/* 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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* <h2><center>© Copyright (c) 2019 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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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 "lis3dh_driver.h"
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#include "dw_driver.h"
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#include "deca_device_api.h"
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#include "global_param.h"
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#include "TrackingDiff.h"
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#include "dw_app.h"
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#include "Flash.h"
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#include "user.h"
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#include "sx126x-board.h"
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#include "string.h"
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#include "stdio.h"
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#include "delay.h"
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#include <stdlib.h>
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#include <Lora.h>
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#include "radio.h"
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#include "dps310.h"
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#include "dw_mbx_tag.h"
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#define NSH1 0x0001
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#define GP 0x0002
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#define FLASH_HARDWARE_VERSION_MAP (uint32_t)0x08004F00 //Ó²¼þ°æ±¾ºÅºÍÅú´ÎÐÅϢλÖÃ
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//#define DEBUG_MODE
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UART_WakeUpTypeDef Selection;
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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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//#define DEBUG_MODE
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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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UART_HandleTypeDef hlpuart1;
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UART_HandleTypeDef huart1;
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DMA_HandleTypeDef hdma_usart1_rx;
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DMA_HandleTypeDef hdma_usart1_tx;
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SPI_HandleTypeDef hspi1;
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TIM_HandleTypeDef htim2;
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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_SPI1_Init(void);
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static void MX_ADC_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_IWDG_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_LPUART1_UART_Init(void);
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static void MX_LPTIM1_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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void LedTask(void);
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uint32_t dev_id;
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uint16_t heartbeat_timer,poll_timer,sync_timer;
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uint8_t aRxBuffer[1],group_id;
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uint8_t bat_percent=0,g_start_send_flag;
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uint16_t tyncpoll_time,lpsettime;
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uint16_t slottime,max_slotpos;
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uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
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extern uint8_t module_power;
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extern float nomove_count;
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uint8_t imu_enable,motor_enable;
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uint32_t lp_time;
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extern uint32_t lora_txtime_old;
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uint8_t anjian_flag;
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uint8_t stationary_flag;
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uint16_t stationary_num;
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uint16_t Lora_send_time;
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u16 GetLPTime(void)
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{
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u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
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return count*LPTIMER_LSB/1000;
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}
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void UsartInit(void)
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{
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waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
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MX_DMA_Init();
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MX_USART1_UART_Init();
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if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
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{
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Error_Handler();
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}
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}
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static void MX_DMA_DeInit(void)
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{
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_DISABLE();
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/* DMA interrupt init */
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/* DMA1_Channel2_3_IRQn interrupt configuration */
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// HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
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HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
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}
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void UsartDeInit(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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waitusart_timer = 0;
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MX_DMA_DeInit();
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HAL_UART_DeInit(&huart1);
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GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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uint16_t hardware_version,hardware_pici,hardware_type;
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uint8_t state5v = 1;
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extern uint8_t du_flag;
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extern uint8_t xie_flag;
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uint16_t motor_keeptime;
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void IdleTask(void)
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{
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if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
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{
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UART_CheckReceive();
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UART_CheckSend();
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nomove_count = 0;
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// bat_percent=Get_Battary();
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if(state5v==0)
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{
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state5v=1;
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UsartInit();
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}
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HAL_IWDG_Refresh(&hiwdg);
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if(bat_percent>99)
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{
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LED_TR_OFF;
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LED_TB_ON;
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} else {
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LED_TR_ON;
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LED_TB_OFF;
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}
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} else {
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HAL_IWDG_Refresh(&hiwdg);
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if(state5v==1)
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{
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state5v=0;
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UsartDeInit();
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}
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LED2_TR_OFF;
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LED2_TB_OFF;
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// }
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}
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if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
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{
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SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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if(memcmp(g_com_map2,g_com_map,100)!=0)
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{
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SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
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}
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}
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//u32 Loratx_frequency;
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u8 active_flag,nomovesleeptime;
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//}
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void Program_Init(void)
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{ float temp;
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uint16_t temp2;
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uint16_t i;
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Usart1ParseDataCallback = UsartParseDataHandler;
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parameter_init();
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hardware_version = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
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hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
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hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
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//deca_sleep(1000);
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g_com_map[VERSION] = (1<<8)|35;
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// g_com_map[DEV_ID]=1158;
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g_com_map[GROUP_ID]=3;
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// g_com_map[COM_INTERVAL] = 1000;
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if(g_com_map[COM_INTERVAL]<1000)
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{
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g_com_map[COM_INTERVAL] = 1000;
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}
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g_com_map[STATIONARY_TIME] = 10;
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g_com_map[LORA_POWER] = 22;
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g_com_map[POWER] = 67;
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active_flag = g_com_map[ACTIVE_INDEX];
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module_power = g_com_map[POWER];
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// g_com_map[IMU_ENABLE] = 0;
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imu_enable=g_com_map[IMU_ENABLE];
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motor_enable=g_com_map[MOTOR_ENABLE];
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group_id=g_com_map[GROUP_ID];
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dev_id = g_com_map[DEV_ID];
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slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
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max_slotpos=g_com_map[COM_INTERVAL]/slottime;
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tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
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slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
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lastpoll_time=tyncpoll_time;
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tag_frequency = 1000/g_com_map[COM_INTERVAL];
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nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
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if(active_flag==0)
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{
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imu_enable=1;
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nomovesleeptime =10;
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}
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// g_com_map[COM_INTERVAL]=100;
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if(g_com_map[COM_INTERVAL]==0)
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{
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g_com_map[COM_INTERVAL]=1000;
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}
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if(module_power>67)
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{
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module_power=67;
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}
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if(module_power<0)
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{
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module_power=0;
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}
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g_com_map[MAP_SIGN_INDEX] =0x55AA;
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memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
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}
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static void SystemPower_Config(void)
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{
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/* Enable Ultra low power mode */
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HAL_PWREx_EnableUltraLowPower();
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/* Enable the fast wake up from Ultra low power mode */
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HAL_PWREx_EnableFastWakeUp();
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}
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void mcu_sleep(void);
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uint32_t temp;
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extern uint8_t sleep_flag,m_bEUARTTxEn;
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uint16_t waitusart_timer;
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void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
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{
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//SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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uint16_t temp2;
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float dw_vbat,last_vbat;
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uint8_t Get_Battary_UWB(void)
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{
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static uint8_t first = 1;
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static float last_value = 100;
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static uint16_t bat_count = 0;
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//if(bat_count++%600==0)
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{
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temp2=dwt_readtempvbat(1);
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dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
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if(fabs(dw_vbat-dw_vbat)>0.2)
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{
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last_vbat = dw_vbat;
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return last_value;
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}
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last_vbat = dw_vbat;
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if(dw_vbat>=3.0)
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{
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if(first)
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{
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first = 0;
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last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
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}
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last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
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if(last_value>100)
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last_value = 100;
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if(last_value<0)
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last_value = 0;
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}
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}
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return last_value;
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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 anjian_num;
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uint16_t irq_num;
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uint16_t irq_num1;
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uint8_t uwb_work_flag;
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uint8_t dw1000_init_flag;
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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if(dw1000_init_flag&&!sleep_flag)
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{
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// if(GPIO_Pin == GPIO_PIN_11)
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// {
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// SystemClock_Config();
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// uwb_work_flag=1;
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// irq_num1++;
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// MbxTagUwbRec();
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// }
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if(GPIO_Pin == GPIO_PIN_3)
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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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}
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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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// anjian_num++;
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// if(anjian_num==2)
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// {
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// g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
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// save_com_map_to_flash();
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// LED_TB_ON;
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// LED_TR_ON;
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// LED2_TB_ON;
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// LED2_TR_ON;
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// delay_ms(100);
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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// }
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}
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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(sleep_flag)
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//// {HAL_NVIC_SystemReset();}
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// stationary_flag =0;
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// stationary_num=0;
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// }
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}
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static uint8_t send_frame1[EUART_RX_BUF_SIZE];
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#define BleRxBufferSize 1
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uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
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uint8_t ble_rx_success_flag;
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uint8_t fangzhijinrushuimian_flag;
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uint8_t GPS_zhongzhuandate[200];
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uint8_t GPS_zhongzhuannum;
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uint8_t GPS_GGAdate[200]= {1,2,3,4,5,6,7,8,9};
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uint8_t GPSchangdu;
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uint8_t Close_RMC[20]="$CCMSG,RMC,1,0,*04\r\n";
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uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
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uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
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uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
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uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
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uint8_t gps_ceju=0;
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uint8_t no_yingdaflag;
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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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extern uint16_t Lora_rece_error;
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extern uint16_t Beepchixutime;
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void Beep_Off()
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{
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
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HAL_TIM_Base_Stop_IT(&htim2);
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}
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void Beep_On()
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{
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HAL_TIM_Base_Start_IT(&htim2);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 60);
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}
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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//HAL_UART_Transmit(&huart1,&ble_zhongzhuannum,1,1000);
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{
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GPS_zhongzhuandate[GPS_zhongzhuannum]=GPSRxBuffer[0];
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GPS_zhongzhuannum++;
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if(GPS_zhongzhuandate[GPS_zhongzhuannum-1]==0x0A&&GPS_zhongzhuandate[GPS_zhongzhuannum-2]==0x0D)
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{
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// HAL_UART_Transmit(&hlpuart1,ble_rxdate,5,1000);
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memcpy(GPS_GGAdate,GPS_zhongzhuandate,GPS_zhongzhuannum);
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GPSchangdu= GPS_zhongzhuannum;
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memset(GPS_zhongzhuandate,0,sizeof(GPS_zhongzhuandate));
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GPS_zhongzhuannum=0;
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fangzhijinrushuimian_flag=0;
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ble_rx_success_flag=1;
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if(GPSchangdu>40)
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{
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if(state5v==0)
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LED2_TB_ON;
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}
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else
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{
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if(state5v==0)
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LED2_TR_ON;
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}
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}
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HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
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}
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}
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uint8_t ble_rxdate111[3]= {0x11,0x22,0x33};
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void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
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{
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SystemClock_Config();
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fangzhijinrushuimian_flag=1;
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HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
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}
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uint8_t usart5_state,flag_onesecond;
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uint8_t beep_flag;
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void BeepTask(void)
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{
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if(1)//g_com_map[MOTOR_ENABLE])
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{
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if(motor_keeptime>0)
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{
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motor_keeptime--;
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
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beep_flag=1;
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}else{
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
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beep_flag=0;
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}
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}
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}
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void OneSecondTask(void)
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{
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if(flag_onesecond==1)
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{
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flag_onesecond = 0;
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BeepTask();
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}
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}
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uint8_t uwb_kaiguanrx_falg;
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extern uint8_t uwbrxflag;
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uint8_t dwt_entersleep_flag;
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extern u8 lora_jianting_flag;
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uint8_t lora_busy_flag;
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uint8_t one_flag;
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extern u8 fasongwancheng_flag;
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extern uint8_t Lora_send_flag;
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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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//ÿ´ÎÉú³ÉCUBEºóÐèҪעÒ⣬´®¿Ú³õʼ»¯ÒªÔÚDMA³õʼ»¯ºóÃ棬ÊÖ¶¯µ÷Õû˳Ðò**************
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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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MX_DMA_Init();
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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// MX_DMA_Init();
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MX_SPI1_Init();
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MX_ADC_Init();
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MX_USART1_UART_Init();
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MX_IWDG_Init();
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MX_TIM2_Init();
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MX_LPUART1_UART_Init();
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MX_LPTIM1_Init();
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/* USER CODE BEGIN 2 */
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LED2_TB_ON;
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Program_Init();
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LIS3DH_Data_Init();
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// HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
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Dw1000_Init();
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dw1000_init_flag=1;
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Delay_Ms(10);
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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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if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
|
{
|
Error_Handler();
|
}
|
Delay_Ms(10);
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usart_send[0]=0x55;
|
usart_send[1]=0xaa;
|
|
HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //¿ªGPSµçÔ´
|
LoraInit();
|
#ifdef _USE_BAR
|
BarInit();
|
#endif
|
// Delay_Ms(1000);
|
// HAL_UART_Transmit(&hlpuart1,Close_RMC,22,1000);
|
// HAL_UART_Transmit(&hlpuart1,Close_GSA,22,1000);
|
// HAL_UART_Transmit(&hlpuart1,Close_GSV,22,1000);
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// HAL_UART_Transmit(&hlpuart1,Close_GLL,22,1000);
|
// HAL_UART_Transmit(&hlpuart1,Close_TXT,22,1000);
|
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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Error_Handler();
|
}
|
|
/* USER CODE END 2 */
|
|
/* Infinite loop */
|
/* USER CODE BEGIN WHILE */
|
while (1)
|
{
|
/* USER CODE END WHILE */
|
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/* USER CODE BEGIN 3 */
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// HAL_IWDG_Refresh(&hiwdg);
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// if(uwb_work_flag)
|
// {
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// uwb_work_flag=0;
|
// MbxTagUwbRec();
|
// }
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if(sleep_flag)
|
{
|
while(1)
|
{
|
// if(uwb_kaiguanrx_falg==2&&dwt_entersleep_flag==0)
|
// {
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// dwt_entersleep();
|
// dwt_entersleep_flag=1;
|
// }
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HAL_IWDG_Refresh(&hiwdg);
|
IdleTask();
|
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
|
{
|
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
|
LedOff_task();
|
}
|
}
|
}
|
if(Lora_send_time<20)
|
{
|
MbxTagUwbRec();
|
}
|
if(Lora_send_time>20&&one_flag==0)
|
{
|
one_flag=1;
|
dwt_entersleep();
|
dwt_entersleep_flag=1;
|
}
|
if(one_flag&&!fasongwancheng_flag&&Lora_send_flag)
|
{
|
Lora_send_flag=0;
|
LoraReportPoll();
|
}
|
if(fasongwancheng_flag)
|
{
|
if(sleep_flag==0)
|
{
|
Radio.Standby();
|
Radio.Sleep();
|
sleep_flag = 1;
|
LedOff_task();
|
delay_ms(100);
|
// dwt_entersleep();
|
// uwb_kaiguanrx_falg=2;
|
dwt_entersleep_flag=0;
|
uwbrxflag=0;
|
}
|
}
|
// 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])
|
// {
|
// 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
|
|
}
|
/* USER CODE END 3 */
|
}
|
|
/**
|
* @brief System Clock Configuration
|
* @retval None
|
*/
|
void SystemClock_Config(void)
|
{
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
|
|
/** Configure the main internal regulator output voltage
|
*/
|
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
/** Configure LSE Drive Capability
|
*/
|
HAL_PWR_EnableBkUpAccess();
|
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
|
/** Initializes the CPU, AHB and APB busses clocks
|
*/
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
|
|RCC_OSCILLATORTYPE_LSE;
|
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
|
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
|
RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/** Initializes the CPU, AHB and APB busses clocks
|
*/
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
|
|RCC_PERIPHCLK_LPTIM1;
|
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
|
PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
|
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
}
|
|
/**
|
* @brief ADC Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_ADC_Init(void)
|
{
|
|
/* USER CODE BEGIN ADC_Init 0 */
|
|
/* USER CODE END ADC_Init 0 */
|
|
ADC_ChannelConfTypeDef sConfig = {0};
|
|
/* USER CODE BEGIN ADC_Init 1 */
|
|
/* USER CODE END ADC_Init 1 */
|
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
|
*/
|
hadc.Instance = ADC1;
|
hadc.Init.OversamplingMode = DISABLE;
|
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
|
hadc.Init.Resolution = ADC_RESOLUTION_12B;
|
hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
|
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
|
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
hadc.Init.ContinuousConvMode = DISABLE;
|
hadc.Init.DiscontinuousConvMode = DISABLE;
|
hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
|
hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
hadc.Init.DMAContinuousRequests = DISABLE;
|
hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
|
hadc.Init.LowPowerAutoWait = DISABLE;
|
hadc.Init.LowPowerFrequencyMode = DISABLE;
|
hadc.Init.LowPowerAutoPowerOff = DISABLE;
|
if (HAL_ADC_Init(&hadc) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/** Configure for the selected ADC regular channel to be converted.
|
*/
|
sConfig.Channel = ADC_CHANNEL_1;
|
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
|
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN ADC_Init 2 */
|
HAL_ADCEx_EnableVREFINT();
|
HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
|
/* USER CODE END ADC_Init 2 */
|
|
}
|
|
/**
|
* @brief IWDG Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_IWDG_Init(void)
|
{
|
|
/* USER CODE BEGIN IWDG_Init 0 */
|
|
/* USER CODE END IWDG_Init 0 */
|
|
/* USER CODE BEGIN IWDG_Init 1 */
|
|
/* USER CODE END IWDG_Init 1 */
|
hiwdg.Instance = IWDG;
|
hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
|
hiwdg.Init.Window = 4095;
|
hiwdg.Init.Reload = 4095;
|
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN IWDG_Init 2 */
|
|
/* USER CODE END IWDG_Init 2 */
|
|
}
|
|
/**
|
* @brief LPTIM1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_LPTIM1_Init(void)
|
{
|
|
/* USER CODE BEGIN LPTIM1_Init 0 */
|
|
/* USER CODE END LPTIM1_Init 0 */
|
|
/* USER CODE BEGIN LPTIM1_Init 1 */
|
|
/* USER CODE END LPTIM1_Init 1 */
|
hlptim1.Instance = LPTIM1;
|
hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
|
hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
|
hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
|
hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
|
hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
|
hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
|
if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN LPTIM1_Init 2 */
|
|
/* USER CODE END LPTIM1_Init 2 */
|
|
}
|
|
/**
|
* @brief LPUART1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_LPUART1_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN LPUART1_Init 0 */
|
|
/* USER CODE END LPUART1_Init 0 */
|
|
/* USER CODE BEGIN LPUART1_Init 1 */
|
|
/* USER CODE END LPUART1_Init 1 */
|
hlpuart1.Instance = LPUART1;
|
hlpuart1.Init.BaudRate = 9600;
|
hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
|
hlpuart1.Init.StopBits = UART_STOPBITS_1;
|
hlpuart1.Init.Parity = UART_PARITY_NONE;
|
hlpuart1.Init.Mode = UART_MODE_TX_RX;
|
hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&hlpuart1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN LPUART1_Init 2 */
|
|
/* USER CODE END LPUART1_Init 2 */
|
|
}
|
|
/**
|
* @brief USART1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART1_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART1_Init 0 */
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
/* USER CODE END USART1_Init 0 */
|
|
/* USER CODE BEGIN USART1_Init 1 */
|
|
/* USER CODE END USART1_Init 1 */
|
huart1.Instance = USART1;
|
huart1.Init.BaudRate = 115200;
|
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
huart1.Init.StopBits = UART_STOPBITS_1;
|
huart1.Init.Parity = UART_PARITY_NONE;
|
huart1.Init.Mode = UART_MODE_TX_RX;
|
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
|
huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
|
huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
|
if (HAL_UART_Init(&huart1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART1_Init 2 */
|
GPIO_InitStruct.Pin = GPIO_PIN_10;
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
|
// {
|
// Error_Handler();
|
// }
|
Usart1InitVariables();
|
/* USER CODE END USART1_Init 2 */
|
|
}
|
|
/**
|
* @brief SPI1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_SPI1_Init(void)
|
{
|
|
/* USER CODE BEGIN SPI1_Init 0 */
|
|
/* USER CODE END SPI1_Init 0 */
|
|
/* USER CODE BEGIN SPI1_Init 1 */
|
|
/* USER CODE END SPI1_Init 1 */
|
/* SPI1 parameter configuration*/
|
hspi1.Instance = SPI1;
|
hspi1.Init.Mode = SPI_MODE_MASTER;
|
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
|
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
|
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
|
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
|
hspi1.Init.NSS = SPI_NSS_SOFT;
|
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
|
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
|
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
|
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
|
hspi1.Init.CRCPolynomial = 7;
|
if (HAL_SPI_Init(&hspi1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN SPI1_Init 2 */
|
__HAL_SPI_ENABLE(&hspi1);
|
/* USER CODE END SPI1_Init 2 */
|
|
}
|
|
/**
|
* @brief TIM2 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_TIM2_Init(void)
|
{
|
|
/* USER CODE BEGIN TIM2_Init 0 */
|
|
/* USER CODE END TIM2_Init 0 */
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
/* USER CODE BEGIN TIM2_Init 1 */
|
|
/* USER CODE END TIM2_Init 1 */
|
htim2.Instance = TIM2;
|
htim2.Init.Prescaler = 32-1;
|
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
|
htim2.Init.Period = 250-1;
|
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
sConfigOC.Pulse = 125;
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN TIM2_Init 2 */
|
|
/* USER CODE END TIM2_Init 2 */
|
HAL_TIM_MspPostInit(&htim2);
|
|
}
|
|
/**
|
* 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, 1, 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};
|
|
/* GPIO Ports Clock Enable */
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
__HAL_RCC_GPIOH_CLK_ENABLE();
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2|GPIO_PIN_8, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|SDA_Pin|SCL_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
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 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);
|
|
/*Configure GPIO pins : PA2 PA8 */
|
GPIO_InitStruct.Pin = GPIO_PIN_2|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);
|
|
/*Configure GPIO pin : SPI_CS_Pin */
|
GPIO_InitStruct.Pin = SPI_CS_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : BAT_MEAS_GND_Pin */
|
GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : USER_KEY_Pin */
|
GPIO_InitStruct.Pin = USER_KEY_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
HAL_GPIO_Init(USER_KEY_GPIO_Port, &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 pins : LED1_G_Pin LED1_R_Pin PB14 RADIO_nRESET_Pin
|
RADIO_NSS_Pin PB7 */
|
GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
|
|RADIO_NSS_Pin|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 : RADIO_DIO1_Pin */
|
GPIO_InitStruct.Pin = RADIO_DIO1_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(RADIO_DIO1_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_PULLDOWN;
|
HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : SDA_Pin SCL_Pin */
|
GPIO_InitStruct.Pin = SDA_Pin|SCL_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/* EXTI interrupt init*/
|
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
|
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
|
|
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 */
|
void GPIO_Toggle(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
|
{
|
HAL_GPIO_TogglePin(GPIOx, GPIO_Pin);
|
}
|
void mcu_sleep(void)
|
{
|
HAL_LPTIM_DeInit(&hlptim1);
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
GPIO_InitStruct.Pin = GPIO_PIN_All;
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
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_EnterSTANDBYMode();
|
}
|
|
extern uint8_t tx_near_msg[80];
|
float key_keeptime;
|
extern float freqlost_count,range_lost_time;
|
extern uint8_t lora_yingda_flag;
|
extern uint32_t wg_lost_count;
|
uint8_t lora_yingdatime,gotosleep_flag,sleep_flag;
|
extern uint8_t lora_chongfuyingda_flag,report_ancnum;
|
uint16_t no_data_chongqi_num;
|
uint16_t anchor_send_num;
|
uint8_t no_yingdatime,tflag1,tflag2;
|
extern uint16_t tagdist_list[ANC_MAX_NUM];
|
extern uint8_t Lora_send_flag;
|
uint16_t test1;
|
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
|
{
|
// uint8_t pinlv;
|
SystemClock_Config();
|
// HAL_IWDG_Refresh(&hiwdg);
|
anjian_num=0;
|
if(active_flag==0) //δ¼¤»î״̬
|
{
|
if(!GET_USERKEY)
|
{
|
LED_TB_ON;
|
key_keeptime+=1;
|
if(key_keeptime>3)
|
{
|
u8 i=250,keystate=1;
|
while(i--)
|
{
|
if(i%10==0)
|
{
|
LED_TB_BLINK;
|
}
|
if(GET_USERKEY)
|
{
|
keystate = 0;
|
}
|
if(keystate==0&&!GET_USERKEY)
|
{
|
parameter_init();
|
g_com_map[ACTIVE_INDEX] = 1;
|
save_com_map_to_flash();
|
delay_ms(100);
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
delay_ms(10);
|
}
|
}
|
} else {
|
// LED_LG_OFF;
|
key_keeptime=0;
|
}
|
|
} else {
|
if(!sleep_flag)
|
{
|
Lora_send_time++;
|
flag_onesecond = 1;
|
if(Lora_send_time>3600)
|
{
|
HAL_NVIC_SystemReset();
|
}
|
// 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)
|
// {
|
// if(sleep_flag==0)
|
// {
|
// Radio.Standby();
|
// Radio.Sleep();
|
// sleep_flag = 1;
|
// LedOff_task();
|
// delay_ms(100);
|
//// dwt_entersleep();
|
//// uwb_kaiguanrx_falg=2;
|
// dwt_entersleep_flag=0;
|
// uwbrxflag=0;
|
// }
|
// }
|
//#endif
|
if(nomove_count++>g_com_map[STATIONARY_TIME])
|
{
|
stationary_flag = 1;
|
} else {
|
stationary_flag = 0;
|
}
|
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
|
{
|
gotosleep_flag=1;
|
} else {
|
gotosleep_flag=0;
|
}
|
}else{
|
// if(nomove_count<g_com_map[NOMOVESLEEP_TIME])
|
// {
|
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
|
// }
|
}
|
}
|
if(!GET_USERKEY) //³¤°´ÖØÆôÂß¼
|
{
|
key_keeptime+=1;
|
if(key_keeptime>=KEY_KEEPRESET_TIME)
|
{
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
|
}
|
} else {
|
key_keeptime=0;
|
}
|
}
|
/* 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 */
|
|
/* 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,
|
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
/* USER CODE END 6 */
|
}
|
#endif /* USE_FULL_ASSERT */
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
