From 7c12dad5dc25593b4e23ad0bc092be8cb9542167 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 01 十一月 2022 17:49:13 +0800
Subject: [PATCH] V1.37
---
Src/main.c | 37 +++++++++++++++++++++++++++++++------
1 files changed, 31 insertions(+), 6 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a247a73..615d8ed 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -283,7 +283,7 @@
{
case 1:
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
GPIO_InitStruct.Pin = MOTOR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -296,6 +296,7 @@
break;
}
}
+int16_t g_commap_antdelay;
u8 active_flag,nomovesleeptime;
void Program_Init(void)
{ float temp;
@@ -307,9 +308,9 @@
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)|29;
+ g_com_map[VERSION] = (1<<8)|37;
active_flag = g_com_map[ACTIVE_INDEX];
- module_power = g_com_map[POWER];
+ module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -343,7 +344,11 @@
{module_power=67;}
if(module_power<0)
{module_power=0;}
-
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
+ g_commap_antdelay = -g_com_map[DIST_OFFSET];
current_slotnum=1;
current_time=GetLPTime();
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
@@ -424,7 +429,7 @@
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
- LIS3DH_Data_Init();
+ Accelerometer_Init();
Dw1000_Init();
Dw1000_App_Init();
HardWareTypeDiffConfig();
@@ -436,6 +441,26 @@
{
Error_Handler();
}
+ if(active_flag)
+ {
+ nomove_count = 2;
+ LED_TB_ON;
+ LED_TR_ON;
+ LED_LR_ON;
+ LED_LG_ON;
+ HAL_Delay(1000);
+ }
+ while(active_flag)
+ {
+ if(nomove_count<1)
+ {
+ LED_TB_OFF;
+ LED_TR_OFF;
+ LED_LR_OFF;
+ LED_LG_OFF;
+ break;
+ }
+ }
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -946,7 +971,7 @@
g_com_map[ACTIVE_INDEX]=!active_flag;
save_com_map_to_flash();
MOTOR_ON;
- HAL_Delay(2000);
+ HAL_Delay(1000);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
}else{
--
Gitblit v1.9.3