From 003aff1766ffd3ccfe9df6096ef137340ebfeabf Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 十二月 2020 16:57:26 +0800
Subject: [PATCH] Merge branch '调试' into 定位-临近
---
Src/main.c | 38 +++++++++++++++++++-------------------
1 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 1673657..2afbd19 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -135,8 +135,7 @@
MOTOR_ON;
}else{
MOTOR_OFF;
- }
-
+ }
break;
case 2:
MOTOR_ON;
@@ -210,8 +209,8 @@
u16 current_slotnum;
extern int32_t offsettimeus;
-//#define FIXSLOT
-#define FIXSLOTPOS 1
+#define FIXSLOT
+#define FIXSLOTPOS 2
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
@@ -221,13 +220,14 @@
{
#ifdef FIXSLOT
+// fix_slotpos =FIXSLOTPOS;
fix_slotpos = g_com_map[ALARM_DISTANCE1];
slotpos = fix_slotpos;
tagslotpos = fix_slotpos;
#endif
- if(current_slotnum>=tag_frequency)
- current_slotnum-=tag_frequency;
+ while(current_slotnum>=tag_frequency)
+ { current_slotnum-=tag_frequency;}
slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
if(current_slotnum==19)
@@ -236,7 +236,7 @@
//if(target_time<90000)
{
- lptime=target_time-offsettimeus-10000;
+ lptime=target_time-offsettimeus+1200;
lpcount = lptime/LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
@@ -266,8 +266,8 @@
//g_com_map[COM_INTERVAL]=50;
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
-// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=50;
+ g_com_map[IMU_ENABLE]=0;
+ g_com_map[COM_INTERVAL]=1000;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{ g_com_map[COM_INTERVAL]=1000;
@@ -671,16 +671,16 @@
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-// GPIO_InitStruct.Pin = GPIO_PIN_9;
-// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-// GPIO_InitStruct.Pull = GPIO_PULLUP;
-// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-// GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
-// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
-// {
-// Error_Handler();
-// }
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
+ {
+ Error_Handler();
+ }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
--
Gitblit v1.9.3