V2.17 Z增加参数保护，有bug

yincheng.zhong

2023-06-03 4bdcef16fd860b674793c435288ed3afb50ddabe

 Src/main.c

@@ -267,14 +267,11 @@
//   }
}

      if(g_com_map[CNT_RESTART]==1)
   if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
         if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
         if(memcmp(g_com_map,g_com_map2,(COM_MAP_SIZE<<1))!=0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
@@ -315,8 +312,8 @@
   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] = (2<<8)|15;
    
   g_com_map[VERSION] = (2<<8)|17;
    g_com_map2[VERSION] = g_com_map[VERSION];
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
@@ -332,13 +329,13 @@
//   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(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];
@@ -1035,6 +1032,7 @@
         {
            parameter_init();
            g_com_map[ACTIVE_INDEX] = 1;
                g_com_map2[ACTIVE_INDEX] = 1;
            save_com_map_to_flash();
            delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader