From 8f8f5ae1fd0a007e331ac909b4280e1e109df091 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 29 十月 2021 21:31:28 +0800
Subject: [PATCH] 加速计影响测距
---
Src/main.c | 15 ++++++++-------
1 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index b41edc2..ac20bcc 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 -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}
void UsartInit(void)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
MX_DMA_Init();
MX_USART1_UART_Init();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -139,6 +139,7 @@
}else{
motor_state = 0;
}
+ //motor_state=2;
switch(motor_state)
{case 0:
if(hardware_type==NSH1)
@@ -280,7 +281,7 @@
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] = 0x0225;
+ g_com_map[VERSION] = 0x0229;
// g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
@@ -295,7 +296,7 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
- g_com_map[COM_INTERVAL]=50;
+// g_com_map[COM_INTERVAL]=1000;
active_flag = g_com_map[ACTIVE_INDEX];
if(active_flag==0)
{
@@ -352,7 +353,7 @@
void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
-//hardware_type=2;
+hardware_type=2;
if(hardware_type == 0)
hardware_type = 1;
switch(hardware_type)
@@ -421,7 +422,7 @@
HardWareTypeDiffConfig();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
dwt_entersleep();
- waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
+// waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
DW_DISABLE;
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
@@ -446,7 +447,7 @@
// {
// MODBUS_Poll();
// }
-if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+if(m_bEUARTTxEn==0&&(motor_state==0||motor_state==3))
{
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
--
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