From e939c01afd679c96ef823e7ae940b9cfd5733e8c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 03 十一月 2021 15:23:44 +0800
Subject: [PATCH] 天津定制
---
Src/main.c | 343 ++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 240 insertions(+), 103 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2ad2b87..632fe84 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -17,7 +17,6 @@
******************************************************************************
*/
/* USER CODE END Header */
-
/* Includes ------------------------------------------------------------------*/
#include "main.h"
@@ -29,7 +28,10 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
-#define DEBUG_MODE
+
+#define NSH1 0x0001
+#define GP 0x0002
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -40,8 +42,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
-#define Period (uint32_t) 32768 - 1
-#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -55,6 +56,8 @@
LPTIM_HandleTypeDef hlptim1;
SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -72,6 +75,7 @@
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -88,6 +92,7 @@
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
+float motor_keeptime;
uint8_t imu_enable,motor_enable;
u16 GetLPTime(void)
{
@@ -104,9 +109,11 @@
Error_Handler();
}
}
+uint16_t hardware_version,hardware_pici,hardware_type;
+u16 current_time;
uint8_t state5v;
void IdleTask(void)
-{u16 current_time;
+{
UART_CheckReceive();
UART_CheckSend();
@@ -125,36 +132,68 @@
//motor_state=2;
if(g_com_map[MOTOR_ENABLE])
{
+
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
switch(motor_state)
{case 0:
- MOTOR_OFF;
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
break;
case 1:
if(current_time<MOTOR_ONTIME)
{
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
}else{
- MOTOR_OFF;
- }
-
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ }
break;
case 2:
- MOTOR_ON;
+ if(hardware_type==NSH1)
+ {MOTOR_ON;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
break;
case 3:
- MOTOR_OFF;
+ if(hardware_type==NSH1)
+ {MOTOR_OFF;
+ }else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
break;
}
}
+ bat_percent=Get_Battary();
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
- nomove_count = 0;
+ //nomove_count = 0;
if(state5v==0)
{
state5v=1;
UsartInit();
}
- if(bat_percent>99)
+ if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
{
LED_LR_OFF;
LED_LG_ON;
@@ -211,20 +250,24 @@
u16 current_slotnum;
extern int32_t offsettimeus;
//#define FIXSLOT
-#define FIXSLOTPOS 0
+#define FIXSLOTPOS 4
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS;
int32_t lpcount,lptime,target_time;
-void SetNextPollTime(u16 slotpos)
+extern u16 tagslotpos;
+void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送
{
#ifdef FIXSLOT
+ fix_slotpos =FIXSLOTPOS;
+ fix_slotpos = g_com_map[ALARM_DISTANCE2];
slotpos = fix_slotpos;
+ tagslotpos = fix_slotpos;
#endif
- if(current_slotnum>=tag_frequency)
- current_slotnum-=tag_frequency;
+ while(current_slotnum>=tag_frequency)
+ { current_slotnum-=tag_frequency;}
slotpos_intoatl = current_slotnum*bigslot_num+slotpos;
if(current_slotnum==19)
@@ -233,7 +276,7 @@
//if(target_time<90000)
{
- lptime=target_time-offsettimeus-10000;
+ lptime=target_time-offsettimeus+1200;
lpcount = lptime/LPTIMER_LSB;
if(lpcount>LPTIMER_1S_COUNT)
lpcount-=LPTIMER_1S_COUNT;
@@ -244,35 +287,9 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
-u8 active_flag=0;
-void Program_Init(void)
-{ float temp;
- uint16_t temp2;
- uint16_t i;
- Usart1ParseDataCallback = UsartParseDataHandler;
- parameter_init();
- //deca_sleep(1000);
- g_com_map[VERSION] = 0x020b;
-#ifdef DEBUG_MODE
-// g_com_map[DEV_ROLE]=1;
- g_com_map[DEV_ID]=0x11;
-// g_com_map[COM_INTERVAL]=100;
-// g_com_map[MAX_REPORT_ANC_NUM]=1;
-// g_com_map[NOMOVESLEEP_TIME]=10;
- // g_com_map[IMU_ENABLE]=0;
- //g_com_map[COM_INTERVAL]=50;
-#endif
-//g_com_map[NOMOVESLEEP_TIME]=10;
-// g_com_map[IMU_ENABLE]=0;
-// g_com_map[COM_INTERVAL]=50;
- active_flag = g_com_map[ACTIVE_INDEX];
- if(active_flag==0)
- { g_com_map[COM_INTERVAL]=1000;
- g_com_map[IMU_ENABLE]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
- g_com_map[MOTOR_ENABLE]=0;
- }
- if(g_com_map[COM_INTERVAL]==0)
+void ErrorConfig_Handler(void)
+{
+ if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
{
g_com_map[COM_INTERVAL]=100;
}
@@ -282,6 +299,45 @@
{g_com_map[POWER]=MAX_RFPOWER;}
if(g_com_map[POWER]<0)
{g_com_map[POWER]=0;}
+}
+u8 active_flag=0;
+void Program_Init(void)
+{ float temp;
+ uint16_t temp2;
+ uint16_t i;
+ Usart1ParseDataCallback = UsartParseDataHandler;
+ parameter_init();
+ hardware_version= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
+ 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] = 0x0224;
+
+ g_com_map[DEV_ID]=0x3496;
+ g_com_map[IMU_ENABLE]=0;
+#ifdef DEBUG_MODE
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=0x4009;
+// g_com_map[ACTIVE_INDEX]=1;
+ g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=1;
+// g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[IMU_ENABLE]=0;
+// g_com_map[COM_INTERVAL]=50;
+#endif
+//g_com_map[NOMOVESLEEP_TIME]=10;
+// g_com_map[IMU_ENABLE]=0;
+// g_com_map[COM_INTERVAL]=1000;
+ active_flag = g_com_map[ACTIVE_INDEX];
+ active_flag = 1;
+ if(active_flag==0)
+ {
+ g_com_map[COM_INTERVAL]=1000;
+ g_com_map[IMU_ENABLE]=1;
+ g_com_map[NOMOVESLEEP_TIME]=10;
+ g_com_map[MOTOR_ENABLE]=0;
+ }
+g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
@@ -303,9 +359,9 @@
Error_Handler();
}
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
- printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+// printf("标签ID: %d .\r\n",dev_id);
+// printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
+// printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
@@ -325,13 +381,30 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
-//{
-// /* Set transmission flag: trasfer complete*/
-// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
-//
-//}
+void HardWareTypeDiffConfig(void)
+{
+GPIO_InitTypeDef GPIO_InitStruct = {0};
+//hardware_type=2;
+if(hardware_type == 0)
+ hardware_type = 1;
+ switch(hardware_type)
+ {
+ case 1:
+
+ 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;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ break;
+ case 2:
+ MX_TIM2_Init();
+ BarInit();
+ break;
+ }
+}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -347,7 +420,6 @@
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
-
/* MCU Configuration--------------------------------------------------------*/
@@ -368,25 +440,28 @@
/* 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();
+ //MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
+ // BarInit();
Dw1000_Init();
Dw1000_App_Init();
-
+ HardWareTypeDiffConfig();
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))
{
Error_Handler();
}
+
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -409,7 +484,7 @@
{ static uint16_t blink_count=0;
SystemClock_Config();
g_start_send_flag = 0;
-
+ // GetPressAndTemp();
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -417,8 +492,6 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;
-
- bat_percent=Get_Battary();
if(bat_percent>15)
{ LED_TB_ON;
Tag_App();
@@ -434,7 +507,7 @@
{
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
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
@@ -465,14 +538,15 @@
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
+ /** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
+ /** Configure LSE Drive Capability
*/
HAL_PWR_EnableBkUpAccess();
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
@@ -486,7 +560,7 @@
{
Error_Handler();
}
- /** Initializes the CPU, AHB and APB busses clocks
+ /** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@@ -526,7 +600,7 @@
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
- /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
hadc.Init.OversamplingMode = DISABLE;
@@ -549,7 +623,7 @@
{
Error_Handler();
}
- /** Configure for the selected ADC regular channel to be converted.
+ /** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
@@ -637,6 +711,69 @@
}
/**
+ * @brief TIM2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM2_Init(void)
+{
+
+ /* USER CODE BEGIN TIM2_Init 0 */
+
+ /* USER CODE END TIM2_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+
+ /* USER CODE BEGIN TIM2_Init 1 */
+
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 9;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 1171;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 599;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
+// {
+// /* Starting Error */
+// Error_Handler();
+// }
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
* @brief USART1 Initialization Function
* @param None
* @retval None
@@ -683,10 +820,10 @@
}
-/**
+/**
* Enable DMA controller clock
*/
-static void MX_DMA_Init(void)
+static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
@@ -718,7 +855,7 @@
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|PWR_CTL_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_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);
@@ -731,12 +868,6 @@
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /*Configure GPIO pin : BAT_MEAS_Pin */
- GPIO_InitStruct.Pin = BAT_MEAS_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : SCL_Pin SDA_Pin */
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
@@ -765,20 +896,18 @@
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
- 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;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
/*Configure GPIO pin : INPUT_5V_Pin */
GPIO_InitStruct.Pin = INPUT_5V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : LED1_G_Pin LED1_R_Pin LED2_R_Pin PWR_CTL_Pin */
+ GPIO_InitStruct.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;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
@@ -832,16 +961,23 @@
{
static uint8_t i=0;
i++;
+
g_start_send_flag=1;
current_slotnum++;
SetNextPollTime(tagslotpos);
- nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ nomove_count+=1/(float)tag_frequency;
+ if(motor_keeptime>0)
+ {
+ motor_keeptime-=1/(float)tag_frequency;
+ }
+ if(motor_keeptime<0)
+ {motor_keeptime = 0;}
if(active_flag==0)
{
if(!GET_USERKEY)
{
LED_LG_ON;
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>3)
{
u8 i=250,keystate=1;
@@ -870,24 +1006,18 @@
}
}
- if(motor_ontime>0)
- {
- motor_ontime-=(float)1/tag_frequency;
- motor_state = 2;
- }else{
- motor_state = 0;
- }
+
if(!GET_USERKEY)
{
- key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ key_keeptime+=1/(float)tag_frequency;
if(key_keeptime>=KEY_KEEPRESET_TIME)
{
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
}
}else{
key_keeptime=0;
}
- if(nomove_count>STATIONARY_TIME)
+ if(nomove_count>g_com_map[STATIONARY_TIME])
{
stationary_flag = 1;
}else{
@@ -899,10 +1029,12 @@
}else{
gotosleep_flag=0;
}
+#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
mcu_sleep();
}
+#endif
}
/* USER CODE END 4 */
@@ -914,7 +1046,12 @@
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
-
+// while (1)
+// {}
+// /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+// //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+// /* USER CODE END W1_HardFault_IRQn 0 */
+// }
/* USER CODE END Error_Handler_Debug */
}
@@ -927,7 +1064,7 @@
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
-{
+{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
--
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