V1.21 更改SFD模式

zhyinch

2021-04-19 8f55070fefc9edde12a09fe00e2e8d512e8ddd34

 Src/main.c

@@ -123,17 +123,19 @@
//   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_ONTIME]>0)
//   {
//      g_com_map[MOTOR_ONTIME]--;
//      motor_state = 1;
//   }
if(motor_enable)
{
   switch(motor_state)
      {case 0:
         MOTOR_OFF;
         break;
      case 1:
         if(current_time<MOTOR_ONTIME)
         if(current_time<WARNING_MOTORONTIME)
         {
            MOTOR_ON;      
         }else{
@@ -148,6 +150,9 @@
         MOTOR_OFF;
         break;   
   }
}else{
   MOTOR_OFF; 
}
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
@@ -241,7 +246,7 @@
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   g_com_map[VERSION] = 0x0111;
   g_com_map[VERSION] = 0x0115;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
@@ -249,7 +254,6 @@
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
   g_com_map[NOMOVESLEEP_TIME]=10;
#endif
		
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
@@ -355,7 +359,7 @@
   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))
@@ -405,9 +409,10 @@
      {
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0)
         if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
         {   
#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
         }