From 62c98aa748df7e6393958c7250afc8c3b5c69807 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 25 九月 2023 15:57:48 +0800
Subject: [PATCH] 增加时间同步功能，和ID最小的基站同步，同步代码和定位相同
---
Src/main.c | 1238 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 615 insertions(+), 623 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index f70af2b..6f4507c 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -94,266 +94,258 @@
uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint8_t module_power;
extern float nomove_count;
-uint8_t imu_enable,motor_enable;
+uint8_t imu_enable,motor_enable;
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();
+ }
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v;
float motor_keeptime;
void IdleTask(void)
-{u16 current_time;
-
- UART_CheckReceive();
- UART_CheckSend();
+{ u16 current_time;
-if(huart1.Instance->ISR&USART_ISR_FE)
- {
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
+ UART_CheckReceive();
+ UART_CheckSend();
+
+ if(huart1.Instance->ISR&USART_ISR_FE)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
// LED_TR_ON;
// LED_TB_OFF;
//}else{
// LED_TR_OFF;
- current_time=GetLPTime();
- //motor_state=2;
+ current_time=GetLPTime();
+ //motor_state=2;
// if(g_com_map[MOTOR_ONTIME]>0)
// {
// g_com_map[MOTOR_ONTIME]--;
// motor_state = 1;
// }
-if(g_com_map[MOTOR_ENABLE])
-{
-
+ if(g_com_map[MOTOR_ENABLE])
+ {
- switch(motor_state)
- {case 0:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 1:
- if(current_time<MOTOR_ONTIME)
- {
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- }else{
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- }
- break;
- case 2:
- if(hardware_type==NSH1)
- {MOTOR_ON;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
- }
- break;
- case 3:
- if(hardware_type==NSH1)
- {MOTOR_OFF;
- }else if(hardware_type==GP)
- {
- HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
- }
- break;
- }
-}
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- nomove_count = 0;
- if(state5v==0)
- {
- state5v=1;
- UsartInit();
- }
- if(bat_percent>99)
- {
- LED_LR_OFF;
- LED_LG_ON;
- }else{
- LED_LR_ON;
- LED_LG_OFF;
- }
- }else{
- state5v=0;
- LED_LR_OFF;
- LED_LG_OFF;
+
+ switch(motor_state)
+ {
+ case 0:
+ if(hardware_type==NSH1)
+ { MOTOR_OFF;
+ } else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ break;
+ case 1:
+ if(current_time<MOTOR_ONTIME)
+ {
+ if(hardware_type==NSH1)
+ { MOTOR_ON;
+ } else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
+ } else {
+ if(hardware_type==NSH1)
+ { MOTOR_OFF;
+ } else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ }
+ break;
+ case 2:
+ if(hardware_type==NSH1)
+ { MOTOR_ON;
+ } else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+ }
+ break;
+ case 3:
+ if(hardware_type==NSH1)
+ { MOTOR_OFF;
+ } else if(hardware_type==GP)
+ {
+ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+ }
+ break;
+ }
+ }
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ 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 {
+ state5v=0;
+ LED_LR_OFF;
+ LED_LG_OFF;
// }
-}
- if(g_com_map[CNT_UPDATE]==1)
- {
- uint32_t result = 0;
- uint16_t tmp = 0xAAAA;
- __disable_irq();
- result = FLASH_Prepare(0x8004A38, 128);
- if(result)
- result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
- __enable_irq();
- printf("进入升级模式\r\n");
- g_com_map[CNT_UPDATE]=0;
- save_com_map_to_flash();
- delay_ms(100);
- // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
- // Delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_REBOOT]==1)
- {
- g_com_map[CNT_REBOOT]=0;
- g_com_map[MAP_SIGN_INDEX]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- if(g_com_map[CNT_RESTART]==1)
- {
- g_com_map[CNT_RESTART]=0;
- save_com_map_to_flash();
- delay_ms(100);
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- 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(g_com_map[CNT_UPDATE]==1)
+ {
+ uint32_t result = 0;
+ uint16_t tmp = 0xAAAA;
+ __disable_irq();
+ result = FLASH_Prepare(0x8004A38, 128);
+ if(result)
+ result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
+ __enable_irq();
+ printf("进入升级模式\r\n");
+ g_com_map[CNT_UPDATE]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
+ // Delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[CNT_REBOOT]==1)
+ {
+ g_com_map[CNT_REBOOT]=0;
+ g_com_map[MAP_SIGN_INDEX]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ 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;
-void SetNextPollTime(u16 time)
-{
- int32_t lpcount,lptime,target_time;
-
- 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;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
-}
void HardWareTypeDiffConfig(void)
{
-GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
//hardware_type=2;
-if(hardware_type == 0)
- hardware_type = 1;
- switch(hardware_type)
- {
- case 1:
-
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = MOTOR_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);
- break;
- case 2:
- MX_TIM2_Init();
- //BarInit();
- break;
- }
+ if(hardware_type == 0)
+ hardware_type = 1;
+ switch(hardware_type)
+ {
+ case 1:
+
+ HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = MOTOR_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);
+ break;
+ case 2:
+ MX_TIM2_Init();
+ //BarInit();
+ break;
+ }
}
+uint16_t bigslot_num;
+int16_t g_commap_antdelay;
u8 active_flag,nomovesleeptime;
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)|27;
+ 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)|34;
active_flag = g_com_map[ACTIVE_INDEX];
- module_power = g_com_map[POWER];
- 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;
+ module_power = g_com_map[POWER];
+ 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;
tag_frequency = 1000/g_com_map[COM_INTERVAL];
- total_slotnum = 1000/g_com_map[COM_INTERVAL];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ 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;
+ }
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
- g_com_map[COM_INTERVAL]=100;
+ // g_com_map[COM_INTERVAL]=100;
// g_com_map[MAX_REPORT_ANC_NUM]=1;
- g_com_map[NOMOVESLEEP_TIME]=10;
+ // g_com_map[NOMOVESLEEP_TIME]=10;
#endif
- 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;}
-
- current_slotnum=1;
- current_time=GetLPTime();
- if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
- {
- Error_Handler();
- }
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(module_power>67)
+ {
+ module_power=67;
+ }
+ if(module_power<0)
+ {
+ module_power=0;
+ }
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
+ g_commap_antdelay = -g_com_map[DIST_OFFSET];
+ current_slotnum=1;
+ current_time=GetLPTime();
+ if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK) //system time is 1010ms 1 puls=30.518us
+ {
+ Error_Handler();
+ }
//g_com_map[NOMOVESLEEP_TIME]=5;
- printf("标签ID: %d .\r\n",dev_id);
- printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
- printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-
+ printf("标签ID: %d .\r\n",dev_id);
+ printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
+ printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+
// 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]);
@@ -362,11 +354,11 @@
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;
@@ -376,12 +368,12 @@
//{
// /* Set transmission flag: trasfer complete*/
// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
-//
+//
//}
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
}
/* USER CODE END 0 */
@@ -391,69 +383,69 @@
*/
int main(void)
{
- /* USER CODE BEGIN 1 */
+ /* USER CODE BEGIN 1 */
- /* USER CODE END 1 */
+ /* USER CODE END 1 */
- /* MCU Configuration--------------------------------------------------------*/
+ /* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+ HAL_Init();
- /* USER CODE BEGIN Init */
+ /* USER CODE BEGIN Init */
//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
- /* USER CODE END Init */
+ /* USER CODE END Init */
- /* Configure the system clock */
- SystemClock_Config();
+ /* Configure the system clock */
+ SystemClock_Config();
- /* USER CODE BEGIN SysInit */
-
- /* USER CODE END SysInit */
+ /* USER CODE BEGIN SysInit */
- /* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_LPTIM1_Init();
- MX_DMA_Init();
- MX_USART1_UART_Init();
- MX_SPI1_Init();
- MX_ADC_Init();
-
+ /* USER CODE END SysInit */
+
+ /* Initialize all configured peripherals */
+ MX_GPIO_Init();
+ MX_LPTIM1_Init();
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
+ MX_SPI1_Init();
+ MX_ADC_Init();
+
// MX_TIM2_Init();
- /* USER CODE BEGIN 2 */
- LED_LG_ON;
- Program_Init();
- LIS3DH_Data_Init();
- Dw1000_Init();
- Dw1000_App_Init();
- HardWareTypeDiffConfig();
- dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
- DW_DISABLE;
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
+ /* USER CODE BEGIN 2 */
+ LED_LG_ON;
+ Program_Init();
+ Accelerometer_Init();
+ Dw1000_Init();
+ Dw1000_App_Init();
+ HardWareTypeDiffConfig();
+ dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
+ dwt_entersleep();
+ waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
+ DW_DISABLE;
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
// HAL_Delay(2000);
// mcu_sleep();
- //LED0_BLINK;
+ //LED0_BLINK;
// SystemPower_Config();
-//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- /* USER CODE END 2 */
+//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ /* USER CODE END 2 */
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
+ /* Infinite loop */
+ /* USER CODE BEGIN WHILE */
+ while (1)
+ {
+ /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- if(g_start_send_flag&&active_flag)
- { static uint16_t blink_count=0;
- SystemClock_Config();
- g_start_send_flag = 0;
-
+ /* USER CODE BEGIN 3 */
+ if(g_start_send_flag&&active_flag)
+ { static uint16_t blink_count=0;
+ SystemClock_Config();
+ g_start_send_flag = 0;
+
// if(current_count>slot_startcount&¤t_count<slot_startcount+interval_count)
// {
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
@@ -461,42 +453,42 @@
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
// LED_TR_BLINK;s
-
- bat_percent=Get_Battary();
- if(bat_percent>15)
- { LED_TB_ON;
- Tag_App();
- LED_TB_OFF;
- }else{
- LED_TR_ON;
- Tag_App();
- LED_TR_OFF;
- }
- //LED0_BLINK;
- IdleTask();
- if(waitusart_timer>0)
- {
- waitusart_timer--;
- }
- if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
- {
-#ifndef DEBUG_MODE
-if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+
+ bat_percent=Get_Battary();
+ if(bat_percent>15)
+ { LED_TB_ON;
+ Tag_App();
+ LED_TB_OFF;
+ } else {
+ LED_TR_ON;
+ Tag_App();
+ LED_TR_OFF;
+ }
+ //LED0_BLINK;
+ IdleTask();
+ if(waitusart_timer>0)
+ {
+ waitusart_timer--;
+ }
+ if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
+ {
+#ifndef DEBUG_MODE
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif
- }
-
-
- }else{
- IdleTask();
- }
+ }
+
+
+ } else {
+ IdleTask();
+ }
// HAL_Delay(100);
- // Get_Battary();
+ // Get_Battary();
- // LIS3DH_Data_Init();
- }
- /* USER CODE END 3 */
+ // LIS3DH_Data_Init();
+ }
+ /* USER CODE END 3 */
}
/**
@@ -505,52 +497,52 @@
*/
void SystemClock_Config(void)
{
- RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+ RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+ RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+ RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Configure the main internal regulator output voltage
- */
- __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
- /** Configure LSE Drive Capability
- */
- HAL_PWR_EnableBkUpAccess();
- __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
- /** Initializes the CPU, AHB and APB busses clocks
- */
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
- RCC_OscInitStruct.LSEState = RCC_LSE_ON;
- RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
- RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
- RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
- RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
- RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
- if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
- {
- Error_Handler();
- }
- /** Initializes the CPU, AHB and APB busses clocks
- */
- RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
- |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
- RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
- RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
- RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
- RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+ /** Configure the main internal regulator output voltage
+ */
+ __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+ /** Configure LSE Drive Capability
+ */
+ HAL_PWR_EnableBkUpAccess();
+ __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
+ /** Initializes the CPU, AHB and APB busses clocks
+ */
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSE;
+ RCC_OscInitStruct.LSEState = RCC_LSE_ON;
+ RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+ RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+ RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+ RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
+ RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
+ if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /** Initializes the CPU, AHB and APB busses clocks
+ */
+ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+ |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+ RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+ RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+ RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
- if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
- {
- Error_Handler();
- }
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
- PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
- PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
+ if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_LPTIM1;
+ PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+ PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;
- if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
- {
- Error_Handler();
- }
+ if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+ {
+ Error_Handler();
+ }
}
/**
@@ -561,49 +553,49 @@
static void MX_ADC_Init(void)
{
- /* USER CODE BEGIN ADC_Init 0 */
+ /* USER CODE BEGIN ADC_Init 0 */
- /* USER CODE END ADC_Init 0 */
+ /* USER CODE END ADC_Init 0 */
- ADC_ChannelConfTypeDef sConfig = {0};
+ ADC_ChannelConfTypeDef sConfig = {0};
- /* USER CODE BEGIN ADC_Init 1 */
+ /* USER CODE BEGIN ADC_Init 1 */
- /* USER CODE END ADC_Init 1 */
- /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
- */
- hadc.Instance = ADC1;
- hadc.Init.OversamplingMode = DISABLE;
- hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
- hadc.Init.Resolution = ADC_RESOLUTION_12B;
- hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
- hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
- hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
- hadc.Init.ContinuousConvMode = DISABLE;
- hadc.Init.DiscontinuousConvMode = DISABLE;
- hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
- hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
- hadc.Init.DMAContinuousRequests = DISABLE;
- hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
- hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
- hadc.Init.LowPowerAutoWait = DISABLE;
- hadc.Init.LowPowerFrequencyMode = DISABLE;
- hadc.Init.LowPowerAutoPowerOff = DISABLE;
- if (HAL_ADC_Init(&hadc) != HAL_OK)
- {
- Error_Handler();
- }
- /** Configure for the selected ADC regular channel to be converted.
- */
- sConfig.Channel = ADC_CHANNEL_1;
- sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
- if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN ADC_Init 2 */
-HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
- /* USER CODE END ADC_Init 2 */
+ /* USER CODE END ADC_Init 1 */
+ /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+ */
+ hadc.Instance = ADC1;
+ hadc.Init.OversamplingMode = DISABLE;
+ hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
+ hadc.Init.Resolution = ADC_RESOLUTION_12B;
+ hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
+ hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
+ hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+ hadc.Init.ContinuousConvMode = DISABLE;
+ hadc.Init.DiscontinuousConvMode = DISABLE;
+ hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+ hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+ hadc.Init.DMAContinuousRequests = DISABLE;
+ hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+ hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+ hadc.Init.LowPowerAutoWait = DISABLE;
+ hadc.Init.LowPowerFrequencyMode = DISABLE;
+ hadc.Init.LowPowerAutoPowerOff = DISABLE;
+ if (HAL_ADC_Init(&hadc) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /** Configure for the selected ADC regular channel to be converted.
+ */
+ sConfig.Channel = ADC_CHANNEL_1;
+ sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
+ if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN ADC_Init 2 */
+ HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
+ /* USER CODE END ADC_Init 2 */
}
@@ -615,30 +607,30 @@
static void MX_LPTIM1_Init(void)
{
- /* USER CODE BEGIN LPTIM1_Init 0 */
+ /* USER CODE BEGIN LPTIM1_Init 0 */
- /* USER CODE END LPTIM1_Init 0 */
+ /* USER CODE END LPTIM1_Init 0 */
- /* USER CODE BEGIN LPTIM1_Init 1 */
+ /* USER CODE BEGIN LPTIM1_Init 1 */
- /* USER CODE END LPTIM1_Init 1 */
- hlptim1.Instance = LPTIM1;
- hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
- hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
- hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
- hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
- hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
- hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
- if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN LPTIM1_Init 2 */
+ /* USER CODE END LPTIM1_Init 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 */
+ /* USER CODE END LPTIM1_Init 2 */
}
@@ -650,33 +642,33 @@
static void MX_SPI1_Init(void)
{
- /* USER CODE BEGIN SPI1_Init 0 */
+ /* USER CODE BEGIN SPI1_Init 0 */
- /* USER CODE END SPI1_Init 0 */
+ /* USER CODE END SPI1_Init 0 */
- /* USER CODE BEGIN SPI1_Init 1 */
+ /* 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 */
+ /* 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 */
}
@@ -688,58 +680,58 @@
static void MX_TIM2_Init(void)
{
- /* USER CODE BEGIN TIM2_Init 0 */
+ /* USER CODE BEGIN TIM2_Init 0 */
- /* USER CODE END TIM2_Init 0 */
+ /* USER CODE END TIM2_Init 0 */
- TIM_ClockConfigTypeDef sClockSourceConfig = {0};
- TIM_MasterConfigTypeDef sMasterConfig = {0};
- TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
- /* USER CODE BEGIN TIM2_Init 1 */
+ /* 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 */
+ /* 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);
+ /* USER CODE END TIM2_Init 2 */
+ HAL_TIM_MspPostInit(&htim2);
}
@@ -751,31 +743,31 @@
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 0 */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ /* USER CODE END USART1_Init 0 */
- /* USER CODE BEGIN USART1_Init 1 */
+ /* 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;
+ /* 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;
@@ -785,8 +777,8 @@
// {
// Error_Handler();
// }
- Usart1InitVariables();
- /* USER CODE END USART1_Init 2 */
+ Usart1InitVariables();
+ /* USER CODE END USART1_Init 2 */
}
@@ -796,13 +788,13 @@
static void MX_DMA_Init(void)
{
- /* DMA controller clock enable */
- __HAL_RCC_DMA1_CLK_ENABLE();
+ /* 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);
+ /* 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);
}
@@ -813,88 +805,88 @@
*/
static void MX_GPIO_Init(void)
{
- GPIO_InitTypeDef GPIO_InitStruct = {0};
+ 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();
+ /* 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(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, 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(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 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 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 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 : 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 : 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 : 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 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 : 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 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);
+ /*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);
+ /* EXTI interrupt init*/
+ HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
}
@@ -905,66 +897,66 @@
}
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],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;
+ 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)
- {
+ {
+ 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)
+ {
g_com_map[ACTIVE_INDEX]=!active_flag;
save_com_map_to_flash();
MOTOR_ON;
HAL_Delay(2000);
- 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>=nomovesleeptime-1&&imu_enable)
- {
- tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
- }
- if(nomove_count>nomovesleeptime&&imu_enable)
- {
- mcu_sleep();
- }
+ 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>=nomovesleeptime-1&&imu_enable)
+ {
+ tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+ }
+ if(nomove_count>nomovesleeptime&&imu_enable)
+ {
+ mcu_sleep();
+ }
}
/* USER CODE END 4 */
@@ -974,10 +966,10 @@
*/
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 BEGIN Error_Handler_Debug */
+ /* User can add his own implementation to report the HAL error return state */
- /* USER CODE END Error_Handler_Debug */
+ /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
@@ -990,10 +982,10 @@
*/
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 */
+ /* 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 */
--
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