/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "HIDO_Timer.h"
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#include "AIR780EDriver.h"
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#include "Uart.h"
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#include "Internet.h"
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#include "Module.h"
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#include "GPS.h"
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#include "HIDO_ATLite.h"
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#include "UDPClient.h"
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#include "global_param.h"
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#include "SPIFlash.h"
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#include "App.h"
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#include "dw_driver.h"
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#include "deca_device_api.h"
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#include "dw_app.h"
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#include "Lora.h"
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#include "radio.h"
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#include "DBG.h"
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#include "WS2812.h"
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#include "delay.h"
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#include "Shell.h"
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#include "lis3dh_driver.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc;
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IWDG_HandleTypeDef hiwdg;
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LPTIM_HandleTypeDef hlptim1;
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RTC_HandleTypeDef hrtc;
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SPI_HandleTypeDef hspi1;
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TIM_HandleTypeDef htim3;
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UART_HandleTypeDef huart1;
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UART_HandleTypeDef huart2;
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UART_HandleTypeDef huart5;
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DMA_HandleTypeDef hdma_usart5_rx;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_RTC_Init(void);
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static void MX_USART5_UART_Init(void);
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static void MX_USART2_UART_Init(void);
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static void MX_SPI1_Init(void);
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static void MX_ADC_Init(void);
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static void MX_LPTIM1_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_IWDG_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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uint8_t bat_percent;
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uint16_t heart_time;
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uint32_t dev_id;
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uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
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uint8_t group_id;
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uint32_t uwbled,gpsled,loraled,powerled;
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void MX_ADC1_Init()
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{
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MX_ADC_Init();
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}
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void MX_ADC_DeInit(void)
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{
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HAL_ADC_DeInit(&hadc);
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HAL_ADCEx_DisableVREFINT();
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}
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uint8_t nomove_flag;
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uint16_t irq_num;
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uint16_t nomove_count;
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uint16_t debug1,debug2,debug3,debug4;
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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if(GPIO_Pin == RADIO_DIO1_Pin)
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{
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// SystemClock_Config();
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// irq_num++;
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// RadioIrqProcess();
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debug1++;
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}
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if(GPIO_Pin == GPIO_PIN_9)
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{
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SystemClock_Config();
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MbxTagUwbRec();
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debug2++;
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}
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if(GPIO_Pin == GPIO_PIN_13)
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{
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debug3++;
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}
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// if(GPIO_Pin == GPIO_PIN_1)//°´¼ü
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// {
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// SystemClock_Config();
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// anjian_flag=1;
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// }
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if(GPIO_Pin == GPIO_PIN_0)//¼ÓËÙ¶È
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{
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SystemClock_Config();
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if(nomove_flag==1)
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{
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HAL_NVIC_SystemReset();
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}
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nomove_count = 0;
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}
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}
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uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
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void GPS_Close_Init()
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{
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HAL_UART_Transmit(&huart2,Close_RMC,100,3000);
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Delay_Ms(150);
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}
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uint8_t beep_state;
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void Beep_On()
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{
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HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
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beep_state=1;
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}
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void Beep_Off()
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{
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HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
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beep_state=0;
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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// MX_IWDG_Init();
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_RTC_Init();
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MX_USART5_UART_Init();
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MX_USART2_UART_Init();
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MX_SPI1_Init();
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MX_ADC_Init();
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MX_LPTIM1_Init();
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MX_USART1_UART_Init();
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MX_TIM3_Init();
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/* USER CODE BEGIN 2 */
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// __disable_irq();
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Uart_Register(UART_ID_DBG, &huart1);
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Uart_Register(UART_ID_4G, &huart5);
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Uart_Register(UART_ID_GPS, &huart2);
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SPI_Register(SPI_ID_FLASH, &hspi1);
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AIR780EDriver_PinRegister(AIR780E_PIN_3V8_EN, GPIOB, GPIO_PIN_10);
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AIR780EDriver_PinRegister(AIR780E_PIN_PWRKEY, GPIOB, GPIO_PIN_0);
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AIR780EDriver_PinRegister(AIR780E_PIN_RI, GPIOC, GPIO_PIN_13);
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GPS_PinRegister(GPS_PIN_REST, GPIOC, GPIO_PIN_4);
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SPIFlash_PinRegister(SPI_FLASH_ID_0, SPI_FLASH_PIN_CS, GPIOB, GPIO_PIN_5);
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SPIFlash_Init(SPI_FLASH_ID_0);
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DBG_Init();
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Shell_Init();
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Program_Init();
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GPS_Init();
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Internet_Init();
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UDPClient_Init();
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);//¿ªuwbµçÔ´
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Dw1000_Init();
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dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
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// dwt_entersleep();
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LIS3DH_Data_Init();
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HAL_Delay(500);
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// LoraInit();
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if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK) //system time is 1010ms 1 puls=30.518us
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{
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Error_Handler();
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}
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Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
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HAL_Delay(500);
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Set4LEDColor_Off();
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HAL_Delay(500);
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GPS_Close_Init();
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HAL_Delay(500);
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bat_percent=Get_Battary();
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// __enable_irq();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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Main_Poll();
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Configure LSE Drive Capability
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*/
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HAL_PWR_EnableBkUpAccess();
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__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
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|RCC_OSCILLATORTYPE_LSE;
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RCC_OscInitStruct.LSEState = RCC_LSE_ON;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.LSIState = RCC_LSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
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RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2
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|RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_LPTIM1;
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PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
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PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
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PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
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PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief ADC Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_ADC_Init(void)
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{
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/* USER CODE BEGIN ADC_Init 0 */
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/* USER CODE END ADC_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC_Init 1 */
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/* USER CODE END ADC_Init 1 */
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/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc.Instance = ADC1;
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hadc.Init.OversamplingMode = DISABLE;
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hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
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hadc.Init.Resolution = ADC_RESOLUTION_12B;
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hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
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hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
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hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc.Init.ContinuousConvMode = DISABLE;
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hadc.Init.DiscontinuousConvMode = DISABLE;
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hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc.Init.DMAContinuousRequests = DISABLE;
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hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
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hadc.Init.LowPowerAutoWait = DISABLE;
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hadc.Init.LowPowerFrequencyMode = DISABLE;
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hadc.Init.LowPowerAutoPowerOff = DISABLE;
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if (HAL_ADC_Init(&hadc) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel to be converted.
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*/
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sConfig.Channel = ADC_CHANNEL_1;
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sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
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if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC_Init 2 */
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/* USER CODE END ADC_Init 2 */
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}
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/**
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* @brief IWDG Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_IWDG_Init(void)
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{
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/* USER CODE BEGIN IWDG_Init 0 */
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/* USER CODE END IWDG_Init 0 */
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/* USER CODE BEGIN IWDG_Init 1 */
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/* USER CODE END IWDG_Init 1 */
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hiwdg.Instance = IWDG;
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hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
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hiwdg.Init.Window = 4095;
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hiwdg.Init.Reload = 4095;
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if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN IWDG_Init 2 */
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/* USER CODE END IWDG_Init 2 */
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}
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/**
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* @brief LPTIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_LPTIM1_Init(void)
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{
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/* USER CODE BEGIN LPTIM1_Init 0 */
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/* USER CODE END LPTIM1_Init 0 */
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/* USER CODE BEGIN LPTIM1_Init 1 */
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/* USER CODE END LPTIM1_Init 1 */
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hlptim1.Instance = LPTIM1;
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hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
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hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
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hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
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hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
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hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
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hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
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if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN LPTIM1_Init 2 */
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/* USER CODE END LPTIM1_Init 2 */
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}
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/**
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* @brief RTC Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_RTC_Init(void)
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{
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/* USER CODE BEGIN RTC_Init 0 */
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/* USER CODE END RTC_Init 0 */
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/* USER CODE BEGIN RTC_Init 1 */
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/* USER CODE END RTC_Init 1 */
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/** Initialize RTC Only
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*/
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hrtc.Instance = RTC;
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hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
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hrtc.Init.AsynchPrediv = 127;
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hrtc.Init.SynchPrediv = 255;
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hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
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hrtc.Init.OutPutRemap = RTC_OUTPUT_REMAP_NONE;
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hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
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hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
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if (HAL_RTC_Init(&hrtc) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN RTC_Init 2 */
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/* USER CODE END RTC_Init 2 */
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}
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/**
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* @brief SPI1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_SPI1_Init(void)
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{
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/* USER CODE BEGIN SPI1_Init 0 */
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/* USER CODE END SPI1_Init 0 */
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/* USER CODE BEGIN SPI1_Init 1 */
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/* USER CODE END SPI1_Init 1 */
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/* SPI1 parameter configuration*/
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hspi1.Instance = SPI1;
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hspi1.Init.Mode = SPI_MODE_MASTER;
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hspi1.Init.Direction = SPI_DIRECTION_2LINES;
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
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hspi1.Init.NSS = SPI_NSS_SOFT;
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi1.Init.CRCPolynomial = 7;
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if (HAL_SPI_Init(&hspi1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN SPI1_Init 2 */
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/* USER CODE END SPI1_Init 2 */
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 32-1;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 250-1;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 125;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
|
}
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if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO) != HAL_OK)
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{
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Error_Handler();
|
}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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HAL_TIM_MspPostInit(&htim3);
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|
}
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/**
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* @brief USART1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART1_UART_Init(void)
|
{
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|
/* USER CODE BEGIN USART1_Init 0 */
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/* USER CODE END USART1_Init 0 */
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/* USER CODE BEGIN USART1_Init 1 */
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|
/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
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huart1.Init.BaudRate = 115200;
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huart1.Init.WordLength = UART_WORDLENGTH_8B;
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huart1.Init.StopBits = UART_STOPBITS_1;
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huart1.Init.Parity = UART_PARITY_NONE;
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huart1.Init.Mode = UART_MODE_TX_RX;
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huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart1.Init.OverSampling = UART_OVERSAMPLING_16;
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huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART1_Init 2 */
|
|
/* USER CODE END USART1_Init 2 */
|
|
}
|
|
/**
|
* @brief USART2 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART2_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART2_Init 0 */
|
|
/* USER CODE END USART2_Init 0 */
|
|
/* USER CODE BEGIN USART2_Init 1 */
|
|
/* USER CODE END USART2_Init 1 */
|
huart2.Instance = USART2;
|
huart2.Init.BaudRate = 9600;
|
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
huart2.Init.StopBits = UART_STOPBITS_1;
|
huart2.Init.Parity = UART_PARITY_NONE;
|
huart2.Init.Mode = UART_MODE_TX_RX;
|
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart2) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART2_Init 2 */
|
|
/* USER CODE END USART2_Init 2 */
|
|
}
|
|
/**
|
* @brief USART5 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART5_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART5_Init 0 */
|
|
/* USER CODE END USART5_Init 0 */
|
|
/* USER CODE BEGIN USART5_Init 1 */
|
|
/* USER CODE END USART5_Init 1 */
|
huart5.Instance = USART5;
|
huart5.Init.BaudRate = 115200;
|
huart5.Init.WordLength = UART_WORDLENGTH_8B;
|
huart5.Init.StopBits = UART_STOPBITS_1;
|
huart5.Init.Parity = UART_PARITY_NONE;
|
huart5.Init.Mode = UART_MODE_TX_RX;
|
huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart5.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart5) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART5_Init 2 */
|
|
/* USER CODE END USART5_Init 2 */
|
|
}
|
|
/**
|
* Enable DMA controller clock
|
*/
|
static void MX_DMA_Init(void)
|
{
|
|
/* DMA controller clock enable */
|
__HAL_RCC_DMA1_CLK_ENABLE();
|
|
/* DMA interrupt init */
|
/* DMA1_Channel2_3_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
|
|
}
|
|
/**
|
* @brief GPIO Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_GPIO_Init(void)
|
{
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
/* USER CODE END MX_GPIO_Init_1 */
|
|
/* GPIO Ports Clock Enable */
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOC, RADIO_NSS_Pin|RADIO_nRESET_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_11, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_10|GPIO_PIN_7, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, SCL_Pin|SDA_Pin|GPIO_PIN_15|GPIO_PIN_5
|
|GPIO_PIN_6, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8|GPIO_PIN_12, GPIO_PIN_SET);
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
|
/*Configure GPIO pins : PC13 PC9 RADIO_DIO1_Pin */
|
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_9|RADIO_DIO1_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : RADIO_NSS_Pin RADIO_nRESET_Pin PC4 */
|
GPIO_InitStruct.Pin = RADIO_NSS_Pin|RADIO_nRESET_Pin|GPIO_PIN_4;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : PA0 */
|
GPIO_InitStruct.Pin = GPIO_PIN_0;
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : PA4 PA8 PA11 PA12
|
PA15 */
|
GPIO_InitStruct.Pin = GPIO_PIN_4;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
GPIO_InitStruct.Pin = GPIO_PIN_8;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
GPIO_InitStruct.Pin = GPIO_PIN_11;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
GPIO_InitStruct.Pin = GPIO_PIN_12;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
GPIO_InitStruct.Pin = GPIO_PIN_15;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
/*Configure GPIO pins : PB0 PB10 PB15 PB5
|
PB6 PB7 */
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_10|GPIO_PIN_15|GPIO_PIN_5
|
|GPIO_PIN_6|GPIO_PIN_7;
|
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);
|
|
/*Configure GPIO pin : PB1 */
|
GPIO_InitStruct.Pin = GPIO_PIN_1;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : SCL_Pin SDA_Pin */
|
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : RADIO_BUSY_Pin */
|
GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : INPUT_5V_Pin */
|
GPIO_InitStruct.Pin = INPUT_5V_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
|
|
/* EXTI interrupt init*/
|
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
|
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
|
|
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
|
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
|
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
|
/* USER CODE END MX_GPIO_Init_2 */
|
}
|
|
/* USER CODE BEGIN 4 */
|
extern uint8_t imu_enable;
|
uint8_t bat_time;
|
uint16_t fangchai_time;
|
extern uint8_t fangchai_flag;
|
extern uint8_t fangchai_state;
|
uint8_t yundong_state;
|
uint16_t yundong_time;
|
uint8_t gpslednum;
|
#define BAT_TIME 100
|
#define DIANLIANG 15
|
uint8_t air780_state;
|
extern uint8_t chongman_flag;
|
uint8_t jinru_parsegga_flag;
|
uint8_t input_5v_flag;
|
uint8_t num;
|
uint16_t sleep_time;
|
uint16_t chongdian_yundong_time;
|
uint16_t chongdianmeiyouuwb_time;
|
void Bat_Percent_Poll()
|
{
|
bat_time++;
|
if(bat_time>BAT_TIME)
|
{
|
bat_time=0;
|
bat_percent=Get_Battary();
|
}
|
}
|
void Powerled_Poll()
|
{
|
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
|
{input_5v_flag=0;
|
if(bat_percent>DIANLIANG)
|
{
|
powerled = RED;
|
}
|
else
|
{
|
powerled = RED;
|
}
|
}
|
else
|
{
|
input_5v_flag=1;
|
}
|
}
|
void Fangchai_Panduan_Poll()
|
{
|
if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1)) // É豸±»²ðж
|
{ fangchai_flag=1;}
|
else
|
{ fangchai_flag=0;}
|
if(fangchai_flag)
|
{
|
fangchai_time++;
|
// if(fangchai_time%2==1&&fangchai_state==0)
|
// Beep_On();
|
// else
|
// Beep_Off();
|
// if(fangchai_state==1||fangchai_state==2)
|
// Beep_Off();
|
}
|
else
|
{
|
if(fangchai_state==2)
|
{
|
HAL_NVIC_SystemReset();
|
}
|
fangchai_state=0;
|
fangchai_time=0;
|
// Beep_Off();
|
}
|
}
|
void Yundong_Panduan_Poll()
|
{
|
if(yundong_state>0)
|
{
|
yundong_time++;
|
}
|
else
|
{
|
yundong_time=0;
|
}
|
}
|
void Sleep_Panduan_Poll()
|
{
|
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
|
{
|
nomove_flag=1;
|
}
|
else
|
{
|
nomove_flag=0;
|
}
|
if(nomove_flag)
|
{sleep_time++;}
|
else
|
{sleep_time=0;}
|
}
|
void Gps_Chongqi_Poll()
|
{
|
if(nomove_flag==0&&!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&fangchai_state==0&&air780_state==0)
|
{
|
if(jinru_parsegga_flag==0)
|
{
|
gpslednum++;
|
if(gpslednum>5)
|
{HAL_NVIC_SystemReset();}
|
}
|
else
|
{
|
gpslednum=0;
|
}
|
}
|
}
|
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
|
{
|
SystemClock_Config();
|
Gps_Chongqi_Poll();
|
Powerled_Poll();
|
chongdianmeiyouuwb_time++;
|
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
|
{
|
num++;
|
if(num>2)
|
{
|
num=0;
|
powerled=LEDOFF;
|
loraled=LEDOFF;
|
gpsled=LEDOFF;
|
uwbled=LEDOFF;
|
Set4LEDColor_Off();
|
}
|
else
|
{
|
Set4LEDColor(powerled,loraled,gpsled,uwbled);
|
}
|
}
|
else
|
{
|
Set4LEDColor(powerled,loraled,gpsled,uwbled);
|
}
|
Fangchai_Panduan_Poll();
|
Yundong_Panduan_Poll();
|
heart_time++;
|
nomove_count++;
|
Sleep_Panduan_Poll();
|
Bat_Percent_Poll();
|
chongdian_yundong_time++;
|
// if(!chongman_flag)
|
// {
|
// powerled=LEDOFF;
|
// loraled=LEDOFF;
|
// gpsled=LEDOFF;
|
// uwbled=LEDOFF;
|
// Set4LEDColor_Off();
|
// }
|
// if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
|
// {
|
// }
|
// else
|
// {
|
// if(chongman_flag)
|
// {}
|
// else
|
// {
|
// powerled=LEDOFF;
|
// loraled=LEDOFF;
|
// gpsled=LEDOFF;
|
// uwbled=LEDOFF;
|
// Set4LEDColor_Off();
|
// }
|
// }
|
}
|
/* USER CODE END 4 */
|
|
/**
|
* @brief This function is executed in case of error occurrence.
|
* @retval None
|
*/
|
void Error_Handler(void)
|
{
|
/* USER CODE BEGIN Error_Handler_Debug */
|
/* User can add his own implementation to report the HAL error return state */
|
__disable_irq();
|
while (1)
|
{
|
}
|
/* USER CODE END Error_Handler_Debug */
|
}
|
|
#ifdef USE_FULL_ASSERT
|
/**
|
* @brief Reports the name of the source file and the source line number
|
* where the assert_param error has occurred.
|
* @param file: pointer to the source file name
|
* @param line: assert_param error line source number
|
* @retval None
|
*/
|
void assert_failed(uint8_t *file, uint32_t line)
|
{
|
/* USER CODE BEGIN 6 */
|
/* User can add his own implementation to report the file name and line number,
|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
/* USER CODE END 6 */
|
}
|
#endif /* USE_FULL_ASSERT */
|
