/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* © Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* 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 "lis3dh_driver.h"
#include "dw_driver.h"
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
#include "dw_app.h"
#include "Flash.h"
#include "user.h"
#include "sx126x-board.h"
#include "string.h"
#include "stdio.h"
#include "delay.h"
#include
#define NSH1 0x0001
#define GP 0x0002
#define FLASH_HARDWARE_VERSION_MAP (uint32_t)0x08004F00 //Ó²¼þ°æ±¾ºÅºÍÅú´ÎÐÅϢλÖÃ
#define DEBUG_MODE
UART_WakeUpTypeDef Selection;
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
/* 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;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
SPI_HandleTypeDef hspi1;
TIM_HandleTypeDef htim2;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC_Init(void);
static void MX_DMA_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 */
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;
uint32_t lp_time;
extern uint32_t lora_txtime_old;
uint8_t anjian_flag;
uint8_t stationary_flag;
uint16_t stationary_num;
u16 GetLPTime(void)
{
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();
}
}
static void MX_DMA_DeInit(void)
{
/* 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);
}
void UsartDeInit(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
waitusart_timer = 0;
MX_DMA_DeInit();
HAL_UART_DeInit(&huart1);
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
uint16_t hardware_version,hardware_pici,hardware_type;
uint8_t state5v = 1;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
{
//if(huart1.Instance->ISR&USART_ISR_FE)
// {
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
//// }
// if(du_flag==1)
// {
// du_flag=0;
//
// }
// if(xie_flag==1)
// {
// xie_flag=0;
// memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
// }
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
UART_CheckReceive();
UART_CheckSend();
nomove_count = 0;
// bat_percent=Get_Battary();
if(state5v==0)
{
state5v=1;
UsartInit();
}
if(bat_percent>99)
{
LED2_TR_OFF;
LED2_TB_ON;
}else{
LED2_TR_ON;
LED2_TB_OFF;
}
}else{
if(state5v==1)
{
state5v=0;
UsartDeInit();
}
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; //Èí¸´Î»»Øµ½bootloader
}
}
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);
}
/* ·µ»Øch×Ö·ûÔÚsignÊý×éÖеÄÐòºÅ */
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;
}
/* Ê®Áù½øÖÆÊýת»»ÎªÊ®½øÖÆÊý */
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;
u8 active_flag,nomovesleeptime;
void GetLoratx_frequency(void)
{
Loratx_frequency=470000000;
srand(HAL_LPTIM_ReadCounter(&hlptim1));
Loratx_frequency=((rand()%5)+470)*1000000;
if(470000000<=Loratx_frequency&&Loratx_frequency<480000000)
g_com_map[NEARBASE_ID1]=1136+(Loratx_frequency/1000000-470);
if(480000000<=Loratx_frequency&&Loratx_frequency<490000000)
g_com_map[NEARBASE_ID1]=1152+(Loratx_frequency/1000000-480);
Loratx_frequency=470000000;
}
void Program_Init(void)
{ float temp;
uint16_t temp2;
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;
// 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]=5;
// g_com_map[COM_INTERVAL] = 1000;
if(g_com_map[COM_INTERVAL]<1000)
{g_com_map[COM_INTERVAL] = 1000;}
active_flag = g_com_map[ACTIVE_INDEX];
module_power = g_com_map[POWER];
g_com_map[IMU_ENABLE] = 0;
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];
nomovesleeptime = g_com_map[NOMOVESLEEP_TIME];
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]=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("¹Ì¼þ°æ±¾: Ãâ²¼Ïß»ùÕ¾LORA°æ±¾ 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]);
}
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();
}
void mcu_sleep(void);
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
// /* 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; //Èí¸´Î»»Øµ½bootloader
}
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 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)
{
last_vbat = dw_vbat;
return last_value;
}
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;
}
void MX_ADC_DeInit(void)
{
HAL_ADC_DeInit(&hadc);
HAL_ADCEx_DisableVREFINT();
}
uint16_t irq_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
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); //ƬѡloraÓÐЧ
// l_bIsVibration = HIDO_TRUE;
// nomove_time=0;
// printf("RXD :77777\r\n");
irq_num++;
RadioIrqProcess();
}
if(GPIO_Pin == GPIO_PIN_1)//°´¼ü
{
anjian_flag=1;
}
if(GPIO_Pin == GPIO_PIN_0)//¼ÓËÙ¶È
{
stationary_flag =0;
stationary_num=0;
}
}
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;
static uint8_t send_frame1[EUART_RX_BUF_SIZE];
uint8_t data_length1;
void LoraSendComMap(uint8_t data_length, uint8_t index)
{
uint16_t checksum = 0;
send_frame1[0] = 0x55;
send_frame1[1] = 0xAA;
send_frame1[2] = 0x39;
send_frame1[3] = data_length+5;
send_frame1[4] = 3;
send_frame1[5] = index;
send_frame1[6] = data_length;
memcpy(&send_frame1[7], &g_com_map[index], data_length);
for(int i = 0; i<(data_length+5); i++)
{
checksum += send_frame1[2+i];
}
checksum = Checksum_u16(&send_frame1[2],5+data_length);
memcpy(&send_frame1[7+data_length],&checksum,2);
data_length1=data_length+9;
// UART_PushFrame(send_frame1, data_length+9);
}
uint8_t no_yingdaflag;
void Lora_Tx_Poll()
{
if(lora_tx_flag)
{
lora_tx_flag=0;
if(du_flag==1)
{
Lora47X_Init();
du_flag=0;
Radio.Send( send_frame1, data_length1);
no_yingdaflag=1;
}
else
{
Lora47X_Init();
if(bat_percent>20)
{LED_TR_ON;}
else
{LED_TB_ON;}
lora_seq_nb2++;
Lora_tx_zubao();
// Lora_tx_mode();
// if(usart_send[2]==0x99)
// {LED_TB_ON;}
Radio.Send( usart_send, 15+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;
}
}
}
void MX_ADC1_Init()
{
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);
}
#define BleRxBufferSize 1
uint8_t aRxBuffer[1],group_id,BleRxBuffer[BleRxBufferSize];
uint8_t ble_rx_success_flag;
uint8_t fangzhijinrushuimian_flag;
uint8_t ble_rxzhongzhuandate[1024];
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)
{
{
ble_rxzhongzhuandate[ble_zhongzhuannum]=BleRxBuffer[0];
ble_zhongzhuannum++;
// if(ble_rxzhongzhuandate[ble_zhongzhuannum-1]==0x0A&&ble_rxzhongzhuandate[ble_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);
}
}
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)
fangzhijinrushuimian_flag=1;
HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)BleRxBuffer, 1);
// HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
}
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));
}
}
/* 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 */
//ÿ´ÎÉú³ÉCUBEºóÐèҪעÒ⣬´®¿Ú³õʼ»¯ÒªÔÚDMA³õʼ»¯ºóÃ棬ÊÖ¶¯µ÷Õû˳Ðò**************
/* 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_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
MX_DMA_Init();
// MX_IWDG_Init();
MX_TIM2_Init();
MX_LPUART1_UART_Init();
MX_LPTIM1_Init();
/* USER CODE BEGIN 2 */
// LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
// Uwb_Lora_Switch(1,0);
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))
{
Error_Handler();
}
Delay_Ms(2);
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);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET); //¿ªGPSµçÔ´
// Lora47X_Init();
// mcu_sleep();
//LED0_BLINK;
// SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
// Lora47X_Init();
// Radio.Sleep();
// lora_tx_flag=1;
// Lora_Tx_Poll();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
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();
// Lora_rece_error=0;
// Radio.IrqProcess( ); // Process Radio IRQ
// Anchor_App();
#ifndef DEBUG_MODE
if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
// if(fangzhijinrushuimian_flag==0)
{
// 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 */
}
/**
* @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_LOW);
/** Initializes the CPU, AHB and APB busses clocks
*/
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 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_LPUART1
|RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_LSE;
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_1CYCLE_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_VREFINT;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
HAL_ADCEx_EnableVREFINT();
HAL_ADCEx_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
/* 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 */
/* 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 = 9600;
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 */
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
// }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
__HAL_SPI_ENABLE(&hspi1);
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_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 = 0;
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);
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel2_3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, 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 */
HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|SDA_Pin|SCL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
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 pins : PA0 PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_0|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 */
GPIO_InitStruct.Pin = SPI_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : BAT_MEAS_GND_Pin */
GPIO_InitStruct.Pin = BAT_MEAS_GND_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(BAT_MEAS_GND_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : RADIO_BUSY_Pin */
GPIO_InitStruct.Pin = RADIO_BUSY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(RADIO_BUSY_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : LED1_G_Pin LED1_R_Pin PB14 RADIO_nRESET_Pin
RADIO_NSS_Pin PB7 */
GPIO_InitStruct.Pin = LED1_G_Pin|LED1_R_Pin|GPIO_PIN_14|RADIO_nRESET_Pin
|RADIO_NSS_Pin|GPIO_PIN_7;
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 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;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
/* USER CODE BEGIN 4 */
void GPIO_Toggle(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
{
HAL_GPIO_TogglePin(GPIOx, GPIO_Pin);
}
void mcu_sleep(void)
{
HAL_LPTIM_DeInit(&hlptim1);
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_All;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
/*Clear all related wakeup flags*/
__HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
/*Re-enable all used wakeup sources: Pin1(PA.0)*/
HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
extern uint8_t tx_near_msg[80];
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;
uint16_t no_data_chongqi_num;
uint16_t anchor_send_num;
uint8_t no_yingdatime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
// uint8_t pinlv;
SystemClock_Config();
lp_time++;
anchor_send_num++;
no_data_chongqi_num++;
stationary_num++;
if(Beepchixutime>0)
{
Beepchixutime--;
if(Beepchixutime==0)
{Beep_Off();}
}
if(no_yingdaflag==1)
{
no_yingdatime++;
if(no_yingdatime>=5)
{
no_yingdaflag=0;
no_yingdatime=0;
}
}
if( no_data_chongqi_num>600)
{NVIC_SystemReset();}
SetNextPollTime(0);
// if(lora_yingda_flag)
// {
// lora_yingdatime++;
// if(lora_yingdatime>=2)
// {lora_yingdatime=0;
// lora_yingda_flag=0;
// Lora_tx_mode();
// Radio.Send( usart_send, 2);
// }
// }
// else
// {
// pinlv=g_com_map[COM_MAP_SIZE]/1000;
if(lp_time%(g_com_map[COM_INTERVAL]/1000)==0)
{
lora_tx_flag=1;
lora_txanchor_power_flag=0;
// }
if(anchor_send_num>=3600)
{anchor_send_num=0;
lora_txanchor_power_flag=1;
lora_tx_flag=0;
bat_percent=Get_VDDVlotage();
}
}
if(stationary_num>=10)
{stationary_num=0;
stationary_flag=1;
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/