docs(config): 新增软件和硬件版本号定义
- 定义SOFTWARE_VERSION 26.1.19.1 - 定义HARDWARE_VERSION 25.12.01.0 - 定义BOOT_VERSION 26.1.12.0 feat(motor-control): 实现FOC控制算法速度环优化 refactor(can-protocol): 升级CANFD通信协议支持版本管理 - 实现版本号管理和CANFD_VERSION_ID协议 - 扩展CMD_ID消息解析支持PID参数动态配置 - 添加版本管理器实例并实现版本信息发送功能 - 优化CANFD异步发送数据长度判断逻辑 fix(angle-sensor): 修正角度传感器方向和偏移校准 - 添加ANGLESENS_OFFSET补偿参数 - 反转角度传感器读数方向(DIR = -1.0f) - 在角度计算中应用负向因子和偏移量 chore(memory-layout): 调整Flash存储布局和版本配置 - 扩展BOOTLOADER_SIZE从16KB到24KB - 更新APPLATEST_START_ADDR和APPBACK_START_ADDR偏移 - 重新分配OTA配置参数存储区域 - 增加EEP_DEBUG调试开关 refactor(pid-controller): 增强PID控制器功能接口 - 添加set_P_percent方法支持百分比参数设置 - 格式化PID计算代码提升可读性 - 保留积分和微分环节的约束保护机制
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@@ -6,11 +6,125 @@
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#include "gd32c10x_fmc.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_rcu.h"
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#include "initial.h"
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#include <cstdint>
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#include <cstdio>
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#include <stdint.h>
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#include <stdio.h>
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#include <cstring>
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extern CAN_transmiter CAN0_transmiter; // CAN初始化
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VersionManager Version;
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VersionManager::VersionManager() {
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// 初始化版本号
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setSoftwareVersion(SOFTWARE_VERSION_MAJOR, SOFTWARE_VERSION_MINOR,
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SOFTWARE_VERSION_PATCH, SOFTWARE_VERSION_BUILD);
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setHardwareVersion(HARDWARE_VERSION_MAJOR, HARDWARE_VERSION_MINOR,
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HARDWARE_VERSION_PATCH, HARDWARE_VERSION_BUILD);
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setBootVersion(BOOT_VERSION_MAJOR, BOOT_VERSION_MINOR, BOOT_VERSION_PATCH,
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BOOT_VERSION_BUILD);
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}
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VersionManager::VersionInfo VersionManager::getSoftwareVersion() const {
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return softwareVersion;
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}
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VersionManager::VersionInfo VersionManager::getHardwareVersion() const {
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return hardwareVersion;
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}
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VersionManager::VersionInfo VersionManager::getBootVersion() const {
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return bootVersion;
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}
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void VersionManager::setSoftwareVersion(u16 major, u16 minor, u16 patch,
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u16 build) {
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softwareVersion.major = major;
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softwareVersion.minor = minor;
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softwareVersion.patch = patch;
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softwareVersion.build = build;
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}
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void VersionManager::setHardwareVersion(u16 major, u16 minor, u16 patch,
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u16 build) {
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hardwareVersion.major = major;
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hardwareVersion.minor = minor;
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hardwareVersion.patch = patch;
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hardwareVersion.build = build;
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}
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void VersionManager::setBootVersion(u16 major, u16 minor, u16 patch,
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u16 build) {
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bootVersion.major = major;
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bootVersion.minor = minor;
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bootVersion.patch = patch;
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bootVersion.build = build;
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}
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char *VersionManager::versionToString(const VersionInfo &version, char *buffer,
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size_t bufSize) const {
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if (buffer == nullptr) {
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return nullptr;
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}
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snprintf(buffer, bufSize, "%d.%d.%d.%d", version.major, version.minor,
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version.patch, version.build);
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return buffer;
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}
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void VersionManager::sendVersionInfoViaCan() const {
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// 准备发送版本信息 (ID: CANFD_VERSION_ID)
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// 只使用必要的字节数（24字节）来传输三个版本的信息（每个版本6字节）
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u8 versionData[24] = {0};
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// 将版本信息打包到24字节数组中
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// 前8字节：软件版本信息 (4个uint16_t，每个占2字节)
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versionData[0] = softwareVersion.major & 0xFF; // 低字节
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versionData[1] = (softwareVersion.major >> 8) & 0xFF; // 高字节
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versionData[2] = softwareVersion.minor & 0xFF; // 低字节
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versionData[3] = (softwareVersion.minor >> 8) & 0xFF; // 高字节
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versionData[4] = softwareVersion.patch & 0xFF; // 低字节
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versionData[5] = (softwareVersion.patch >> 8) & 0xFF; // 高字节
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versionData[6] = softwareVersion.build & 0xFF; // 低字节
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versionData[7] = (softwareVersion.build >> 8) & 0xFF; // 高字节
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// 8-15字节：硬件版本信息 (4个uint16_t，每个占2字节)
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versionData[8] = hardwareVersion.major & 0xFF; // 低字节
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versionData[9] = (hardwareVersion.major >> 8) & 0xFF; // 高字节
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versionData[10] = hardwareVersion.minor & 0xFF; // 低字节
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versionData[11] = (hardwareVersion.minor >> 8) & 0xFF; // 高字节
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versionData[12] = hardwareVersion.patch & 0xFF; // 低字节
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versionData[13] = (hardwareVersion.patch >> 8) & 0xFF; // 高字节
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versionData[14] = hardwareVersion.build & 0xFF; // 低字节
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versionData[15] = (hardwareVersion.build >> 8) & 0xFF; // 高字节
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// 16-23字节：BOOT版本信息 (4个uint16_t，每个占2字节)
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versionData[16] = bootVersion.major & 0xFF; // 低字节
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versionData[17] = (bootVersion.major >> 8) & 0xFF; // 高字节
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versionData[18] = bootVersion.minor & 0xFF; // 低字节
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versionData[19] = (bootVersion.minor >> 8) & 0xFF; // 高字节
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versionData[20] = bootVersion.patch & 0xFF; // 低字节
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versionData[21] = (bootVersion.patch >> 8) & 0xFF; // 高字节
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versionData[22] = bootVersion.build & 0xFF; // 低字节
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versionData[23] = (bootVersion.build >> 8) & 0xFF; // 高字节
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// 使用CANFD发送函数发送版本信息
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CAN0_transmiter.CANFD_AsyncSend(CANFD_VERSION_ID, 24, versionData);
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}
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void VersionManager::printVersions() const {
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char versionStr[32];
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printf(
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"Software Version: %s\r\n",
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versionToString(getSoftwareVersion(), versionStr, sizeof(versionStr)));
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printf(
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"Hardware Version: %s\r\n",
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versionToString(getHardwareVersion(), versionStr, sizeof(versionStr)));
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printf("BOOT Version: %s\r\n",
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versionToString(getBootVersion(), versionStr, sizeof(versionStr)));
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}
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/* retarget the C library printf function to the USART */
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u8 USART0_init() {
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gd_eval_com_init(EVAL_COM0);
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@@ -33,7 +147,7 @@ u8 watchdog_init(u32 time) {
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}
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int fputc(int ch, FILE *f) throw() {
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usart_data_transmit(EVAL_COM0, (uint8_t)ch);
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usart_data_transmit(EVAL_COM0, (u8)ch);
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while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
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;
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return ch;
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@@ -97,23 +211,52 @@ u16 get_reset_cause(void) {
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}
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void OTA_initial(void) {
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#if OTA_DEBUG
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u32 temp_val[6];
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// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
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volatile u32 *flash_ptr1 = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
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temp_val[0] = *flash_ptr1;
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flash_ptr1 = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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temp_val[1] = *flash_ptr1;
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flash_ptr1 = (volatile u32 *)n_APP_LATEST_EN_ADDR;
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temp_val[2] = *flash_ptr1;
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flash_ptr1 = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
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temp_val[3] = *flash_ptr1;
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flash_ptr1 = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
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temp_val[4] = *flash_ptr1;
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flash_ptr1 = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
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temp_val[5] = *flash_ptr1;
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// 修复：完整输出所有6个配置项的值，便于调试
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printf("APP:CHECK LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
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"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
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temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
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temp_val[5]);
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#endif
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// 确认当前APP可用
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volatile u32 *flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
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u32 app_check = *flash_ptr;
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if (app_check == OTA_NOT_AVAL) { // 新的APP刷入后第一次启动
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#if OTA_DEBUG
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std::printf("APP enabled\r\n");
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#endif
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move_app_data();
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}
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fmc_unlock();
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OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_AVAL);
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OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL);
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fmc_lock();
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u8 transmit_data[2] = {0x0A, 0xAC};
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// 确认APP可用
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CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 2, transmit_data);
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volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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u32 back_aval = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
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u32 back_check = *flash_ptr;
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// 如果BACK不可用
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if (back_aval == OTA_NOT_AVAL) {
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if (back_aval == OTA_NOT_AVAL) { // 如果BACK不可用
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#if OTA_DEBUG
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std::printf("notaval\r\n");
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#endif
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