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 |   67 +++++++++++++++++++--------------
 1 files changed, 39 insertions(+), 28 deletions(-)

diff --git a/Src/main.c b/Src/main.c
index 10eba42..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] = 0x0213;
-//	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;
@@ -388,7 +396,7 @@
 			break;
 		case 2:
 			MX_TIM2_Init();
-		BarInit();
+		//BarInit();
 			break;
 		}
 }
@@ -427,10 +435,10 @@
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_LPTIM1_Init();
+	MX_DMA_Init();
   MX_USART1_UART_Init();
   MX_SPI1_Init();
   MX_ADC_Init();
-  MX_DMA_Init();
   //MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
 	LED_LG_ON;
@@ -469,7 +477,7 @@
 	{ static uint16_t blink_count=0;
 		SystemClock_Config();
 		g_start_send_flag = 0;	
-		GetPressAndTemp();
+	//	GetPressAndTemp();
 //		if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
 //		{
 //		HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -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)
@@ -1001,7 +1012,7 @@
 	}else{
 		key_keeptime=0;
 	}
-	if(nomove_count>STATIONARY_TIME)
+	if(nomove_count>g_com_map[STATIONARY_TIME])
 	{
 		stationary_flag = 1;
 	}else{
@@ -1028,12 +1039,12 @@
 {
   /* 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 */
-  }
+//  while (1)
+//  {}
+//    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+//		//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+//    /* USER CODE END W1_HardFault_IRQn 0 */
+//  }
   /* USER CODE END Error_Handler_Debug */
 }
 

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