From 8f55070fefc9edde12a09fe00e2e8d512e8ddd34 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 19 四月 2021 10:54:49 +0800
Subject: [PATCH] V1.21 更改SFD模式
---
Src/main.c | 110 +++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 83 insertions(+), 27 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 1e06eb4..4eb8b08 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 -----------------------------------------------------------*/
@@ -85,22 +87,34 @@
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;
UART_CheckReceive();
UART_CheckSend();
-//if(huart1.Instance->ISR&USART_ISR_FE)
-// {
-// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
-// }
+if(huart1.Instance->ISR&USART_ISR_FE)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
// LED_TR_ON;
@@ -109,12 +123,19 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
+// if(g_com_map[MOTOR_ONTIME]>0)
+// {
+// g_com_map[MOTOR_ONTIME]--;
+// motor_state = 1;
+// }
+if(motor_enable)
+{
switch(motor_state)
{case 0:
MOTOR_OFF;
break;
case 1:
- if(current_time<MOTOR_ONTIME)
+ if(current_time<WARNING_MOTORONTIME)
{
MOTOR_ON;
}else{
@@ -129,19 +150,29 @@
MOTOR_OFF;
break;
}
+}else{
+ MOTOR_OFF;
+}
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)
@@ -174,6 +205,10 @@
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
}
@@ -211,7 +246,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x010b;
+ g_com_map[VERSION] = 0x0115;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -219,15 +254,21 @@
// 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];
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;
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;
@@ -240,7 +281,7 @@
{
Error_Handler();
}
-
+//g_com_map[NOMOVESLEEP_TIME]=5;
printf("标签ID: %d .\r\n",dev_id);
printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
@@ -306,11 +347,12 @@
/* 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();
@@ -353,13 +395,13 @@
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();
@@ -367,10 +409,12 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ 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
}
@@ -649,7 +693,7 @@
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 +740,10 @@
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;
@@ -753,7 +799,7 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern float nomove_count;
+extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
@@ -773,6 +819,16 @@
}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();
--
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