1

WXK

2024-03-18 d9321b6a77d97a67fb6e9f0a9fd4da73a1da4078

 Src/main.c

@@ -37,18 +37,20 @@
#include <stdlib.h>
#include "WS2812.h"
#include "syn6288.h"
#include "dw_mbx_tag.h"
#include "GPS.h"
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP      (uint32_t)0x08004F00    //硬件版本号和批次信息位置
//#define DEBUG_MODE
#define DEBUG_MODE
uint8_t chongqi_flag;
uint32_t uwbled,gpsled,loraled,powerled;
UART_WakeUpTypeDef Selection;
uint8_t Close_RMC[20]="$CCMSG,RMC,1,0,*04\r\n";
uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
//uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
//uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
//uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
//uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
@@ -69,7 +71,6 @@

/* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc;
DMA_HandleTypeDef hdma_adc;

IWDG_HandleTypeDef hiwdg;

@@ -78,10 +79,10 @@
UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart5;
DMA_HandleTypeDef hdma_lpuart1_rx;
DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
DMA_HandleTypeDef hdma_usart5_rx;
DMA_HandleTypeDef hdma_usart5_tx;

SPI_HandleTypeDef hspi1;

@@ -96,9 +97,9 @@
static void MX_ADC_Init(void);
static void MX_IWDG_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART5_UART_Init(void);
/* USER CODE BEGIN PFP */

@@ -122,6 +123,7 @@
uint8_t anjian_flag;
uint8_t  stationary_flag;
uint16_t stationary_num;
uint8_t recv_end_time;
u16 GetLPTime(void)
{
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -198,57 +200,44 @@
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
uint8_t state5v;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
{
//if(huart1.Instance->ISR&USART_ISR_FE)
//   {
//   SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
////   }
//    if(du_flag==1)
//    {
//    du_flag=0;
//        
//    }
//    if(xie_flag==1)
//    {
//    xie_flag=0;
//    memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);    
//    }
   if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
        	
   {  state5v=1;
        LoraInit();
        HAL_UART_DMAStop(&hlpuart1); //  停止DMA传输，防止  
        while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
      {
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
       // bat_percent=Get_Battary();
      if(state5v==0)
        
      if(bat_percent>95)
      {
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      {
    powerled=GREEN;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
            powerled=GREEN;
      }else{
    powerled=RED;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
      }		
            powerled=RED;           
      }
      }
     HAL_NVIC_SystemReset();    
   }else{
        if(state5v==1)
        {
            state5v=0;
            UsartDeInit();
        }
//    powerled=LEDOFF;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
//    gpsled=LEDOFF;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);    
//   }
        state5v=0;
            if(bat_percent>20)
            {
            powerled=BLUE;
            }else{
            powerled=RED;           
            }
        
//        if(state5v==1)
//        {
//            state5v=0;
//            UsartDeInit();
//        }
}
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
@@ -261,34 +250,7 @@
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
//u16 last_lpcount = 0;
void SetNextPollTime(u16 time)
{
  int32_t lpcount1,lptime1,target_time1;
int32_t last_lpcount1;
//   if(current_slotnum>=total_slotnum)
//      current_slotnum-=total_slotnum;
//	
//   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
//   //if(target_time<90000)
//   {
//      lptime=target_time-offsettimeus;
//      lpcount = lptime/LPTIMER_LSB;
//   if(lpcount>LPTIMER_1S_COUNT)
//      lpcount-=LPTIMER_1S_COUNT;
//   if(lpcount<0)
//   {
//   lpcount+=LPTIMER_1S_COUNT;
//   }
    last_lpcount1=HAL_LPTIM_ReadCounter(&hlptim1);
    lpcount1 = last_lpcount1+32.768*time;
    while(lpcount1>LPTIMER_1S_COUNT)
    {
        lpcount1-=LPTIMER_1S_COUNT;
    }
//    last_lpcount = lpcount;
   __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1+32768);

}

/* 返回ch字符在sign数组中的序号 */
int getIndexOfSigns(char ch)
@@ -324,19 +286,9 @@
    return sum;
}
    
u32 Loratx_frequency;

u8 active_flag,nomovesleeptime;
void GetLoratx_frequency(void)
{
Loratx_frequency=470000000;
srand(HAL_LPTIM_ReadCounter(&hlptim1));
        Loratx_frequency=((rand()%5)+470)*1000000; 
        if(470000000<=Loratx_frequency&&Loratx_frequency<480000000)
        g_com_map[NEARBASE_ID1]=1136+(Loratx_frequency/1000000-470);
        if(480000000<=Loratx_frequency&&Loratx_frequency<490000000)
        g_com_map[NEARBASE_ID1]=1152+(Loratx_frequency/1000000-480);
Loratx_frequency=470000000;
}

void Program_Init(void)
{   float temp;
   uint16_t temp2;
@@ -347,7 +299,7 @@
   hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
   hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
   //deca_sleep(1000);
   g_com_map[VERSION] = (1<<8)|0;
   g_com_map[VERSION] = (1<<8)|1;
//    g_com_map[DEV_ID]=1158;
//    #ifdef DEBUG_MODE
//   // g_com_map[GROUP_ID]=21;
@@ -356,13 +308,13 @@
//    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
//    //   g_com_map[NOMOVESLEEP_TIME]=10;
//    #endif
    g_com_map[GROUP_ID]=5;
    g_com_map[GROUP_ID]=1;
//    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {g_com_map[COM_INTERVAL] = 1000;}
    active_flag = g_com_map[ACTIVE_INDEX];
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
//    g_com_map[IMU_ENABLE] = 0;
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];

@@ -376,11 +328,11 @@
    tag_frequency = 1000/g_com_map[COM_INTERVAL];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
    nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
   if(active_flag==0)
   {   
      imu_enable=1;
      nomovesleeptime =10;		
   }
//   if(active_flag==0)
//   {   
//      imu_enable=1;
//      nomovesleeptime =10;		
//   }

 //   g_com_map[COM_INTERVAL]=100;
      if(g_com_map[COM_INTERVAL]==0)
@@ -394,10 +346,6 @@

   current_slotnum=1;
//   current_time=GetLPTime();
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }
//        if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
//  {
//    Error_Handler();
@@ -477,28 +425,22 @@
    if(GPIO_Pin == RADIO_DIO1_Pin)
    {
        SystemClock_Config();
//        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
//        HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_RESET); //片选lora有效
//        l_bIsVibration = HIDO_TRUE;
//        nomove_time=0;
//        printf("RXD :77777\r\n");
        irq_num++;
        RadioIrqProcess();
    }
    if(GPIO_Pin == GPIO_PIN_1)//按键
    {
        SystemClock_Config();
         SystemClock_Config();
      anjian_flag=1;
    }
    if(GPIO_Pin == GPIO_PIN_0)//加速度
    {
        SystemClock_Config();
     stationary_flag =0;
        stationary_num=0;
   if(chongqi_flag==1)
   {
   HAL_NVIC_SystemReset();
   }
         SystemClock_Config();
        if(chongqi_flag==1)
        {
        HAL_NVIC_SystemReset();
        }
      nomove_count = 0;
    }
}
extern void Lora_tx_zubao( void );
@@ -508,101 +450,20 @@
extern uint16_t lora_yingda_num;
uint8_t lora_tx_flag;
uint8_t lora_txanchor_power_flag;
extern uint16_t Lora_tx_ancid[50];
extern uint16_t Lora_tx_ancdist[50];
extern uint8_t Lora_tx_anc_electricity[50];
u8 lora_seq_nb1;
static uint8_t send_frame1[EUART_RX_BUF_SIZE];
uint8_t data_length1;
void LoraSendComMap(uint8_t data_length, uint8_t index)
{
   uint16_t checksum = 0;
   send_frame1[0] = 0x55;
   send_frame1[1] = 0xAA;
   send_frame1[2] = 0x39;
   send_frame1[3] = data_length+5;
   send_frame1[4] = 3;
   send_frame1[5] = index;
   send_frame1[6] = data_length;
   memcpy(&send_frame1[7], &g_com_map[index], data_length);
   for(int i = 0; i<(data_length+5); i++)
   {
      checksum += send_frame1[2+i];
   }
   checksum = Checksum_u16(&send_frame1[2],5+data_length);
   memcpy(&send_frame1[7+data_length],&checksum,2);
   data_length1=data_length+9;
//   UART_PushFrame(send_frame1, data_length+9);	
}

extern uint8_t GPSchangdu;
uint8_t no_yingdaflag;
extern  uint8_t GPS_GGAdate[200];
uint8_t GPS_GGAdate111[200]="报警";
void Lora_Tx_Poll()
{

    if(lora_tx_flag)
    {  
        lora_tx_flag=0;
//        SYN_FrameInfo(0,GPS_GGAdate111);
//        while(1);
       if(du_flag==1)
       {    
    Lora47X_Init();    
    du_flag=0;
    Radio.Send( send_frame1, data_length1);    
        no_yingdaflag=1;
       }
       else
       {
        Lora47X_Init();
        if(bat_percent>20)
        {
    loraled=BLUE;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
        else
        {
    loraled=RED;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
    lora_seq_nb2++;
    Lora_tx_zubao();
    Radio.Send( usart_send, 15+Lora_tx_ancnum*4+GPSchangdu);
    Lora_tx_ancnum=0;    
    GPSchangdu=0;
    memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
    memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
    memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
    anjian_flag=0;
        //        delay_ms(10);
//            loraled=LEDOFF;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
//        HAL_UART_Transmit(&huart1,usart_send,15+Lora_tx_ancnum*4+GPSchangdu,3000);
       }
    }
     
}

void MX_ADC1_Init()
{
MX_ADC_Init();
    MX_ADC_Init();
}
void GPS_Close_Init()
{
    
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_RMC,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_GSA,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_GSV,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_GLL,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit(&hlpuart1,Close_TXT,20,1000);
    Delay_Ms(100);
    HAL_UART_Transmit_DMA(&hlpuart1,Close_RMC,100);
    Delay_Ms(150);
}
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
@@ -610,37 +471,25 @@
uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
uint8_t ble_rx_success_flag;
uint8_t fangzhijinrushuimian_flag;
uint8_t GPS_zhongzhuandate[200];
uint8_t GPS_zhongzhuannum;
uint8_t GPSchangdu;
uint8_t GPS_GGAdate[200]={1,2,3,4,5,6,7,8,9};
uint8_t GPS_GGAdate[400];
uint8_t GPS_GGAdatenum;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) 
{
    {
    GPS_zhongzhuandate[GPS_zhongzhuannum]=GPSRxBuffer[0];
    GPS_zhongzhuannum++;
    if(GPS_zhongzhuandate[GPS_zhongzhuannum-1]==0x0A&&GPS_zhongzhuandate[GPS_zhongzhuannum-2]==0x0D)
    {
//        HAL_UART_Transmit(&hlpuart1,ble_rxdate,5,1000);
    memcpy(GPS_GGAdate,GPS_zhongzhuandate,GPS_zhongzhuannum);
    GPSchangdu= GPS_zhongzhuannum;
    memset(GPS_zhongzhuandate,0,sizeof(GPS_zhongzhuandate));
        GPS_zhongzhuannum=0;
        fangzhijinrushuimian_flag=0;
        ble_rx_success_flag=1;
        if(GPSchangdu>40)
        {
            gpsled=BLUE;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
        else
        {
            gpsled=RED;
//    Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
    }
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
    }
//    {
//        GPS_RecvFsm(GPSRxBuffer[0]);
//        GPS_Recv_Poll(GPSRxBuffer[0]);
//    GPS_GGAdate[GPS_GGAdatenum]=GPSRxBuffer[0];
//    GPS_GGAdatenum++;
//    if(GPS_GGAdate[GPS_GGAdatenum-1]==0x0A&&GPS_GGAdate[GPS_GGAdatenum-2]==0x0D)
//    {
//       GPS_ParseGGA(GPS_GGAdate, GPS_GGAdatenum);
//    memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
//        GPS_GGAdatenum=0;
//        fangzhijinrushuimian_flag=0;
//    }
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    }
}
uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
@@ -657,17 +506,15 @@
//    memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
//    }
//        if(lp_time>3)
      if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))  
    {
     Error_Handler();
    }   
    fangzhijinrushuimian_flag=1;
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
    
}
//void GPS_rx_Poll()
//{
//  if(ble_rx_success_flag)
//  {
//  ble_rx_success_flag=0;
//  }
//}
extern uint8_t  yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
extern uint8_t xiafayuyin_data[200];
@@ -678,18 +525,9 @@
    if(yuyin_sendflag)
    {
    yuyin_sendflag=0;
    SYN_FrameInfo(0,yuyin_yinliang);//设置音量等级V10
    delay_ms(10);
    SYN_FrameInfo(0,xiafayuyin_data); //播放内容
//    HAL_UART_Receive_IT(&huart6, &Get_Uart6_data, 1);
    memset(xiafayuyin_data,0,sizeof(xiafayuyin_data)); 
    }
//    if(Get_Uart6_data==0x4F)
//    {
//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
//HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);  
//        Get_Uart6_data=0;
//    }
}
void PowerDownDetect(void)
{  
@@ -697,11 +535,13 @@
static uint32_t powercount=0;
    if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
      {
          delay_ms(1000);
          delay_ms(500);
          if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
          {     
              while(1)
              {
                  Set4LEDColor(RED,RED,RED,RED);
                  recv_end_time=0;
                if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0) 
                {
                    delay_ms(100);
@@ -711,15 +551,16 @@
          }
      }
}
uint8_t usart5_state;
uint8_t gotosleep_flag;
uint8_t usart5_state,flag_onesecond;
void Jingzhi_Poll(void)
{
          powerled=LEDOFF;
          loraled=LEDOFF;
          gpsled=LEDOFF;
          uwbled=LEDOFF;
      HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
      HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
          HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora 电源
          HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb 电源
          HAL_SPI_DeInit(&hspi1);
          HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora  cs
          HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
@@ -727,13 +568,47 @@
          Usart5DeInit();
          LpusartDeInit();
          HAL_ADC_DeInit(&hadc);
//          __HAL_RCC_GPIOA_CLK_DISABLE();
//          __HAL_RCC_GPIOB_CLK_DISABLE();
//          __HAL_RCC_GPIOC_CLK_DISABLE();
//          __HAL_RCC_GPIOD_CLK_DISABLE();
//          __HAL_RCC_GPIOE_CLK_DISABLE();

          Set4LEDColor_Off(); //关led总电源
          chongqi_flag=1;
}
void OneSecondTask(void)
{
    if(flag_onesecond==1)
    {
        flag_onesecond = 0;
    }
}
uint8_t GPS_Close_time;
uint8_t GPS_Close_flag=1;
uint8_t debugnum;
uint8_t Lora_send_flag;
void Lora_Send_Poll(void)
{
        if(Lora_send_flag)
        { 
            debugnum++;
        Lora_send_flag=0;    
            loraled=BLUE;
        LoraReportPoll();
        flag_onesecond = 1;
        }

}
extern  volatile uint16_t rx_len ;  //接收一帧数据的长度
extern volatile uint8_t recv_end_flag; //一帧数据接收完成标志
void Lpuart_rx_Poll(void)
{
if(recv_end_flag == 1)  //接收完成标志
{
    recv_end_time=0;
GPS_ParseGGA(GPS_GGAdate, rx_len);  
memset(GPS_GGAdate,0,rx_len);
rx_len = 0;//清除计数
recv_end_flag = 0;//清除接收结束标志位
fangzhijinrushuimian_flag=0;
}
HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
}
/* USER CODE END 0 */

@@ -769,43 +644,42 @@
  MX_ADC_Init();
//  MX_IWDG_Init();
  MX_LPTIM1_Init();
  MX_LPUART1_UART_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_LPUART1_UART_Init();
  MX_USART5_UART_Init();
  /* USER CODE BEGIN 2 */
//    LED_LG_ON;
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //开GPS电源
    delay_ms(10);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //开uwb电源
//delay_ms(1000);

    Program_Init();
    LIS3DH_Data_Init();	
#ifdef _USE_BAR
BarInit();
#endif 
    Dw1000_Init();
    Dw1000_App_Init();
    //   HardWareTypeDiffConfig();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();

    LIS3DH_Data_Init();	
    Set4LEDColor(RED,RED,RED,RED);
    HAL_Delay(500);
    Set4LEDColor_Off();
    HAL_Delay(500);
    LoraInit();
//    delay_ms(1000);
bat_percent=Get_Battary();
        GPS_Close_flag=0;
        GPS_Close_Init();      
    if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  } 
//  HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//重新打开DMA接收
  __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_IDLE); //使能IDLE中断
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
    }
    Delay_Ms(2);
    Delay_Ms(10);
    bat_percent=Get_VDDVlotage();
    GetLoratx_frequency();
    delay_ms(2000);
    GPS_Close_Init();    

    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
    Set4LEDColor(RED,RED,RED,RED);
    HAL_Delay(500);
    Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
    HAL_Delay(500);
    Set4LEDColor_Off();
//    Lora47X_Init();
//    Radio.Sleep();
  /* USER CODE END 2 */

  /* Infinite loop */
@@ -815,48 +689,43 @@
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//Lora_rx_open();
//      Lora_Tx_Poll();
      if(stationary_flag==1)
      if(gotosleep_flag==1)
      {
          Jingzhi_Poll();
          HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
      }
      else
      {
      Lora_Tx_Poll();    
          IdleTask();	
      TTSchaxun_Busy();
      Lpuart_rx_Poll();
      OneSecondTask();
      IdleTask();	
      PowerDownDetect();
      
//      Ble_rx_Poll();
//    HAL_IWDG_Refresh(&hiwdg);

//      Lora_rece_error=0;
//   Radio.IrqProcess( ); // Process Radio IRQ
//     Anchor_App();

    #ifndef DEBUG_MODE	
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
  {      
      if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
          {
      if(usart5_state==0)
      {
      usart5_state=1;
      Usart5DeInit();
      Lora_Send_Poll();
      TTSchaxun_Busy();
//    #ifndef DEBUG_MODE	
//    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
//  {      
//      if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
//          {
//      if(usart5_state==0)
//      {
//      usart5_state=1;
//      Usart5DeInit();
//      }
//      if(GPS_Close_flag==0)
//      {
//    Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
//    HAL_UARTEx_EnableClockStopMode(&hlpuart1);
//    HAL_UARTEx_EnableStopMode( &hlpuart1 );
//    HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
//    __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);   
//      }
////    Set4LEDColor_Off();              
//    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
//          }
//  }
//    #endif
      }
    Selection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
    HAL_UARTEx_EnableClockStopMode(&hlpuart1);
    HAL_UARTEx_EnableStopMode( &hlpuart1 );
    HAL_UARTEx_StopModeWakeUpSourceConfig( &hlpuart1, Selection );
    __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_WUF);   
    Set4LEDColor_Off();              
    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
          }
  }
    #endif
    }
  }
  /* USER CODE END 3 */
}
@@ -914,7 +783,7 @@
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPUART1
                              |RCC_PERIPHCLK_LPTIM1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
  PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_HSI;
  PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;

  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
@@ -947,7 +816,7 @@
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = DISABLE;
@@ -969,14 +838,6 @@
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
@@ -1215,11 +1076,8 @@
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* DMA1_Channel2_3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
  HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
  /* DMA1_Channel4_5_6_7_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel4_5_6_7_IRQn, 0, 0);
@@ -1307,7 +1165,7 @@

  /*Configure GPIO pins : SCL_Pin SDA_Pin */
  GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  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);
@@ -1341,7 +1199,7 @@
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 2, 0);
  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}
@@ -1378,68 +1236,22 @@
uint8_t lora_yingdatime;
extern uint8_t lora_chongfuyingda_flag;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
uint8_t no_yingdatime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
#define YUYINSTOP_TIME 10
uint8_t bat_time;
void Bat_Percent_Poll()
{
//    uint8_t pinlv;
    SystemClock_Config();
    lp_time++;
    anchor_send_num++;
    no_data_chongqi_num++;
    stationary_num++;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
//    if(Beepchixutime>0)
//    {
//        Beepchixutime--;
//        if(Beepchixutime==0)
//        {Beep_Off();}
//    }
    if(no_yingdaflag==1)
    bat_time++;
    if(bat_time>100)
    {
    no_yingdatime++;
        if(no_yingdatime>=5)
        {
            no_yingdaflag=0;
            no_yingdatime=0;
        }
        bat_time=0;
    bat_percent=Get_Battary();
    }

    if( no_data_chongqi_num>600)
    {NVIC_SystemReset();}
    SetNextPollTime(0);
//    if(lora_yingda_flag)
//    {
//    lora_yingdatime++;
//        if(lora_yingdatime>=2)
//        {lora_yingdatime=0;
//        lora_yingda_flag=0;            
//          Lora_tx_mode();
//            Radio.Send( usart_send, 2);
//        }
//    }
//    else
//    {
//    pinlv=g_com_map[COM_MAP_SIZE]/1000;
    if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
    {
    lora_tx_flag=1;
    lora_txanchor_power_flag=0;
//    }
    if(anchor_send_num>=3600)
    {anchor_send_num=0;
    lora_txanchor_power_flag=1;
        lora_tx_flag=0;
        bat_percent=Get_VDDVlotage();
    }
    }

    if(stationary_num>=30)
    {stationary_num=0;
    stationary_flag=1;
    }
}
void Yuying_Poll()
{
    yuyinzidongguan_time++;
    if(yuyinzidongguan_time>10)
    if(yuyinzidongguan_time>YUYINSTOP_TIME)
    {
    yuyinzidongguan_time=0;
    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
@@ -1447,6 +1259,45 @@
    yuyin_no_sleep_flag=0;
    }
}
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
    SystemClock_Config();
    HAL_IWDG_Refresh(&hiwdg);
Set4LEDColor(powerled,loraled,gpsled,uwbled);
Bat_Percent_Poll();
    if(state5v==0)
    {
    if(yuyin_no_sleep_flag==0)
    {
    recv_end_time++;
//    if(recv_end_time>3)
//    {HAL_NVIC_SystemReset();}
    }
    Yuying_Poll();
    Lora_send_flag=1;
    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;
    }
    }
    powerled=LEDOFF;
    loraled=LEDOFF;
    gpsled=LEDOFF;
    uwbled=LEDOFF;
Set4LEDColor_Off();
//delay_ms(10);
}
/* USER CODE END 4 */

/**