From f3a680920b0a4a98c318b260780f38f3fbc19ff7 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 01 十一月 2023 15:33:56 +0800
Subject: [PATCH] 2.58，大包1023字节uwb传输
---
Src/main.c | 73 ++++++++++++++++++++----------------
1 files changed, 40 insertions(+), 33 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 0e0f583..23d55d3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -133,12 +133,12 @@
if(g_com_map[MOTOR_ENABLE])
{
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
+// if(motor_keeptime>0)
+// {
+// motor_state = 2;
+// }else{
+// motor_state = 0;
+// }
//motor_state=2;
switch(motor_state)
{case 0:
@@ -277,6 +277,7 @@
}
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
+u16 nomovesleep_time=0,interval;
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -287,7 +288,7 @@
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] = (2<<8)|65;
+ g_com_map[VERSION] = (2<<8)|58;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -304,18 +305,13 @@
// g_com_map[IMU_ENABLE]=0;
// g_com_map[COM_INTERVAL]=50;
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;
- }
+
//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];
uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
+ uwb_active_flag = 1;
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;
@@ -324,14 +320,25 @@
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];
+
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
current_slotnum=1;
current_time=GetLPTime();
+ nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
+ interval = g_com_map[COM_INTERVAL];
+ if(active_flag==0)
+ {
+ interval=1000;
+ imu_enable=1;
+ nomovesleep_time = 10;
+ motor_enable=0;
+ }
+ tag_frequency = 1000/interval;
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
{
Error_Handler();
}
+ printf("固件版本:SS双路定位标签-防撞标签 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -361,9 +368,9 @@
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
{
- g_com_map[MOTORBEEPER_INDEX] = 2;
+ g_com_map[MOTORBEEPER_INDEX] = 1;
}
- hardware_type = g_com_map[MOTORBEEPER_INDEX];
+ hardware_type = NSH1;//g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
{
case 1:
@@ -382,21 +389,21 @@
void DoubleClickProcess(void)
{ char temp[50];
- uint8_t len;
-if(uwb_active_flag)
-{
- uwb_active_flag = 0;
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- HAL_Delay(3000);
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-}else{
- uwb_active_flag = 1;
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- HAL_Delay(1000);
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
-}
- g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
-save_com_map_to_flash();
+// uint8_t len;
+//if(uwb_active_flag)
+//{
+// uwb_active_flag = 0;
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// HAL_Delay(3000);
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+//}else{
+// uwb_active_flag = 1;
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// HAL_Delay(1000);
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+//}
+// g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
+//save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
@@ -1020,7 +1027,7 @@
}else{
stationary_flag = 0;
}
-if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+if(nomove_count>=nomovesleep_time-1&&imu_enable)
{
gotosleep_flag=1;
}else{
--
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