添加1.2.11版本

app/app_game.c

@@ -273,6 +273,8 @@ static void app_game_Process(void)
 								bll_imu_Resume_unregister_config_param(&game_bll_imu_param_t);
 								if(mFlash.isHost)app_game_notify_host(0);
 
+							  Except_TxError(EXCEPT_GAME,"!!!!!set_pdr_status");
+							  DEBUG_LOG("\r\n!!!!!set_pdr_status\r\n");
 								IMU_STATUS = 0;
 								set_pdr_status();
 								app_game_led(0);

build_log.txt

@@ -3,4 +3,4 @@ Build started: Project: ble_app_uart_c_pca10040_s132
 Build target 'Shoes_FW_APP'
 FromELF: creating hex file...
 ÿþ".\_build\nrf52832_xxaa.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:02

motion/detect_zero_vel.c

@@ -249,6 +249,8 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 	static int16_t back_up_wait;
 	static int16_t press_up_wait;
 	
+	static int16_t special_press_up_wait;
+	
 	
 	static int16_t front_min_val;
 	static int16_t back_min_val;
@@ -325,7 +327,16 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 		(front_mag_window[WINDOW_SIZE - 1] - front_min_val > 2000 && front_max_val - front_mag_window[WINDOW_SIZE - 1] < 1000))
 	{
 		press_up_wait = 20 * SAMPLE_C;
+		
+		special_press_up_wait = 20 * SAMPLE_C;
+	}
+	
+	if(front_down_trend  == 1)
+	{
+		special_press_up_wait = 0;
 	}
+	
+	
 
 	if (back_mag_window[WINDOW_SIZE - 1] - back_min_val > 2000 && front_mag_window[WINDOW_SIZE - 1] - front_min_val > 2000)
 	{
@@ -421,12 +432,9 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 		}
 		
 	}
-	//利用后脚跟压力和抖动来判断
-	if(press_up_wait > 0 && press_up_wait < 11 * SAMPLE_C && var_acc_temp > 3.0f)
+		//利用特殊的压力上升等待时间和抖动来判断
+	if(special_press_up_wait > 0 && var_acc_temp > 3.0f)
 	{
-		
-		press_up_wait =  20 * SAMPLE_C;
-		
 		*front_zero = 1;
 
 		if (front_zero_tmp == 0)
@@ -435,8 +443,6 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 		}
 	}
 	
-
-	
 	//累加平稳加速度的数目，如果超过一秒，则强制归位触地状态
 	if(acc_max_val_x - acc_min_val_x < 103 && acc_max_val_y - acc_min_val_y < 103 && acc_max_val_z - acc_min_val_z < 103)
 	{
@@ -463,15 +469,19 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 	
 	//利用加速度延续
 	int16_t continue_thresh = 103;
-
-	if (shake_acc_wait > 0)
+	
+	if(special_press_up_wait > 0 )
 	{
 		continue_thresh = 1030;
-	}else if(MT_GetState())
-	{
-		//震动，导致加速度数据产生抖动
-		continue_thresh = 250;
 	}
+//	if (shake_acc_wait > 0)
+//	{
+//		continue_thresh = 1030;
+//	}else if(MT_GetState())
+//	{
+//		//震动，导致加速度数据产生抖动
+//		continue_thresh = 250;
+//	}
 	
 
 	if(last_front_zupt == 1
@@ -521,6 +531,11 @@ void detect_zero_vel(int16_t front[3], int16_t back[3], int16_t acc[3],
 	{
 		front_zupt_wait = 20 * SAMPLE_C;
 	}
+	
+	if(special_press_up_wait > 0)
+	{
+		special_press_up_wait --;
+	}
 
 
 	

pca10040/s132/arm5_no_packs/_build/nrf52832_xxaa.build_log.htm

@@ -55,10 +55,10 @@ Package Vendor: NordicSemiconductor
 
    * Component: NordicSemiconductor::Device:Startup:8.32.1
       Source file:   Device\Source\system_nrf52.c
+      Include file:  Device\Include\system_nrf.h
       Source file:   Device\Source\arm\arm_startup_nrf52.s
       Include file:  Device\Include\system_nrf52.h
-      Include file:  Device\Include\system_nrf.h
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>

system/usr_config.h

@@ -5,7 +5,7 @@
 #define SHOES_NAME "SMART SHOE"
 #define SHOES_NAME_LEN  64
 #define HARDWARE_VERSION	0x00010201
-#define SOFTWARE_VERSION	0x0009
+#define SOFTWARE_VERSION	0x000B
 
 // <h> ¹«¹²