From aeceb47ebd7883a54a9f7d842f26b6c061bf18d1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 12 十月 2022 14:49:50 +0800
Subject: [PATCH] 修改加速计驱动
---
Src/main.c | 411 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 256 insertions(+), 155 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index b4cea85..38b5067 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -29,6 +28,9 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
+
+#define NSH1 0x0001
+#define GP 0x0002
//#define DEBUG_MODE
/* USER CODE END Includes */
@@ -40,8 +42,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
-#define Period (uint32_t) 32768 - 1
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -55,6 +56,8 @@
LPTIM_HandleTypeDef hlptim1;
SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -72,6 +75,7 @@
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -88,6 +92,7 @@
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
+float motor_keeptime;
uint8_t imu_enable,motor_enable;
u16 GetLPTime(void)
{
@@ -96,7 +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))
@@ -104,9 +109,11 @@
Error_Handler();
}
}
+uint16_t hardware_version,hardware_pici,hardware_type;
+u16 current_time;
uint8_t state5v;
void IdleTask(void)
-{u16 current_time;
+{
UART_CheckReceive();
UART_CheckSend();
@@ -125,27 +132,60 @@
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
+
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ //motor_state=2;
switch(motor_state)
{case 0:
- MOTOR_OFF;
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
break;
case 1:
if(current_time<MOTOR_ONTIME)
{
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
}else{
- MOTOR_OFF;
- }
-
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ }
break;
case 2:
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
break;
case 3:
- MOTOR_OFF;
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
break;
}
}
+ bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -154,7 +194,7 @@
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
LED_LR_OFF;
LED_LG_ON;
@@ -210,72 +250,16 @@
u16 current_slotnum;
extern int32_t offsettimeus;
-#define FIXSLOT
-#define FIXSLOTPOS 1
+//#define FIXSLOT
+#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)
+
+
+
+void ErrorConfig_Handler(void)
{
-
-#ifdef FIXSLOT
- fix_slotpos =0;// g_com_map[ALARM_DISTANCE1];
- slotpos = fix_slotpos;
- tagslotpos = fix_slotpos;
-#endif
-
- if(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-10000;
- 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);
-}
-}
-u8 active_flag=0;
-void Program_Init(void)
-{ float temp;
- uint16_t temp2;
- uint16_t i;
- Usart1ParseDataCallback = UsartParseDataHandler;
- parameter_init();
- //deca_sleep(1000);
- g_com_map[VERSION] = 0x020f;
-#ifdef DEBUG_MODE
-// g_com_map[DEV_ROLE]=1;
- // g_com_map[DEV_ID]=0x11;
-// g_com_map[COM_INTERVAL]=100;
-// g_com_map[MAX_REPORT_ANC_NUM]=1;
-// g_com_map[NOMOVESLEEP_TIME]=10;
- g_com_map[IMU_ENABLE]=0;
- //g_com_map[COM_INTERVAL]=50;
-#endif
-//g_com_map[NOMOVESLEEP_TIME]=10;
-// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=50;
- active_flag = g_com_map[ACTIVE_INDEX];
- if(active_flag==0)
- { g_com_map[COM_INTERVAL]=1000;
- g_com_map[IMU_ENABLE]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
- g_com_map[MOTOR_ENABLE]=0;
- }
- if(g_com_map[COM_INTERVAL]==0)
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
g_com_map[COM_INTERVAL]=100;
}
@@ -285,6 +269,43 @@
{g_com_map[POWER]=MAX_RFPOWER;}
if(g_com_map[POWER]<0)
{g_com_map[POWER]=0;}
+}
+u8 active_flag=0;
+void Program_Init(void)
+{ float temp;
+ uint16_t temp2;
+ uint16_t i;
+ Usart1ParseDataCallback = UsartParseDataHandler;
+ parameter_init();
+ hardware_version= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
+ 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] = 0x022c;
+
+// 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]=50;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[IMU_ENABLE]=0;
+// g_com_map[COM_INTERVAL]=50;
+#endif
+//g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[IMU_ENABLE]=0;
+// g_com_map[COM_INTERVAL]=50;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ if(active_flag==0)
+ {
+ g_com_map[COM_INTERVAL]=1000;
+ g_com_map[IMU_ENABLE]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
+ g_com_map[MOTOR_ENABLE]=0;
+ }
+//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -292,7 +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;
@@ -306,9 +327,9 @@
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("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("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -328,13 +349,30 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
-//{
-// /* Set transmission flag: trasfer complete*/
-// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
-//
-//}
+void HardWareTypeDiffConfig(void)
+{
+ 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:
+ 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);
+ break;
+ case 2:
+ MX_TIM2_Init();
+ break;
+ }
+}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -350,7 +388,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -371,25 +408,28 @@
/* 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();
+ //MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
+ 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;;
+ dwt_entersleep();
+// 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();
}
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -408,11 +448,17 @@
// {
// 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)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -420,8 +466,7 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
+ __disable_irq();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -431,21 +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)
- {
-#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();
}
@@ -468,14 +506,15 @@
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
+ /** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
+ /** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
@@ -489,7 +528,7 @@
{
Error_Handler();
}
- /** Initializes the CPU, AHB and APB busses clocks
+ /** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -529,7 +568,7 @@
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
- /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
hadc.Init.OversamplingMode = DISABLE;
@@ -552,7 +591,7 @@
{
Error_Handler();
}
- /** Configure for the selected ADC regular channel to be converted.
+ /** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
@@ -640,6 +679,69 @@
}
/**
+ * @brief TIM2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM2_Init(void)
+{
+
+ /* USER CODE BEGIN TIM2_Init 0 */
+
+ /* USER CODE END TIM2_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+
+ /* USER CODE BEGIN TIM2_Init 1 */
+
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 9;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 1171;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 599;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
+// {
+// /* Starting Error */
+// Error_Handler();
+// }
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
* @brief USART1 Initialization Function
* @param None
* @retval None
@@ -671,25 +773,25 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
- GPIO_InitStruct.Pin = GPIO_PIN_9;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
- {
- Error_Handler();
- }
+// GPIO_InitStruct.Pin = GPIO_PIN_9;
+// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+// GPIO_InitStruct.Pull = GPIO_PULLUP;
+// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+// GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+// {
+// Error_Handler();
+// }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -721,7 +823,7 @@
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|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);
@@ -734,12 +836,6 @@
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /*Configure GPIO pin : BAT_MEAS_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
@@ -768,20 +864,18 @@
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
- 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;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
/*Configure GPIO pin : INPUT_5V_Pin */
GPIO_InitStruct.Pin = INPUT_5V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : LED1_G_Pin LED1_R_Pin LED2_R_Pin PWR_CTL_Pin */
+ GPIO_InitStruct.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;
+ 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;
@@ -834,17 +928,23 @@
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
- i++;
+ SystemClock_Config();
g_start_send_flag=1;
- current_slotnum++;
- SetNextPollTime(tagslotpos);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+// current_slotnum++;
+// SetNextPollTime(tagslotpos);
+ nomove_count+=1/(float)tag_frequency;
+ if(motor_keeptime>0)
+ {
+ motor_keeptime-=1/(float)tag_frequency;
+ }
+ if(motor_keeptime<0)
+ {motor_keeptime = 0;}
if(active_flag==0)
{
if(!GET_USERKEY)
{
LED_LG_ON;
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>3)
{
u8 i=250,keystate=1;
@@ -873,16 +973,10 @@
}
}
- if(motor_ontime>0)
- {
- motor_ontime-=(float)1/tag_frequency;
- motor_state = 2;
- }else{
- motor_state = 0;
- }
+
if(!GET_USERKEY)
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
@@ -890,7 +984,7 @@
}else{
key_keeptime=0;
}
- if(nomove_count>STATIONARY_TIME)
+ if(nomove_count>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
}else{
@@ -902,10 +996,12 @@
}else{
gotosleep_flag=0;
}
+#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
+#endif
}
/* USER CODE END 4 */
@@ -917,7 +1013,12 @@
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
-
+// while (1)
+// {}
+// /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+// //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// /* USER CODE END W1_HardFault_IRQn 0 */
+// }
/* USER CODE END Error_Handler_Debug */
}
@@ -930,7 +1031,7 @@
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
-{
+{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
--
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