From 863f8f72d0726c104db21799a8d642f4e04ac93f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 11 十一月 2021 17:40:09 +0800
Subject: [PATCH] Merge branch '定位-临近' into 定位-临近-物资
---
Src/main.c | 117 ++++++++++++++++++----------------------------------------
1 files changed, 37 insertions(+), 80 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index dbc7602..9a82b32 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}
void UsartInit(void)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+// 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))
@@ -109,11 +109,9 @@
Error_Handler();
}
}
-u8 active_flag=0;
uint16_t hardware_version,hardware_pici,hardware_type;
u16 current_time;
uint8_t state5v;
-u16 beepcount;
void IdleTask(void)
{
@@ -130,17 +128,7 @@
// LED_TB_OFF;
//}else{
// LED_TR_OFF;
-//if(active_flag)
-// {
-// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
-// if(current_time-beepcount>3||beepcount>current_time)
-// {
-// beepcount = current_time;
-// LED_BLINK(GPIOA, GPIO_PIN_11);
-// }
-//}
-
-
+ current_time=GetLPTime();
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
@@ -151,6 +139,7 @@
}else{
motor_state = 0;
}
+ //motor_state=2;
switch(motor_state)
{case 0:
if(hardware_type==NSH1)
@@ -265,40 +254,9 @@
#define FIXSLOTPOS 4
u16 slotpos_intoatl;
uint16_t bigslot_num;
-uint8_t fix_slotpos =FIXSLOTPOS;
-int32_t lpcount,lptime,target_time;
-extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
-{
-#ifdef FIXSLOT
- fix_slotpos =FIXSLOTPOS;
- fix_slotpos = g_com_map[ALARM_DISTANCE2];
- slotpos = fix_slotpos;
- tagslotpos = fix_slotpos;
-#endif
- while(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+1200;
- 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);
-}
-}
void ErrorConfig_Handler(void)
{
if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
@@ -312,7 +270,7 @@
if(g_com_map[POWER]<0)
{g_com_map[POWER]=0;}
}
-
+u8 active_flag=0;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -323,14 +281,14 @@
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] = 0x0226;
+ g_com_map[VERSION] = 0x022b;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=0x4009;
// g_com_map[ACTIVE_INDEX]=1;
-// g_com_map[COM_INTERVAL]=100;
+ g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -338,14 +296,13 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=1000;
+// g_com_map[COM_INTERVAL]=50;
active_flag = g_com_map[ACTIVE_INDEX];
- g_com_map[COM_INTERVAL]=50;
if(active_flag==0)
{
g_com_map[COM_INTERVAL]=1000;
g_com_map[IMU_ENABLE]=1;
- g_com_map[NOMOVESLEEP_TIME]=3;
+ g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[MOTOR_ENABLE]=0;
}
//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
@@ -356,7 +313,7 @@
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
//slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
- slottime = 5;
+ 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;
@@ -395,14 +352,15 @@
void HardWareTypeDiffConfig(void)
{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
-hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+ {
+ g_com_map[MOTORBEEPER_INDEX] = 1;
+ }
+ hardware_type = g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
{
- case 1:
-
+ case 1:
HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
GPIO_InitStruct.Pin = MOTOR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -459,19 +417,19 @@
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
- BarInit();
+ BarInit();
Dw1000_Init();
Dw1000_App_Init();
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;;
+// 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();
}
- LED_BLINK(GPIOA, GPIO_PIN_11);
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -490,9 +448,15 @@
// {
// MODBUS_Poll();
// }
+if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
+ {
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+#endif
+ }
if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
- SystemClock_Config();
g_start_send_flag = 0;
// GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
@@ -502,6 +466,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
+ __disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -511,21 +476,14 @@
Tag_App();
LED_TR_OFF;
}
+ __enable_irq();
//LED0_BLINK;
IdleTask();
if(waitusart_timer>0)
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#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();
}
@@ -862,10 +820,10 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, SCL_Pin|SDA_Pin|BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_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);
@@ -884,7 +842,7 @@
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- HAL_GPIO_Init(SCL_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
GPIO_InitStruct.Pin = SPI_CS_Pin;
@@ -920,7 +878,7 @@
HAL_GPIO_Init(GPIOB, &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_PIN_11;
+ 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;
@@ -970,11 +928,10 @@
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
- i++;
-
+ SystemClock_Config();
g_start_send_flag=1;
- current_slotnum++;
- SetNextPollTime(tagslotpos);
+// current_slotnum++;
+// SetNextPollTime(tagslotpos);
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
--
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