2.1，修复测距的bug

WXK

2024-12-04 6fd69a703b639eb3bf339bfc296562594fd5a31f

 Src/main.c

@@ -113,6 +113,7 @@

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void Test_Poll();
extern uint8_t shengji_flag;
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
@@ -219,11 +220,12 @@
         Set4LEDColor_Off();
    }
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {  state5v=1;
        LoraInit();
        HAL_UART_DMAStop(&hlpuart1); //  停止DMA传输，防止  
        while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
      {
   {  
//        state5v=1;
//        LoraInit();
//        HAL_UART_DMAStop(&hlpuart1); //  停止DMA传输，防止  
//        while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
//      {
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
@@ -234,8 +236,8 @@
      }else{
            powerled=RED;           
      }
      }
     HAL_NVIC_SystemReset();    
//      }
//     HAL_NVIC_SystemReset();    
   }else{
        state5v=0;
            if(bat_percent>20)
@@ -316,7 +318,7 @@
   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)|24;
   g_com_map[VERSION] = (2<<8)|1;
//    g_com_map[DEV_ID]=1158;
//    #ifdef DEBUG_MODE
//   // g_com_map[GROUP_ID]=21;
@@ -372,7 +374,7 @@
//    Error_Handler();
//  }
//g_com_map[NOMOVESLEEP_TIME]=5;
    printf("固件版本: URT-LORA-GPS版本 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
    printf("固件版本: URT-LORA-GPS版本测试固件-双SPI V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
@@ -444,6 +446,7 @@
uint16_t irq_num;
u8 lora_irq_flag,lora_working_flag;
//u8 uwb_irq_flag;
uint8_t test_jiasudu_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == RADIO_DIO1_Pin)
@@ -467,6 +470,7 @@
        HAL_NVIC_SystemReset();
        }
      nomove_count = 0;
        test_jiasudu_flag=1;
    }
   if(GPIO_Pin == GPIO_PIN_9)//UWB
    {
@@ -639,6 +643,7 @@
        loraled=BLUE;
        LoraReportPoll();
        flag_onesecond = 1;
             Test_Poll();
    }

}
@@ -659,6 +664,32 @@
        fangzhijinrushuimian_flag=0;
    }
    HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
}
extern  uint8_t test_lora_flag;
extern uint16_t test_ancdist;
extern uint16_t test_ancid;
extern  int16_t intheight;
void Test_Poll()
{
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
    if(test_jiasudu_flag)
    {printf("加速度计触发\r\n");}
    else
    {printf("加速度计不行\r\n");}

    if(test_ancid>0&&test_ancdist>0)
    {printf("当前测距ID:%d,距离:%d\r\n",test_ancid,test_ancdist);}  
    else
    {printf("当前UWB不好使\r\n");}

    if(test_lora_flag)
    {printf("当前LORA好使\r\n");}
    else
    {printf("当前LORA有问题\r\n");}
    
    printf("当前气压计:%d\r\n",intheight);
}
}
/* USER CODE END 0 */

@@ -706,7 +737,7 @@
    delay_ms(100);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
    Program_Init();
    MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
//    MX_IWDG_Init(); //看门狗务必放到开GPS电源开uwb电源后面，否则GPS工作不正常。
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -741,6 +772,18 @@
     Error_Handler();
    }
    HAL_TIM_Base_Start_IT(&htim6);
    
    
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_7, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET); 
delay_ms(500);  
//memcpy(&xiafayuyin_data,&RX_Buffer[PWTAG_WRITE_VALUE_IDX],BufferSize-PWTAG_WRITE_VALUE_IDX);
sprintf((char*)xiafayuyin_data,"设备ID%d,电量%d,",g_com_map[DEV_ID],bat_percent);
SYN_FrameInfo(0,xiafayuyin_data); //播放内容
yuyin_sendflag=1;           
yuyinzidongguan_time=0;             
yuyin_no_sleep_flag=1;   
     
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -776,7 +819,7 @@
      IdleTask();   
      PowerDownDetect();
      Lora_Send_Poll();
      TTSchaxun_Busy();
//      TTSchaxun_Busy();
      LoraUp_Poll();
//    #ifndef DEBUG_MODE   
//    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))   
@@ -1421,26 +1464,26 @@
    //Set4LEDColor(powerled,loraled,gpsled,uwbled);
    ledon_time = GetLPTime();
    Bat_Percent_Poll();
    if(state5v==0)
    {
        if(yuyin_no_sleep_flag==0)
        {
            recv_end_time++;
            if(recv_end_time>NOGPS_RESET_TIME)
            {HAL_NVIC_SystemReset();}
        }

    
//        if(yuyin_no_sleep_flag==0)
//        {
//            recv_end_time++;
//            if(recv_end_time>NOGPS_RESET_TIME)
//            {HAL_NVIC_SystemReset();}
//        }
        Yuying_Poll();
        state_count++;
        switch(state_count)
        {
            case 0:
                
                break;
            case 1:
                break;
            case 2:
                break;
        }
//        state_count++;
//        switch(state_count)
//        {
//            case 0:
//                
//                break;
//            case 1:
//                break;
//            case 2:
//                break;
//        }
        Lora_send_flag=1;
        if(nomove_count++>g_com_map[STATIONARY_TIME])
        {
@@ -1456,7 +1499,7 @@
        } else {
            gotosleep_flag=0;
        }
    }
    
//    powerled=LEDOFF;
//    loraled=LEDOFF;
//    gpsled=LEDOFF;