From e6a35a9ad44e3db48c7bae45dbb7d8e3983373cf Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 17 二月 2025 17:24:29 +0800
Subject: [PATCH] 1.29，改为轮询查询uwb测距
---
Src/main.c | 87 +++++++++++++++++++++++++++++--------------
1 files changed, 59 insertions(+), 28 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index f46ba45..3ead772 100644
--- a/Src/main.c
+++ b/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)|27;
+ 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;
@@ -331,15 +331,15 @@
uint8_t dw1000_init_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
- if(dw1000_init_flag)
+ 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)
{
@@ -364,6 +364,8 @@
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
// }
}
+
+ }
if(GPIO_Pin == GPIO_PIN_0)//加速度
{
SystemClock_Config();
@@ -371,7 +373,6 @@
{HAL_NVIC_SystemReset();}
stationary_flag =0;
stationary_num=0;
- }
}
}
@@ -473,6 +474,7 @@
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
+uint8_t dwt_entersleep_flag;
/* USER CODE END 0 */
/**
@@ -515,6 +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);
@@ -544,6 +547,7 @@
{
Error_Handler();
}
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -559,15 +563,31 @@
// uwb_work_flag=0;
// MbxTagUwbRec();
// }
- if(uwb_kaiguanrx_falg==1)
+ if(sleep_flag)
{
- uwb_kaiguanrx_falg=0;
- UWB_RXON();
+ 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==2)
+
+ if(uwb_kaiguanrx_falg==1)
+ {
+ MbxTagUwbRec();
+// uwb_kaiguanrx_falg=0;
+// UWB_RXON();
+ }
+ if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
{
- uwb_kaiguanrx_falg=0;
- UWB_RXOFF();
+ dwt_entersleep();
+ dwt_entersleep_flag=1;
}
OneSecondTask();
IdleTask();
@@ -576,13 +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 */
@@ -1048,8 +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);
}
@@ -1093,6 +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;
@@ -1149,7 +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
@@ -1157,12 +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
@@ -1174,8 +1203,10 @@
Radio.Sleep();
sleep_flag = 1;
LedOff_task();
- UWB_RXOFF();
- uwb_kaiguanrx_falg=0;
+ delay_ms(100);
+// dwt_entersleep();
+ uwb_kaiguanrx_falg=2;
+ dwt_entersleep_flag=0;
uwbrxflag=0;
}
}
--
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