From 89d1221d104e5283832a871c8c734b7ddb421ddb Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 22 十一月 2023 14:41:44 +0800
Subject: [PATCH] 未修改完成，先提交。防撞测距正常，改为1024前导码，并加入LDE抗反射。
---
Src/main.c | 18 +++++++++++++++---
1 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a83bbd0..2db5abe 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -33,7 +33,7 @@
#define NSH1 0x0001
#define GP 0x0002
#define FLASH_HARDWARE_VERSION_MAP (uint32_t)0x08004F00 //硬件版本号和批次信息位置
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -303,7 +303,7 @@
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;
+// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
total_slotnum = 1000/g_com_map[COM_INTERVAL];
nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
if(active_flag==0)
@@ -909,6 +909,8 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
+uint16_t current_count1;
+uint16_t lpcount1;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -916,6 +918,16 @@
g_start_send_flag=1;
current_slotnum++;
// SetNextPollTime(tyncpoll_time);
+
+ current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount1 = current_count1+32.768*g_com_map[COM_INTERVAL];;
+ if(lpcount1>=32768)
+ {
+ lpcount1 -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1);
+
+
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
if(motor_keeptime>0)
{
@@ -943,7 +955,7 @@
}
if(nomove_count>=nomovesleeptime-1&&imu_enable)
{
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+// tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
}
if(nomove_count>nomovesleeptime&&imu_enable)
{
--
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