From 8f55070fefc9edde12a09fe00e2e8d512e8ddd34 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 19 四月 2021 10:54:49 +0800
Subject: [PATCH] V1.21 更改SFD模式
---
Src/main.c | 27 ++++++++++++++++-----------
1 files changed, 16 insertions(+), 11 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index a8269c4..4eb8b08 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -123,17 +123,19 @@
// 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;
+// }
+if(motor_enable)
+{
switch(motor_state)
{case 0:
MOTOR_OFF;
break;
case 1:
- if(current_time<MOTOR_ONTIME)
+ if(current_time<WARNING_MOTORONTIME)
{
MOTOR_ON;
}else{
@@ -148,6 +150,9 @@
MOTOR_OFF;
break;
}
+}else{
+ MOTOR_OFF;
+}
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
nomove_count = 0;
@@ -241,7 +246,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0111;
+ g_com_map[VERSION] = 0x0115;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -249,7 +254,6 @@
// 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;
@@ -355,7 +359,7 @@
Dw1000_App_Init();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- //dwt_entersleep();
+ dwt_entersleep();
waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -405,9 +409,10 @@
{
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
}
--
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