1.25，修改看门狗喂狗时间。加入休眠后加速度计唤醒会直接重启

WXK

2025-01-15 f0e236adc153a6d06874704ec6ba39a22af05ff6

 Src/main.c

@@ -36,10 +36,14 @@
#include "stdio.h"
#include "delay.h"
#include <stdlib.h>
#include <Lora.h>
#include "radio.h"
#include "dps310.h"
#include "dw_mbx_tag.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
UART_WakeUpTypeDef Selection;
/* USER CODE END Includes */

@@ -73,6 +77,8 @@

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */
@@ -80,30 +86,31 @@
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_DMA_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_IWDG_Init(void);
static void MX_TIM2_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_LPTIM1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void LedTask(void);
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
uint8_t bat_percent=0,g_start_send_flag;
extern u8 motor_state;
uint16_t tyncpoll_time,lpsettime;
uint16_t slottime,max_slotpos;
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time;
extern uint8_t module_power;
extern float nomove_count;
uint8_t imu_enable,motor_enable;	
uint8_t imu_enable,motor_enable;
uint32_t lp_time;
extern  uint32_t lora_txtime_old;
uint8_t anjian_flag;
@@ -111,29 +118,29 @@
uint16_t stationary_num;
u16 GetLPTime(void)
{
   u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}	
    u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
    return count*LPTIMER_LSB/1000;
}
void UsartInit(void)
{
   waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
    MX_DMA_Init();
   MX_USART1_UART_Init();
 if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
   {
    Error_Handler();
   }
    waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
    MX_DMA_Init();
    MX_USART1_UART_Init();
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
        Error_Handler();
    }
}
static void MX_DMA_DeInit(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_DISABLE();
    /* DMA controller clock enable */
    __HAL_RCC_DMA1_CLK_DISABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
 // HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
  HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);
    /* DMA interrupt init */
    /* DMA1_Channel2_3_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
    HAL_NVIC_DisableIRQ(DMA1_Channel2_3_IRQn);

}
void UsartDeInit(void)
@@ -149,480 +156,319 @@
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
float motor_keeptime;
extern uint8_t du_flag;
extern uint8_t xie_flag;
uint16_t 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(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
   {
        	

    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {
        UART_CheckReceive();
      UART_CheckSend();
      nomove_count = 0;
       // bat_percent=Get_Battary();
      if(state5v==0)
      {
         state5v=1;
         UsartInit();
      }
      if(bat_percent>99)
      {
//         LED_LR_OFF;
         LED_LG_ON;
      }else{
//         LED_LR_ON;
         LED_LG_OFF;		
      }		
   }else{
        UART_CheckSend();
        nomove_count = 0;
        // bat_percent=Get_Battary();
        if(state5v==0)
        {
            state5v=1;
            UsartInit();
        }
        HAL_IWDG_Refresh(&hiwdg);
        if(bat_percent>99)
        {
            LED_TR_OFF;
            LED_TB_ON;
        } else {
            LED_TR_ON;
            LED_TB_OFF;
        }
    } else {
        HAL_IWDG_Refresh(&hiwdg);
        if(state5v==1)
        {
            state5v=0;
            UsartDeInit();
        }
//      LED_LR_OFF;
      LED_LG_OFF;
        LED2_TR_OFF;
        LED2_TB_OFF;
//   }
}
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }

   }


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);
    if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
    {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
    }
    if(memcmp(g_com_map2,g_com_map,100)!=0)
     {
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
     }

}

/* 返回ch字符在sign数组中的序号 */
int getIndexOfSigns(char ch)
{
    if(ch >= '0' && ch <= '9')
    {
        return ch - '0';
    }
    if(ch >= 'A' && ch <='F') 
    {
        return ch - 'A' + 10;
    }
    if(ch >= 'a' && ch <= 'f')
    {
        return ch - 'a' + 10;
    }
    return -1;
}
/* 十六进制数转换为十进制数 */
long hexToDec(char *source)
{
    long sum = 0;
    long t = 1;
    int i, len;
 
    len = strlen(source);
    for(i=len-1; i>=0; i--)
    {
        sum += t * getIndexOfSigns(*(source + i));
        t *= 16;
    }  
 
    return sum;
}
    
u32 Loratx_frequency;

//u32 Loratx_frequency;
u8 active_flag,nomovesleeptime;
void GetLoratx_frequency(void)
{
//if(g_com_map[NEARBASE_ID1]==0x470)
//{Loratx_frequency=470000000;}
//if(g_com_map[NEARBASE_ID1]==0x471)
//{Loratx_frequency=471000000;}
//if(g_com_map[NEARBASE_ID1]==0x472)
//{Loratx_frequency=472000000;}
//if(g_com_map[NEARBASE_ID1]==0x473)
//{Loratx_frequency=473000000;}
//if(g_com_map[NEARBASE_ID1]==0x474)
//{Loratx_frequency=474000000;}
//if(g_com_map[NEARBASE_ID1]==0x475)
//{Loratx_frequency=475000000;}
//if(g_com_map[NEARBASE_ID1]==0x476)
//{Loratx_frequency=476000000;}
//if(g_com_map[NEARBASE_ID1]==0x477)
//{Loratx_frequency=477000000;}
//if(g_com_map[NEARBASE_ID1]==0x478)
//{Loratx_frequency=478000000;}
//if(g_com_map[NEARBASE_ID1]==0x479)
//{Loratx_frequency=479000000;}
//if(g_com_map[NEARBASE_ID1]==0x480)
//{Loratx_frequency=480000000;}
//if(g_com_map[NEARBASE_ID1]==0x481)
//{Loratx_frequency=481000000;}
//if(g_com_map[NEARBASE_ID1]==0x482)
//{Loratx_frequency=482000000;}
//if(g_com_map[NEARBASE_ID1]==0x483)
//{Loratx_frequency=483000000;}
//if(g_com_map[NEARBASE_ID1]==0x484)
//{Loratx_frequency=484000000;}
//if(g_com_map[NEARBASE_ID1]==0x485)
//{Loratx_frequency=485000000;}
//if(g_com_map[NEARBASE_ID1]==0x486)
//{Loratx_frequency=486000000;}
//if(g_com_map[NEARBASE_ID1]==0x487)
//{Loratx_frequency=487000000;}
//if(g_com_map[NEARBASE_ID1]==0x488)
//{Loratx_frequency=488000000;}
//if(g_com_map[NEARBASE_ID1]==0x489)
//{Loratx_frequency=489000000;}
//if(g_com_map[NEARBASE_ID1]==0x490)
//{Loratx_frequency=490000000;}
srand(HAL_LPTIM_ReadCounter(&hlptim1));
        Loratx_frequency=((rand()%5)+470)*1000000; 
//Loratx_frequency=474000000;
}

//}
void Program_Init(void)
{   float temp;
   uint16_t temp2;
   uint16_t i;
   Usart1ParseDataCallback = UsartParseDataHandler;
   parameter_init();
{   float temp;
    uint16_t temp2;
    uint16_t i;
    Usart1ParseDataCallback = UsartParseDataHandler;
    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] = (1<<8)|0;
    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)|25;
//    g_com_map[DEV_ID]=1158;
    #ifdef DEBUG_MODE
   // g_com_map[GROUP_ID]=21;
//          g_com_map[DEV_ID]=4;
    //   g_com_map[COM_INTERVAL]=100;
    //   g_com_map[MAX_REPORT_ANC_NUM]=1;
    //   g_com_map[NOMOVESLEEP_TIME]=10;
    #endif
    g_com_map[GROUP_ID]=33;
    g_com_map[COM_INTERVAL] = 1000;
    g_com_map[GROUP_ID]=3;
//    g_com_map[COM_INTERVAL] = 1000;
    if(g_com_map[COM_INTERVAL]<1000)
    {
        g_com_map[COM_INTERVAL] = 1000;
    }
    g_com_map[STATIONARY_TIME] = 10;
    g_com_map[LORA_POWER] = 22;
    g_com_map[POWER] = 67;
    active_flag = g_com_map[ACTIVE_INDEX];
    module_power = g_com_map[POWER];
    g_com_map[IMU_ENABLE] = 0;
   imu_enable=g_com_map[IMU_ENABLE];
   motor_enable=g_com_map[MOTOR_ENABLE];
//    g_com_map[IMU_ENABLE] = 0;
    imu_enable=g_com_map[IMU_ENABLE];
    motor_enable=g_com_map[MOTOR_ENABLE];

   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;
   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;
    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;
    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;
    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)
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(module_power>67)
      {module_power=67;}
      if(module_power<0)
      {module_power=0;}
//   g_com_map[COM_INTERVAL]=100;
    if(g_com_map[COM_INTERVAL]==0)
    {
        g_com_map[COM_INTERVAL]=1000;
    }
    if(module_power>67)
    {
        module_power=67;
    }
    if(module_power<0)
    {
        module_power=0;
    }

   current_slotnum=1;
//   current_time=GetLPTime();
      if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 32767) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }
  
//g_com_map[NOMOVESLEEP_TIME]=5;
    printf("固件版本: 免布线基站LORA版本 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
   memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
//   printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//   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]);

    g_com_map[MAP_SIGN_INDEX] =0x55AA;
    memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
}

static void SystemPower_Config(void)
{
  /* Enable Ultra low power mode */
  HAL_PWREx_EnableUltraLowPower();
  
  /* Enable the fast wake up from Ultra low power mode */
  HAL_PWREx_EnableFastWakeUp();
    /* Enable Ultra low power mode */
    HAL_PWREx_EnableUltraLowPower();

    /* Enable the fast wake up from Ultra low power mode */
    HAL_PWREx_EnableFastWakeUp();
}
void mcu_sleep(void);
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;

void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
      //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
    //SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
uint16_t temp2; 
uint16_t temp2;
float dw_vbat,last_vbat;
uint8_t Get_Battary_UWB(void)
{
    static uint8_t first = 1;
    static float last_value = 100;   
    static float last_value = 100;
    static uint16_t bat_count = 0;
    //if(bat_count++%600==0)
    {
   temp2=dwt_readtempvbat(1);
   dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
    if(fabs(dw_vbat-dw_vbat)>0.2)
    {
        temp2=dwt_readtempvbat(1);
        dw_vbat=(float)((temp2&0xff)-173)/173+3.3;
        if(fabs(dw_vbat-dw_vbat)>0.2)
        {
            last_vbat = dw_vbat;
            return last_value;
        }
        last_vbat = dw_vbat;
        return last_value;
        if(dw_vbat>=3.0)
        {
            if(first)
            {
                first = 0;
                last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
            }
            last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
            if(last_value>100)
                last_value = 100;
            if(last_value<0)
                last_value = 0;
        }
    }
    last_vbat = dw_vbat;      
   if(dw_vbat>=3.0)
   {
      if(first)
      {
            first = 0;			
         last_value =(dw_vbat-3.0)*167;//(bat_volt-3.5)/0.6*100
      }
      last_value = 0.9*last_value + (dw_vbat-3.0)*16.7;
   if(last_value>100)
      last_value = 100;
   if(last_value<0)
      last_value = 0;
    }
    }
   return last_value;	       
    return last_value;
}
void MX_ADC_DeInit(void)
{
    HAL_ADC_DeInit(&hadc);
    HAL_ADCEx_DisableVREFINT();
}
uint8_t anjian_num;
uint16_t irq_num;
uint16_t irq_num1;
uint8_t uwb_work_flag;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == GPIO_PIN_11)
    {
        SystemClock_Config();
      uwb_work_flag=1;
        irq_num1++;
        MbxTagUwbRec();
    }
    
    if(GPIO_Pin == GPIO_PIN_3)
    {
        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
    {
      anjian_flag=1;
        SystemClock_Config();
        anjian_flag=1;
//        anjian_num++;
//        if(anjian_num==2)
//        {                        
//            g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
//            save_com_map_to_flash();
//            LED_TB_ON;
//            LED_TR_ON;
//            LED2_TB_ON;
//            LED2_TR_ON;
//            delay_ms(100);
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
//        }
    }
    if(GPIO_Pin == GPIO_PIN_0)//加速度
    {
     stationary_flag =0;
        SystemClock_Config();
        if(sleep_flag)
        {HAL_NVIC_SystemReset();}
        stationary_flag =0;
        stationary_num=0;
    }
}
void Uwb_Lora_Switch(uint8_t uwb, uint8_t lora)
{
if(uwb)
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);    

if(lora)
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin, GPIO_PIN_RESET); 
}
extern void Lora_tx_zubao( void );
extern void Lora_tx_mode( void );
extern     uint8_t Lora_tx_ancnum;
extern   u8 lora_seq_nb2;
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;
void Lora_Tx_Poll()
{
    if(lora_tx_flag)
    {
//        Lora47X_change();
//        Delay_Ms(50);
//         SX126xReset();
//    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
            Lora47X_Init();
    lora_tx_flag=0;
    LED_TB_ON;    
    lora_seq_nb2++;
    Lora_tx_zubao();
//    Lora_tx_mode();            
    Radio.Send( usart_send, 13+Lora_tx_ancnum*4);
    Lora_tx_ancnum=0;    
    memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
    memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
    anjian_flag=0;
    }
   if(lora_txanchor_power_flag)
    {
//         SX126xReset();
//        Lora47X_change();
//        Delay_Ms(50);
            Lora47X_Init();
       LED_TB_ON;
       lora_seq_nb1++;
   lora_txanchor_power_flag=0;
           uint16_t checksum;
                    usart_send[2] = 0x23;//基站电量模式 
               usart_send[3] = 6+Lora_tx_ancnum*3;//数据段长度
                    memcpy(&usart_send[4],&dev_id,2);
               usart_send[6] = lora_seq_nb1;//包序
                    usart_send[7] = Lora_tx_ancnum;
               memcpy(&usart_send[8],&Lora_tx_ancid,2*Lora_tx_ancnum);				
               memcpy(&usart_send[8+Lora_tx_ancnum*2],&Lora_tx_anc_electricity,Lora_tx_ancnum);
               checksum = Checksum_u16(&usart_send[2],8+3*Lora_tx_ancnum);
               memcpy(&usart_send[8+3*Lora_tx_ancnum],&checksum,2);
//           Lora_tx_mode(); 
           Radio.Send( usart_send, 10+Lora_tx_ancnum*3);
           Lora_tx_ancnum=0; 
       
    }
        
    
//    Lora_Txcount=HAL_LPTIM_ReadCounter(&hlptim1);
//    
//    if(Lora_Txcount-Old_Lora_Txcount>=6554)
//    {
//    Old_Lora_Txcount=Lora_Txcount;
//    LED_TB_ON;    
//    lora_seq_nb2++;
//    Lora_tx_zubao();
//    Lora_tx_mode();            
//    Radio.Send( usart_send, 12+Lora_tx_ancnum*4);
//    Lora_tx_ancnum=0;    
//    memset(Lora_tx_ancdist,0,sizeof(Lora_tx_ancdist));
//    memset(Lora_tx_ancid,0,sizeof(Lora_tx_ancid));
//    }
}
void MX_ADC1_Init()
{
MX_ADC_Init();
}
static uint8_t send_frame1[EUART_RX_BUF_SIZE];
#define BleRxBufferSize 1
uint8_t aRxBuffer[1],group_id,BleRxBuffer[BleRxBufferSize];
uint8_t aRxBuffer[1],group_id,GPSRxBuffer[BleRxBufferSize];
uint8_t ble_rx_success_flag;
uint8_t fangzhijinrushuimian_flag;
uint8_t ble_rxzhongzhuandate[50];
uint8_t ble_zhongzhuannum;
uint8_t ble_rxdate[50]={1,2,3,4,5,6,7,8,9};
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) 
uint8_t GPS_zhongzhuandate[200];
uint8_t GPS_zhongzhuannum;
uint8_t GPS_GGAdate[200]= {1,2,3,4,5,6,7,8,9};
uint8_t GPSchangdu;
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 gps_ceju=0;
uint8_t no_yingdaflag;
void MX_ADC1_Init()
{
//     HAL_UART_Transmit(&hlpuart1,(uint8_t*)ble_rxdate11111,3,1000);
//    uint8_t ble_rxzhongzhuandate[50];
//    uint8_t ble_zhongzhuannum;
//    if(lp_time>3)
    MX_ADC_Init();
}
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
void Beep_Off()
{
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
    HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
    HAL_TIM_Base_Stop_IT(&htim2);
}
void Beep_On()
{
    HAL_TIM_Base_Start_IT(&htim2);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 60);
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
//HAL_UART_Transmit(&huart1,&ble_zhongzhuannum,1,1000);
    {
    ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
    ble_zhongzhuannum++;
    if(ble_rxzhongzhuandate[ble_zhongzhuannum-1]==0x0A&&ble_rxzhongzhuandate[ble_zhongzhuannum-2]==0x0D)
    {
        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);
        ble_zhongzhuannum=0;
    memcpy(ble_rxdate,ble_rxzhongzhuandate,50);
    memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
        fangzhijinrushuimian_flag=0;
        ble_rx_success_flag=1;
    }
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)BleRxBuffer, 1);
//   if(huart->Instance == hlpuart.Instance) 
//        {   //if(huart == &huart3)
//      g_uart3_rx_status = SET;
//       }
            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)
            {
                if(state5v==0)
                    LED2_TB_ON;
            }
            else
            {
                if(state5v==0)
                    LED2_TR_ON;
            }
        }
        HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
    }
}
uint8_t ble_rxdate111[3]={0x11,0x22,0x33};
uint8_t ble_rxdate111[3]= {0x11,0x22,0x33};
void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart)
{
        SystemClock_Config();
// HAL_UART_Transmit(&hlpuart1,(uint8_t*)ble_rxdate111,3,1000);
////  huart->RxState = HAL_UART_STATE_BUSY_RX;
//        ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
//    ble_zhongzhuannum++;
//    if(ble_rxzhongzhuandate[ble_zhongzhuannum-1]==0x0A&&ble_rxzhongzhuandate[ble_zhongzhuannum-2]==0x0D)
//    {
//        ble_zhongzhuannum=0;
//    memcpy(ble_rxdate,ble_rxzhongzhuandate,50);
//    memset(ble_rxzhongzhuandate,0,sizeof(ble_rxzhongzhuandate));
//    }
//        if(lp_time>3)
    SystemClock_Config();
    fangzhijinrushuimian_flag=1;
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)BleRxBuffer, 1);
//    HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
}
void Ble_rx_Poll()
{
  if(ble_rx_success_flag)
  {
  ble_rx_success_flag=0;
      if(ble_rxdate[0]==0x55&&ble_rxdate[1]==0xAA&&ble_rxdate[5]==0x0D&&ble_rxdate[6]==0x0A)
      {
            if(ble_rxdate[2]==0x01)
            {
            memcpy(&g_com_map[NEARBASE_ID1],&ble_rxdate[3],2);
                save_com_map_to_flash();
                delay_ms(100);
//                NVIC_SystemReset();
            }
            if(ble_rxdate[3]==0x02)
            {
            memcpy(&g_com_map[NEARBASE_ID2],&ble_rxdate[4],2);
                save_com_map_to_flash();
                delay_ms(100);
//                NVIC_SystemReset();
            }

          
      }
      HAL_UART_Transmit(&hlpuart1,ble_rxdate,10,1000);
   memset(ble_rxdate,0,sizeof(ble_rxdate));
  }
uint8_t usart5_state,flag_onesecond;
uint8_t beep_flag;
void BeepTask(void)
{
    if(1)//g_com_map[MOTOR_ENABLE])
    {
        if(motor_keeptime>0)
        {
            motor_keeptime--;
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
            beep_flag=1;
        }else{
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
            beep_flag=0;
        }       
    }
}
void OneSecondTask(void)
{
    if(flag_onesecond==1)
    {
        flag_onesecond = 0;
        BeepTask();
    }
}
uint8_t uwb_kaiguanrx_falg;
extern uint8_t uwbrxflag;
/* USER CODE END 0 */

/**
@@ -648,92 +494,92 @@
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	
    MX_DMA_Init();
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_LPTIM1_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
//  MX_DMA_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  
  MX_USART1_UART_Init();
  MX_IWDG_Init();
  MX_TIM2_Init();
  MX_LPUART1_UART_Init();
  MX_LPTIM1_Init();
  /* USER CODE BEGIN 2 */
//    LED_LG_ON;
    LED2_TB_ON;
    Program_Init();
    LIS3DH_Data_Init();	
//    Uwb_Lora_Switch(1,0);
    LIS3DH_Data_Init();
    Dw1000_Init();
    Dw1000_App_Init();
    Delay_Ms(10);
//    Uwb_Lora_Switch(0,0);
    //   HardWareTypeDiffConfig();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
//    dwt_entersleep();
    if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
        Error_Handler();
    }
    Delay_Ms(2);
//    Uwb_Lora_Switch(0,1);
//    Lora433rx_Init();
//    Lora47xrx_Init();
//    Lora_Init();
//    Lora47xrx_Init();
//    Radio.Sleep( );
    Delay_Ms(10);
//    Uwb_Lora_Switch(0,0);
    printf("RXD :66666\r\n");
    usart_send[0]=0x55;
    usart_send[1]=0xaa;
    bat_percent=Get_VDDVlotage();
      GetLoratx_frequency();
    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)BleRxBuffer, 1);
//    Lora47X_Init();
//   mcu_sleep();
   //LED0_BLINK;		
//   SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   
//    HAL_GPIO_WritePin(RADIO_NSS_GPIO_Port, RADIO_NSS_Pin, GPIO_PIN_SET); //片选lora无效
//    lora_tx_flag=1;
//     Lora_Tx_Poll();

    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //开GPS电源
    LoraInit();
#ifdef _USE_BAR
    BarInit();
#endif
//    Delay_Ms(1000);
//    HAL_UART_Transmit(&hlpuart1,Close_RMC,22,1000);
//    HAL_UART_Transmit(&hlpuart1,Close_GSA,22,1000);
//    HAL_UART_Transmit(&hlpuart1,Close_GSV,22,1000);
//    HAL_UART_Transmit(&hlpuart1,Close_GLL,22,1000);
//    HAL_UART_Transmit(&hlpuart1,Close_TXT,22,1000);
    if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
    {
        Error_Handler();
    }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    while (1)
    {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//Lora_rx_open();
//      Lora_Tx_Poll();
      Lora_Tx_Poll();
      Ble_rx_Poll();
    HAL_IWDG_Refresh(&hiwdg);
//    IdleTask();	
//   Radio.IrqProcess( ); // Process Radio IRQ
//     Anchor_App();
//    HAL_IWDG_Refresh(&hiwdg);
//        if(uwb_work_flag)
//        {
//        uwb_work_flag=0;    
//        MbxTagUwbRec();
//        }
        if(uwb_kaiguanrx_falg==1)
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXON();
        }
        if(uwb_kaiguanrx_falg==2)
        {
            uwb_kaiguanrx_falg=0;
        UWB_RXOFF();
        }
        OneSecondTask();
        IdleTask();
//        if(g_com_map[LORA_SEND_INDEX])
//        {
        Lora_Send_Poll();
//        }
        LoraUp_Poll();
#ifndef DEBUG_MODE
        if(beep_flag==0&&uwbrxflag!=1)
        {
        if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&motor_keeptime==0)
            HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
        }
#endif

//    #ifndef DEBUG_MODE	
//    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
//  {      
      if(fangzhijinrushuimian_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);      
    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
          }
//  }
//    #endif
    
  }
    }
  /* USER CODE END 3 */
}

@@ -753,7 +599,7 @@
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
@@ -818,7 +664,7 @@
  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;
@@ -837,7 +683,7 @@
  }
  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
@@ -906,10 +752,7 @@
    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 */

}
@@ -957,7 +800,7 @@
{

  /* USER CODE BEGIN USART1_Init 0 */
 GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */
@@ -980,7 +823,7 @@
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */
       GPIO_InitStruct.Pin = GPIO_PIN_10;
    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;
@@ -990,7 +833,7 @@
//  {
//    Error_Handler();
//  }
   Usart1InitVariables();
    Usart1InitVariables();
  /* USER CODE END USART1_Init 2 */

}
@@ -1028,8 +871,57 @@
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
    __HAL_SPI_ENABLE(&hspi1);
  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 32-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 250-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 125;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

}

@@ -1065,6 +957,9 @@
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2|GPIO_PIN_8, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
@@ -1074,13 +969,17 @@
  HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
                          |RADIO_NSS_Pin|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  /*Configure GPIO pins : PA0 PA11 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_11|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PA2 PA8 */
  GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI_CS_Pin */
@@ -1118,18 +1017,17 @@
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PA8 DW_CTRL_Pin LED2_G_Pin */
  GPIO_InitStruct.Pin = GPIO_PIN_8|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 : RADIO_DIO1_Pin */
  GPIO_InitStruct.Pin = RADIO_DIO1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(RADIO_DIO1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : SDA_Pin SCL_Pin */
  GPIO_InitStruct.Pin = SDA_Pin|SCL_Pin;
@@ -1145,6 +1043,9 @@
  HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

/* USER CODE BEGIN 4 */
@@ -1154,72 +1055,152 @@
}
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();	
    HAL_LPTIM_DeInit(&hlptim1);
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = GPIO_PIN_All;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
    HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
    /*Clear all related wakeup flags*/
    __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
    /*Re-enable all used wakeup sources: Pin1(PA.0)*/
    HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
    /*Enter the Standby mode*/
    HAL_PWR_EnterSTANDBYMode();
}

extern uint8_t tx_near_msg[80];
float key_keeptime;
extern float freqlost_count,range_lost_time;
extern uint8_t lora_yingda_flag;
uint8_t lora_yingdatime;
extern uint8_t lora_chongfuyingda_flag;
extern uint32_t wg_lost_count;
uint8_t lora_yingdatime,gotosleep_flag,sleep_flag;
extern uint8_t lora_chongfuyingda_flag,report_ancnum;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
uint8_t no_yingdatime,tflag1,tflag2;
extern uint16_t tagdist_list[ANC_MAX_NUM];
extern uint8_t Lora_send_flag;
uint8_t Lora_send_time;
extern u8 lora_jianting_flag;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
//    uint8_t pinlv;
    SystemClock_Config();
    lp_time++;
    anchor_send_num++;
    no_data_chongqi_num++;
    stationary_num++;
    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
//    {
    
    
    lora_tx_flag=1;
    lora_txanchor_power_flag=0;
//    }
    if(anchor_send_num>=600)
    {anchor_send_num=0;
    lora_txanchor_power_flag=1;
        lora_tx_flag=0;
        bat_percent=Get_VDDVlotage();
    }
//    HAL_IWDG_Refresh(&hiwdg);
    anjian_num=0;
    if(active_flag==0)  //未激活状态
    {
        if(!GET_USERKEY)
        {
            LED_TB_ON;
            key_keeptime+=1;
            if(key_keeptime>3)
            {
                u8 i=250,keystate=1;
                while(i--)
                {
                    if(i%10==0)
                    {
                        LED_TB_BLINK;
                    }
                    if(GET_USERKEY)
                    {
                        keystate = 0;
                    }
                    if(keystate==0&&!GET_USERKEY)
                    {
                        parameter_init();
                        g_com_map[ACTIVE_INDEX] = 1;
                        save_com_map_to_flash();
                        delay_ms(100);
                        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
                    }
                    delay_ms(10);
                }
            }
        } else {
            //   LED_LG_OFF;
            key_keeptime=0;
        }


    if(stationary_num>=10)
    {stationary_num=0;
    stationary_flag=1;
    } else {
        if(!sleep_flag)
        {
            Lora_send_time++;
            flag_onesecond = 1;
            if(lora_jianting_flag)
            {
            if(Lora_send_time%3==1)
            {
//            UWB_RXON();
                uwb_kaiguanrx_falg=1;
            }
            if(Lora_send_time%3==2)
            {
//            UWB_RXOFF();
                uwb_kaiguanrx_falg=2;
            }
            }
            else
            {
                uwb_kaiguanrx_falg=0;
                UWB_RXOFF();
            }
            if(Lora_send_time%3==0)
            {
            Lora_send_flag=1;
            }
            
#ifndef DEBUG_MODE
            if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable&&motor_keeptime==0)
            {
                if(sleep_flag==0)
                {
                    Radio.Standby();
                    Radio.Sleep();
                    sleep_flag = 1;
                    LedOff_task();
                    UWB_RXOFF();
                    uwb_kaiguanrx_falg=0;
                    uwbrxflag=0;
                }
            } 
#endif
            if(nomove_count++>g_com_map[STATIONARY_TIME])
            {
                stationary_flag = 1;
            } else {
                stationary_flag = 0;
            }
            if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
            {
                gotosleep_flag=1;
            } else {
                gotosleep_flag=0;
            }
        }else{    
            if(nomove_count<g_com_map[NOMOVESLEEP_TIME])
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
            }
        }
    }
    
    if(!GET_USERKEY)    //长按重启逻辑
    {
        key_keeptime+=1;
        if(key_keeptime>=KEY_KEEPRESET_TIME)
        {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
        }
    } else {
        key_keeptime=0;
    }
}
/* USER CODE END 4 */

@@ -1230,7 +1211,7 @@
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
    /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}
@@ -1246,8 +1227,8 @@
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 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 */