/* USER CODE BEGIN Header */
|
/**
|
******************************************************************************
|
* @file : main.c
|
* @brief : Main program body
|
******************************************************************************
|
* @attention
|
*
|
* <h2><center>© Copyright (c) 2023 STMicroelectronics.
|
* All rights reserved.</center></h2>
|
*
|
* This software component is licensed by ST under BSD 3-Clause license,
|
* the "License"; You may not use this file except in compliance with the
|
* License. You may obtain a copy of the License at:
|
* opensource.org/licenses/BSD-3-Clause
|
*
|
******************************************************************************
|
*/
|
/* USER CODE END Header */
|
/* Includes ------------------------------------------------------------------*/
|
#include "main.h"
|
|
/* Private includes ----------------------------------------------------------*/
|
/* USER CODE BEGIN Includes */
|
#include "BSP.h"
|
#include "APL.h"
|
#include "dw_app.h"
|
#include "lis3dh_driver.h"
|
#include "dw_driver.h"
|
#include "deca_device_api.h"
|
#include "global_param.h"
|
#include "TrackingDiff.h"
|
#include "Flash.h"
|
#include "WS2812.h"
|
/* USER CODE END Includes */
|
|
/* Private typedef -----------------------------------------------------------*/
|
/* USER CODE BEGIN PTD */
|
|
/* USER CODE END PTD */
|
|
/* Private define ------------------------------------------------------------*/
|
/* USER CODE BEGIN PD */
|
/* USER CODE END PD */
|
|
/* Private macro -------------------------------------------------------------*/
|
/* USER CODE BEGIN PM */
|
|
/* USER CODE END PM */
|
|
/* Private variables ---------------------------------------------------------*/
|
ADC_HandleTypeDef hadc;
|
|
IWDG_HandleTypeDef hiwdg;
|
|
LPTIM_HandleTypeDef hlptim1;
|
|
UART_HandleTypeDef hlpuart1;
|
UART_HandleTypeDef huart1;
|
UART_HandleTypeDef huart2;
|
|
SPI_HandleTypeDef hspi1;
|
|
TIM_HandleTypeDef htim21;
|
|
/* USER CODE BEGIN PV */
|
|
/* USER CODE END PV */
|
|
/* Private function prototypes -----------------------------------------------*/
|
void SystemClock_Config(void);
|
static void MX_GPIO_Init(void);
|
static void MX_ADC_Init(void);
|
static void MX_LPUART1_UART_Init(void);
|
static void MX_USART1_UART_Init(void);
|
static void MX_USART2_UART_Init(void);
|
static void MX_SPI1_Init(void);
|
static void MX_TIM21_Init(void);
|
static void MX_LPTIM1_Init(void);
|
static void MX_IWDG_Init(void);
|
/* USER CODE BEGIN PFP */
|
//#define JIASUDU_INSLEEP_TIME 3600
|
/* USER CODE END PFP */
|
|
/* Private user code ---------------------------------------------------------*/
|
/* USER CODE BEGIN 0 */
|
uint8_t loratxdata[15]={0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03};
|
uint32_t uwbled,gpsled,loraled,powerled;
|
uint32_t GPS_ON_TIME=120;
|
uint32_t lp_time;
|
uint32_t nomove_time;
|
uint32_t nomove_flag;
|
u16 GetLPTime(void)
|
{
|
u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
|
return count*LPTIMER_LSB/1000;
|
}
|
extern void DebugPoll(void);
|
void IdleTask(void)
|
{
|
DebugPoll();
|
}
|
uint32_t uwb_timer=0;
|
uint32_t battery_timer=0;
|
uint32_t led_timer=0;
|
uint8_t uwb_active_flag = 0;
|
u8 active_flag=0;
|
u16 nomovesleep_time=0,interval;
|
uint16_t hardware_version,hardware_pici,hardware_type;
|
extern uint8_t module_power;
|
extern uint8_t imu_enable,motor_enable;
|
extern uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
|
extern uint16_t bigslot_num;
|
extern uint8_t youxiao_ceju;
|
uint16_t uwb_work_num;
|
uint8_t GPS_ON_flag;
|
extern void Set4LEDColor_Off(void);
|
extern HIDO_VOID Power_GPS_LoraOff(HIDO_VOID);
|
void Program_Init(void)
|
{
|
// float temp;
|
// uint16_t temp2;
|
// uint16_t i;
|
parameter_init();
|
hardware_version= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
|
hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
|
hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
|
//deca_sleep(1000);
|
g_com_map[VERSION] = (2<<8)|1;
|
if(g_com_map[GPS_ONTIME]==0/*||g_com_map[GPS_ONTIME]>10000*/)
|
{
|
g_com_map[GPS_ONTIME]=3600;
|
}
|
if(g_com_map[NOMOVESLEEP_TIME]==0||g_com_map[NOMOVESLEEP_TIME]>10000)
|
{
|
g_com_map[NOMOVESLEEP_TIME]=3900;
|
}
|
if(g_com_map[NOMOVESLEEP_TIME]<g_com_map[GPS_ONTIME])
|
{
|
g_com_map[NOMOVESLEEP_TIME]=g_com_map[GPS_ONTIME]+300;
|
}
|
if(g_com_map[COM_INTERVAL]<1000||g_com_map[COM_INTERVAL]>10000)
|
{
|
g_com_map[COM_INTERVAL]=10000;
|
}
|
// g_com_map[GPS_ONTIME]=60;
|
// g_com_map[DEV_ID]=0x7;
|
#ifdef DEBUG_MODE
|
// g_com_map[DEV_ROLE]=1;
|
// g_com_map[DEV_ID]=0x4009;
|
// g_com_map[ACTIVE_INDEX]=1;
|
// g_com_map[COM_INTERVAL]=50;
|
// g_com_map[MAX_REPORT_ANC_NUM]=1;
|
// g_com_map[NOMOVESLEEP_TIME]=10;
|
// g_com_map[IMU_ENABLE]=0;
|
// g_com_map[COM_INTERVAL]=50;
|
#endif
|
//g_com_map[NOMOVESLEEP_TIME]=10;
|
// g_com_map[IMU_ENABLE]=0;
|
// g_com_map[COM_INTERVAL]=50;
|
active_flag = g_com_map[ACTIVE_INDEX];
|
// g_com_map[GPS_ONTIME]=3600;
|
// g_com_map[NOMOVESLEEP_TIME]=3600;
|
//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
|
module_power = g_com_map[POWER];
|
imu_enable=g_com_map[IMU_ENABLE];
|
motor_enable=g_com_map[MOTOR_ENABLE];
|
uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
|
group_id=g_com_map[GROUP_ID];
|
dev_id = g_com_map[DEV_ID];
|
//slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
|
slottime = 5;
|
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
|
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
|
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
|
lastpoll_time=tyncpoll_time;
|
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
current_slotnum=1;
|
// current_time=GetLPTime();
|
// nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
|
interval = g_com_map[COM_INTERVAL];
|
if(active_flag==0)
|
{
|
interval=1000;
|
imu_enable=1;
|
// nomovesleep_time = 10;
|
motor_enable=0;
|
}
|
tag_frequency = 1000/interval;
|
if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
|
{
|
Error_Handler();
|
}
|
if(g_com_map[CNT_UPDATE]==1)
|
{
|
Set4LEDColor(RED,RED,RED,RED);
|
HAL_Delay(500);
|
Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
|
HAL_Delay(500);
|
Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
|
HAL_Delay(500);
|
uint32_t result = 0;
|
uint16_t tmp = 0xAAAA;
|
__disable_irq();
|
result = FLASH_Prepare(0x8004A38, 128);
|
if(result)
|
result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
|
__enable_irq();
|
// printf("½øÈëÉý¼¶Ä£Ê½\r\n");
|
g_com_map[CNT_UPDATE]=0;
|
save_com_map_to_flash();
|
delay_ms(100);
|
// // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
|
// // Delay_ms(100);
|
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
NVIC_SystemReset();
|
}
|
if(g_com_map[CNT_REBOOT]==1)
|
{
|
g_com_map[CNT_REBOOT]=0;
|
g_com_map[MAP_SIGN_INDEX]=0;
|
save_com_map_to_flash();
|
delay_ms(100);
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
if(g_com_map[CNT_RESTART]==1)
|
{
|
g_com_map[CNT_RESTART]=0;
|
save_com_map_to_flash();
|
delay_ms(100);
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
|
{
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
}
|
void Uwb_Poll(void)
|
{
|
if(nomove_flag==0)//¾²Ö¹ÅжÏ
|
{
|
if(lp_time-uwb_timer>=g_com_map[COM_INTERVAL]/1000/*UWB_WORK_TIME_S*/) //ÊÇ·ñµ½uwb¹¤×÷ʱ¼äÁË¡£
|
{
|
uwbled=BLUE;
|
Set4LEDColor(powerled,loraled,gpsled,uwbled);
|
Tag_App();
|
// Lora_Sendfinalbag_Poll()
|
uwb_timer=lp_time;
|
uwb_work_num++;
|
if(youxiao_ceju>=3)
|
{
|
uwb_work_num=0;
|
}
|
if(uwb_work_num>5&&youxiao_ceju<3)//ÅжÏuwb²â¾àÓÐЧ»ùÕ¾ÊýÁ¿ÊÇ·ñ´óÓÚ3¸ö£¬²¢ÇÒ³¬¹ý5´ÎµÄ»°GPS¿ªÊ¼¹¤×÷¡£
|
{GPS_ON_flag=1;}
|
else
|
{GPS_ON_flag=0;}
|
HIDO_Debug("ÓÐЧ²â¾à%d\r\n",youxiao_ceju);
|
youxiao_ceju=0;
|
uwbled=LEDOFF;
|
Set4LEDColor(powerled,loraled,gpsled,uwbled);
|
}
|
}
|
}
|
extern HIDO_UINT32 Battery_GetPercentage(void);
|
void Battery_Poll(void)
|
{
|
if(nomove_flag==0)
|
{
|
if(lp_time-battery_timer>=60)
|
{
|
bat_percent=Battery_GetPercentage();
|
if(bat_percent>100)
|
{
|
bat_percent=100;
|
}
|
battery_timer=lp_time;
|
}
|
}
|
}
|
void LEDON_POLL(void)
|
{
|
|
}
|
void Time_to_restart_Poll (void)
|
{
|
if(lp_time>=864000)//10Ìì
|
{
|
delay_ms(100);
|
NVIC_SystemReset();
|
}
|
}
|
/* USER CODE END 0 */
|
|
/**
|
* @brief The application entry point.
|
* @retval int
|
*/
|
int main(void)
|
{
|
/* USER CODE BEGIN 1 */
|
|
/* USER CODE END 1 */
|
|
/* MCU Configuration--------------------------------------------------------*/
|
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
HAL_Init();
|
|
/* USER CODE BEGIN Init */
|
|
/* USER CODE END Init */
|
|
/* Configure the system clock */
|
SystemClock_Config();
|
|
/* USER CODE BEGIN SysInit */
|
|
/* USER CODE END SysInit */
|
|
/* Initialize all configured peripherals */
|
MX_GPIO_Init();
|
MX_ADC_Init();
|
MX_LPUART1_UART_Init();
|
MX_USART1_UART_Init();
|
MX_USART2_UART_Init();
|
MX_SPI1_Init();
|
MX_TIM21_Init();
|
MX_LPTIM1_Init();
|
// MX_IWDG_Init();
|
/* USER CODE BEGIN 2 */
|
Program_Init();
|
#ifndef UWB_OFF_FANGCHAI_ON
|
Dw1000_Init();
|
Dw1000_App_Init();
|
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
|
dwt_entersleep();
|
#else
|
#endif
|
BSP_Init();
|
APL_Init();
|
Set4LEDColor_Off(); //¹ØÒ»ÏÂled×ܵçÔ´
|
Power_GPS_LoraOff();//¹ØÒ»ÏÂGPS×ܵçÔ´
|
// Lora_Sleep();
|
Set4LEDColor(RED,RED,RED,RED);
|
HAL_Delay(500);
|
Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
|
HAL_Delay(500);
|
// MX_IWDG_Init();
|
// NVIC_SystemReset();
|
/* USER CODE END 2 */
|
|
/* Infinite loop */
|
/* USER CODE BEGIN WHILE */
|
// if(g_com_map[ACTIVE_INDEX]==0)
|
// {
|
// NOWAKEUP_Poll();
|
// }
|
while (1)
|
{
|
// HAL_IWDG_Refresh(&hiwdg);
|
APL_Poll();//lora½ÓÊÕ£¬gps½ÓÊÕʱ¼äÅжϣ¬µ¥Æ¬»úÐÝÃߺ¯Êý£¬·äÃùÆ÷ÅжϺ¯Êý¡£
|
#ifndef UWB_OFF_FANGCHAI_ON
|
Uwb_Poll();
|
#else
|
{GPS_ON_flag=1;}
|
#endif
|
Battery_Poll();//¼ì²âµçÁ¿º¯Êý£¬Ã¿60s²âÒ»´ÎµçÁ¿¡£
|
Time_to_restart_Poll();//·ÀÖ¹³öÏÖÒâÍâÇé¿ö£¬»òÔò²»¿¼ÂǷתÎÊÌᣬ20000000sÖØÆôÒ»´ÎÉ豸¡£
|
/* USER CODE END WHILE */
|
|
/* USER CODE BEGIN 3 */
|
}
|
/* 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_HIGH);
|
/** Initializes the RCC Oscillators according to the specified parameters
|
* in the RCC_OscInitTypeDef structure.
|
*/
|
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 buses 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_USART2
|
|RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
|
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
|
PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
|
PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
|
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 */
|
|
/* 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 */
|
HAL_IWDG_Refresh(&hiwdg);
|
/* 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 = 115200;
|
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 */
|
|
/* 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_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 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 TIM21 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_TIM21_Init(void)
|
{
|
|
/* USER CODE BEGIN TIM21_Init 0 */
|
|
/* USER CODE END TIM21_Init 0 */
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
/* USER CODE BEGIN TIM21_Init 1 */
|
|
/* USER CODE END TIM21_Init 1 */
|
htim21.Instance = TIM21;
|
htim21.Init.Prescaler = 32-1;
|
htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
|
htim21.Init.Period = 250-1;
|
htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_TIM_PWM_Init(&htim21) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
sConfigOC.Pulse = 0;
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
if (HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN TIM21_Init 2 */
|
|
/* USER CODE END TIM21_Init 2 */
|
HAL_TIM_MspPostInit(&htim21);
|
|
}
|
|
/**
|
* @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_GPIOA_CLK_ENABLE();
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_15, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_14|GPIO_PIN_3
|
|GPIO_PIN_4|GPIO_PIN_8, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);
|
|
/*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_PIN_8|GPIO_PIN_11|GPIO_PIN_12
|
|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 PB2 PB14 PB8 */
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_14|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(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : PB1 PB5 PB7 */
|
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_5|GPIO_PIN_7;
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : PB12 PB15 */
|
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_15;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : PB3 PB4 */
|
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : PB6 */
|
GPIO_InitStruct.Pin = GPIO_PIN_6;
|
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);
|
|
/**/
|
HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_PB6);
|
|
/* EXTI interrupt init*/
|
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 0, 0);
|
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
|
|
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
|
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
|
|
}
|
|
/* USER CODE BEGIN 4 */
|
void MX_Init(void)
|
{
|
// MX_GPIO_Init();
|
MX_ADC_Init();
|
MX_LPUART1_UART_Init();
|
MX_USART1_UART_Init();
|
MX_USART2_UART_Init();
|
MX_SPI1_Init();
|
MX_TIM21_Init();
|
//MX_RTC_Init();
|
}
|
extern uint32_t lora_sendfinal_rx_time;
|
extern uint8_t lora_sendfinal_rx_bag_flag;
|
extern uint8_t fengming_time,fengming_flag;
|
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
|
{
|
lp_time++;
|
nomove_time++;//É豸ûÓÐÒƶ¯µÄʱ¼ä
|
if(nomove_time>g_com_map[NOMOVESLEEP_TIME])
|
{nomove_flag=1;}
|
// {}
|
else
|
{nomove_flag=0;}
|
if(lora_sendfinal_rx_bag_flag==1)//Èç¹û½øÈëloraµÈ´ý½ÓÊջظ´µÄ״̬
|
{
|
lora_sendfinal_rx_time=lora_sendfinal_rx_time+1;//loraµÈ´ý½ÓÊÕ2s£¬2s²»ÐÝÃߣ¬Èç¹û³¬¹ýÁ½Ã룬±ê־λÇåÁ㣬½øÈëÐÞÃß¡¢
|
if(lora_sendfinal_rx_time>=2)
|
{
|
lora_sendfinal_rx_time=0;
|
lora_sendfinal_rx_bag_flag=0;
|
}
|
}
|
if(fengming_flag==1)
|
{
|
fengming_time--;
|
if(fengming_time<=0)
|
{
|
fengming_flag=0;
|
Beep_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 */
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
