From edd3465ff7aefa3b0ac9ef1e977c32fb23945e73 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 25 七月 2022 16:41:26 +0800
Subject: [PATCH] V1.30 加速计灵敏度可配置
---
Src/main.c | 172 ++++++++++++++++++++++++++++++---------------------------
1 files changed, 91 insertions(+), 81 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 3c2efac..196143c 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -59,7 +59,7 @@
SPI_HandleTypeDef hspi1;
-TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim21;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -77,7 +77,7 @@
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
+static void MX_TIM21_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -146,7 +146,7 @@
{MOTOR_OFF;
}else if(hardware_type==GP)
{
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Stop(&htim21, TIM_CHANNEL_3);
}
break;
case 1:
@@ -156,14 +156,14 @@
{MOTOR_ON;
}else if(hardware_type==GP)
{
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Start(&htim21, TIM_CHANNEL_3);
}
}else{
if(hardware_type==NSH1)
{MOTOR_OFF;
}else if(hardware_type==GP)
{
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Stop(&htim21, TIM_CHANNEL_3);
}
}
break;
@@ -172,7 +172,7 @@
{MOTOR_ON;
}else if(hardware_type==GP)
{
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Start(&htim21, TIM_CHANNEL_3);
}
break;
case 3:
@@ -180,7 +180,7 @@
{MOTOR_OFF;
}else if(hardware_type==GP)
{
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Stop(&htim21, TIM_CHANNEL_3);
}
break;
}
@@ -188,6 +188,7 @@
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
+ bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
@@ -282,7 +283,7 @@
{
case 1:
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ 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;
@@ -290,11 +291,12 @@
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
break;
case 2:
- MX_TIM2_Init();
+ MX_TIM21_Init();
//BarInit();
break;
}
}
+u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -305,7 +307,27 @@
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] = 0x0118;
+ g_com_map[VERSION] = (1<<8)|30;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ module_power = g_com_map[POWER];
+ imu_enable=g_com_map[IMU_ENABLE];
+ motor_enable=g_com_map[MOTOR_ENABLE];
+
+ 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;
+ 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;
+ lastpoll_time=tyncpoll_time;
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
+ if(active_flag==0)
+ {
+ imu_enable=1;
+ nomovesleeptime =10;
+ }
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -321,19 +343,7 @@
{module_power=67;}
if(module_power<0)
{module_power=0;}
- module_power = g_com_map[POWER];
- imu_enable=g_com_map[IMU_ENABLE];
- motor_enable=g_com_map[MOTOR_ENABLE];
-
- 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;
- 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;
- lastpoll_time=tyncpoll_time;
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
- total_slotnum = 1000/g_com_map[COM_INTERVAL];
+
current_slotnum=1;
current_time=GetLPTime();
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
@@ -341,9 +351,10 @@
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("物资标签-防撞汇总V%d.%d\r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+// 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]);
@@ -399,7 +410,7 @@
SystemClock_Config();
/* USER CODE BEGIN SysInit */
-
+ MX_DMA_Init();
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
@@ -408,15 +419,15 @@
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
-// MX_TIM2_Init();
+ //MX_DMA_Init();
+ MX_TIM21_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
- HardWareTypeDiffConfig();
+ //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;;
@@ -439,7 +450,7 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
- if(g_start_send_flag)
+ if(g_start_send_flag&&active_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
@@ -450,9 +461,8 @@
// }else{
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
-// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
+// LED_TR_BLINK;s
+ bat_percent=Get_Battary();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -671,65 +681,61 @@
}
/**
- * @brief TIM2 Initialization Function
+ * @brief TIM21 Initialization Function
* @param None
* @retval None
*/
-static void MX_TIM2_Init(void)
+static void MX_TIM21_Init(void)
{
- /* USER CODE BEGIN TIM2_Init 0 */
+ /* USER CODE BEGIN TIM21_Init 0 */
- /* USER CODE END TIM2_Init 0 */
+ /* USER CODE END TIM21_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
- /* USER CODE BEGIN TIM2_Init 1 */
+ /* USER CODE BEGIN TIM21_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)
+ /* USER CODE END TIM21_Init 1 */
+ htim21.Instance = TIM21;
+ htim21.Init.Prescaler = 9;
+ htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim21.Init.Period = 1171;
+ htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
- if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
- if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ if (HAL_TIM_PWM_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 599;
+ sConfigOC.Pulse = 585;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
- if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ if (HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_2) != 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);
+ /* USER CODE BEGIN TIM21_Init 2 */
+
+ /* USER CODE END TIM21_Init 2 */
+ HAL_TIM_MspPostInit(&htim21);
}
@@ -812,28 +818,21 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
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);
+ HAL_GPIO_WritePin(GPIOB, SDA_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|SCL_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /*Configure GPIO pins : SCL_Pin SDA_Pin */
- GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
@@ -843,24 +842,18 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pin : BAT_MEAS_GND_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
+ /*Configure GPIO pins : BAT_MEAS_GND_Pin SDA_Pin */
+ GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin|SDA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &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;
@@ -875,6 +868,19 @@
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : SCL_Pin */
+ GPIO_InitStruct.Pin = SCL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(SCL_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : INPUT_5V_Pin */
+ GPIO_InitStruct.Pin = INPUT_5V_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PWR_ON_Pin */
GPIO_InitStruct.Pin = PWR_ON_Pin;
@@ -932,6 +938,10 @@
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
+ g_com_map[ACTIVE_INDEX]=!active_flag;
+ save_com_map_to_flash();
+ MOTOR_ON;
+ HAL_Delay(2000);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
}else{
@@ -943,11 +953,11 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleeptime-1&&imu_enable)
{
tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
}
- if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
+ if(nomove_count>nomovesleeptime&&imu_enable)
{
mcu_sleep();
}
--
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