1.33，加入1s一次跟3s一次 通过勾选modbus模式来区别 不勾选是1s一次

WXK

2025-03-31 5a577b9f27adb2e9fc23f3776153999e18c97e9a

 Src/main.c

@@ -219,7 +219,7 @@
    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)|29;
    g_com_map[VERSION] = (1<<8)|33;
//    g_com_map[DEV_ID]=1158;
    g_com_map[GROUP_ID]=3;
//    g_com_map[COM_INTERVAL] = 1000;
@@ -475,6 +475,8 @@
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 */

/**
@@ -577,7 +579,8 @@
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
          }
        }
       
        if(g_com_map[MODBUS_MODE])
        {
        if(uwb_kaiguanrx_falg==1)
        { 
            MbxTagUwbRec();
@@ -589,6 +592,28 @@
            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();
//        if(g_com_map[LORA_SEND_INDEX])
@@ -596,6 +621,7 @@
        Lora_Send_Poll();
//        }
        LoraUp_Poll();
        
//#ifndef DEBUG_MODE
//        if(beep_flag==0&&uwbrxflag!=1)
//        {
@@ -1112,7 +1138,6 @@
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)
{
@@ -1160,6 +1185,8 @@
        {
            Lora_send_time++;
            flag_onesecond = 1;
            if(g_com_map[MODBUS_MODE])
            {    
            if(lora_jianting_flag)
            {
            if(Lora_send_time%3==1)
@@ -1183,7 +1210,7 @@
            {
                if(uwb_kaiguanrx_falg!=0)
                {
                uwb_kaiguanrx_falg=0;
    //                uwb_kaiguanrx_falg=0;
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                }
@@ -1193,6 +1220,30 @@
            Lora_send_flag=1;
            uwb_kaiguanrx_falg=0;    
            }
            }
            else
            {
//                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
            if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)