From baf8b42fca25208021259fde69eabdd2fc31cefa Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期六, 25 三月 2023 18:38:23 +0800
Subject: [PATCH] 阶段性调试1
---
Src/main.c | 66 ++++++++++++++++----------------
1 files changed, 33 insertions(+), 33 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 00b189d..69c9149 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 -----------------------------------------------------------*/
@@ -208,31 +208,7 @@
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)
- {
- 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;
@@ -281,7 +257,7 @@
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] = (2<<8)|54;
+ g_com_map[VERSION] = (2<<8)|62;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -318,7 +294,7 @@
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
lastpoll_time=tyncpoll_time;
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ tag_frequency = 1;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
@@ -353,11 +329,11 @@
void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
- //if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+ if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
{
g_com_map[MOTORBEEPER_INDEX] = 2;
}
- hardware_type = g_com_map[MOTORBEEPER_INDEX];
+ hardware_type = 1;//g_com_map[MOTORBEEPER_INDEX];;
switch(hardware_type)
{
case 1:
@@ -459,6 +435,7 @@
if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
g_start_send_flag = 0;
+ static u8 uwbcount =0;
// GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
@@ -477,6 +454,7 @@
Tag_App();
LED_TR_OFF;
}
+
__enable_irq();
//LED0_BLINK;
IdleTask();
@@ -924,17 +902,39 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern u16 tagslotpos;
-extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
+
+extern u16 tagslotpos,current_slotpos;
+extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag,current_sync_sec,tagpoll_sync_sec,flag_tagnewpos;
float key_keeptime;
extern float motor_ontime;
+extern uint16_t rec_tagperiod;
+void GetRandomPos(void)
+{
+ current_slotpos = HAL_LPTIM_ReadCounter(&hlptim1)%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
+}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
SystemClock_Config();
- g_start_send_flag=1;
+
// current_slotnum++;
// SetNextPollTime(tagslotpos);
+ if(current_slotpos>=max_slotpos)
+ {
+ GetRandomPos();
+ }
+ if(current_sync_sec==tagpoll_sync_sec)
+ {
+ g_start_send_flag=1;
+ }
+ current_sync_sec++;
+ if(current_sync_sec>=(rec_tagperiod)/10||current_sync_sec>10)
+ {
+ current_sync_sec=0;
+ }
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
--
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