V2.17 Z增加参数保护，有bug

yincheng.zhong

2023-06-03 4bdcef16fd860b674793c435288ed3afb50ddabe

 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 -----------------------------------------------------------*/
@@ -167,14 +167,14 @@
            
            if(motor5s_state)
            {
                if(motor5s_timer>4)
                if(motor5s_timer>2)
                {
                    motor5s_timer = 0;
                    motor5s_state = 0;
                    JianXieMotorProcess();
                }
            }else{           
                if(motor5s_timer>300)
                if(motor5s_timer>30)
                {
                    motor5s_timer = 0;
                    motor5s_state = 1;
@@ -182,10 +182,10 @@
                } 
            }
        }else{
            if(outside_count>3)
            if(outside_count>3&&motor5s_state)
            {
                motor5s_state = 0;
                motor5s_timer = 900;  
                motor5s_timer = 0;  
            }                
        }
    }else{
@@ -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)|9;
    
   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];
@@ -448,6 +445,7 @@
  MX_ADC_Init();
  //MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  printf("启动时间：%d\r\n",HAL_GetTick());
   LED_LG_ON;
   Program_Init();
   Accelerometer_Init();   
@@ -545,7 +543,7 @@
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
@@ -972,6 +970,7 @@
    tagslotpos = current_slotpos%200;
    flag_tagnewpos = 0;
}
uint16_t motorkeeptime_u16,last_motorkeep;
float lptimedelay=0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
@@ -1003,6 +1002,12 @@
   if(motor_keeptime>0)
   {   
        motor_keeptime-=lptimedelay;
        motorkeeptime_u16 = motor_keeptime;
        if(motorkeeptime_u16%3==0&&motorkeeptime_u16!=last_motorkeep)
        {
            last_motorkeep=motorkeeptime_u16;
            JianXieMotorProcess();
        }
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
@@ -1027,6 +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