| | |
| | | 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) |
| | | { |
| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader |
| | | } |
| | | |
| | | } |
| | | |
| | |
| | | Usart1ParseDataCallback = UsartParseDataHandler; |
| | | parameter_init(); |
| | | //deca_sleep(1000); |
| | | g_com_map[VERSION] = 0x010f; |
| | | g_com_map[VERSION] = 0x0110; |
| | | #ifdef DEBUG_MODE |
| | | // g_com_map[DEV_ROLE]=1; |
| | | // g_com_map[DEV_ID]=1; |
| | |
| | | g_com_map[NOMOVESLEEP_TIME]=10; |
| | | #endif |
| | | |
| | | |
| | | if(g_com_map[COM_INTERVAL]==0) |
| | | { |
| | | g_com_map[COM_INTERVAL]=100; |
| | | } |
| | | if(module_power>67) |
| | | {module_power=67;} |
| | | if(module_power<0) |
| | | {module_power=0;} |
| | | module_power = g_com_map[POWER]; |
| | | imu_enable=g_com_map[IMU_ENABLE]; |
| | | motor_enable=g_com_map[MOTOR_ENABLE]; |
| | | |
| | | group_id=g_com_map[GROUP_ID]; |
| | | dev_id = g_com_map[DEV_ID]; |
| | | slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+2; |
| | | slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3; |
| | | max_slotpos=g_com_map[COM_INTERVAL]/slottime; |
| | | tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime; |
| | | slot_startcount=tyncpoll_time*1000/LPTIMER_LSB; |