v2.61，修改测距后防撞标签之前的delay时间

WXK

2023-11-07 8fba17d0f4bd55471333a5d95d394efb118ede35

 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:
@@ -288,7 +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)|67;
   g_com_map[VERSION] = (2<<8)|61;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -311,6 +311,7 @@
   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;
@@ -337,6 +338,7 @@
  {
    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]);
@@ -366,9 +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:     
@@ -387,21 +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)
{