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 | 69 +++++++++++++++++++++-------------
1 files changed, 42 insertions(+), 27 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 3ef08be..116c43e 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -137,6 +137,7 @@
u16 current_time;
float motor5s_timer=1000;
uint8_t state5v,motorskip_flag;
+extern uint8_t outside_count;
void IdleTask(void)
{
@@ -158,21 +159,22 @@
//motor_state = 1;
if(g_com_map[MOTOR_ENABLE])
{
- static u8 motor5s_state = 0;
+ static u8 motor5s_state = 0;
if(motorskip_flag==0)
{
- if(motor_state==1)
+ if(motor_state==2)
{
+
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;
@@ -180,11 +182,14 @@
}
}
}else{
- motor5s_state = 1;
- motor5s_timer = 0;
+ if(outside_count>3&&motor5s_state)
+ {
+ motor5s_state = 0;
+ motor5s_timer = 0;
+ }
}
}else{
- if(motor5s_timer>7200) //2个小时 7200
+ if(motor5s_timer>7200) //2??? 7200
{
motorskip_flag = 0;
motor5s_timer = 1000;
@@ -262,14 +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
}
@@ -310,12 +312,12 @@
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)|4;
-
+ 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;
- g_com_map[DEV_ID]=0x4009;
+// g_com_map[DEV_ID]=0x4009;
// g_com_map[ACTIVE_INDEX]=1;
// g_com_map[COM_INTERVAL]=50;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
@@ -327,13 +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];
@@ -443,6 +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();
@@ -540,7 +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.
*/
@@ -886,11 +889,11 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pin : USER_KEY_Pin */
- GPIO_InitStruct.Pin = USER_KEY_Pin;
+ /*Configure GPIO pins : USER_KEY_Pin PB14 */
+ GPIO_InitStruct.Pin = USER_KEY_Pin|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
- HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : INPUT_5V_Pin */
GPIO_InitStruct.Pin = INPUT_5V_Pin;
@@ -921,6 +924,9 @@
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
+
+ HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
@@ -964,6 +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)
{
@@ -995,6 +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;}
@@ -1019,6 +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
@@ -1033,11 +1047,12 @@
}
- if(!GET_USERKEY)
+ if(!GET_USERKEY||!HAL_GPIO_ReadPin(USER_KEY_GPIO_Port,GPIO_PIN_14))
{
key_keeptime+=lptimedelay;
if(key_keeptime>=3)
{
+ JianXieMotorProcess();
userkey_state = 1;
}
if(key_keeptime>=KEY_KEEPRESET_TIME)
--
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