From 8b7f0ebd9a00c82ec30a6a0a68b7caca69b0f43c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 14 十二月 2020 11:43:07 +0800
Subject: [PATCH] V1.19 修改电机震动不连续BUG
---
Src/main.c | 34 +++++++++++++++++++---------------
1 files changed, 19 insertions(+), 15 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 8ea24f8..dce6b43 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)
{
@@ -122,17 +123,18 @@
// LED_TR_OFF;
current_time=GetLPTime();
//motor_state=2;
- if(g_com_map[MOTOR_ONTIME]>0)
- {
- g_com_map[MOTOR_ONTIME]--;
- motor_state = 1;
- }
+// if(g_com_map[MOTOR_ONTIME]>0)
+// {
+// g_com_map[MOTOR_ONTIME]--;
+// motor_state = 1;
+// }
+
switch(motor_state)
{case 0:
MOTOR_OFF;
break;
case 1:
- if(current_time<MOTOR_ONTIME)
+ if(current_time<WARNING_MOTORONTIME)
{
MOTOR_ON;
}else{
@@ -149,6 +151,7 @@
}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
+ nomove_count = 0;
if(state5v==0)
{
state5v=1;
@@ -239,7 +242,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0110;
+ g_com_map[VERSION] = 0x0113;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -247,7 +250,6 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
g_com_map[NOMOVESLEEP_TIME]=10;
#endif
-
if(g_com_map[COM_INTERVAL]==0)
{
g_com_map[COM_INTERVAL]=100;
@@ -341,7 +343,7 @@
/* 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();
@@ -403,9 +405,10 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
{
-#ifndef DEBUG_MODE
+#ifndef DEBUG_MODE
+if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
}
@@ -686,7 +689,7 @@
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);
@@ -733,8 +736,10 @@
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;
@@ -791,7 +796,6 @@
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)
{
--
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