From 0533236e453d9368d6f66341cafa2a8f2fe81dc3 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 14 三月 2021 13:18:19 +0800
Subject: [PATCH] V2.23 尝试修复红灯常亮BUG
---
Src/main.c | 49 ++++++++++++++++++++++++++++++-------------------
1 files changed, 30 insertions(+), 19 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 8afe2fe..921b709 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -132,6 +132,7 @@
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
+
if(motor_keeptime>0)
{
motor_state = 2;
@@ -254,7 +255,7 @@
uint8_t fix_slotpos =FIXSLOTPOS;
int32_t lpcount,lptime,target_time;
extern u16 tagslotpos;
-void SetNextPollTime(u16 slotpos)
+void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{
#ifdef FIXSLOT
@@ -285,8 +286,20 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
+void ErrorConfig_Handler(void)
+{
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(g_com_map[IMU_THRES]>10)
+ {g_com_map[IMU_THRES]=2;}
+ if(g_com_map[POWER]>MAX_RFPOWER)
+ {g_com_map[POWER]=MAX_RFPOWER;}
+ if(g_com_map[POWER]<0)
+ {g_com_map[POWER]=0;}
+}
u8 active_flag=0;
-
void Program_Init(void)
{ float temp;
uint16_t temp2;
@@ -297,16 +310,17 @@
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] = 0x0214;
-// g_com_map[DEV_ID]=0x11;
+ g_com_map[VERSION] = 0x0217;
+ g_com_map[DEV_ID]=0x6;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x10;
+ g_com_map[DEV_ID]=0x4008;
+ g_com_map[ACTIVE_INDEX]=1;
// g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// 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]=50;
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -318,16 +332,7 @@
g_com_map[NOMOVESLEEP_TIME]=10;
g_com_map[MOTOR_ENABLE]=0;
}
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- if(g_com_map[IMU_THRES]>10)
- {g_com_map[IMU_THRES]=2;}
- if(g_com_map[POWER]>MAX_RFPOWER)
- {g_com_map[POWER]=MAX_RFPOWER;}
- if(g_com_map[POWER]<0)
- {g_com_map[POWER]=0;}
+
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -376,8 +381,11 @@
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
+if(hardware_type == 0)
+ hardware_type = 1;
switch(hardware_type)
- {case 1:
+ {
+ case 1:
HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
GPIO_InitStruct.Pin = MOTOR_Pin;
@@ -948,6 +956,7 @@
{
static uint8_t i=0;
i++;
+
g_start_send_flag=1;
current_slotnum++;
SetNextPollTime(tagslotpos);
@@ -956,6 +965,8 @@
{
motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
}
+ if(motor_keeptime<0)
+ {motor_keeptime = 0;}
if(active_flag==0)
{
if(!GET_USERKEY)
@@ -1029,7 +1040,7 @@
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
// while (1)
-// {
+// {}
// /* USER CODE BEGIN W1_HardFault_IRQn 0 */
// //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
// /* USER CODE END W1_HardFault_IRQn 0 */
--
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