1.29，改为轮询查询uwb测距

WXK

2025-02-17 e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf

 Src/main.c

@@ -219,7 +219,7 @@
    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)|28;
    g_com_map[VERSION] = (1<<8)|29;
//    g_com_map[DEV_ID]=1158;
    g_com_map[GROUP_ID]=3;
//    g_com_map[COM_INTERVAL] = 1000;
@@ -333,13 +333,13 @@
{
    if(dw1000_init_flag&&!sleep_flag)
    {
    if(GPIO_Pin == GPIO_PIN_11)
    {
        SystemClock_Config();
      uwb_work_flag=1;
        irq_num1++;
        MbxTagUwbRec();
    }
//    if(GPIO_Pin == GPIO_PIN_11)
//    {
//        SystemClock_Config();
//      uwb_work_flag=1;
//        irq_num1++;
//        MbxTagUwbRec();
//    }
    
    if(GPIO_Pin == GPIO_PIN_3)
    {
@@ -474,6 +474,7 @@
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
uint8_t dwt_entersleep_flag;
/* USER CODE END 0 */

/**
@@ -516,6 +517,7 @@
    LED2_TB_ON;
    Program_Init();
    LIS3DH_Data_Init();
//    HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
    Dw1000_Init();
    dw1000_init_flag=1;
    Delay_Ms(10);
@@ -545,6 +547,7 @@
    {
        Error_Handler();
    }
    
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -564,20 +567,27 @@
        {
          while(1)
          {
            if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
            {
            dwt_entersleep();
            dwt_entersleep_flag=1;
            }
            HAL_IWDG_Refresh(&hiwdg);
            if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
          }
        }
       
        if(uwb_kaiguanrx_falg==1)
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXON();
        { 
            MbxTagUwbRec();
//            uwb_kaiguanrx_falg=0;
//        UWB_RXON();
        }
        if(uwb_kaiguanrx_falg==2)
        if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXOFF();
            dwt_entersleep();
            dwt_entersleep_flag=1;
        }
        OneSecondTask();
        IdleTask();
@@ -586,13 +596,13 @@
        Lora_Send_Poll();
//        }
        LoraUp_Poll();
#ifndef DEBUG_MODE
        if(beep_flag==0&&uwbrxflag!=1)
        {
        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
        }
#endif
//#ifndef DEBUG_MODE
//        if(beep_flag==0&&uwbrxflag!=1)
//        {
//        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
//            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
//        }
//#endif

    }
  /* USER CODE END 3 */
@@ -1058,8 +1068,8 @@
  HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
//  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
//  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

@@ -1103,6 +1113,7 @@
extern uint8_t Lora_send_flag;
uint8_t Lora_send_time;
extern u8 lora_jianting_flag;
uint16_t test1;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
@@ -1159,7 +1170,13 @@
            if(Lora_send_time%3==2)
            {
//            UWB_RXOFF();
                
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
//                dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
//                test1++;
//                delay_ms(100);
//                dwt_entersleep();
            }
            }
            else
@@ -1167,12 +1184,14 @@
                if(uwb_kaiguanrx_falg!=0)
                {
                uwb_kaiguanrx_falg=0;
                UWB_RXOFF();
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                }
            }
            if(Lora_send_time%3==0)
            {
            Lora_send_flag=1;
            uwb_kaiguanrx_falg=0;    
            }
            
#ifndef DEBUG_MODE
@@ -1185,8 +1204,9 @@
                    sleep_flag = 1;
                    LedOff_task();
                    delay_ms(100);
                    UWB_RXOFF();
                    uwb_kaiguanrx_falg=0;
//                    dwt_entersleep();
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                    uwbrxflag=0;
                }
            }