(module_power>67)
+ {module_power=67;}
+ if(module_power<0)
+ {module_power=0;}
+
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
@@ -380,6 +396,39 @@
* @brief The application entry point.
* @retval int
*/
+uint16_t temp2;
+float dw_vbat,last_vbat;
+uint8_t Get_Battary_UWB(void)
+{
+ static uint8_t first = 1;
+ static float last_value = 100;
+ static uint16_t bat_count = 0;
+ //if(bat_count++%600==0)
+ {
+ temp2=dwt_readtempvbat(1);
+ dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
+ if(fabs(dw_vbat-dw_vbat)>0.2)
+ {
+ last_vbat = dw_vbat;
+ return last_value;
+ }
+ last_vbat = dw_vbat;
+ if(dw_vbat>=3.0)
+ {
+ if(first)
+ {
+ first = 0;
+ last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
+ }
+ last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
+ if(last_value>100)
+ last_value = 100;
+ if(last_value<0)
+ last_value = 0;
+ }
+ }
+ return last_value;
+}
int main(void)
{
/* USER CODE BEGIN 1 */
@@ -405,18 +454,19 @@
/* 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();
+ // MX_ADC_Init();
+
// MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+// LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
- HardWareTypeDiffConfig();
+// HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
@@ -439,7 +489,7 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- 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;
@@ -450,9 +500,9 @@
// }else{
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
-// LED_TR_BLINK;
+// LED_TR_BLINK;s
- bat_percent=Get_Battary();
+
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -468,7 +518,7 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+ if(m_bEUARTTxEn==0&&waitusart_timer==0)
{
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -932,25 +982,29 @@
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
+ g_com_map[ACTIVE_INDEX]=!active_flag;
+ save_com_map_to_flash();
+ MOTOR_ON;
+ HAL_Delay(2000);
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)
- {
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
- }
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
- {
- mcu_sleep();
- }
+// if(nomove_count>STATIONARY_TIME)
+// {
+// stationary_flag = 1;
+// }else{
+// stationary_flag = 0;
+// }
+//if(nomove_count>=nomovesleeptime-1&&imu_enable)
+// {
+// tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+// }
+// if(nomove_count>nomovesleeptime&&imu_enable)
+// {
+// mcu_sleep();
+// }
}
/* USER CODE END 4 */
--
Gitblit v1.9.3