From 226533bb2a30fd840e7e818077af1584062b5aed Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 13 二月 2025 09:37:25 +0800
Subject: [PATCH] 1.28，加入休眠后while（1），只进入stop。中断也不响应
---
Src/main.c | 105 ++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 93 insertions(+), 12 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 29e89de..2cc0403 100644
--- a/Src/main.c
+++ b/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;
@@ -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)|19;
+ g_com_map[VERSION] = (1<<8)|28;
// 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 +472,8 @@
BeepTask();
}
}
+uint8_t uwb_kaiguanrx_falg;
+extern uint8_t uwbrxflag;
/* USER CODE END 0 */
/**
@@ -483,10 +504,10 @@
/* 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();
@@ -496,9 +517,10 @@
Program_Init();
LIS3DH_Data_Init();
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();
@@ -533,6 +555,30 @@
/* USER CODE BEGIN 3 */
// HAL_IWDG_Refresh(&hiwdg);
+// if(uwb_work_flag)
+// {
+// uwb_work_flag=0;
+// MbxTagUwbRec();
+// }
+ if(sleep_flag)
+ {
+ while(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();
+ }
+ if(uwb_kaiguanrx_falg==2)
+ {
+ uwb_kaiguanrx_falg=0;
+ UWB_RXOFF();
+ }
OneSecondTask();
IdleTask();
// if(g_com_map[LORA_SEND_INDEX])
@@ -541,7 +587,7 @@
// }
LoraUp_Poll();
#ifndef DEBUG_MODE
- if(beep_flag==0)
+ 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);
@@ -938,8 +984,8 @@
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 +1058,9 @@
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 +1101,13 @@
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;
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 +1147,34 @@
} 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;
+ }
+ }
+ else
+ {
+ if(uwb_kaiguanrx_falg!=0)
+ {
+ uwb_kaiguanrx_falg=0;
+ UWB_RXOFF();
+ }
+ }
+ if(Lora_send_time%3==0)
+ {
Lora_send_flag=1;
+ }
+
#ifndef DEBUG_MODE
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)
{
@@ -1107,6 +1184,10 @@
Radio.Sleep();
sleep_flag = 1;
LedOff_task();
+ delay_ms(100);
+ UWB_RXOFF();
+ uwb_kaiguanrx_falg=0;
+ uwbrxflag=0;
}
}
#endif
--
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