From 118936b83613caad177797a828358d261f674a4e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 03 二月 2023 10:49:26 +0800
Subject: [PATCH] 1
---
Src/main.c | 56 +++++++++++++++++---------------------------------------
1 files changed, 17 insertions(+), 39 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index b937b7c..f25a031 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -185,9 +185,10 @@
break;
}
}
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)||HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,GPIO_PIN_6))
{
nomove_count = 0;
+ bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
@@ -207,38 +208,7 @@
LED_LG_OFF;
// }
}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_REBOOT]==1)
- {
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_RESTART]==1)
- {
- g_com_map[CNT_RESTART]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
+
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -282,7 +252,7 @@
{
case 1:
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
GPIO_InitStruct.Pin = MOTOR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -295,6 +265,7 @@
break;
}
}
+int16_t g_commap_antdelay;
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
@@ -306,9 +277,10 @@
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] = 0x011a;
+
+ g_com_map[VERSION] = (1<<8)|42;
active_flag = g_com_map[ACTIVE_INDEX];
- module_power = g_com_map[POWER];
+ module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -327,6 +299,8 @@
imu_enable=1;
nomovesleeptime =10;
}
+ g_com_map[IMU_ENABLE] = 0;
+ imu_enable=0;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -342,7 +316,11 @@
{module_power=67;}
if(module_power<0)
{module_power=0;}
-
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
+ g_commap_antdelay = -g_com_map[DIST_OFFSET];
current_slotnum=1;
current_time=GetLPTime();
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
@@ -423,7 +401,7 @@
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -867,7 +845,7 @@
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : INPUT_5V_Pin */
- GPIO_InitStruct.Pin = INPUT_5V_Pin;
+ GPIO_InitStruct.Pin = INPUT_5V_Pin|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
--
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