/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "BSP.h"
#include "APL.h"
#include "dw_app.h"
#include "lis3dh_driver.h"
#include "dw_driver.h"
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
#include "Flash.h"
#include "WS2812.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

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

IWDG_HandleTypeDef hiwdg;

LPTIM_HandleTypeDef hlptim1;

UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim21;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM21_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_IWDG_Init(void);
/* USER CODE BEGIN PFP */
//#define JIASUDU_INSLEEP_TIME 3600
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t loratxdata[15]={0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03,0x01,0x02,0x03};
uint32_t uwbled,gpsled,loraled,powerled;
uint32_t GPS_ON_TIME=120;
uint32_t lp_time;
uint32_t nomove_time;
uint32_t nomove_flag;
u16 GetLPTime(void)
{
	u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}	
extern void DebugPoll(void);
void IdleTask(void)
{
DebugPoll();
}
uint32_t ceshi1=0;
uint32_t uwb_timer=0;
uint32_t battery_timer=0;
uint32_t led_timer=0;
uint8_t uwb_active_flag = 0;
u8 active_flag=0;
u16 nomovesleep_time=0,interval;
uint16_t hardware_version,hardware_pici,hardware_type;
extern uint8_t module_power;
extern uint8_t imu_enable,motor_enable;	
extern uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
extern uint16_t bigslot_num;
extern uint8_t youxiao_ceju;
uint16_t uwb_work_num;
uint8_t  GPS_ON_flag;
extern void Set4LEDColor_Off(void);
extern HIDO_VOID Power_GPS_LoraOff(HIDO_VOID);
void Program_Init(void)
{	
//    float temp;
//	uint16_t temp2;
//	uint16_t i;
	parameter_init();
	hardware_version= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
	hardware_pici= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+2);
	hardware_type= STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP+4);
	//deca_sleep(1000);
	g_com_map[VERSION] = (1<<8)|0;
    if(g_com_map[GPS_ONTIME]==0)
    {
    g_com_map[GPS_ONTIME]=3600;
    }
//	g_com_map[DEV_ID]=0x7;
#ifdef DEBUG_MODE
//	g_com_map[DEV_ROLE]=1;
	//	g_com_map[DEV_ID]=0x4009;
//    g_com_map[ACTIVE_INDEX]=1;
//	g_com_map[COM_INTERVAL]=50;
//	g_com_map[MAX_REPORT_ANC_NUM]=1;
//	g_com_map[NOMOVESLEEP_TIME]=10;
//			g_com_map[IMU_ENABLE]=0;
//	g_com_map[COM_INTERVAL]=50;
#endif
//g_com_map[NOMOVESLEEP_TIME]=10;
//	g_com_map[IMU_ENABLE]=0;
//	 g_com_map[COM_INTERVAL]=50;
	active_flag = g_com_map[ACTIVE_INDEX];
//    g_com_map[GPS_ONTIME]=3600;
//    g_com_map[NOMOVESLEEP_TIME]=3600;
//g_com_map[HEIGHTOFFEST_INDEX]=g_com_map[MAX_REPORT_ANC_NUM];
	module_power = g_com_map[POWER];
	imu_enable=g_com_map[IMU_ENABLE];
	motor_enable=g_com_map[MOTOR_ENABLE];
	uwb_active_flag = g_com_map[UWB_ACTIVE_FLAG_IDX];
	group_id=g_com_map[GROUP_ID];
	dev_id = g_com_map[DEV_ID];
	//slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
	slottime = 5;
	max_slotpos=g_com_map[COM_INTERVAL]/slottime;
	tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;	
	slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
	lastpoll_time=tyncpoll_time;
    
	bigslot_num = TOTAL_SLOTNUM/tag_frequency;
	current_slotnum=1;
//	current_time=GetLPTime();
//    nomovesleep_time = g_com_map[NOMOVESLEEP_TIME];
    interval = g_com_map[COM_INTERVAL];
    if(active_flag==0)
	{   
        interval=1000;
		imu_enable=1;
//		nomovesleep_time = 10;
		motor_enable=0;
	}
    tag_frequency = 1000/interval;
		if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, slot_startcount) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  }
	if(g_com_map[CNT_UPDATE]==1)
	{
          Set4LEDColor(RED,RED,RED,RED);
  HAL_Delay(500);
  Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
  HAL_Delay(500);
  Set4LEDColor(LEDOFF,LEDOFF,LEDOFF,LEDOFF);
  HAL_Delay(500);
	uint32_t result = 0;
		uint16_t tmp = 0xAAAA;
	__disable_irq();
	result = FLASH_Prepare(0x8004A38, 128);
	if(result)
		result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
	__enable_irq();
//		printf("½øÈëÉý¼¶Ä£Ê½\r\n");
	g_com_map[CNT_UPDATE]=0;
	save_com_map_to_flash();
	delay_ms(100);
//		//	STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
//		//	Delay_ms(100);
//			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
     NVIC_SystemReset();
	}
			if(g_com_map[CNT_REBOOT]==1)
		{
			g_com_map[CNT_REBOOT]=0;
			g_com_map[MAP_SIGN_INDEX]=0;
			save_com_map_to_flash();
			delay_ms(100);
			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}
		if(g_com_map[CNT_RESTART]==1)
		{
			g_com_map[CNT_RESTART]=0;
			save_com_map_to_flash();
			delay_ms(100);
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}
			if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
		{
				SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}
}
void Uwb_Poll(void)
{
  if(nomove_flag==0)//¾²Ö¹ÅжÏ
    {
    if(lp_time-uwb_timer>=UWB_WORK_TIME_S) //ÊÇ·ñµ½uwb¹¤×÷ʱ¼äÁË¡£
    {
    uwbled=BLUE;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
    Tag_App();
//    Lora_Sendfinalbag_Poll()
    uwb_timer=lp_time;
    uwb_work_num++;
        if(youxiao_ceju>=3)
        {
          uwb_work_num=0;
        }
        if(uwb_work_num>5&&youxiao_ceju<3)//ÅжÏuwb²â¾àÓÐЧ»ùÕ¾ÊýÁ¿ÊÇ·ñ´óÓÚ3¸ö£¬²¢ÇÒ³¬¹ý5´ÎµÄ»°GPS¿ªÊ¼¹¤×÷¡£
        {GPS_ON_flag=1;}
        else
        {GPS_ON_flag=0;}
        HIDO_Debug("ÓÐЧ²â¾à%d\r\n",youxiao_ceju);
    youxiao_ceju=0;
    uwbled=LEDOFF;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
    }
    }
}
extern HIDO_UINT32 Battery_GetPercentage(void);
void Battery_Poll(void)
{
    if(nomove_flag==0)
    {
    if(lp_time-battery_timer>=60)
    {
    bat_percent=Battery_GetPercentage();
        if(bat_percent>100)
        {
            bat_percent=100;
        }
    battery_timer=lp_time;
    }
    }
}
void LEDON_POLL(void)
{

}
void Time_to_restart_Poll (void)
{
    if(lp_time>=2000000000)
    {
        delay_ms(100);
     NVIC_SystemReset();
    }
}
extern uint8_t jiasudu;
extern enum enumtagstate
{

    DISCPOLL,
    REGPOLL,
    GETNEARMSG,
    NEARPOLL,
    SINGLEPOLL,
} tag_state;
extern int32_t temp_dist;
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC_Init();
  MX_LPUART1_UART_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_SPI1_Init();
  MX_TIM21_Init();
  MX_LPTIM1_Init();
//  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
  Program_Init();
  #ifndef UWB_OFF_FANGCHAI_ON
  Dw1000_Init();
  Dw1000_App_Init();
  dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
  dwt_entersleep();
  #else
  #endif
  BSP_Init();
  APL_Init();
  Set4LEDColor_Off();  //¹ØÒ»ÏÂled×ܵçÔ´
  Power_GPS_LoraOff();//¹ØÒ»ÏÂGPS×ܵçÔ´
//  Lora_Sleep();
  Set4LEDColor(RED,RED,RED,RED);
  HAL_Delay(500);
  Set4LEDColor(GREEN,GREEN,GREEN,GREEN);
  HAL_Delay(500);
    Set4LEDColor_Off();  //¹ØÒ»ÏÂled×ܵçÔ´
    if(g_com_map[NEARBASE_ID10]==0)
    {
    usart_send[0]=0x55;
	usart_send[1]=0xAA;
    dwt_configcontinuousframemode(12480);
    dwt_writetxdata(13, usart_send, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
	dwt_writetxfctrl(13, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
	dwt_starttx(DWT_START_TX_IMMEDIATE);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
    }
    else
    {
    Power_GPS_LoraOn();
    }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      
      if(g_com_map[NEARBASE_ID10]==0)
      {
      IdleTask();
      }
      else
      {
      ceshi();
    if(lp_time-uwb_timer>=UWB_WORK_TIME_S) //ÊÇ·ñµ½uwb¹¤×÷ʱ¼äÁË¡£
    {
    uwbled=BLUE;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
    Tag_App();
//    Lora_Sendfinalbag_Poll()
    uwb_timer=lp_time;
    uwb_work_num++;
    uwbled=LEDOFF;
    Set4LEDColor(powerled,loraled,gpsled,uwbled);
    }
    if(lp_time-ceshi1>=1) //·¢Ë͸÷ÏàÊÇ·ñ³É¹¦¡£
    {
    ceshi1=lp_time;
        if(jiasudu==1)
       HIDO_Debug("¼ÓËٶȼÆûÎÊÌâ\r\n");
        else
      {HIDO_Debug("¼ÓËٶȼƴíÎó´íÎó´íÎ󣡣¡£¡£¡£¡\r\n");}
       if( temp_dist>0&&temp_dist<1000)
    HIDO_Debug("UWBûÎÊÌâ\r\n");
       else
       { HIDO_Debug("UWB´íÎó´íÎó´íÎ󣡣¡£¡£¡£¡\r\n");}
    }
    
      }
//    HAL_IWDG_Refresh(&hiwdg);
//    APL_Poll();//lora½ÓÊÕ£¬gps½ÓÊÕʱ¼äÅжϣ¬µ¥Æ¬»úÐÝÃߺ¯Êý£¬·äÃùÆ÷ÅжϺ¯Êý¡£
//    #ifndef UWB_OFF_FANGCHAI_ON
//    Uwb_Poll();
//    #else
//    {GPS_ON_flag=1;}
//    #endif
//    Battery_Poll();//¼ì²âµçÁ¿º¯Êý£¬Ã¿60s²âÒ»´ÎµçÁ¿¡£
//    Time_to_restart_Poll();//·ÀÖ¹³öÏÖÒâÍâÇé¿ö£¬»òÔò²»¿¼ÂÇ·­×ªÎÊÌᣬ20000000sÖØÆôÒ»´ÎÉ豸¡£
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_HIGH);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
                              |RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2
                              |RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
  PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_LSE;

  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC_Init(void)
{

  /* USER CODE BEGIN ADC_Init 0 */

  /* USER CODE END ADC_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC_Init 1 */

  /* USER CODE END ADC_Init 1 */
  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
  */
  hadc.Instance = ADC1;
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = DISABLE;
  hadc.Init.DiscontinuousConvMode = DISABLE;
  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc.Init.DMAContinuousRequests = DISABLE;
  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc.Init.LowPowerAutoWait = DISABLE;
  hadc.Init.LowPowerFrequencyMode = DISABLE;
  hadc.Init.LowPowerAutoPowerOff = DISABLE;
  if (HAL_ADC_Init(&hadc) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC_Init 2 */

  /* USER CODE END ADC_Init 2 */

}

/**
  * @brief IWDG Initialization Function
  * @param None
  * @retval None
  */
static void MX_IWDG_Init(void)
{

  /* USER CODE BEGIN IWDG_Init 0 */

  /* USER CODE END IWDG_Init 0 */

  /* USER CODE BEGIN IWDG_Init 1 */

  /* USER CODE END IWDG_Init 1 */
  hiwdg.Instance = IWDG;
  hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
  hiwdg.Init.Window = 4095;
  hiwdg.Init.Reload = 4095;
  if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN IWDG_Init 2 */
HAL_IWDG_Refresh(&hiwdg);
  /* USER CODE END IWDG_Init 2 */

}

/**
  * @brief LPTIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_LPTIM1_Init(void)
{

  /* USER CODE BEGIN LPTIM1_Init 0 */

  /* USER CODE END LPTIM1_Init 0 */

  /* USER CODE BEGIN LPTIM1_Init 1 */

  /* USER CODE END LPTIM1_Init 1 */
  hlptim1.Instance = LPTIM1;
  hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
  hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
  hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
  hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
  hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
  hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
  if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN LPTIM1_Init 2 */

  /* USER CODE END LPTIM1_Init 2 */

}

/**
  * @brief LPUART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_LPUART1_UART_Init(void)
{

  /* USER CODE BEGIN LPUART1_Init 0 */

  /* USER CODE END LPUART1_Init 0 */

  /* USER CODE BEGIN LPUART1_Init 1 */

  /* USER CODE END LPUART1_Init 1 */
  hlpuart1.Instance = LPUART1;
  hlpuart1.Init.BaudRate = 115200;
  hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
  hlpuart1.Init.StopBits = UART_STOPBITS_1;
  hlpuart1.Init.Parity = UART_PARITY_NONE;
  hlpuart1.Init.Mode = UART_MODE_TX_RX;
  hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&hlpuart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN LPUART1_Init 2 */

  /* USER CODE END LPUART1_Init 2 */

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 9600;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM21 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM21_Init(void)
{

  /* USER CODE BEGIN TIM21_Init 0 */

  /* USER CODE END TIM21_Init 0 */

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

  /* USER CODE BEGIN TIM21_Init 1 */

  /* USER CODE END TIM21_Init 1 */
  htim21.Instance = TIM21;
  htim21.Init.Prescaler = 32-1;
  htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim21.Init.Period = 250-1;
  htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim21) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM21_Init 2 */

  /* USER CODE END TIM21_Init 2 */
  HAL_TIM_MspPostInit(&htim21);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_14|GPIO_PIN_3
                          |GPIO_PIN_4|GPIO_PIN_8, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);

  /*Configure GPIO pin : PA0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PA4 PA8 PA11 PA12
                           PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12
                          |GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PB0 PB2 PB14 PB8 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_14|GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB1 PB5 PB7 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_5|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB12 PB15 */
  GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB3 PB4 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PB6 */
  GPIO_InitStruct.Pin = GPIO_PIN_6;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /**/
  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_PB6);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);

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

}

/* USER CODE BEGIN 4 */
void MX_Init(void)
{
//    MX_GPIO_Init();
    MX_ADC_Init();
    MX_LPUART1_UART_Init();
    MX_USART1_UART_Init();
    MX_USART2_UART_Init();
    MX_SPI1_Init();
    MX_TIM21_Init();
    //MX_RTC_Init();
}
extern uint32_t lora_sendfinal_rx_time;
extern uint8_t lora_sendfinal_rx_bag_flag;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
lp_time++;
    nomove_time++;//É豸ûÓÐÒƶ¯µÄʱ¼ä
    if(nomove_time>g_com_map[NOMOVESLEEP_TIME])
    {nomove_flag=1;}
//    {}
    else
    {nomove_flag=0;}
    if(lora_sendfinal_rx_bag_flag==1)//Èç¹û½øÈëloraµÈ´ý½ÓÊջظ´µÄ״̬
    {
    lora_sendfinal_rx_time=lora_sendfinal_rx_time+1;//loraµÈ´ý½ÓÊÕ2s£¬2s²»ÐÝÃߣ¬Èç¹û³¬¹ýÁ½Ã룬±ê־λÇåÁ㣬½øÈëÐÞÃß¡¢
        if(lora_sendfinal_rx_time>=2)
        {
        lora_sendfinal_rx_time=0;
            lora_sendfinal_rx_bag_flag=0;
        }
    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/