1.29，改为轮询查询uwb测距

WXK

2025-02-17 e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf

 Src/main.c

@@ -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;
@@ -217,9 +219,9 @@
    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)|18;
    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)
    {
@@ -324,8 +326,21 @@
}
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();
@@ -349,9 +364,13 @@
//            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;
    }
@@ -453,6 +472,9 @@
        BeepTask();
    }
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
uint8_t dwt_entersleep_flag;
/* USER CODE END 0 */

/**
@@ -483,10 +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();
@@ -495,10 +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();
@@ -523,6 +547,7 @@
    {
        Error_Handler();
    }
    
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -533,6 +558,37 @@

    /* 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])
@@ -540,13 +596,13 @@
        Lora_Send_Poll();
//        }
        LoraUp_Poll();
#ifndef DEBUG_MODE
        if(beep_flag==0)
        {
        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 */
@@ -938,8 +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);
@@ -1012,6 +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 */
@@ -1052,11 +1111,14 @@
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
    {
@@ -1096,8 +1158,42 @@
    } 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&&motor_keeptime==0)
            {
@@ -1107,6 +1203,11 @@
                    Radio.Sleep();
                    sleep_flag = 1;
                    LedOff_task();
                    delay_ms(100);
//                    dwt_entersleep();
                uwb_kaiguanrx_falg=2;
                dwt_entersleep_flag=0;
                    uwbrxflag=0;
                }
            } 
#endif