Merge branch '调试' into 定位-临近

zhyinch

2020-12-18 003aff1766ffd3ccfe9df6096ef137340ebfeabf

 Src/main.c

@@ -135,8 +135,7 @@
            MOTOR_ON;      
         }else{
            MOTOR_OFF;   
         }	
				
         }				
         break;
      case 2:
         MOTOR_ON;   
@@ -210,8 +209,8 @@

u16 current_slotnum;
extern int32_t offsettimeus;
//#define FIXSLOT
#define FIXSLOTPOS  1
#define FIXSLOT
#define FIXSLOTPOS  2
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS; 
@@ -221,13 +220,14 @@
{

#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)
@@ -236,7 +236,7 @@
   
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus-10000;
      lptime=target_time-offsettimeus+1200;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
@@ -266,8 +266,8 @@
   //g_com_map[COM_INTERVAL]=50;
#endif
//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]=1000;
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   { g_com_map[COM_INTERVAL]=1000;
@@ -671,16 +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 */