From e939c01afd679c96ef823e7ae940b9cfd5733e8c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 03 十一月 2021 15:23:44 +0800
Subject: [PATCH] 天津定制
---
Src/main.c | 112 ++++++++++++++++++++++++++++++++-----------------------
1 files changed, 65 insertions(+), 47 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 10eba42..632fe84 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -132,6 +132,7 @@
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
+
if(motor_keeptime>0)
{
motor_state = 2;
@@ -183,15 +184,16 @@
break;
}
}
+ bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
- nomove_count = 0;
+ //nomove_count = 0;
if(state5v==0)
{
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
LED_LR_OFF;
LED_LG_ON;
@@ -254,12 +256,12 @@
uint8_t fix_slotpos =FIXSLOTPOS;
int32_t lpcount,lptime,target_time;
extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos)
+void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{
#ifdef FIXSLOT
fix_slotpos =FIXSLOTPOS;
- //fix_slotpos = g_com_map[ALARM_DISTANCE1];
+ fix_slotpos = g_com_map[ALARM_DISTANCE2];
slotpos = fix_slotpos;
tagslotpos = fix_slotpos;
#endif
@@ -285,8 +287,20 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
+void ErrorConfig_Handler(void)
+{
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(g_com_map[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=2;}
+ if(g_com_map[POWER]>MAX_RFPOWER)
+ {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;
@@ -297,37 +311,33 @@
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] = 0x0213;
-// g_com_map[DEV_ID]=0x11;
+ g_com_map[VERSION] = 0x0224;
+
+ g_com_map[DEV_ID]=0x3496;
+ g_com_map[IMU_ENABLE]=0;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x10;
-// g_com_map[COM_INTERVAL]=100;
+// g_com_map[DEV_ID]=0x4009;
+// g_com_map[ACTIVE_INDEX]=1;
+ 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;
+// 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]=1000;
active_flag = g_com_map[ACTIVE_INDEX];
+ active_flag = 1;
if(active_flag==0)
- { g_com_map[COM_INTERVAL]=1000;
+ {
+ 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)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(g_com_map[IMU_THRES]>10)
- {g_com_map[IMU_THRES]=2;}
- if(g_com_map[POWER]>MAX_RFPOWER)
- {g_com_map[POWER]=MAX_RFPOWER;}
- if(g_com_map[POWER]<0)
- {g_com_map[POWER]=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];
@@ -376,19 +386,22 @@
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
+if(hardware_type == 0)
+ hardware_type = 1;
switch(hardware_type)
- {case 1:
+ {
+ 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);
+ 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();
- BarInit();
+ BarInit();
break;
}
}
@@ -427,26 +440,28 @@
/* 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();
//MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
LIS3DH_Data_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();
+ 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;
@@ -469,7 +484,7 @@
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
- GetPressAndTemp();
+ // GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -477,8 +492,6 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -948,20 +961,23 @@
{
static uint8_t i=0;
i++;
+
g_start_send_flag=1;
current_slotnum++;
SetNextPollTime(tagslotpos);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
+ 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;
@@ -993,15 +1009,15 @@
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;
+ // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
}else{
key_keeptime=0;
}
- if(nomove_count>STATIONARY_TIME)
+ if(nomove_count>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
}else{
@@ -1013,10 +1029,12 @@
}else{
gotosleep_flag=0;
}
+#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
+#endif
}
/* USER CODE END 4 */
@@ -1028,12 +1046,12 @@
{
/* 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 */
- }
+// 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 */
}
--
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