/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* © Copyright (c) 2023 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 "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 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] = (2<<8)|1;
if(g_com_map[GPS_ONTIME]==0/*||g_com_map[GPS_ONTIME]>10000*/)
{
g_com_map[GPS_ONTIME]=3600;
}
if(g_com_map[NOMOVESLEEP_TIME]==0||g_com_map[NOMOVESLEEP_TIME]>10000)
{
g_com_map[NOMOVESLEEP_TIME]=3900;
}
if(g_com_map[NOMOVESLEEP_TIME]10000)
{
g_com_map[COM_INTERVAL]=10000;
}
// g_com_map[GPS_ONTIME]=60;
// 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>=g_com_map[COM_INTERVAL]/1000/*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>=864000)//10Ìì
{
delay_ms(100);
NVIC_SystemReset();
}
}
/* 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);
// MX_IWDG_Init();
// NVIC_SystemReset();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
// if(g_com_map[ACTIVE_INDEX]==0)
// {
// NOWAKEUP_Poll();
// }
while (1)
{
// 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»¿¼ÂǷתÎÊÌᣬ20000000sÖØÆôÒ»´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;
extern uint8_t fengming_time,fengming_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;
}
}
if(fengming_flag==1)
{
fengming_time--;
if(fengming_time<=0)
{
fengming_flag=0;
Beep_Off();
}
}
}
/* 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****/