From f7c0b32abbf454e9adef4454ade15bd5940873e5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 15 十一月 2021 10:00:54 +0800
Subject: [PATCH] V2.45 物资发货
---
Src/main.c | 157 ++++++++++++++++++++++++++++++----------------------
1 files changed, 90 insertions(+), 67 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index affb7fd..e849a7e 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -110,7 +110,7 @@
}
}
uint16_t hardware_version,hardware_pici,hardware_type;
-u16 current_time;
+u16 current_time,currentcount,beepcount;
uint8_t state5v;
void IdleTask(void)
{
@@ -128,63 +128,63 @@
// LED_TB_OFF;
//}else{
// LED_TR_OFF;
- current_time=GetLPTime();
+
//motor_state=2;
-if(g_com_map[MOTOR_ENABLE])
-{
-
- if(motor_keeptime>0)
- {
- motor_state = 2;
- }else{
- motor_state = 0;
- }
- //motor_state=2;
- switch(motor_state)
- {case 0:
- 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)
- {
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- }else{
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- }
- break;
- case 2:
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 3:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- }
-}
+//if(g_com_map[MOTOR_ENABLE])
+//{
+//
+// if(motor_keeptime>0)
+// {
+// motor_state = 2;
+// }else{
+// motor_state = 0;
+// }
+// //motor_state=2;
+// switch(motor_state)
+// {case 0:
+// 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)
+// {
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// }else{
+// if(hardware_type==NSH1)
+// {MOTOR_OFF;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+// }
+// }
+// break;
+// case 2:
+// if(hardware_type==NSH1)
+// {MOTOR_ON;
+// }else if(hardware_type==GP)
+// {
+// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+// }
+// break;
+// case 3:
+// 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))
{
@@ -281,14 +281,14 @@
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] = 0x022b;
+ g_com_map[VERSION] = 0x022d;
// g_com_map[DEV_ID]=0x7;
#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]=50;
+// g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
// g_com_map[NOMOVESLEEP_TIME]=10;
// g_com_map[IMU_ENABLE]=0;
@@ -353,20 +353,21 @@
void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
- if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
- {
- g_com_map[MOTORBEEPER_INDEX] = 2;
- }
+// if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
+// {
+ g_com_map[MOTORBEEPER_INDEX] = 1;
+// }
hardware_type = g_com_map[MOTORBEEPER_INDEX];
switch(hardware_type)
{
case 1:
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = MOTOR_Pin;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = GPIO_PIN_11;
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);
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ //motor_keeptime = 10;
break;
case 2:
MX_TIM2_Init();
@@ -377,6 +378,27 @@
{
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+void BeeperTask(void)
+{ if(g_com_map[MOTOR_ENABLE])
+{
+ if(motor_keeptime>0)
+ {
+ motor_state = 2;
+ }else{
+ motor_state = 0;
+ }
+ current_time=GetLPTime();
+ while(motor_keeptime>0)
+ {
+ currentcount=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(currentcount-beepcount>3||beepcount>currentcount)
+ {
+ beepcount = currentcount;
+ LED_BLINK(GPIOA, GPIO_PIN_11);
+ }
+ }
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
+}}
/* USER CODE END 0 */
/**
@@ -479,6 +501,7 @@
__enable_irq();
//LED0_BLINK;
IdleTask();
+ BeeperTask();
if(waitusart_timer>0)
{
waitusart_timer--;
@@ -935,7 +958,7 @@
nomove_count+=1/(float)tag_frequency;
if(motor_keeptime>0)
{
- motor_keeptime-=1/(float)tag_frequency;
+ motor_keeptime-=1/(float)tag_frequency*2;
}
if(motor_keeptime<0)
{motor_keeptime = 0;}
--
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