| | |
|---|
| | | // g_com_map[MOTOR_ONTIME]--; |
|---|
| | | // motor_state = 1; |
|---|
| | | // } |
|---|
| | | |
|---|
| | | if(motor_enable) |
|---|
| | | { |
|---|
| | | switch(motor_state) |
|---|
| | | {case 0: |
|---|
| | | MOTOR_OFF; |
|---|
| | |
|---|
| | | MOTOR_OFF; |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | }else{ |
|---|
| | | MOTOR_OFF; |
|---|
| | | } |
|---|
| | | if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)) |
|---|
| | | { |
|---|
| | | nomove_count = 0; |
|---|
| | |
|---|
| | | Usart1ParseDataCallback = UsartParseDataHandler; |
|---|
| | | parameter_init(); |
|---|
| | | //deca_sleep(1000); |
|---|
| | | g_com_map[VERSION] = 0x0113; |
|---|
| | | g_com_map[VERSION] = 0x0115; |
|---|
| | | #ifdef DEBUG_MODE |
|---|
| | | // g_com_map[DEV_ROLE]=1; |
|---|
| | | // g_com_map[DEV_ID]=1; |
|---|
| | |
|---|
| | | Dw1000_App_Init(); |
|---|
| | | |
|---|
| | | dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN); |
|---|
| | | //dwt_entersleep(); |
|---|
| | | dwt_entersleep(); |
|---|
| | | waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;; |
|---|
| | | DW_DISABLE; |
|---|
| | | if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE)) |
|---|
