#include "mainex.h"
|
|
/* Private includes ----------------------------------------------------------*/
|
/* USER CODE BEGIN Includes */
|
#include "lis3dh_driver.h"
|
#include "dw_driver.h"
|
#include "deca_device_api.h"
|
#include "global_param.h"
|
#include "TrackingDiff.h"
|
#include "dw_app.h"
|
#include "APL.h"
|
#include "comm.h"
|
#include "Reboot.h"
|
#include "SPIFlash.h"
|
#include "APPConfig.h"
|
#define NSH1 0x0001
|
#define GP 0x0002
|
//#define DEBUG_MODE
|
/* USER CODE END Includes */
|
|
/* Private typedef -----------------------------------------------------------*/
|
/* USER CODE BEGIN PTD */
|
|
/* USER CODE END PTD */
|
|
/* Private define ------------------------------------------------------------*/
|
/* USER CODE BEGIN PD */
|
//#define DEBUG_MODE
|
|
/* USER CODE END PD */
|
|
/* Private macro -------------------------------------------------------------*/
|
/* USER CODE BEGIN PM */
|
|
/* USER CODE END PM */
|
|
/* Private variables ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN PV */
|
|
/* USER CODE END PV */
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
/* USER CODE BEGIN PFP */
|
|
/* USER CODE END PFP */
|
|
/* Private user code ---------------------------------------------------------*/
|
/* USER CODE BEGIN 0 */
|
uint32_t dev_id;
|
uint16_t heartbeat_timer,poll_timer,sync_timer;
|
uint8_t aRxBuffer[1],group_id;
|
uint8_t bat_percent=0,g_start_send_flag;
|
u8 motor_state;
|
uint16_t tyncpoll_time,lpsettime;
|
uint16_t slottime,max_slotpos;
|
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
|
extern uint8_t module_power;
|
extern float nomove_count;
|
float motor_keeptime;
|
uint8_t imu_enable,motor_enable;
|
//u16 GetLPTime(void)
|
//{
|
// u16 count=0; //TODO HAL_LPTIM_ReadCounter(&hlptim1);
|
// return count*LPTIMER_LSB/1000;
|
//}
|
|
#if 0
|
void UsartInit(void)
|
{
|
waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
|
MX_DMA_Init();
|
MX_USART1_UART_Init();
|
if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
|
{
|
Error_Handler();
|
}
|
}
|
#endif
|
|
uint16_t hardware_version,hardware_pici,hardware_type;
|
u16 current_time;
|
uint8_t state5v;
|
|
|
|
void IdleTask(void)
|
{
|
// APLPollTask();
|
if(g_com_map[CNT_RESTART]==1)
|
{
|
g_com_map[CNT_RESTART]=0;
|
printf("%s URTRestart",__debug_info__);
|
URTRestart();
|
}
|
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
|
{
|
printf("%s URTRestart",__debug_info__);
|
URTRestart();
|
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
|
}
|
|
|
|
extern int32_t offsettimeus;
|
#define FIXSLOT
|
#define FIXSLOTPOS 4
|
u16 slotpos_intoatl;
|
uint16_t bigslot_num;
|
uint8_t fix_slotpos =FIXSLOTPOS;
|
int32_t lpcount,lptime;
|
|
|
|
u8 active_flag=0;
|
u16 current_slotnum;
|
extern char swname[];
|
extern uint8_t udp_uwbenable,uwb_state;
|
extern uint16_t ip0,ip1,ip2,ip3,port;
|
void Program_Init(void)
|
{
|
float temp;
|
uint16_t temp2;
|
uint16_t i;
|
|
parameter_init();
|
// hardware_version = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
|
// 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)|9;
|
|
udp_uwbenable = 1;
|
|
// g_com_map[GROUP_ID]=2;
|
// g_com_map[DEV_ID]=0x11;
|
#ifdef DEBUG_MODE
|
g_com_map[GROUP_ID]=21;
|
// g_com_map[DEV_ROLE]=1;
|
// g_com_map[DEV_ID]=0x10;
|
g_com_map[COM_INTERVAL]=1000;
|
// g_com_map[MAX_REPORT_ANC_NUM]=1;
|
// g_com_map[NOMOVESLEEP_TIME]=10;
|
// g_com_map[IMU_ENABLE]=0;
|
// g_com_map[MOTOR_ENABLE]=1;
|
#endif
|
//g_com_map[NOMOVESLEEP_TIME]=10;
|
// g_com_map[IMU_ENABLE]=0;
|
// g_com_map[COM_INTERVAL]=100;
|
active_flag = g_com_map[ACTIVE_INDEX];
|
active_flag = 1;
|
if (active_flag == 0)
|
{
|
g_com_map[COM_INTERVAL] = 1000;
|
g_com_map[IMU_ENABLE] = 1;
|
g_com_map[NOMOVESLEEP_TIME] = 10;
|
g_com_map[MOTOR_ENABLE] = 0;
|
}
|
if (g_com_map[COM_INTERVAL] <50)
|
{
|
g_com_map[COM_INTERVAL] = 100;
|
}
|
if (g_com_map[COM_INTERVAL] >1000)
|
{
|
g_com_map[COM_INTERVAL] = 1000;
|
}
|
if (g_com_map[IMU_THRES] > 10)
|
{
|
g_com_map[IMU_THRES] = 2;
|
}
|
if (g_com_map[POWERx] > MAX_RFPOWER)
|
{
|
g_com_map[POWERx] = MAX_RFPOWER;
|
}
|
if (g_com_map[POWERx] < 0)
|
{
|
g_com_map[POWERx] = 0;
|
}
|
if(g_com_map[STATIONARY_TIME] == 0xffff)
|
{
|
g_com_map[STATIONARY_TIME] = 10;
|
}
|
if(g_com_map[NEARBASE_ID2]>10000)
|
{
|
g_com_map[NEARBASE_ID2] = 0;
|
}
|
module_power = g_com_map[POWERx];
|
imu_enable = g_com_map[IMU_ENABLE];
|
motor_enable = g_com_map[MOTOR_ENABLE];
|
//g_com_map[COM_INTERVAL] = 100;
|
group_id = g_com_map[GROUP_ID];
|
dev_id = g_com_map[DEV_ID];
|
//slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
|
slottime = 5;
|
max_slotpos = g_com_map[COM_INTERVAL] / slottime;
|
tyncpoll_time = (g_com_map[DEV_ID] % max_slotpos) * slottime;
|
// slot_startcount = tyncpoll_time * 1000 / LPTIMER_LSB;
|
lastpoll_time = tyncpoll_time;
|
// tag_frequency = REGISTER_FREQUENCY;
|
tag_frequency = 1000/g_com_map[COM_INTERVAL];
|
bigslot_num = TOTAL_SLOTNUM / tag_frequency;
|
current_slotnum = 0;
|
// current_time = GetLPTime();
|
usart_send[0] = 0x55;
|
usart_send[1] = 0xAA;
|
ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
|
ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
|
ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
|
ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
|
port = g_com_map[TCP_PORT];
|
|
printf("É豸ID: %x .\r\n",dev_id);
|
printf("¹Ì¼þ°æ±¾: URT-MK°²°î³µÔØ V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
|
printf("·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
|
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
|
{ printf("TCP_RTCMģʽ,·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
|
}else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
|
{
|
// sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
|
// g_com_map[NTRIP_PORT_INDEX] = 8005;
|
// sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
|
// sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
|
// sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
|
printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
|
printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
|
printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
|
printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
|
printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
|
}else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
|
{
|
printf("µ¥µã¶¨Î»Ä£Ê½Ä£Ê½. \r\n");
|
}
|
}
|
|
#if 0
|
static void SystemPower_Config(void)
|
{
|
/* Enable Ultra low power mode */
|
HAL_PWREx_EnableUltraLowPower();
|
|
/* Enable the fast wake up from Ultra low power mode */
|
HAL_PWREx_EnableFastWakeUp();
|
}
|
#endif
|
|
void mcu_sleep(void);
|
uint32_t temp;
|
extern uint8_t sleep_flag,m_bEUARTTxEn;
|
uint16_t waitusart_timer;
|
|
void HardWareTypeDiffConfig(void)
|
{
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
//hardware_type=2;
|
switch(hardware_type)
|
{case 1:
|
HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
|
GPIO_InitStruct.Pin = MOTOR_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
break;
|
case 2:
|
//MX_TIM2_Init();
|
//BarInit();
|
break;
|
}
|
}
|
#if 0
|
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
|
{
|
//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
#endif
|
/* USER CODE END 0 */
|
|
/**
|
* @brief The application entry point.
|
* @retval int
|
*/
|
int uwb_app_init(void)
|
{
|
#if 0
|
/* USER CODE BEGIN 1 */
|
|
/* USER CODE END 1 */
|
|
/* MCU Configuration--------------------------------------------------------*/
|
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
HAL_Init();
|
|
/* USER CODE BEGIN Init */
|
//ÿ´ÎÉú³ÉCUBEºóÐèҪעÒ⣬´®¿Ú³õʼ»¯ÒªÔÚDMA³õʼ»¯ºóÃ棬ÊÖ¶¯µ÷Õû˳Ðò**************
|
/* USER CODE END Init */
|
|
/* Configure the system clock */
|
SystemClock_Config();
|
|
/* USER CODE BEGIN SysInit */
|
|
/* USER CODE END SysInit */
|
|
/* Initialize all configured peripherals */
|
MX_GPIO_Init();
|
MX_LPTIM1_Init();
|
MX_USART1_UART_Init();
|
MX_SPI1_Init();
|
MX_ADC_Init();
|
MX_DMA_Init();
|
//MX_TIM2_Init();
|
/* USER CODE BEGIN 2 */
|
#endif
|
// LED_LG_ON;
|
Program_Init();
|
LIS3DH_Data_Init();
|
Dw1000_Init();
|
Dw1000_App_Init();
|
// HardWareTypeDiffConfig();
|
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
|
// dwt_entersleep();
|
waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
|
// DW_DISABLE;
|
//if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
|
//{
|
// Error_Handler();
|
//}
|
// HAL_Delay(2000);
|
// mcu_sleep();
|
//LED0_BLINK;
|
// SystemPower_Config();
|
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
|
/* USER CODE END 2 */
|
|
}
|
void CloseUWB(void)
|
{
|
dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
|
dwt_forcetrxoff();
|
dwt_entersleep();
|
}
|
void OpenUWB(void)
|
{
|
UWBSPIWakeup();
|
dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);
|
}
|
u8 rtk_state = 1;
|
void CloseRTK4G(void)
|
{
|
rtk_state = 0;
|
|
rtkled = LEDOFF;
|
Power_4GModulePowerOff();
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
|
CloseUWB();
|
}
|
void OpenRTK4G(void)
|
{
|
rtk_state = 1;
|
Power_4GModulePowerOn();
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
|
OpenUWB();
|
}
|
void UWBOneSecondTask(void)
|
{TagListUpdate();}
|
|
u16 tagseq;
|
|
enumwltagstate wltag_state=RANGE;
|
extern u8 userkey_state,bat_percent2,tagbattary_list[TAG_NUM_IN_SYS];
|
uint8_t anchordata_num = 0;
|
uint16_t anchordata_id[TAG_NUM_IN_SYS];
|
int16_t anchordata_dist[TAG_NUM_IN_SYS];
|
uint8_t anchordata_bat[TAG_NUM_IN_SYS];
|
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary)//°ÑÖмä²ÎÊýuintתΪintÐÞ¸ÄÁËΪÁËÊÊÅäMK8000
|
{
|
uint8_t i;
|
wltag_state=RANGE;
|
for(i=0;i<anchordata_num;i++)
|
{
|
if(anchordata_id[i] == ancid)
|
{
|
|
break;
|
}
|
}
|
if(i==anchordata_num)
|
{
|
if(anchordata_num<TAG_NUM_IN_SYS-1)
|
anchordata_num++;
|
}
|
anchordata_id[i] = ancid;
|
anchordata_dist[i] = dist;
|
anchordata_bat[i] = battary;
|
}
|
uint8_t singal_threshold = 100;
|
void UpdateRecSinalLever(u16 ancnum)
|
{
|
if(ancnum<30)
|
{
|
if(singal_threshold<120)
|
{
|
singal_threshold++;
|
}
|
}else{
|
if(singal_threshold>80)
|
{
|
singal_threshold--;
|
}
|
}
|
}
|
extern u8 bat_percent2,userkey_state,gotosleep_flag,stationary_flag,motor_flag,uwb_state;
|
void UWBSendUDPTask(void)
|
{
|
u16 checksum,tempdistarray[20];
|
// UDP_TEST();
|
for(u16 i=0;i<anchordata_num-1;i++)
|
{
|
for(u16 j=0;j<anchordata_num-1-i;j++)
|
{
|
if(anchordata_dist[j]>anchordata_dist[j+1])
|
{
|
u16 id,dist;
|
u8 bat;
|
id = anchordata_id[j];
|
dist = anchordata_dist[j];
|
bat = anchordata_bat[j];
|
anchordata_id[j] = anchordata_id[j+1];
|
anchordata_dist[j] = anchordata_dist[j+1];
|
anchordata_bat[j] = anchordata_bat[j+1];
|
anchordata_id[j+1] = id;
|
anchordata_dist[j+1] = dist;
|
anchordata_bat[j+1] = bat;
|
}
|
}
|
|
}
|
if(anchordata_num>0)
|
{
|
if(uwbled==LEDOFF)
|
{
|
uwbled = BLUE;
|
}else{
|
uwbled = LEDOFF;
|
}
|
}
|
Set4LEDColor(uwbled,rtkled,led4g,powerled);
|
|
if(anchordata_num>20) //×î¶àÉÏ´«20¸ö»ùÕ¾Êý¾Ý£¬¾àÀë×î½üµÄ20¸ö
|
anchordata_num = 20;
|
usart_send[2] = 0x12;//Õý³£Ä£Ê½
|
usart_send[3] = 15+5*(anchordata_num);//Êý¾Ý¶Î³¤¶È
|
memcpy(&usart_send[4],&dev_id,2);
|
usart_send[6] = tagseq;
|
usart_send[7] = (tagseq++)>>8;
|
usart_send[8] = bat_percent2;
|
usart_send[9] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5|uwb_state<<6;
|
// memcpy(&usart_send[10],&rec_tagheight,2);
|
usart_send[12] = 0;
|
usart_send[13] = 0;
|
usart_send[14] = 0;
|
usart_send[15] = 0;
|
usart_send[16] = anchordata_num;
|
|
memcpy(&usart_send[17],&anchordata_id,2*anchordata_num);
|
memcpy(&usart_send[17+anchordata_num*2],&anchordata_dist,2*anchordata_num);
|
memcpy(&usart_send[17+anchordata_num*4],&anchordata_bat,anchordata_num);
|
checksum = Checksum_u16(&usart_send[2],15+5*anchordata_num);
|
memcpy(&usart_send[17+5*anchordata_num],&checksum,2);
|
HexToAsciiSendUDP(usart_send,19+5*anchordata_num);
|
anchordata_num = 0;
|
}
|
uint8_t tt3;
|
u8 bat_percent2;
|
|
u32 wltag_statetimer;
|
extern uint16_t uwb_losttimer;
|
u32 uwbtasktimer=0,uwbtagsendtimer=0;
|
void UWBIdleTask(void)
|
{
|
if(HIDO_TimerGetTick()-uwbtasktimer >=1000)
|
{
|
uwbtasktimer = HIDO_TimerGetTick() ;
|
UWBOneSecondTask();
|
}
|
//printf("¿ÕÏÐÖжÏ");
|
// printf("״̬ÏÔʾ%d,%d,%d,%d",HIDO_TimerGetTick(),uwbtagsendtimer,g_com_map[COM_INTERVAL],wltag_state);
|
//if(HIDO_TimerGetTick()-uwbtagsendtimer>=g_com_map[COM_INTERVAL]&&wltag_state == RANGE )
|
if(HIDO_TimerGetTick()-uwbtagsendtimer>=g_com_map[COM_INTERVAL] )
|
{
|
static u8 uwbledcount = 0;
|
// if(uwbledcount++%2)
|
// {
|
// uwbled = BLUE;
|
// }else{
|
// uwbled = LEDOFF;
|
// }
|
// Set4LEDColor(uwbled,rtkled,led4g,powerled);
|
uwbtagsendtimer = HIDO_TimerGetTick();
|
UWBSendUDPTask();
|
}
|
}
|
|
#define UWB_DBGMSG
|
|
int uwb_app_poll(void)
|
{
|
// printf("²â¾à״̬:%d",wltag_state);
|
switch(wltag_state)
|
{
|
case RANGE:
|
|
if(uwb_losttimer>10)
|
{
|
wltag_statetimer = HIDO_TimerGetTick();
|
wltag_state = SEARCH;
|
}
|
// Anchor_App();
|
break;
|
case SEARCH:
|
// printf("SEARCH");
|
// Anchor_App();
|
if(HIDO_TimerGetTick()-wltag_statetimer>3000)
|
{
|
wltag_statetimer = HIDO_TimerGetTick();
|
wltag_state = CLOSE;
|
CloseUWB();
|
}
|
break;
|
case CLOSE:
|
// printf("CLOSE");
|
if(HIDO_TimerGetTick()-wltag_statetimer>9000)
|
{
|
wltag_statetimer = HIDO_TimerGetTick();
|
wltag_state = SEARCH;
|
OpenUWB();
|
}
|
break;
|
}
|
UWBIdleTask();
|
}
|
|
/**
|
* @brief System Clock Configuration
|
* @retval None
|
*/
|
/* USER CODE BEGIN 4 */
|
static void SYSCLKConfig_STOP(void)
|
{
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
uint32_t pFLatency = 0;
|
|
/* Enable Power Control clock */
|
__HAL_RCC_PWR_CLK_ENABLE();
|
|
/* Get the Oscillators configuration according to the internal RCC registers */
|
HAL_RCC_GetOscConfig(&RCC_OscInitStruct);
|
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_NONE;
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
|
/* Get the Clocks configuration according to the internal RCC registers */
|
HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &pFLatency);
|
|
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
|
clocks dividers */
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, pFLatency) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
}
|
void mcu_sleep(void)
|
{
|
// HAL_LPTIM_DeInit(&hlptim1);
|
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
|
|
// HAL_SPI_DeInit(&hspi1);
|
// CloseRTK4G();
|
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12|GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_4, GPIO_PIN_RESET);
|
// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
|
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15|GPIO_PIN_12, GPIO_PIN_RESET);
|
__HAL_FLASH_PREFETCH_BUFFER_DISABLE();
|
|
/* Reset all RCC Sleep and Stop modes register to */
|
// RCC->AHB1SMENR = 0x0;
|
// RCC->AHB2SMENR = 0x0;
|
// RCC->AHB3SMENR = 0x0;
|
//
|
// RCC->APB1SMENR1 = 0x0;
|
// RCC->APB1SMENR2 = 0x0;
|
// RCC->APB2SMENR = 0x0;
|
GPS_PowerOff();
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_15, GPIO_PIN_RESET);
|
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2|GPIO_PIN_6, GPIO_PIN_RESET);
|
HAL_SuspendTick();
|
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
|
|
HAL_TIM_Base_DeInit(&htim3);
|
HAL_TIM_Base_DeInit(&htim1);
|
HAL_TIM_Base_Stop_IT(&htim3);
|
HAL_SPI_DeInit(&hspi1);
|
HAL_UART_DeInit(&huart1);
|
HAL_UART_DeInit(&huart2);
|
HAL_UART_DeInit(&huart6);
|
__HAL_RCC_DMA1_CLK_DISABLE();
|
__HAL_RCC_DMA2_CLK_DISABLE();
|
|
GPIO_InitStruct.Pin = GPIO_PIN_All;
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
//
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
GPIO_InitStruct.Pin = GPIO_PIN_All&(~GPIO_PIN_8)&(~GPIO_PIN_0);
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
/* Enter Sleep Mode , wake up is done once User push-button is pressed */
|
// HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
|
//TODO HAL_PWREx_EnterSTOP1Mode(PWR_STOPENTRY_WFI);
|
/* Resume Tick interrupt if disabled prior to SLEEP mode entry */
|
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON,PWR_STOPENTRY_WFI);
|
HAL_ResumeTick();
|
nomove_count = 0;
|
printf("%s URTRestart",__debug_info__);
|
URTRestart();
|
// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
|
//HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
|
/*Clear all related wakeup flags*/
|
// __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
|
/*Re-enable all used wakeup sources: Pin1(PA.0)*/
|
//HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
|
/*Enter the Standby mode*/
|
// HAL_PWR_EnterSTOPMode(PWR_MAINREGULATOR_ON,PWR_STOPENTRY_WFI);
|
// __HAL_RCC_PWR_CLK_ENABLE();
|
//
|
// /* Ensure that MSI is wake-up system clock */
|
// __HAL_RCC_WAKEUPSTOP_CLK_CONFIG(RCC_STOP_WAKEUPCLOCK_MSI);
|
// HAL_PWREx_EnterSTOP2Mode(PWR_STOPENTRY_WFI);
|
// // SYSCLKConfig_STOP();
|
// nomove_count = 0;
|
// HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5|GPIO_PIN_2, GPIO_PIN_SET);
|
}
|
extern u16 tagslotpos;
|
extern uint8_t tx_near_msg[80],stationary_flag,gotosleep_flag;
|
float key_keeptime;
|
extern float motor_ontime;
|
