From 1a87be3310e96d3cf99dc37ea6fa51b684ebb843 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 28 十月 2020 20:28:17 +0800
Subject: [PATCH] V2.3 增加hardfaut重启
---
Src/main.c | 43 ++++++++++++++++++++++++++++++++-----------
1 files changed, 32 insertions(+), 11 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 5eb9090..486d88b 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -87,6 +87,7 @@
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
+extern float nomove_count;
uint8_t imu_enable,motor_enable;
u16 GetLPTime(void)
{
@@ -149,6 +150,7 @@
}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
+ nomove_count = 0;
if(state5v==0)
{
state5v=1;
@@ -200,6 +202,10 @@
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
+ }
}
@@ -235,23 +241,33 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x010f;
+ g_com_map[VERSION] = 0x0203;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
+ g_com_map[DEV_ID]=0x123;
g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[IMU_ENABLE]=0;
#endif
-
-
+//g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[COM_INTERVAL]=100;
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(module_power>67)
+ {module_power=67;}
+ if(module_power<0)
+ {module_power=0;}
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+2;
+ //slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
+ 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;
@@ -330,7 +346,7 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- MX_DMA_Init();
+ MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
@@ -363,6 +379,10 @@
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
+// while(1)
+// {
+// MODBUS_Poll();
+// }
if(g_start_send_flag)
{ static uint16_t blink_count=0;
SystemClock_Config();
@@ -675,7 +695,7 @@
HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
@@ -722,8 +742,10 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
+ /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin
+ PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin
+ |PWR_CTL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -780,7 +802,6 @@
HAL_PWR_EnterSTANDBYMode();
}
extern uint8_t tx_near_msg[80],stationary_flag;
-extern float nomove_count;
float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
--
Gitblit v1.9.3