From f603e50972a701a41c17fc97c9c82f85b6639200 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 12 十一月 2020 11:29:41 +0800
Subject: [PATCH] 增加基站转点距离，增加主基站最后回复。
---
Src/main.c | 44 +++++++++++++++++++++++++++-----------------
1 files changed, 27 insertions(+), 17 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index acac73c..cd4693f 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -29,7 +29,7 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
-//#define DEBUG_MODE
+#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -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;
@@ -148,6 +145,7 @@
MOTOR_OFF;
break;
}
+}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -212,8 +210,8 @@
u16 current_slotnum;
extern int32_t offsettimeus;
-#define FIXSLOT
-#define FIXSLOTPOS 3
+//#define FIXSLOT
+#define FIXSLOTPOS 8
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
@@ -252,26 +250,29 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0205;
+ g_com_map[VERSION] = 0x0209;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=0x123;
// 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[IMU_ENABLE]=0;
+ //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]=50;
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];
@@ -426,7 +427,8 @@
}
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
}
@@ -816,6 +818,7 @@
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 +827,13 @@
current_slotnum++;
SetNextPollTime(tagslotpos);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ 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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