修改加速计驱动

zhyinch

2022-10-12 aeceb47ebd7883a54a9f7d842f26b6c061bf18d1

 Src/main.c

@@ -31,7 +31,7 @@

#define NSH1 0x0001
#define GP   0x0002
#define DEBUG_MODE
//#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}   
void UsartInit(void)
{
   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
//   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
    MX_DMA_Init();
   MX_USART1_UART_Init();
 if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -139,6 +139,7 @@
      }else{
         motor_state = 0;
      }
      //motor_state=2;
   switch(motor_state)
      {case 0:
         if(hardware_type==NSH1)
@@ -280,12 +281,12 @@
   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] = 0x0225;
   g_com_map[VERSION] = 0x022c;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=0x4009;
      g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
   g_com_map[COM_INTERVAL]=50;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
@@ -295,7 +296,7 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
//   g_com_map[IMU_ENABLE]=0;
    g_com_map[COM_INTERVAL]=50;
//    g_com_map[COM_INTERVAL]=50;
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   {   
@@ -312,7 +313,7 @@
   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;
      slottime = 5;
   slottime = 5;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
   slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
@@ -351,14 +352,15 @@

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 1;
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   //if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
   {
         g_com_map[MOTORBEEPER_INDEX] = 1;
   }
   hardware_type   = g_com_map[MOTORBEEPER_INDEX];
   switch(hardware_type)
      {
        case 1:
	  
        case 1:	  
            HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
            GPIO_InitStruct.Pin = MOTOR_Pin;
            GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -414,14 +416,14 @@
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
    BarInit();
   Accelerometer_Init();	
  BarInit();
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
   dwt_entersleep();
   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
//   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
@@ -446,7 +448,7 @@
//      {
//      MODBUS_Poll();
//      }
if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
         {   
#ifndef DEBUG_MODE   
            if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -464,6 +466,7 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -473,6 +476,7 @@
         Tag_App();
         LED_TR_OFF;      
      }
         __enable_irq();
      //LED0_BLINK;      
      IdleTask();   
      if(waitusart_timer>0)