关闭DEBUG MODE

zhyinch

2020-12-04 60c22dec163efa6611827bf1f71466a133aed731

 Src/main.c

@@ -29,7 +29,7 @@
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
#define DEBUG_MODE
//#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -113,7 +113,7 @@

if(huart1.Instance->ISR&USART_ISR_FE)
   {
   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }   
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
@@ -211,7 +211,7 @@
u16 current_slotnum;
extern int32_t offsettimeus;
//#define FIXSLOT
#define FIXSLOTPOS  8
#define FIXSLOTPOS  0
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS; 
@@ -230,9 +230,10 @@
   if(current_slotnum==19)
   {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
   target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
	
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus;
      lptime=target_time-offsettimeus-10000;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
@@ -243,6 +244,7 @@
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
u8 active_flag=0;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -250,19 +252,26 @@
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
   //deca_sleep(1000);
   g_com_map[VERSION] = 0x0209;
   g_com_map[VERSION] = 0x020b;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=0x123;
      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[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)
   {
     g_com_map[COM_INTERVAL]=100;
@@ -396,7 +405,7 @@
//      {
//      MODBUS_Poll();
//      }
      if(g_start_send_flag)
      if(g_start_send_flag&&active_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
@@ -827,6 +836,40 @@
   current_slotnum++;
   SetNextPollTime(tagslotpos);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
   if(active_flag==0)
   {
   if(!GET_USERKEY)
   {
      LED_LG_ON;
         key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      if(key_keeptime>3)
      {
         u8 i=250,keystate=1;
         while(i--)
         {
            if(i%10==0)
            {
            LED_LG_BLINK;
            }
            if(GET_USERKEY)
            {keystate = 0;}
         if(keystate==0&&!GET_USERKEY)
         {
            parameter_init();
            g_com_map[ACTIVE_INDEX] = 1;
            save_com_map_to_flash();
            delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
         }
         delay_ms(10);
         }		
      }
   }else{
      LED_LG_OFF;
      key_keeptime=0;
   }
		
   }
   if(motor_ontime>0)
   {
      motor_ontime-=(float)1/tag_frequency;