From a5e16e925923fa444276ca51f0e7c0cbbe07a96c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 27 五月 2023 15:51:54 +0800
Subject: [PATCH] V1.58 香港机场测试，有BUG
---
Src/main.c | 121 ++++++++++++++++++----------------------
1 files changed, 54 insertions(+), 67 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 174b62c..45b85a7 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -115,10 +115,10 @@
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
-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(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
@@ -145,41 +145,9 @@
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)
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
- 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
+ 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-time*LPTIMER_LSB;
while(lpcount>LPTIMER_1S_COUNT)
{
lpcount-=LPTIMER_1S_COUNT;
@@ -218,20 +186,20 @@
void HardWareTypeDiffConfig(void)
{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
-//hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ //hardware_type=2;
+ if(hardware_type == 0)
+ hardware_type = 1;
switch(hardware_type)
{
case 1:
HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = MOTOR_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = MOTOR_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
break;
case 2:
MX_TIM2_Init();
@@ -250,9 +218,20 @@
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)|40;
+ g_com_map[VERSION] = (1<<8)|58;
+
+ #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
+ g_com_map[GROUP_ID]=2;
+ g_com_map[COM_INTERVAL] = 1000;
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
+ g_com_map[IMU_ENABLE] = 0;
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -271,13 +250,7 @@
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)
{
@@ -295,11 +268,8 @@
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]);
-
-
+ printf("固件版本: 免布线基站 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
@@ -426,7 +396,7 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag&&active_flag)
+ if(g_start_send_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -456,7 +426,11 @@
waitusart_timer--;
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
- {
+ {
+ if(memcmp(g_com_map2,g_com_map,200)!=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 +882,34 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
+extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
i++;
g_start_send_flag=1;
current_slotnum++;
- SetNextPollTime(tyncpoll_time);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ freqlost_count+=1/(float)tag_frequency;
+ range_lost_time +=1/(float)tag_frequency;
+
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ tag_frequency = NOTAG_FREQ;
+ }
+ if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
+ {
+ SetNextPollTime(0);
+ }else{
+ SetNextPollTime(5);
+ }
+ 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;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
g_com_map[ACTIVE_INDEX]=!active_flag;
--
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