1.72，加入拉高lora的cs脚，兼容带lora的免布线基站

WXK

2025-05-13 8dd2c20ddb32d065b877d66394e52a73c0376838

 Src/main.c

@@ -55,11 +55,11 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;

IWDG_HandleTypeDef hiwdg;

LPTIM_HandleTypeDef hlptim1;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;

UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -75,9 +75,9 @@
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM2_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */
@@ -110,85 +110,45 @@
    Error_Handler();
   }
}
static void MX_DMA_DeInit(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_DISABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
 // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
  HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);

}
void UsartDeInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    waitusart_timer = 0;
    MX_DMA_DeInit();
    HAL_UART_DeInit(&huart1);
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v;
uint8_t state5v = 1;
float motor_keeptime;
void IdleTask(void)
{u16 current_time;
	
         UART_CheckReceive();
      UART_CheckSend();

if(huart1.Instance->ISR&USART_ISR_FE)
   {
   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }	
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
//   LED_TR_ON;
//   LED_TB_OFF;
//}else{
//   LED_TR_OFF;
   current_time=GetLPTime();
   //motor_state=2;
//      if(g_com_map[MOTOR_ONTIME]>0)
//if(huart1.Instance->ISR&USART_ISR_FE)
//   {
//      g_com_map[MOTOR_ONTIME]--;
//      motor_state = 1;
//   }
if(0)//g_com_map[MOTOR_ENABLE])
{
    

   switch(motor_state)
      {case 0:
         if(hardware_type==NSH1)
         {MOTOR_OFF;
         }else if(hardware_type==GP)
         {
         HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
         }
         break;
      case 1:
         if(current_time<MOTOR_ONTIME)
         {
            if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         }else{
            if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         }				
         break;
      case 2:
         if(hardware_type==NSH1)
            {MOTOR_ON;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            }	
         break;
      case 3:
         if(hardware_type==NSH1)
            {MOTOR_OFF;
            }else if(hardware_type==GP)
            {
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            }	
         break;	
   }
}
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//   }	
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
        	
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
        bat_percent=Get_Battary();
       // bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
@@ -203,46 +163,18 @@
         LED_LG_OFF;      
      }      
   }else{
      state5v=0;
        if(state5v==1)
        {
            state5v=0;
            UsartDeInit();
        }
      LED_LR_OFF;
      LED_LG_OFF;
//   }
}
   if(g_com_map[CNT_UPDATE]==1)
   {
   uint32_t result = 0;
      uint16_t tmp = 0xAAAA;
   __disable_irq();
   result = FLASH_Prepare(0x8004A38, 128);
   if(result)
      result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
   __enable_irq();
      printf("进入升级模式\r\n");
   g_com_map[CNT_UPDATE]=0;
   save_com_map_to_flash();
   delay_ms(100);
      //   STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
      //   Delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
   }
         if(g_com_map[CNT_REBOOT]==1)
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
         g_com_map[CNT_REBOOT]=0;
         g_com_map[MAP_SIGN_INDEX]=0;
         save_com_map_to_flash();
         delay_ms(100);
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
      if(g_com_map[CNT_RESTART]==1)
      {
         g_com_map[CNT_RESTART]=0;
         save_com_map_to_flash();
         delay_ms(100);
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
         if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }
@@ -250,51 +182,33 @@

u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;

   if(current_slotnum>=total_slotnum)
      current_slotnum-=total_slotnum;
	
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
   //if(target_time<90000)
   {
      lptime=target_time-offsettimeus;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
   {
   lpcount+=LPTIMER_1S_COUNT;
   }
//   if(current_slotnum>=total_slotnum)
//      current_slotnum-=total_slotnum;
//	
//   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
//   //if(target_time<90000)
//   {
//      lptime=target_time-offsettimeus;
//      lpcount = lptime/LPTIMER_LSB;
//   if(lpcount>LPTIMER_1S_COUNT)
//      lpcount-=LPTIMER_1S_COUNT;
//   if(lpcount<0)
//   {
//   lpcount+=LPTIMER_1S_COUNT;
//   }
    lpcount = last_lpcount+32768/tag_frequency-time*LPTIMER_LSB;
    while(lpcount>LPTIMER_1S_COUNT)
    {
        lpcount-=LPTIMER_1S_COUNT;
    }
    last_lpcount = lpcount;
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 1;
   switch(hardware_type)
      {
        case 1:
	  
       HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = MOTOR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
         break;
      case 2:
         MX_TIM2_Init();
      //BarInit();
         break;
      }
}
u8 active_flag,nomovesleeptime;
void Program_Init(void)
@@ -307,9 +221,20 @@
   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)|31;
   g_com_map[VERSION] = (1<<8)|72;
    
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
//          g_com_map[DEV_ID]=4;
    //   g_com_map[COM_INTERVAL]=100;
    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
    //   g_com_map[NOMOVESLEEP_TIME]=10;
    #endif
//    g_com_map[GROUP_ID]=3;
    g_com_map[COM_INTERVAL] = 1000;
    active_flag = g_com_map[ACTIVE_INDEX];
       module_power = g_com_map[POWER];
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
   
@@ -328,13 +253,8 @@
      imu_enable=1;
      nomovesleeptime =10;      
   }
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=1;
//   g_com_map[COM_INTERVAL]=100;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
//   g_com_map[NOMOVESLEEP_TIME]=10;
#endif

 //   g_com_map[COM_INTERVAL]=100;
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
@@ -351,11 +271,8 @@
    Error_Handler();
  }
//g_com_map[NOMOVESLEEP_TIME]=5;
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	

    printf("固件版本: 免布线基站 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]);

@@ -383,6 +300,44 @@
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
}
uint16_t temp2; 
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
{
    static uint8_t first = 1;
    static float last_value = 100;   
    static uint16_t bat_count = 0;
    //if(bat_count++%600==0)
    {
   temp2=dwt_readtempvbat(1);
   dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
    if(fabs(dw_vbat-dw_vbat)>0.2)
    {
        last_vbat = dw_vbat;
        return last_value;
    }
    last_vbat = dw_vbat;      
   if(dw_vbat>=3.0)
   {
      if(first)
      {
            first = 0;			
         last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
      }
      last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
   if(last_value>100)
      last_value = 100;
   if(last_value<0)
      last_value = 0;
    }
    }
   return last_value;	       
}
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
/* USER CODE END 0 */

@@ -415,28 +370,34 @@
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
   MX_DMA_Init();
    MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
 
//  MX_TIM2_Init();
  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
   Dw1000_Init();
   Dw1000_App_Init();
   HardWareTypeDiffConfig();
   dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
   dwt_entersleep();
   waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
   DW_DISABLE;
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
//   HAL_Delay(2000);
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
    LED_LG_ON;
    Program_Init();
    //   LIS3DH_Data_Init();	
    Dw1000_Init();
    Dw1000_App_Init();
    //   HardWareTypeDiffConfig();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();
    DW_DISABLE;
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
    }
    HAL_Delay(1000);
//   mcu_sleep();
   //LED0_BLINK;      
//   SystemPower_Config();
@@ -450,11 +411,12 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      if(g_start_send_flag&&active_flag)
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
		
      HAL_IWDG_Refresh(&hiwdg);
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//      {
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -463,7 +425,7 @@
//      }
//      LED_TR_BLINK;s
      
         bat_percent=Get_Battary();
			
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -478,20 +440,21 @@
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }
         if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
         {	
#ifndef DEBUG_MODE	
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
#endif
         }
		
 
      }		 
   }else{
   IdleTask();   
   }

    if(m_bEUARTTxEn==0&&waitusart_timer==0)
    {
     if(memcmp(g_com_map2,g_com_map,200)!=0)
     {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
     }
    #ifndef DEBUG_MODE	
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))				
                    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
    #endif
    }
// HAL_Delay(100);
    //  Get_Battary();

@@ -516,13 +479,15 @@
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
                              |RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
@@ -559,7 +524,7 @@
  * @param None
  * @retval None
  */
static void MX_ADC_Init(void)
void MX_ADC_Init(void)
{

  /* USER CODE BEGIN ADC_Init 0 */
@@ -577,7 +542,7 @@
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = DISABLE;
@@ -596,15 +561,45 @@
  }
  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC_Init 2 */
HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
    HAL_ADCEx_EnableVREFINT();
    HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
  /* USER CODE END ADC_Init 2 */

}

/**
  * @brief IWDG Initialization Function
  * @param None
  * @retval None
  */
static void MX_IWDG_Init(void)
{

  /* USER CODE BEGIN IWDG_Init 0 */

  /* USER CODE END IWDG_Init 0 */

  /* USER CODE BEGIN IWDG_Init 1 */

  /* USER CODE END IWDG_Init 1 */
  hiwdg.Instance = IWDG;
  hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
  hiwdg.Init.Window = 4095;
  hiwdg.Init.Reload = 4095;
  if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN IWDG_Init 2 */

  /* USER CODE END IWDG_Init 2 */

}

@@ -678,69 +673,6 @@
  /* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 9;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 1171;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 599;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */
//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
//  {
//    /* Starting Error */
//    Error_Handler();
//  }
  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

}

@@ -926,21 +858,41 @@
}
extern uint8_t tx_near_msg[80],stationary_flag;
float key_keeptime;
extern float freqlost_count,range_lost_time;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
   static uint8_t i=0,lost_jumpcount=0;
   i++;
   g_start_send_flag=1;
	
   current_slotnum++;
   SetNextPollTime(tyncpoll_time);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
    freqlost_count+=1/(float)tag_frequency;
    range_lost_time +=1/(float)tag_frequency;
    
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
        {
            lost_jumpcount = 0;
            g_start_send_flag=1;
        }
    }else{
        g_start_send_flag=1;
    }
    if(range_lost_time<1||freqlost_count>FREQ_LOST_TIME)
    {
        SetNextPollTime(0);
    }else{
        SetNextPollTime(5);
    }
   nomove_count+=1/(float)tag_frequency;
    if(motor_keeptime>0)
   {   
   motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
        nomove_count+=1/(float)tag_frequency;
   }
   if(!GET_USERKEY)
   {
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
            g_com_map[ACTIVE_INDEX]=!active_flag;
@@ -952,20 +904,20 @@
   }else{
      key_keeptime=0;
   }
   if(nomove_count>STATIONARY_TIME)
   {
      stationary_flag = 1;
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=nomovesleeptime-1&&imu_enable)
   {
      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
   }
   if(nomove_count>nomovesleeptime&&imu_enable)
   {
      mcu_sleep();
   }
//   if(nomove_count>STATIONARY_TIME)
//   {
//      stationary_flag = 1;
//   }else{
//      stationary_flag = 0;
//   }
//if(nomove_count>=nomovesleeptime-1&&imu_enable)
//   {
//      tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
//   }
//   if(nomove_count>nomovesleeptime&&imu_enable)
//   {
//      mcu_sleep();
//   }
}
/* USER CODE END 4 */