重启捕捉优化+自检优化

bsp/bsp_wdt.c

@@ -3,16 +3,25 @@
 #include "nrf_drv_pwm.h"
 #include "usr_config.h"
 #include "nrf_drv_wdt.h"
-#include "system.h"
-#include "bsp_time.h"
 #include "nrf_delay.h"
 #include "exception.h"
+#include "system.h"
+#include "bsp_time.h"
+#include "bsp_wdt.h"
+
+static uint32_t feed_dog_time = 0;
 
 nrf_drv_wdt_channel_id m_channel_id;
 
+uint32_t Get_FeedWatchDogTime(void)
+{
+	return feed_dog_time;
+}
+
 void feed_watchdog(void)
 {
-    nrf_drv_wdt_channel_feed(m_channel_id); 
+	feed_dog_time = NRF_RTC0->COUNTER;
+  nrf_drv_wdt_channel_feed(m_channel_id); 
 }
 
 /**

bsp/bsp_wdt.h

@@ -9,5 +9,6 @@
 
 void watchdog_init(void);
 void feed_watchdog(void);
+uint32_t Get_FeedWatchDogTime(void);
 
 #endif

system/exception.c

@@ -5,6 +5,7 @@
 #include "exception.h"
 #include "system.h"
 #include "bsp_time.h"
+#include "bsp_wdt.h"
 #include "hal_led.h"
 #include "hal_ble_client.h"
 #include "hal_ble_host.h"
@@ -23,6 +24,7 @@
 #define EXCEPT_LED_TOGGLE_TIME						200																		//异常灯翻转周期,ms为单位
 #define EXCEPT_LED_DISPLAY_TIME						10000																	//异常灯显示时长,ms为单位
 #define UNKOWN_RESET_INFO_SEND_CYCLE			100																		//未知重启异常信息发送线程周期,ms为单位
+#define	EXCEPT_NO_INIT_DATA_CHANGE_FLAG		0x01																	//被更改标志位，每次修改结构体，都要加1
 #define __NO_INIT__ 									__attribute__((at(0x2000FFA0)))
 
 /*STRUCTION ----------------------------------------------------*/
@@ -41,6 +43,25 @@ typedef struct
 	uint32_t xPSR;
 }STACK_DATA_TYPE;
 
+typedef struct
+{
+	uint32_t wdt_remain_tim;																									//距离上次喂狗剩余时间，单位ms
+	uint32_t thread_start_tim;
+	uint32_t thread_end_tim;
+}WDT_INFO_TYPE;
+
+typedef struct
+{
+	char buff[28];
+}APP_ERROR_CHECK_INFO_TYPE;
+
+typedef struct _process_info
+{
+	STACK_DATA_TYPE 							stack;
+	WDT_INFO_TYPE									wdt_info;
+	APP_ERROR_CHECK_INFO_TYPE			app_error_check_info;
+}Process_Info_t;
+
 typedef enum{
 	EXCEPT_LED_ON,																														//异常灯 - 开
 	EXCEPT_LED_OFF,																														//异常灯 - 关
@@ -52,22 +73,25 @@ typedef enum{
 	
 	EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT,																			//异常——未知重启触发原因——跑飞
 	
+	EXCEPT_UNKOWN_RESET_TRIGGER_APP_ERROR_CHECK,															//异常——APP_ERROR_CHECK
+	
 	EXCEPT_UNKOWN_RESET_TRIGGER_NUMS,																					//异常——未知重启触发原因——数量
 	
 } EXCEPT_UNKOWN_RESET_TRIGGER_e;
 
 typedef struct _except_unkown_reset_info
 {
-	STACK_DATA_TYPE 									stack;																	//堆栈信息
+	Process_Info_t 										process_info;														//线程信息（堆栈信息和看门狗信息）
+	uint32_t 													trigger;																//导致未知重启触发的类型
 	uint32_t													cur_process_id;													//当前正在处理的进程号
-	EXCEPT_UNKOWN_RESET_TRIGGER_e 		trigger;																//导致未知重启触发的类型
-	bool															is_upload;															//是否正在上传
-	
+	uint32_t													end_process_id;													//处理完的进程号
+	uint8_t														is_upload;															//是否正在上传
 } Except_Unkown_Reset_Info_t;
 
 typedef struct no_init
 {
-	Except_Unkown_Reset_Info_t				unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_NUMS];
+	Except_Unkown_Reset_Info_t				unkown_reset_info;
+	uint32_t													struct_change_flag;											//被更改标志位
 } No_Init_t;
 
 typedef struct exception{
@@ -111,24 +135,14 @@ static void Except_NotOSHardFault_Handler(uint32_t msp_addr)
 	
 	msp_addr += 8;												//进入中断后，堆栈又进入了2个u32数据，因此需要往后推
 	
-	no_init_data.unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT].is_upload = true;
+	no_init_data.unkown_reset_info.is_upload = 1;	
 	
-	no_init_data.unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT].trigger = EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT;
+	no_init_data.unkown_reset_info.trigger |= (1<<EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT);
 	
-	memcpy((void *)&no_init_data.unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT].stack, (STACK_DATA_TYPE *)msp_addr, sizeof(STACK_DATA_TYPE));
+	memcpy((void *)&no_init_data.unkown_reset_info.process_info.stack, (STACK_DATA_TYPE *)msp_addr, sizeof(STACK_DATA_TYPE));
 	
 	p = (STACK_DATA_TYPE *)msp_addr;
 	p->PC -= 3;														//PC指针要减去3
-//	
-//	DEBUG_LOG("R0:0x%08X\r\n", p->R0);
-//	DEBUG_LOG("R1:0x%08X\r\n", p->R1);
-//	DEBUG_LOG("R2:0x%08X\r\n", p->R2);
-//	DEBUG_LOG("R3:0x%08X\r\n", p->R3);
-//	DEBUG_LOG("R12:0x%08X\r\n", p->R12);
-//	DEBUG_LOG("LR:0x%08X\r\n", p->LR);
-//	DEBUG_LOG("PC:0x%08X\r\n", p->PC);
-//	DEBUG_LOG("xPSR:0x%08X\r\n", p->xPSR);
-//	DEBUG_LOG("system reset...\r\n");
 }
 
 ////有操作系统时的异常处理
@@ -214,7 +228,6 @@ static void Exception_Led_Process(void)
 	else return;
 	
 	//把鞋子倒转平放，且存在异常
-//	DEBUG_LOG("Exception_Led_Process:%d,%d,%d\n",f_acc[0],f_acc[1],f_acc[2]);
 	if(f_acc[2] >= EXCEPT_LED_ON_ACC_Z && ob_exception.except_number_of_exist > 0)
 	{
 		Except_Led_OpenOnce();
@@ -227,58 +240,60 @@ static void Exception_Led_Process(void)
 
 static void Exception_UnkownReset_Info_Send_Process(void)
 {
+	uint32_t tim;
 	char buf[250]={0};
 	memset(buf,0,sizeof(buf));
-	
-//	static uint8_t cur_flow = 0;
-	
-	for(int i = 0; i < EXCEPT_UNKOWN_RESET_TRIGGER_NUMS; i++)
+
+	if(no_init_data.unkown_reset_info.is_upload == 1)
 	{
-		if(no_init_data.unkown_reset_info[i].is_upload == true)
+		if((no_init_data.unkown_reset_info.trigger & (1<<EXCEPT_UNKOWN_RESET_TRIGGER_WDT)) != 0)
 		{
-			switch(no_init_data.unkown_reset_info[i].trigger)
+			tim = no_init_data.unkown_reset_info.process_info.wdt_info.thread_end_tim;
+			if(tim < no_init_data.unkown_reset_info.process_info.wdt_info.thread_start_tim)tim += 16777216;
+			
+			sprintf(buf,"id:0x%x,0x%x,%d,%f\r\n",no_init_data.unkown_reset_info.cur_process_id,no_init_data.unkown_reset_info.end_process_id, \
+																		no_init_data.unkown_reset_info.process_info.wdt_info.wdt_remain_tim, \
+																		(tim-no_init_data.unkown_reset_info.process_info.wdt_info.thread_start_tim)/32.768);
+			if(Except_TxError(EXCEPT_UNKOWN_RESET,buf) == 0)
 			{
-				case EXCEPT_UNKOWN_RESET_TRIGGER_WDT:
-					sprintf(buf,"id:%d\r\n",no_init_data.unkown_reset_info[i].cur_process_id);
-					if(Except_TxError(EXCEPT_UNKOWN_RESET,buf) == 0){no_init_data.unkown_reset_info[i].is_upload = false;}
-					break;
-				
-				case EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT:
-					sprintf(buf,"id:0x%x,R:0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,H:0x%x,S:0x%x\r\n",	no_init_data.unkown_reset_info[i].cur_process_id, \
-				                                                                      no_init_data.unkown_reset_info[i].stack.R0, \
-																																							no_init_data.unkown_reset_info[i].stack.R1, \
-																																							no_init_data.unkown_reset_info[i].stack.R2, \
-																																							no_init_data.unkown_reset_info[i].stack.R3, \
-																																							no_init_data.unkown_reset_info[i].stack.R12, \
-																																							no_init_data.unkown_reset_info[i].stack.LR, \
-																																							no_init_data.unkown_reset_info[i].stack.PC - 3, \
-																																							no_init_data.unkown_reset_info[i].stack.xPSR,
-				                                                                      HARDWARE_VERSION,SOFTWARE_VERSION);
-//				  DEBUG_LOG("%s\r\n", buf);
-					if(Except_TxError(EXCEPT_UNKOWN_RESET,buf) == 0){no_init_data.unkown_reset_info[i].is_upload = false;}
-					break;
-				
-				default:
-					no_init_data.unkown_reset_info[i].is_upload = false;
-					break;
+				no_init_data.unkown_reset_info.trigger &= ~(1<<EXCEPT_UNKOWN_RESET_TRIGGER_WDT);
+				if(no_init_data.unkown_reset_info.trigger == 0)no_init_data.unkown_reset_info.is_upload = 0;
 			}
-			
-			if(no_init_data.unkown_reset_info[i].trigger == EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT)
+		}
+		else if((no_init_data.unkown_reset_info.trigger & (1<<EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT)) != 0)
+		{
+			sprintf(buf,"id:0x%x,0x%x,R:0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,0x%x,H:0x%x,S:0x%x\r\n",	no_init_data.unkown_reset_info.cur_process_id,no_init_data.unkown_reset_info.end_process_id, \
+																																					no_init_data.unkown_reset_info.process_info.stack.R0, \
+																																					no_init_data.unkown_reset_info.process_info.stack.R1, \
+																																					no_init_data.unkown_reset_info.process_info.stack.R2, \
+																																					no_init_data.unkown_reset_info.process_info.stack.R3, \
+																																					no_init_data.unkown_reset_info.process_info.stack.R12, \
+																																					no_init_data.unkown_reset_info.process_info.stack.LR, \
+																																					no_init_data.unkown_reset_info.process_info.stack.PC - 3, \
+																																					no_init_data.unkown_reset_info.process_info.stack.xPSR,
+																																					HARDWARE_VERSION,SOFTWARE_VERSION);
+			if(Except_TxError(EXCEPT_UNKOWN_RESET,buf) == 0)
 			{
-//				DEBUG_LOG("R0:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.R0);
-//				DEBUG_LOG("R1:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.R1);
-//				DEBUG_LOG("R2:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.R2);
-//				DEBUG_LOG("R3:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.R3);
-//				DEBUG_LOG("R12:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.R12);
-//				DEBUG_LOG("LR:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.LR);
-//				DEBUG_LOG("PC:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.PC - 3);
-//				DEBUG_LOG("xPSR:0x%08X\r\n", no_init_data.unkown_reset_info[i].stack.xPSR);
+				no_init_data.unkown_reset_info.trigger &= ~(1<<EXCEPT_UNKOWN_RESET_TRIGGER_RUN_OUT);
+				if(no_init_data.unkown_reset_info.trigger == 0)no_init_data.unkown_reset_info.is_upload = 0;
 			}
-			else
+		}
+		else if((no_init_data.unkown_reset_info.trigger & (1<<EXCEPT_UNKOWN_RESET_TRIGGER_APP_ERROR_CHECK)) != 0)
+		{
+			sprintf(buf,"id:0x%x,0x%x,%s",no_init_data.unkown_reset_info.cur_process_id,no_init_data.unkown_reset_info.end_process_id,no_init_data.unkown_reset_info.process_info.app_error_check_info.buff);
+			if(Except_TxError(EXCEPT_UNKOWN_RESET,buf) == 0)
 			{
-//				DEBUG_LOG("id:%d\r\n", no_init_data.unkown_reset_info[i].cur_process_id);
+				no_init_data.unkown_reset_info.trigger &= ~(1<<EXCEPT_UNKOWN_RESET_TRIGGER_APP_ERROR_CHECK);
+				if(no_init_data.unkown_reset_info.trigger == 0)no_init_data.unkown_reset_info.is_upload = 0;
 			}
 		}
+		else
+		{
+			//跑飞数据被篡改了
+			memset((void*)&no_init_data, 0 , sizeof(No_Init_t));
+			no_init_data.struct_change_flag = EXCEPT_NO_INIT_DATA_CHANGE_FLAG;
+			no_init_data.unkown_reset_info.is_upload = 0;
+		}
 	}
 }
 
@@ -297,7 +312,14 @@ void cb_BLE_Host_R_ERR(void* handle)
 
 void Exception_Init(void)
 {
-//	memset(&no_init_data, 0 , sizeof(No_Init_t)*EXCEPT_UNKOWN_RESET_TRIGGER_NUMS);
+	//若结构体被改动，则重置。
+	if(no_init_data.struct_change_flag != EXCEPT_NO_INIT_DATA_CHANGE_FLAG)
+	{
+		memset((void*)&no_init_data, 0 , sizeof(No_Init_t));
+		no_init_data.struct_change_flag = EXCEPT_NO_INIT_DATA_CHANGE_FLAG;
+		no_init_data.unkown_reset_info.is_upload = 0;
+	}
+
 	memset(&ob_exception, 0 , sizeof(ob_exception));
 	ob_exception.led_switch = EXCEPT_LED_OFF;
 	ob_exception.led_display_time = EXCEPT_LED_DISPLAY_TIME/LED_PROCESS_CYCLE;
@@ -309,14 +331,8 @@ void Exception_Init(void)
 	
 	BLE_Host_Rx_Regist(BLE_ERR,cb_BLE_Host_R_ERR);
 	
-//	DEBUG_LOG("Exception_Init - sizeof(no_init_data):%d\r\n", sizeof(no_init_data));
-	
 	memcpy(&battery_record,&mFlash.mbattercb_t,sizeof(battercb_t));
 	
-	extern void printbatter_cb(battercb_t *c,battercb_t *C_flash);
-		
-//	printbatter_cb(&battery_record,&mFlash.mbattercb_t);
-	
 }
 
 /**
@@ -326,9 +342,49 @@ void Exception_Init(void)
 */
 void app_error_fault_handler(uint32_t id, uint32_t pc, uint32_t info)
 {
+	char err_info[200];
+	
 	Flash_SaveLog(id,pc,info);
 	DEBUG_LOG("app_error_fault_handler,System reset\n");
-//	nrf_gpio_cfg_output(PIN_RESET_PIN); 	nrf_gpio_pin_write(PIN_RESET_PIN,0);
+	
+	no_init_data.unkown_reset_info.is_upload = 1;
+	no_init_data.unkown_reset_info.trigger |= (1<<EXCEPT_UNKOWN_RESET_TRIGGER_APP_ERROR_CHECK);
+	memset((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info, 0, sizeof(APP_ERROR_CHECK_INFO_TYPE));
+	switch (id)
+	{
+		#if defined(SOFTDEVICE_PRESENT) && SOFTDEVICE_PRESENT
+		case NRF_FAULT_ID_SD_ASSERT:
+			memcpy((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info,"SD: ASSERTION FAILED\r\n",sizeof(APP_ERROR_CHECK_INFO_TYPE));
+		break;
+		case NRF_FAULT_ID_APP_MEMACC:
+			memcpy((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info,"SD: INVALID MEMORY ACCESS\r\n",sizeof(APP_ERROR_CHECK_INFO_TYPE));
+		break;
+		#endif
+		case NRF_FAULT_ID_SDK_ASSERT:
+		{
+			assert_info_t * p_info = (assert_info_t *)info;
+			sprintf((char *)err_info,"f:%s,l:%u\r\n",
+			p_info->p_file_name,
+			p_info->line_num);
+			memcpy((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info,err_info,sizeof(APP_ERROR_CHECK_INFO_TYPE));
+			break;
+		}
+		case NRF_FAULT_ID_SDK_ERROR:
+		{
+			error_info_t * p_info = (error_info_t *)info;
+			sprintf((char *)err_info,"e:%u,f:%s,l:%u\r\n",
+			p_info->err_code,
+			p_info->p_file_name,
+			p_info->line_num);
+			memcpy((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info,err_info,sizeof(APP_ERROR_CHECK_INFO_TYPE));
+		break;
+		}
+		default:
+		sprintf((char *)err_info,"UNKNOWN FAULT 0x%08X\n", pc);
+		memcpy((void *)&no_init_data.unkown_reset_info.process_info.app_error_check_info,err_info,sizeof(APP_ERROR_CHECK_INFO_TYPE));
+		break;
+	}
+
 	NVIC_SystemReset();                                //复位重启	
 }
 
@@ -378,13 +434,6 @@ bool Except_IsError(ExcepType_t excep_type)
 	return false;
 }
 
-//bool Except_IsErrorExist(void)
-//{
-//	if(ob_exception.except_number_of_exist > 0)return true;
-//		
-//	return false;
-//}
-
 //硬件中断
 void HardFault_Handler (void)
 {
@@ -411,19 +460,32 @@ void HardFault_Handler (void)
 
 void Except_Get_Cur_Porcess_ID(uint32_t cur_process_id)
 {
-	for(int i = 0; i < EXCEPT_UNKOWN_RESET_TRIGGER_NUMS; i++)
+	uint32_t cur_tim,feed_watchdogtim;
+
+	if(no_init_data.unkown_reset_info.is_upload == 0)
 	{
-		if(no_init_data.unkown_reset_info[i].is_upload == false)
-		{
-			no_init_data.unkown_reset_info[i].cur_process_id = cur_process_id;
-		}
+		no_init_data.unkown_reset_info.cur_process_id = cur_process_id;
+		cur_tim 					= NRF_RTC0->COUNTER;
+		feed_watchdogtim 	= Get_FeedWatchDogTime();
+		if(cur_tim<feed_watchdogtim) cur_tim += 16777216;
+		no_init_data.unkown_reset_info.process_info.wdt_info.wdt_remain_tim = WDT_RELOAD_VALUE - ((cur_tim-feed_watchdogtim)/32.768);
+		no_init_data.unkown_reset_info.process_info.wdt_info.thread_start_tim = cur_tim;
+	}
+}
+
+void Except_Get_End_Porcess_ID(uint32_t end_process_id)
+{
+	if(no_init_data.unkown_reset_info.is_upload == 0)
+	{
+		no_init_data.unkown_reset_info.end_process_id = end_process_id;
 	}
 }
 
 void Except_Unkown_Reset_WDT_Set(void)
 {
-	no_init_data.unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_WDT].is_upload = true;
-	no_init_data.unkown_reset_info[EXCEPT_UNKOWN_RESET_TRIGGER_WDT].trigger = EXCEPT_UNKOWN_RESET_TRIGGER_WDT;
+	no_init_data.unkown_reset_info.is_upload = 1;
+	no_init_data.unkown_reset_info.trigger |= (1<<EXCEPT_UNKOWN_RESET_TRIGGER_WDT);
+	no_init_data.unkown_reset_info.process_info.wdt_info.thread_end_tim = NRF_RTC0->COUNTER;
 }
 
 /**

system/exception.h

@@ -70,12 +70,12 @@ void Except_ClearExceptype(ExcepType_t excep_type);
 
 bool Except_IsError(ExcepType_t excep_type);
 
-//bool Except_IsErrorExist(void);
-
 int  Except_TxError(ExcepType_t excep_type,const char *errstr);
 
 void Except_Get_Cur_Porcess_ID(uint32_t cur_process_id);
 
+void Except_Get_End_Porcess_ID(uint32_t end_process_id);
+
 void Except_Unkown_Reset_WDT_Set(void);
 
 int Except_Display(ExcepType_t excep_type,const char *errstr);

system/selfcheck.c

@@ -37,8 +37,12 @@
 
 #define SELFCHECK_WEAR_INSOLE_MAG_NORM_MIN_THRESHOLD													 5000																								//穿鞋垫的地磁norm值最小阈值
 
+#define	SELFCHECK_SENSOR_MAG_SHAKE_TRIGGER_THRESHOLD													 18000																							//地磁抖动触发检测
+
 #define SELFCHECK_SENSOR_MAG_NO_WELDING_CAPACITOR_MIN_THRESHOLD								 200																								//地磁传感器没焊接电容的最小阈值
 
+#define	SELFCHECK_SENSOR_MAG_SHAKE_THRESHOLD																	 200																								//地磁抖动阈值
+
 
 /*STRUCTION ------------------------------------------------------------------------------------------------------------------------------------*/
 typedef enum {
@@ -248,7 +252,7 @@ static void selfcheck_result_display_process(void)
 		//获取颜色+闪烁次数+周期
 		if(ob_selfcheck.selfcheck_result == 0)
 		{
-			front_mag_norm = sqrt((double)(ob_selfcheck.f_data.mag[0]*ob_selfcheck.f_data.mag[0]) + (double)(ob_selfcheck.f_data.mag[1]*ob_selfcheck.f_data.mag[1]) + (double)(ob_selfcheck.f_data.mag[2]*ob_selfcheck.f_data.mag[2]));
+			front_mag_norm = sqrt((double)(ob_selfcheck.f_data.mag[0]*ob_selfcheck.f_data.mag[0]) + (double)(ob_selfcheck.f_data.mag[1]*ob_selfcheck.f_data.mag[1]) + (double)(ob_selfcheck.f_data.mag[2]*ob_selfcheck.f_data.mag[2]));	
 			if(SELFCHECK_WEAR_INSOLE_MAG_NORM_MIN_THRESHOLD <= front_mag_norm)
 			{
 				ob_selfcheck.selfcheck_result_led_color = COLOR_GREEN;
@@ -303,6 +307,12 @@ static void selfcheck_process(void)
 	static uint32_t         sensor_t_count = 0;
 	static uint32_t					last_tim = 0;
 	static uint32_t					continue_trigger = 0;
+	static uint32_t					front_mag_norm_max = 0;
+	static uint32_t					back_mag_norm_max = 0;
+	static uint32_t					front_mag_norm_min = 0xffffffff;
+	static uint32_t					back_mag_norm_min = 0xffffffff;
+	static bool							front_mag_shake_trigger = false;
+	static bool							back_mag_shake_trigger = false;
 
 	t_count++;
 	
@@ -334,7 +344,7 @@ static void selfcheck_process(void)
 		battery_adc_t_count = t_count;
 	}
 	
-	//充电芯片监测充电
+	//充电芯片检测
 	fml_adc_get_value(PIN_ADC_CHARGMEASURE_CHANNEL,&adc_value);
 	if(SELFCHECK_CHARGE_CHIP_PIN_ADC_MIN_THRESHOLD < adc_value)
 	{
@@ -367,8 +377,8 @@ static void selfcheck_process(void)
 		roll_t_count = t_count;
 	}
 
-	//每3秒查看前后传感器是否配置且读取成功（至少要1秒才有结果）且值本身是否正常（如地磁没有焊接电容），设置自检结果。
-	if(t_count - sensor_t_count > (3000/100))
+	//每1秒查看前后传感器是否配置且读取成功（至少要1秒才有结果）且值本身是否正常（如地磁没有焊接电容），设置自检结果。
+	if(t_count - sensor_t_count > (1000/100))
 	{
 		//前脚传感器判断
 		f_config_result = bll_imu_query_config_param_is_ready(BLL_IMU_DIR_FRONT,&game_bll_imu_param_t);
@@ -432,6 +442,50 @@ static void selfcheck_process(void)
 		//更新计时
 		sensor_t_count = t_count;
 	}
+	
+	//fornt back mag data check shake
+	if(t_count > (2000/100))
+	{
+		front_mag_norm = sqrt((double)(ob_selfcheck.f_data.mag[0]*ob_selfcheck.f_data.mag[0]) + (double)(ob_selfcheck.f_data.mag[1]*ob_selfcheck.f_data.mag[1]) + (double)(ob_selfcheck.f_data.mag[2]*ob_selfcheck.f_data.mag[2]));
+		back_mag_norm = sqrt((double)(ob_selfcheck.b_data.mag[0]*ob_selfcheck.b_data.mag[0]) + (double)(ob_selfcheck.b_data.mag[1]*ob_selfcheck.b_data.mag[1]) + (double)(ob_selfcheck.b_data.mag[2]*ob_selfcheck.b_data.mag[2]));
+		
+		if(front_mag_norm >= SELFCHECK_SENSOR_MAG_SHAKE_TRIGGER_THRESHOLD)
+		{
+			//get max
+			front_mag_norm_max = (front_mag_norm_max > front_mag_norm)?front_mag_norm_max:front_mag_norm;
+			//get min
+			front_mag_norm_min = (front_mag_norm_min > front_mag_norm)?front_mag_norm:front_mag_norm_min;
+			
+			front_mag_shake_trigger = true;
+		}
+		
+		if(back_mag_norm >= SELFCHECK_SENSOR_MAG_SHAKE_TRIGGER_THRESHOLD)
+		{
+			//get max
+			back_mag_norm_max = (back_mag_norm_max > back_mag_norm)?back_mag_norm_max:back_mag_norm;
+			//get min
+			back_mag_norm_min = (back_mag_norm_min > back_mag_norm)?back_mag_norm:back_mag_norm_min;
+			
+			back_mag_shake_trigger = true;
+		}
+
+		SEGGER_RTT_printf(0,"front_mag_norm_max:%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",front_mag_norm,back_mag_norm,front_mag_norm_max,back_mag_norm_max, \
+		                                                                front_mag_norm_min,back_mag_norm_min,front_mag_norm_max - front_mag_norm_min, \
+		                                                                back_mag_norm_max - back_mag_norm_min,front_mag_shake_trigger,back_mag_shake_trigger);
+		
+		if(t_count >= (5000/100))
+		{
+			if(front_mag_norm_max - front_mag_norm_min >= SELFCHECK_SENSOR_MAG_SHAKE_THRESHOLD && front_mag_shake_trigger)
+			{
+				ob_selfcheck.selfcheck_result |= (1 << SELFCHECK_RESULT_ERR_FRONT_MAG_NO_DATA_OR_EXCP_DATA);
+			}
+			
+			if(back_mag_norm_max - back_mag_norm_min >= SELFCHECK_SENSOR_MAG_SHAKE_THRESHOLD && back_mag_shake_trigger)
+			{
+				ob_selfcheck.selfcheck_result |= (1 << SELFCHECK_RESULT_ERR_BACK_NO_DATA_OR_EXCP_DATA);
+			}
+		}
+	}
 
 	//第5秒查看能否读取到任意广播名字，且最小的RSSI是否满足条件，设置自检结果。
 	if(t_count == (5000/100))

system/system.c

@@ -178,7 +178,7 @@ int Process_App(void)
 	cur_round_task_max_useTime.total_us = 0;
 
 	for(i=0;i<process_dex;i++){
-		Except_Get_Cur_Porcess_ID(i);
+		Except_Get_Cur_Porcess_ID((uint32_t)mProcess[i].cb);
 		if(mProcess[i].enable==0) continue;
 		if(mProcess[i].cb){
 			#if ProcessTime_EN
@@ -213,7 +213,8 @@ int Process_App(void)
 			useTime = useTime*1000/32.768;
 			if(mProcess[i].useTime<useTime)	mProcess[i].useTime = useTime;
 			#endif
-		}	
+		}
+		Except_Get_End_Porcess_ID((uint32_t)mProcess[i].cb);		
 	}
 	
 	if(cur_round_task_max_useTime.task_us > all_round_task_max_useTime.task_us)