修复bug，可以跟dw3000的接收端测距。

WXK

2023-07-28 d74cb2bd098186eef245b733aae6945db77a7431

 Src/main.c

@@ -377,28 +377,22 @@
  MX_ADC_Init();

//  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
//  /* USER CODE BEGIN 2 */
    LED_LG_ON;
    Program_Init();
    //   LIS3DH_Data_Init();   
    Dw1000_Init();
    Dw1000_App_Init();
    //   HardWareTypeDiffConfig();
    dwt_configuresleep(DWT_CONFIG|DWT_PGFCAL, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN);
//    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//    dwt_entersleep();
    dwt_configuresleep(DWT_CONFIG|DWT_PGFCAL, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN|DWT_SLEEP);
    dwt_entersleep();
//    DW_DISABLE;
     Tag_App666();
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
    }
    HAL_Delay(2000);
  //  dw3000_id=dwt_read32bitreg(0x44);;
//   mcu_sleep();
   //LED0_BLINK;		
//   SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   

  /* USER CODE END 2 */

  /* Infinite loop */
@@ -410,47 +404,45 @@
    /* USER CODE BEGIN 3 */
      if(g_start_send_flag)
   { static uint16_t blink_count=0;
//      SystemClock_Config();
      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);
//      }else{
//      HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//      }
//      LED_TR_BLINK;s
      Tag_App();
			
//      if(bat_percent>15)
//      {   LED_TB_ON;
      HAL_IWDG_Refresh(&hiwdg);


//         Tag_App();
//         LED_TB_OFF;
//      }else{
//         LED_TR_ON;
//         Tag_App();
//         LED_TR_OFF;		
//      }
      if(bat_percent>15)
      {   LED_TB_ON;
         Tag_App();
         LED_TB_OFF;
      }else{
         LED_TR_ON;
         Tag_App();
         LED_TR_OFF;		
      }
//      //LED0_BLINK;      
//      IdleTask();	
//      if(waitusart_timer>0)
//      {
//         waitusart_timer--;
//      }		 
//   }else{
//   IdleTask();	
//   }
      IdleTask();	
      if(waitusart_timer>0)
      {
         waitusart_timer--;
      }		 
   }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
//    }
    #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();

@@ -867,7 +859,7 @@
    if(freqlost_count>FREQ_LOST_TIME)
    {
        tag_frequency = NOTAG_FREQ;
        if(lost_jumpcount++>=0) //无测距情况下，每5秒发一次；
        if(lost_jumpcount++>=4) //无测距情况下，每5秒发一次；
        {
            lost_jumpcount = 0;
            g_start_send_flag=1;
@@ -879,7 +871,7 @@
    {
        SetNextPollTime(0);
    }else{
        SetNextPollTime(0);
        SetNextPollTime(5);
    }
   nomove_count+=1/(float)tag_frequency;
    if(motor_keeptime>0)