From dd0d5d99bb183eeb6074f9bd4ddbff96104bd95d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 05 七月 2020 23:46:24 +0800
Subject: [PATCH] V1.11防撞9对5测试完成，发给华星
---
Src/main.c | 70 +++++++++++++++++++++-------------
1 files changed, 43 insertions(+), 27 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 7d067a9..1e06eb4 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -96,11 +96,11 @@
UART_CheckReceive();
UART_CheckSend();
-
- if(huart1.Instance->ISR&USART_ISR_ORE)
- {
- 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;
@@ -186,8 +186,7 @@
void SetNextPollTime(u16 time)
{
int32_t lpcount,lptime,target_time;
-
- time=0;
+
if(current_slotnum>=total_slotnum)
current_slotnum-=total_slotnum;
@@ -212,7 +211,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x010A;
+ g_com_map[VERSION] = 0x010b;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -228,7 +227,7 @@
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+2;
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;
@@ -294,7 +293,7 @@
HAL_Init();
/* USER CODE BEGIN Init */
-
+//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
/* USER CODE END Init */
/* Configure the system clock */
@@ -307,10 +306,10 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
/* USER CODE BEGIN 2 */
Program_Init();
LIS3DH_Data_Init();
@@ -319,9 +318,12 @@
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
- waitusart_timer=1;
+ 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;
@@ -367,7 +369,8 @@
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
{
- // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
}
@@ -573,7 +576,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
-
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -588,21 +591,24 @@
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-
+ GPIO_InitStruct.Pin = GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_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();
// }
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
@@ -640,16 +646,16 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_CTRL_Pin|SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -671,7 +677,7 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
- GPIO_InitStruct.Pin = SPI_CS_Pin|GPIO_PIN_9;
+ GPIO_InitStruct.Pin = SPI_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
@@ -748,7 +754,7 @@
HAL_PWR_EnterSTANDBYMode();
}
extern float nomove_count;
-
+float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -757,6 +763,16 @@
current_slotnum++;
SetNextPollTime(tyncpoll_time);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(!GET_USERKEY)
+ {
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>=KEY_KEEPRESET_TIME)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ }else{
+ key_keeptime=0;
+ }
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
--
Gitblit v1.9.3