From f27624585858707f761f893d3b4020319c6a3e85 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 十二月 2020 16:56:36 +0800
Subject: [PATCH] V2.16 手动时间片，时钟同步精度提高到0.1ms
---
Src/main.c | 120 ++++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 88 insertions(+), 32 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index acac73c..2afbd19 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -113,7 +113,7 @@
if(huart1.Instance->ISR&USART_ISR_FE)
{
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
@@ -123,11 +123,8 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
- if(g_com_map[MOTOR_ONTIME]>0)
- {
- g_com_map[MOTOR_ONTIME]--;
- motor_state = 1;
- }
+if(g_com_map[MOTOR_ENABLE])
+{
switch(motor_state)
{case 0:
MOTOR_OFF;
@@ -138,8 +135,7 @@
MOTOR_ON;
}else{
MOTOR_OFF;
- }
-
+ }
break;
case 2:
MOTOR_ON;
@@ -148,6 +144,7 @@
MOTOR_OFF;
break;
}
+}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -213,28 +210,33 @@
u16 current_slotnum;
extern int32_t offsettimeus;
#define FIXSLOT
-#define FIXSLOTPOS 3
+#define FIXSLOTPOS 2
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
int32_t lpcount,lptime,target_time;
+extern u16 tagslotpos;
void SetNextPollTime(u16 slotpos)
{
#ifdef FIXSLOT
+// fix_slotpos =FIXSLOTPOS;
+ fix_slotpos = g_com_map[ALARM_DISTANCE1];
slotpos = fix_slotpos;
+ tagslotpos = fix_slotpos;
#endif
- if(current_slotnum>=tag_frequency)
- current_slotnum-=tag_frequency;
+ while(current_slotnum>=tag_frequency)
+ { current_slotnum-=tag_frequency;}
slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
if(current_slotnum==19)
{slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
+
//if(target_time<90000)
{
- lptime=target_time-offsettimeus;
+ lptime=target_time-offsettimeus+1200;
lpcount = lptime/LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
@@ -245,6 +247,7 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
+u8 active_flag=0;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -252,26 +255,36 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0205;
+ g_com_map[VERSION] = 0x0210;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=0x123;
+ // g_com_map[DEV_ID]=0x11;
// 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]=100;
+ //g_com_map[COM_INTERVAL]=50;
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
- // g_com_map[COM_INTERVAL]=100;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=1000;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ if(active_flag==0)
+ { 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(module_power>MAX_RFPOWER)
- {module_power=MAX_RFPOWER;}
- if(module_power<0)
- {module_power=0;}
+ 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;}
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -395,7 +408,7 @@
// {
// MODBUS_Poll();
// }
- 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;
@@ -426,7 +439,8 @@
}
if(m_bEUARTTxEn==0&&waitusart_timer==0)
{
-#ifndef DEBUG_MODE
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -657,16 +671,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// GPIO_InitStruct.Pin = GPIO_PIN_9;
-// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_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();
-// }
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_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();
+ }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
@@ -816,6 +830,7 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
+extern float motor_ontime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -824,6 +839,47 @@
current_slotnum++;
SetNextPollTime(tagslotpos);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(active_flag==0)
+ {
+ if(!GET_USERKEY)
+ {
+ LED_LG_ON;
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>3)
+ {
+ u8 i=250,keystate=1;
+ while(i--)
+ {
+ if(i%10==0)
+ {
+ LED_LG_BLINK;
+ }
+ if(GET_USERKEY)
+ {keystate = 0;}
+ if(keystate==0&&!GET_USERKEY)
+ {
+ parameter_init();
+ g_com_map[ACTIVE_INDEX] = 1;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ delay_ms(10);
+ }
+ }
+ }else{
+ LED_LG_OFF;
+ key_keeptime=0;
+ }
+
+ }
+ if(motor_ontime>0)
+ {
+ motor_ontime-=(float)1/tag_frequency;
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
if(!GET_USERKEY)
{
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
--
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