From 2e872c0c712d5ea0cb9eccb84291fba9c39265a8 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 30 五月 2023 12:47:30 +0800
Subject: [PATCH] 1
---
Src/main.c | 29 +++++++++++++++++++----------
1 files changed, 19 insertions(+), 10 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index aaada68..8073697 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -31,7 +31,7 @@
#define NSH1 0x0001
#define GP 0x0002
-#define DEBUG_MODE
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -137,6 +137,7 @@
u16 current_time;
float motor5s_timer=1000;
uint8_t state5v,motorskip_flag;
+extern uint8_t outside_count;
void IdleTask(void)
{
@@ -158,22 +159,22 @@
//motor_state = 1;
if(g_com_map[MOTOR_ENABLE])
{
- static u8 motor5s_state = 0,outside_count=0;
+ static u8 motor5s_state = 0;
if(motorskip_flag==0)
{
if(motor_state==2)
{
- outside_count =0;
+
if(motor5s_state)
{
- if(motor5s_timer>4)
+ if(motor5s_timer>2)
{
motor5s_timer = 0;
motor5s_state = 0;
JianXieMotorProcess();
}
}else{
- if(motor5s_timer>300)
+ if(motor5s_timer>30)
{
motor5s_timer = 0;
motor5s_state = 1;
@@ -181,14 +182,14 @@
}
}
}else{
- if(outside_count++>3)
+ if(outside_count>3&&motor5s_state)
{
- motor5s_state = 1;
+ motor5s_state = 0;
motor5s_timer = 0;
}
}
}else{
- if(motor5s_timer>7200) //2个小时 7200
+ if(motor5s_timer>7200) //2??? 7200
{
motorskip_flag = 0;
motor5s_timer = 1000;
@@ -314,7 +315,7 @@
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] = (2<<8)|8;
+ g_com_map[VERSION] = (2<<8)|15;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -447,6 +448,7 @@
MX_ADC_Init();
//MX_TIM2_Init();
/* USER CODE BEGIN 2 */
+ printf("启动时间：%d\r\n",HAL_GetTick());
LED_LG_ON;
Program_Init();
Accelerometer_Init();
@@ -544,7 +546,7 @@
/** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
@@ -971,6 +973,7 @@
tagslotpos = current_slotpos%200;
flag_tagnewpos = 0;
}
+uint16_t motorkeeptime_u16,last_motorkeep;
float lptimedelay=0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
@@ -1002,6 +1005,12 @@
if(motor_keeptime>0)
{
motor_keeptime-=lptimedelay;
+ motorkeeptime_u16 = motor_keeptime;
+ if(motorkeeptime_u16%3==0&&motorkeeptime_u16!=last_motorkeep)
+ {
+ last_motorkeep=motorkeeptime_u16;
+ JianXieMotorProcess();
+ }
}
if(motor_keeptime<0)
{motor_keeptime = 0;}
--
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