/* 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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#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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/* 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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LPTIM_HandleTypeDef hlptim1;
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SPI_HandleTypeDef hspi1;
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TIM_HandleTypeDef htim2;
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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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/* 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_LPTIM1_Init(void);
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static void MX_USART1_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_DMA_Init(void);
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static void MX_TIM2_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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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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extern u8 motor_state;
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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,current_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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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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uint16_t hardware_version,hardware_pici,hardware_type;
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uint8_t state5v;
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float motor_keeptime;
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void IdleTask(void)
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{u16 current_time;
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UART_CheckReceive();
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UART_CheckSend();
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if(huart1.Instance->ISR&USART_ISR_FE)
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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(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
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//{
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// LED_TR_ON;
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// LED_TB_OFF;
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//}else{
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// LED_TR_OFF;
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current_time=GetLPTime();
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//motor_state=2;
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// if(g_com_map[MOTOR_ONTIME]>0)
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// {
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// g_com_map[MOTOR_ONTIME]--;
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// motor_state = 1;
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// }
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if(g_com_map[MOTOR_ENABLE])
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{
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switch(motor_state)
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{case 0:
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if(hardware_type==NSH1)
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{MOTOR_OFF;
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}else if(hardware_type==GP)
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{
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
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}
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break;
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case 1:
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if(current_time<MOTOR_ONTIME)
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{
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if(hardware_type==NSH1)
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{MOTOR_ON;
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}else if(hardware_type==GP)
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{
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
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}
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}else{
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if(hardware_type==NSH1)
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{MOTOR_OFF;
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}else if(hardware_type==GP)
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{
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
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}
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}
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break;
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case 2:
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if(hardware_type==NSH1)
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{MOTOR_ON;
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}else if(hardware_type==GP)
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{
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
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}
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break;
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case 3:
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if(hardware_type==NSH1)
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{MOTOR_OFF;
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}else if(hardware_type==GP)
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{
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
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}
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break;
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}
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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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nomove_count = 0;
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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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if(bat_percent>99)
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{
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LED_LR_OFF;
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LED_LG_ON;
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}else{
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LED_LR_ON;
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LED_LG_OFF;
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}
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}else{
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state5v=0;
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LED_LR_OFF;
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LED_LG_OFF;
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// }
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}
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if(g_com_map[CNT_UPDATE]==1)
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{
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uint32_t result = 0;
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uint16_t tmp = 0xAAAA;
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__disable_irq();
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result = FLASH_Prepare(0x8004A38, 128);
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if(result)
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result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
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__enable_irq();
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printf("½øÈëÉý¼¶Ä£Ê½\r\n");
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g_com_map[CNT_UPDATE]=0;
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save_com_map_to_flash();
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delay_ms(100);
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// STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
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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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if(g_com_map[CNT_REBOOT]==1)
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{
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g_com_map[CNT_REBOOT]=0;
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g_com_map[MAP_SIGN_INDEX]=0;
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save_com_map_to_flash();
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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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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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save_com_map_to_flash();
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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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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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}
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u16 total_slotnum,current_slotnum;
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extern int32_t offsettimeus;
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void SetNextPollTime(u16 time)
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{
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int32_t lpcount,lptime,target_time;
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if(current_slotnum>=total_slotnum)
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current_slotnum-=total_slotnum;
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target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
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//if(target_time<90000)
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{
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lptime=target_time-offsettimeus;
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lpcount = lptime/LPTIMER_LSB;
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if(lpcount>LPTIMER_1S_COUNT)
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lpcount-=LPTIMER_1S_COUNT;
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if(lpcount<0)
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{
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lpcount+=LPTIMER_1S_COUNT;
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}
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__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
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}
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}
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void HardWareTypeDiffConfig(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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//hardware_type=2;
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if(hardware_type == 0)
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hardware_type = 1;
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switch(hardware_type)
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{
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case 1:
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HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
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GPIO_InitStruct.Pin = MOTOR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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break;
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case 2:
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MX_TIM2_Init();
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//BarInit();
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break;
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}
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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] = 0x0118;
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#ifdef DEBUG_MODE
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// g_com_map[DEV_ROLE]=1;
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// g_com_map[DEV_ID]=1;
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g_com_map[COM_INTERVAL]=100;
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// g_com_map[MAX_REPORT_ANC_NUM]=1;
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g_com_map[NOMOVESLEEP_TIME]=10;
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#endif
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if(g_com_map[COM_INTERVAL]==0)
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{
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g_com_map[COM_INTERVAL]=100;
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}
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if(module_power>67)
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{module_power=67;}
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if(module_power<0)
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{module_power=0;}
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module_power = g_com_map[POWER];
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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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total_slotnum = 1000/g_com_map[COM_INTERVAL];
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current_slotnum=1;
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current_time=GetLPTime();
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if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != 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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//g_com_map[NOMOVESLEEP_TIME]=5;
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printf("±êÇ©ID: %d .\r\n",dev_id);
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printf("ͨѶ¼ä¸ô: %d ms.\r\n",g_com_map[COM_INTERVAL]);
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printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
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// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
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// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
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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_RxCpltCallback(UART_HandleTypeDef *UartHandle)
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//{
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// /* Set transmission flag: trasfer complete*/
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// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
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//
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//}
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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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/* 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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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_LPTIM1_Init();
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MX_USART1_UART_Init();
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MX_SPI1_Init();
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MX_ADC_Init();
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MX_DMA_Init();
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// MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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LED_LG_ON;
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Program_Init();
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LIS3DH_Data_Init();
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Dw1000_Init();
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Dw1000_App_Init();
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HardWareTypeDiffConfig();
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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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waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
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DW_DISABLE;
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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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// HAL_Delay(2000);
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// mcu_sleep();
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//LED0_BLINK;
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// SystemPower_Config();
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//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
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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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if(g_start_send_flag)
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{ static uint16_t blink_count=0;
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SystemClock_Config();
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g_start_send_flag = 0;
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// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
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// {
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// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
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// }else{
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// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
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// }
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// LED_TR_BLINK;
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bat_percent=Get_Battary();
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if(bat_percent>15)
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{ LED_TB_ON;
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Tag_App();
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LED_TB_OFF;
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}else{
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LED_TR_ON;
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Tag_App();
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LED_TR_OFF;
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}
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//LED0_BLINK;
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IdleTask();
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if(waitusart_timer>0)
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{
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waitusart_timer--;
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}
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if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
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{
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#ifndef DEBUG_MODE
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if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
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HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
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#endif
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}
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}else{
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IdleTask();
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}
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// HAL_Delay(100);
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// Get_Battary();
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// LIS3DH_Data_Init();
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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 CPU, AHB and APB busses clocks
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|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.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 busses clocks
|
*/
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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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Error_Handler();
|
}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
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PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
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PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
|
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
|
{
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Error_Handler();
|
}
|
}
|
|
/**
|
* @brief ADC Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_ADC_Init(void)
|
{
|
|
/* 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 */
|
|
/* 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;
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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;
|
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_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
|
/* USER CODE END ADC_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 */
|
// if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
|
// {
|
// Error_Handler();
|
// }
|
/* USER CODE END LPTIM1_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_ClockConfigTypeDef sClockSourceConfig = {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 = 9;
|
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
|
htim2.Init.Period = 1171;
|
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
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 = 599;
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN TIM2_Init 2 */
|
//if(HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK)
|
// {
|
// /* Starting Error */
|
// Error_Handler();
|
// }
|
/* USER CODE END TIM2_Init 2 */
|
HAL_TIM_MspPostInit(&htim2);
|
|
}
|
|
/**
|
* @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 */
|
|
}
|
|
/**
|
* 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, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
|
|
/*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 : SCL_Pin SDA_Pin */
|
GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
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 : 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 : LED1_G_Pin LED1_R_Pin LED2_R_Pin PWR_CTL_Pin */
|
GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|LED2_R_Pin|PWR_CTL_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
|
GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
|
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 : PWR_ON_Pin */
|
GPIO_InitStruct.Pin = PWR_ON_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);
|
|
/* EXTI interrupt init*/
|
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
|
HAL_NVIC_EnableIRQ(EXTI0_1_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],stationary_flag;
|
float key_keeptime;
|
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
|
{
|
static uint8_t i=0;
|
i++;
|
g_start_send_flag=1;
|
current_slotnum++;
|
SetNextPollTime(tyncpoll_time);
|
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
|
if(motor_keeptime>0)
|
{
|
motor_keeptime-=(float)g_com_map[COM_INTERVAL]/1000;
|
}
|
if(!GET_USERKEY)
|
{
|
key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
|
if(key_keeptime>=KEY_KEEPRESET_TIME)
|
{
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
|
}
|
}else{
|
key_keeptime=0;
|
}
|
if(nomove_count>STATIONARY_TIME)
|
{
|
stationary_flag = 1;
|
}else{
|
stationary_flag = 0;
|
}
|
if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
|
{
|
tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
|
}
|
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
|
{
|
mcu_sleep();
|
}
|
}
|
/* 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****/
|
