From cb4447ab1ec1edaf95abdcd6f2ff03c2d2f6edd1 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 10 十月 2023 17:32:40 +0800
Subject: [PATCH] 初稿，待测试
---
Src/main.c | 19 +++++++++++++++++--
1 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 682b8a1..c1be3e0 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -278,6 +278,12 @@
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
u16 nomovesleep_time=0,interval;
+void UpdateFreq(u16 time)
+{
+ g_com_map[COM_INTERVAL] = time;
+ tag_frequency = 1000/time;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+}
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -319,8 +325,6 @@
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
lastpoll_time=tyncpoll_time;
-
- bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
@@ -333,6 +337,7 @@
motor_enable=0;
}
tag_frequency = 1000/interval;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
@@ -1023,8 +1028,18 @@
if(nomove_count>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
+ UpdateFreq(1000);
+ if(tagslotpos<10)
+ {
+ tagslotpos=HAL_LPTIM_ReadCounter(&hlptim1)%200;
+ }
}else{
stationary_flag = 0;
+ UpdateFreq(50);
+ if(tagslotpos>=10)
+ {
+ tagslotpos=HAL_LPTIM_ReadCounter(&hlptim1)%10;
+ }
}
if(nomove_count>=nomovesleep_time-1&&imu_enable)
{
--
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