2.85，加入按下按键点击震动100ms 原来是10ms没感觉

WXK

2025-06-05 a6a0759e70adbfaf9b2b090bd0c25541be8bb104

 Src/main.c

@@ -31,7 +31,7 @@

#define NSH1 0x0001
#define GP   0x0002
#define DEBUG_MODE
//#define DEBUG_MODE
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -101,7 +101,7 @@
}   
void UsartInit(void)
{
   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
//   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
    MX_DMA_Init();
   MX_USART1_UART_Init();
 if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
@@ -139,6 +139,7 @@
      }else{
         motor_state = 0;
      }
      //motor_state=2;
   switch(motor_state)
      {case 0:
         if(hardware_type==NSH1)
@@ -256,7 +257,7 @@



void ErrorConfig_Handler(void)
void CommapErrorCheck(void)
{
      if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
   {
@@ -264,12 +265,19 @@
   }
   if(g_com_map[IMU_THRES]>10)
   {g_com_map[IMU_THRES]=2;}
    if(g_com_map[POWER]>MAX_RFPOWER)
      {g_com_map[POWER]=MAX_RFPOWER;}
      if(g_com_map[POWER]<0)
      {g_com_map[POWER]=0;}
    if(g_com_map[POWER]>MAX_RFPOWER)
        {g_com_map[POWER]=MAX_RFPOWER;}
    if(g_com_map[POWER]<0)
        {g_com_map[POWER]=0;}
    if(g_com_map[STATIONARY_TIME]==0)
        {
        g_com_map[STATIONARY_TIME]=10;
        }
        
}
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
u16 nomovesleep_time=0,interval;
void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -280,14 +288,14 @@
   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] = 0x0225;
   g_com_map[VERSION] = (2<<8)|85;
    
//   g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//   g_com_map[DEV_ROLE]=1;
//      g_com_map[DEV_ID]=0x4009;
   //   g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
   g_com_map[COM_INTERVAL]=50;
//   g_com_map[COM_INTERVAL]=50;
//   g_com_map[MAX_REPORT_ANC_NUM]=1;
//   g_com_map[NOMOVESLEEP_TIME]=10;
//         g_com_map[IMU_ENABLE]=0;
@@ -295,36 +303,43 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
//   g_com_map[IMU_ENABLE]=0;
    g_com_map[COM_INTERVAL]=50;
//    g_com_map[COM_INTERVAL]=50;
    CommapErrorCheck();
   active_flag = g_com_map[ACTIVE_INDEX];
   if(active_flag==0)
   {   
        g_com_map[COM_INTERVAL]=1000;
      g_com_map[IMU_ENABLE]=1;
      g_com_map[NOMOVESLEEP_TIME]=10;
      g_com_map[MOTOR_ENABLE]=0;
   }

//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
   module_power = g_com_map[POWER];
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
	
   uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
   group_id=g_com_map[GROUP_ID];
   dev_id = g_com_map[DEV_ID];
   //slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
      slottime = 5;
   slottime = 5;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
   slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
   lastpoll_time=tyncpoll_time;
  tag_frequency = 1000/g_com_map[COM_INTERVAL];
    
   bigslot_num = TOTAL_SLOTNUM/tag_frequency;
   current_slotnum=1;
   current_time=GetLPTime();
    nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
    interval = g_com_map[COM_INTERVAL];
    if(active_flag==0)
   {   
        interval=1000;
      imu_enable=1;
      nomovesleep_time = 10;
      motor_enable=0;
   }
    tag_frequency = 1000/interval;
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }
     printf("设备ID: %x .\r\n",dev_id);
    printf("固件版本:定位标签-串口输出-随机时间片模式 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
//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]);
@@ -351,14 +366,15 @@

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
if(hardware_type == 0)
    hardware_type = 1;
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   if(g_com_map[MOTORBEEPER_INDEX]!=1&&g_com_map[MOTORBEEPER_INDEX]!=2)
   {
         g_com_map[MOTORBEEPER_INDEX] = 2;
   }
   hardware_type   = g_com_map[MOTORBEEPER_INDEX];
   switch(hardware_type)
      {
        case 1:
	  
        case 1:	  
            HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
            GPIO_InitStruct.Pin = MOTOR_Pin;
            GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -370,6 +386,25 @@
         MX_TIM2_Init();
         break;
      }
}

void DoubleClickProcess(void)
{ char temp[50];
  uint8_t len;  
if(uwb_active_flag)
{
    uwb_active_flag = 0;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(3000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}else{
    uwb_active_flag = 1;
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
    HAL_Delay(1000);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
}
   g_com_map[UWB_ACTIVE_FLAG_IDX]= uwb_active_flag;
save_com_map_to_flash();
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
@@ -414,20 +449,21 @@
  /* USER CODE BEGIN 2 */
   LED_LG_ON;
   Program_Init();
   LIS3DH_Data_Init();	
   Accelerometer_Init();	
    BarInit();
   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;;
//   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);
//   mcu_sleep();
   //LED0_BLINK;      
@@ -446,14 +482,14 @@
//      {
//      MODBUS_Poll();
//      }
if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
if(m_bEUARTTxEn==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
         }
      if(g_start_send_flag&&active_flag)
      if(g_start_send_flag&&active_flag/*&&uwb_active_flag*/)
   { static uint16_t blink_count=0;
      g_start_send_flag = 0;   
   //   GetPressAndTemp();
@@ -464,6 +500,7 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -473,6 +510,7 @@
         Tag_App();
         LED_TR_OFF;      
      }
         __enable_irq();
      //LED0_BLINK;      
      IdleTask();   
      if(waitusart_timer>0)
@@ -908,6 +946,8 @@
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
   

	
   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
   HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);  
  /*Clear all related wakeup flags*/
@@ -920,7 +960,7 @@
extern u16 tagslotpos;
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
float key_keeptime;
extern float motor_ontime;
extern float motor_ontime,button_delay;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
   static uint8_t i=0;
@@ -928,10 +968,12 @@
   g_start_send_flag=1;
//   current_slotnum++;
//   SetNextPollTime(tagslotpos);
    if(button_delay<1)
    button_delay+=1/(float)tag_frequency;
   nomove_count+=1/(float)tag_frequency;
   if(motor_keeptime>0)
   {   
   motor_keeptime-=1/(float)tag_frequency;
        motor_keeptime-=1/(float)tag_frequency;
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
@@ -986,7 +1028,7 @@
   }else{
      stationary_flag = 0;
   }
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
if(nomove_count>=nomovesleep_time-1&&imu_enable)
   {
      gotosleep_flag=1;
   }else{