1.29，改为轮询查询uwb测距

WXK

2025-02-17 e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf

 Src/main.c

@@ -43,7 +43,7 @@
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP      (uint32_t)0x08004F00    //硬件版本号和批次信息位置
#define DEBUG_MODE
//#define DEBUG_MODE
UART_WakeUpTypeDef Selection;
/* USER CODE END Includes */

@@ -86,10 +86,10 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_DMA_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_IWDG_Init(void);
static void MX_TIM2_Init(void);
static void MX_LPUART1_UART_Init(void);
@@ -173,6 +173,7 @@
            state5v=1;
            UsartInit();
        }
        HAL_IWDG_Refresh(&hiwdg);
        if(bat_percent>99)
        {
            LED_TR_OFF;
@@ -182,6 +183,7 @@
            LED_TB_OFF;
        }
    } else {
        HAL_IWDG_Refresh(&hiwdg);
        if(state5v==1)
        {
            state5v=0;
@@ -195,7 +197,7 @@
    {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
    }
    if(memcmp(g_com_map2,g_com_map,200)!=0)
    if(memcmp(g_com_map2,g_com_map,100)!=0)
     {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
     }
@@ -217,15 +219,17 @@
    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)|11;
    g_com_map[VERSION] = (1<<8)|29;
//    g_com_map[DEV_ID]=1158;
    g_com_map[GROUP_ID]=0;
    g_com_map[GROUP_ID]=3;
//    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {
        g_com_map[COM_INTERVAL] = 1000;
    }
    g_com_map[STATIONARY_TIME] = 10;
    g_com_map[LORA_POWER] = 22;
    g_com_map[POWER] = 67;
    active_flag = g_com_map[ACTIVE_INDEX];
    module_power = g_com_map[POWER];
//    g_com_map[IMU_ENABLE] = 0;
@@ -320,9 +324,23 @@
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
uint8_t anjian_num;
uint16_t irq_num;
uint16_t irq_num1;
uint8_t uwb_work_flag;
uint8_t dw1000_init_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    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_3)
    {
        SystemClock_Config();
@@ -333,10 +351,26 @@
    {
        SystemClock_Config();
        anjian_flag=1;
//        anjian_num++;
//        if(anjian_num==2)
//        {                        
//            g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
//            save_com_map_to_flash();
//            LED_TB_ON;
//            LED_TR_ON;
//            LED2_TB_ON;
//            LED2_TR_ON;
//            delay_ms(100);
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
//        }
    }

    }    
    if(GPIO_Pin == GPIO_PIN_0)//加速度
    {
        SystemClock_Config();
        if(sleep_flag)
        {HAL_NVIC_SystemReset();}
        stationary_flag =0;
        stationary_num=0;
    }
@@ -414,6 +448,7 @@
}

uint8_t usart5_state,flag_onesecond;
uint8_t beep_flag;
void BeepTask(void)
{
    if(1)//g_com_map[MOTOR_ENABLE])
@@ -422,8 +457,10 @@
        {
            motor_keeptime--;
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
            beep_flag=1;
        }else{
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
            beep_flag=0;
        }       
    }
}
@@ -435,6 +472,9 @@
        BeepTask();
    }
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
uint8_t dwt_entersleep_flag;
/* USER CODE END 0 */

/**
@@ -465,10 +505,10 @@

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
//  MX_DMA_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_IWDG_Init();
  MX_TIM2_Init();
  MX_LPUART1_UART_Init();
@@ -477,10 +517,12 @@
    LED2_TB_ON;
    Program_Init();
    LIS3DH_Data_Init();
//    HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
    Dw1000_Init();
    dw1000_init_flag=1;
    Delay_Ms(10);
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();
//    dwt_entersleep();
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
        Error_Handler();
@@ -505,6 +547,7 @@
    {
        Error_Handler();
    }
    
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -515,13 +558,51 @@

    /* USER CODE BEGIN 3 */
//    HAL_IWDG_Refresh(&hiwdg);
//        if(uwb_work_flag)
//        {
//        uwb_work_flag=0;    
//        MbxTagUwbRec();
//        }
        if(sleep_flag)
        {
          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)
        { 
            MbxTagUwbRec();
//            uwb_kaiguanrx_falg=0;
//        UWB_RXON();
        }
        if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
        {
            dwt_entersleep();
            dwt_entersleep_flag=1;
        }
        OneSecondTask();
        IdleTask();
//        if(g_com_map[LORA_SEND_INDEX])
//        {
        Lora_Send_Poll();
#ifndef DEBUG_MODE
        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
//        }
        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

    }
  /* USER CODE END 3 */
@@ -913,8 +994,8 @@
  HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
                          |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pins : PA0 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_15;
  /*Configure GPIO pins : PA0 PA11 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_11|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -987,6 +1068,9 @@
  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);

}

/* USER CODE BEGIN 4 */
@@ -1027,11 +1111,15 @@
uint8_t no_yingdatime,tflag1,tflag2;
extern uint16_t tagdist_list[ANC_MAX_NUM];
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;
    SystemClock_Config();
    HAL_IWDG_Refresh(&hiwdg);
//    HAL_IWDG_Refresh(&hiwdg);
    anjian_num=0;
    if(active_flag==0)  //未激活状态
    {
        if(!GET_USERKEY)
@@ -1070,16 +1158,56 @@
    } else {
        if(!sleep_flag)
        {
            Lora_send_time++;
            flag_onesecond = 1;
            if(lora_jianting_flag)
            {
            if(Lora_send_time%3==1)
            {
//            UWB_RXON();
                uwb_kaiguanrx_falg=1;
            }
            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
            {
                if(uwb_kaiguanrx_falg!=0)
                {
                uwb_kaiguanrx_falg=0;
                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
            if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
            if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)
            {
                if(sleep_flag==0)
                {
                    Radio.Standby();
                    Radio.Sleep();
                    sleep_flag = 1;
                    LedOff_task();
                    delay_ms(100);
//                    dwt_entersleep();
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                    uwbrxflag=0;
                }
            } 
#endif