V1.34 解决基站过多，标签不测距BUG

yincheng.zhong

2025-04-01 40f12b7c8cc3d8f2d97be6693c0d00c49c866773

 Src/main.c

@@ -173,6 +173,7 @@
            state5v=1;
            UsartInit();
        }
        HAL_IWDG_Refresh(&hiwdg);
        if(bat_percent>99)
        {
            LED_TR_OFF;
@@ -182,6 +183,7 @@
            LED_TB_OFF;
        }
    } else {
        HAL_IWDG_Refresh(&hiwdg);
        if(state5v==1)
        {
            state5v=0;
@@ -217,9 +219,9 @@
    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] = (1<<8)|22;
    g_com_map[VERSION] = (1<<8)|34;
//    g_com_map[DEV_ID]=1158;
    g_com_map[GROUP_ID]=0;
    g_com_map[GROUP_ID]=3;
//    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {
@@ -326,15 +328,18 @@
uint16_t irq_num;
uint16_t irq_num1;
uint8_t uwb_work_flag;
uint8_t dw1000_init_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == GPIO_PIN_11)
    if(dw1000_init_flag&&!sleep_flag)
    {
        SystemClock_Config();
      uwb_work_flag=1;
        irq_num1++;
        MbxTagUwbRec();
    }
//    if(GPIO_Pin == GPIO_PIN_11)
//    {
//        SystemClock_Config();
//      uwb_work_flag=1;
//        irq_num1++;
//        MbxTagUwbRec();
//    }
    
    if(GPIO_Pin == GPIO_PIN_3)
    {
@@ -359,9 +364,13 @@
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
//        }
    }

    }    
    if(GPIO_Pin == GPIO_PIN_0)//加速度
    {
        SystemClock_Config();
        if(sleep_flag)
        {HAL_NVIC_SystemReset();}
        stationary_flag =0;
        stationary_num=0;
    }
@@ -464,6 +473,10 @@
    }
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
uint8_t dwt_entersleep_flag;
extern u8 lora_jianting_flag;
uint8_t lora_busy_flag;
/* USER CODE END 0 */

/**
@@ -506,7 +519,9 @@
    LED2_TB_ON;
    Program_Init();
    LIS3DH_Data_Init();
//    HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
    Dw1000_Init();
    dw1000_init_flag=1;
    Delay_Ms(10);
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//    dwt_entersleep();
@@ -534,6 +549,7 @@
    {
        Error_Handler();
    }
    
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -549,15 +565,54 @@
//        uwb_work_flag=0;    
//        MbxTagUwbRec();
//        }
        if(uwb_kaiguanrx_falg==1)
        if(sleep_flag)
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXON();
          while(1)
          {
            if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
            {
            dwt_entersleep();
            dwt_entersleep_flag=1;
            }
            HAL_IWDG_Refresh(&hiwdg);
            if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
          }
        }
        if(uwb_kaiguanrx_falg==2)
        if(g_com_map[MODBUS_MODE])
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXOFF();
            if(uwb_kaiguanrx_falg==1)
            { 
                MbxTagUwbRec();
        //            uwb_kaiguanrx_falg=0;
        //        UWB_RXON();
            }
            if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
            {
                dwt_entersleep();
                dwt_entersleep_flag=1;
            }
        }
        else
        {
            if(lora_jianting_flag&&lora_busy_flag==0)
            {
                HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_SET);
                HAL_GPIO_WritePin(SPIx_CS_GPIO, SPIx_CS, GPIO_PIN_RESET);
                SPIx_CS_GPIO->BRR = SPIx_CS;
                MbxTagUwbRec();
                dwt_entersleep_flag=0;
                HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET);
                HAL_GPIO_WritePin(SPIx_CS_GPIO, SPIx_CS, GPIO_PIN_SET);
            }
            else
            {
                if(dwt_entersleep_flag==0)
                {
                    dwt_entersleep();
                    dwt_entersleep_flag=1;
                }
            }
        }
        OneSecondTask();
        IdleTask();
@@ -566,13 +621,14 @@
        Lora_Send_Poll();
//        }
        LoraUp_Poll();
#ifndef DEBUG_MODE
        if(beep_flag==0)
        {
        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
        }
#endif
        
//#ifndef DEBUG_MODE
//        if(beep_flag==0&&uwbrxflag!=1)
//        {
//        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
//            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
//        }
//#endif

    }
  /* USER CODE END 3 */
@@ -1038,8 +1094,8 @@
  HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
//  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
//  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

@@ -1082,12 +1138,12 @@
extern uint16_t tagdist_list[ANC_MAX_NUM];
extern uint8_t Lora_send_flag;
uint8_t Lora_send_time;
extern u8 lora_jianting_flag;
uint16_t test1;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
    SystemClock_Config();
    HAL_IWDG_Refresh(&hiwdg);
//    HAL_IWDG_Refresh(&hiwdg);
    anjian_num=0;
    if(active_flag==0)  //未激活状态
    {
@@ -1129,27 +1185,64 @@
        {
            Lora_send_time++;
            flag_onesecond = 1;
            if(lora_jianting_flag)
            {
            if(Lora_send_time%3==1)
            {
//            UWB_RXON();
                uwb_kaiguanrx_falg=1;
            }
            if(Lora_send_time%3==2)
            {
//            UWB_RXOFF();
                uwb_kaiguanrx_falg=2;
            }
            if(g_com_map[MODBUS_MODE])
            {    
                if(lora_jianting_flag)
                {
                if(Lora_send_time%3==1)
                {
    //            UWB_RXON();
                    uwb_kaiguanrx_falg=1;
                }
                if(Lora_send_time%3==2)
                {
    //            UWB_RXOFF();
                    
                    uwb_kaiguanrx_falg=2;
                    dwt_entersleep_flag=0;
    //                dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    //                test1++;
    //                delay_ms(100);
    //                dwt_entersleep();
                }
                }
                else
                {
                    if(uwb_kaiguanrx_falg!=0)
                    {
    //                uwb_kaiguanrx_falg=0;
                    uwb_kaiguanrx_falg=2;
                    dwt_entersleep_flag=0;
                    }
                }
                if(Lora_send_time%3==0)
                {
                Lora_send_flag=1;
                uwb_kaiguanrx_falg=0;    
                }
            }
            else
            {
                uwb_kaiguanrx_falg=0;
                UWB_RXOFF();
            }
            if(Lora_send_time%3==0)
            {
            Lora_send_flag=1;
//                if(lora_jianting_flag)
//                {
//                      if(dwt_entersleep_flag)
//                      {
//                      
//                      }
//                }
//                else
//                {
//                    if(dwt_entersleep_flag!=1)
//                    {
//                        dwt_entersleep();
//                        dwt_entersleep_flag=1;
//                    }
//                }
//                if(Lora_send_time%3==0)
//                {
                Lora_send_flag=1;
//                uwb_kaiguanrx_falg=0;    
//                }
            }
            
#ifndef DEBUG_MODE
@@ -1161,6 +1254,11 @@
                    Radio.Sleep();
                    sleep_flag = 1;
                    LedOff_task();
                    delay_ms(100);
//                    dwt_entersleep();
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                    uwbrxflag=0;
                }
            } 
#endif