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

@@ -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)
@@ -184,6 +185,7 @@
         break;   
   }
}
    bat_percent=Get_Battary();
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
      nomove_count = 0;
@@ -192,7 +194,7 @@
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      if(HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
      {
         LED_LR_OFF;
         LED_LG_ON;
@@ -252,42 +254,30 @@
#define FIXSLOTPOS  4
u16 slotpos_intoatl;
uint16_t bigslot_num;
uint8_t fix_slotpos =FIXSLOTPOS; 
int32_t lpcount,lptime,target_time;
extern u16 tagslotpos;
void SetNextPollTime(u16 slotpos) //时间片逻辑：上来默认计算一个时间，时间同步之后，就近选择时间片。SetNextPollTime会调整下次发送



void CommapErrorCheck(void)
{

#ifdef FIXSLOT
   fix_slotpos =FIXSLOTPOS;
   //fix_slotpos = g_com_map[ALARM_DISTANCE1];
   slotpos = fix_slotpos;
   tagslotpos = fix_slotpos;
#endif

   while(current_slotnum>=tag_frequency)
   {   current_slotnum-=tag_frequency;}
   slotpos_intoatl = current_slotnum*bigslot_num+slotpos;

   if(current_slotnum==19)
   {slotpos_intoatl = current_slotnum*bigslot_num+slotpos;}
   target_time=(slotpos_intoatl*SLOTTIME_MS+100)*100;
	
   //if(target_time<90000)
      if(g_com_map[COM_INTERVAL]==0||g_com_map[COM_INTERVAL]>1000)
   {
      lptime=target_time-offsettimeus+1200;
      lpcount = lptime/LPTIMER_LSB;
   if(lpcount>LPTIMER_1S_COUNT)
      lpcount-=LPTIMER_1S_COUNT;
   if(lpcount<0)
   {
   lpcount+=LPTIMER_1S_COUNT;
     g_com_map[COM_INTERVAL]=100;
   }
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
   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[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;
@@ -298,13 +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] = 0x0215;
//   g_com_map[DEV_ID]=0x11;
   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]=0x4008;
    g_com_map[ACTIVE_INDEX]=1;
//   g_com_map[COM_INTERVAL]=100;
   //   g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
//   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;
@@ -312,44 +303,43 @@
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
//   g_com_map[IMU_ENABLE]=0;
//    g_com_map[COM_INTERVAL]=1000;
//    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;
   }
      if(g_com_map[COM_INTERVAL]==0)
   {
     g_com_map[COM_INTERVAL]=100;
   }
   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;}

//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]);
@@ -376,23 +366,45 @@

void HardWareTypeDiffConfig(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
   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:
	  
       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);
      {
        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;
      }
}

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)
{
@@ -429,7 +441,7 @@
  /* 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();
@@ -437,18 +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;;
   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);
//   mcu_sleep();
   //LED0_BLINK;      
@@ -467,9 +482,15 @@
//      {
//      MODBUS_Poll();
//      }
      if(g_start_send_flag&&active_flag)
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/*&&uwb_active_flag*/)
   { static uint16_t blink_count=0;
      SystemClock_Config();
      g_start_send_flag = 0;   
   //   GetPressAndTemp();
//      if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
@@ -479,8 +500,7 @@
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;
		
         bat_percent=Get_Battary();
         __disable_irq();
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
@@ -490,21 +510,14 @@
         Tag_App();
         LED_TR_OFF;      
      }
         __enable_irq();
      //LED0_BLINK;      
      IdleTask();   
      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();   
   }
@@ -933,6 +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*/
@@ -945,19 +960,20 @@
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;
   i++;
      
   SystemClock_Config();
   g_start_send_flag=1;
   current_slotnum++;
   SetNextPollTime(tagslotpos);
   nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
//   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-=(float)g_com_map[COM_INTERVAL]/1000;
        motor_keeptime-=1/(float)tag_frequency;
   }
    if(motor_keeptime<0)
    {motor_keeptime = 0;}
@@ -966,7 +982,7 @@
   if(!GET_USERKEY)
   {
      LED_LG_ON;
         key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
         key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>3)
      {
         u8 i=250,keystate=1;
@@ -998,7 +1014,7 @@

   if(!GET_USERKEY)
   {
      key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
      key_keeptime+=1/(float)tag_frequency;
      if(key_keeptime>=KEY_KEEPRESET_TIME)
      {
         SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
@@ -1012,16 +1028,18 @@
   }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{
      gotosleep_flag=0;
   }
#ifndef DEBUG_MODE    
   if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
   {
      mcu_sleep();
   }
#endif
}
/* USER CODE END 4 */