From 40f12b7c8cc3d8f2d97be6693c0d00c49c866773 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 01 四月 2025 11:00:17 +0800
Subject: [PATCH] V1.34 解决基站过多，标签不测距BUG
---
Src/main.c | 176 +++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 155 insertions(+), 21 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2dfe9fe..dcb83df 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 */
@@ -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)|21;
+ g_com_map[VERSION] = (1<<8)|34;
// 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)
{
@@ -326,15 +328,18 @@
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(GPIO_Pin == GPIO_PIN_11)
+ if(dw1000_init_flag&&!sleep_flag)
{
- 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)
{
@@ -359,9 +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;
}
@@ -463,6 +472,11 @@
BeepTask();
}
}
+uint8_t uwb_kaiguanrx_falg;
+extern uint8_t uwbrxflag;
+uint8_t dwt_entersleep_flag;
+extern u8 lora_jianting_flag;
+uint8_t lora_busy_flag;
/* USER CODE END 0 */
/**
@@ -505,9 +519,11 @@
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_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
// dwt_entersleep();
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
{
@@ -533,6 +549,7 @@
{
Error_Handler();
}
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -548,6 +565,55 @@
// 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(g_com_map[MODBUS_MODE])
+ {
+ 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;
+ }
+ }
+ else
+ {
+ if(lora_jianting_flag&&lora_busy_flag==0)
+ {
+ HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(SPIx_CS_GPIO, SPIx_CS, GPIO_PIN_RESET);
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ MbxTagUwbRec();
+ dwt_entersleep_flag=0;
+ HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(SPIx_CS_GPIO, SPIx_CS, GPIO_PIN_SET);
+ }
+ else
+ {
+ if(dwt_entersleep_flag==0)
+ {
+ dwt_entersleep();
+ dwt_entersleep_flag=1;
+ }
+ }
+ }
OneSecondTask();
IdleTask();
// if(g_com_map[LORA_SEND_INDEX])
@@ -555,13 +621,14 @@
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 */
@@ -1027,8 +1094,8 @@
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);
}
@@ -1070,11 +1137,13 @@
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;
+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
{
@@ -1114,8 +1183,68 @@
} else {
if(!sleep_flag)
{
+ Lora_send_time++;
flag_onesecond = 1;
- Lora_send_flag=1;
+ if(g_com_map[MODBUS_MODE])
+ {
+ 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;
+ }
+ }
+ else
+ {
+// if(lora_jianting_flag)
+// {
+// if(dwt_entersleep_flag)
+// {
+//
+// }
+// }
+// else
+// {
+// if(dwt_entersleep_flag!=1)
+// {
+// dwt_entersleep();
+// dwt_entersleep_flag=1;
+// }
+// }
+// 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)
{
@@ -1125,6 +1254,11 @@
Radio.Sleep();
sleep_flag = 1;
LedOff_task();
+ delay_ms(100);
+// dwt_entersleep();
+ uwb_kaiguanrx_falg=2;
+ dwt_entersleep_flag=0;
+ uwbrxflag=0;
}
}
#endif
--
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