map表检查

zhyinch

2021-08-25 6e7d484264afa951a0491cb4a868580a2f0b647b

 源码/核心板/Src/main.c

@@ -14,7 +14,6 @@
#include "deca_device_api.h"
#include "Flash.h"
//#define DEBUG_MODE

void Device_Init(void)
{
   RCC_Configuration();
@@ -52,7 +51,7 @@
uint16_t vel_factor,pos_factor;

extern u8 module_power;
u16 slottime,max_slotnum,current_slotpos;
u16 slottime,max_slotnum,current_slotpos,dist_threshold;
void Program_Init(void)
{uint16_t i;
   float temp;
@@ -80,6 +79,11 @@
      group_id=g_com_map[GROUP_ID];
      vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];
      dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
      if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
      if(dev_id==0)
         sync_mainbase=1;
      module_power = g_com_map[POWER];
@@ -87,7 +91,8 @@
      {
         module_power=67;
      }
      g_com_map[VERSION] = 0x011f;	
      g_com_map[VERSION] = 0x012e;	
        g_com_map[SW_TYPE] =    SW_MODBUS;
   temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;   
   temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
   if(temp2<temp)
@@ -113,7 +118,7 @@
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

	
   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
   for(i=0;i<255;i++)
   {
      g_Tagdist[i]=0xffff;
@@ -138,8 +143,18 @@
void IdleTask(void)
{
   g_start_sync_flag=0;
         UART_CheckReceive();
      UART_CheckSend();
   UART_CheckReceive();
   UART_CheckSend();
    if( memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
    {
        SendAnchorState(SM_MAPERROR);
           delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
    }
      if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
   if(heartbeat_timer>1000)
   {
      heartbeat_timer=0;
@@ -147,45 +162,11 @@
      HeatBeat();
   }

   if(g_com_map[CNT_UPDATE]==1)
   {
      uint32_t result = 0;
      u16 tmp = 0xAAAA;
      __disable_irq();
      result = FLASH_Prepare(0x8004A38, 2);
      if(result)
         result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
      __enable_irq();
         printf("杩涘叆鍗囩骇妯″紡\r\n");
      g_com_map[CNT_UPDATE]=0;
      save_com_map_to_flash();
      delay_ms(100);
         //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
         //   Delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
   }
      if(g_com_map[CNT_REBOOT]==1)
      {
         g_com_map[CNT_REBOOT]=0;
         g_com_map[MAP_SIGN_INDEX]=0;
         save_com_map_to_flash();
         delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //杞浣嶅洖鍒癰ootloader   
      }

   }
uint16_t temp;
float dw_vbat;
int main(void)
{
 
   Device_Init();
   Program_Init();
   Dw1000_Init();
@@ -198,6 +179,11 @@
   Modbus_RegMap();
   while(1)
   {
    if(g_com_map[0] != 0x55AA)
   {
        while(1)
        IdleTask();	
    }
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;