From 4bdcef16fd860b674793c435288ed3afb50ddabe Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 03 六月 2023 11:38:07 +0800
Subject: [PATCH] V2.17 Z增加参数保护，有bug
---
Src/main.c | 46 ++++++++++++++++++++++++++--------------------
1 files changed, 26 insertions(+), 20 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 7b6cd75..116c43e 100644
--- a/Src/main.c
+++ b/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
--
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