From 29b382988c5ff4d6f8d2df877beecbc9a7c4c0f7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 17 四月 2022 16:50:49 +0800
Subject: [PATCH] V1.30
---
Src/main.c | 18 ++++++++++++++++--
1 files changed, 16 insertions(+), 2 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2d5be71..539c0a8 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -94,7 +94,8 @@
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;
+uint8_t imu_enable,motor_enable;
+float cltimeleft;
u16 GetLPTime(void)
{
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -168,12 +169,21 @@
}
break;
case 2:
+ if(cltimeleft<=0)
+ {
+ cltimeleft = g_com_map[COOLINGTIME_INDEX];
+ }
+ if(cltimeleft>g_com_map[COOLINGTIME_INDEX]-20)
+ {
if(hardware_type==NSH1)
{MOTOR_ON;
}else if(hardware_type==GP)
{
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
}
+ }else{
+ MOTOR_OFF;
+ }
break;
case 3:
if(hardware_type==NSH1)
@@ -306,7 +316,7 @@
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] = (1<<8)|28;
+ g_com_map[VERSION] = (1<<8)|30;
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
@@ -933,6 +943,10 @@
current_slotnum++;
SetNextPollTime(tyncpoll_time);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(cltimeleft>0)
+ {
+ cltimeleft-=(float)g_com_map[COM_INTERVAL]/1000;
+ }
if(motor_keeptime>0)
{
motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
--
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