/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 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 "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 <stdlib.h>
#include "WS2812.h"
#include "syn6288.h"
#include "dw_mbx_tag.h"
#include "GPS.h"
#include "lora.h"
#define NSH1 0x0001
#define GP   0x0002
#define FLASH_HARDWARE_VERSION_MAP		(uint32_t)0x08004F00    //Ó²¼þ°æ±¾ºÅºÍÅú´ÎÐÅϢλÖÃ
#define DEBUG_MODE
uint8_t chongqi_flag;
uint32_t uwbled,gpsled,loraled,powerled;
UART_WakeUpTypeDef Selection;
uint8_t Close_RMC[100]="$CCMSG,RMC,1,0,*04\r\n$CCMSG,GSA,1,0,*0D\r\n$CCMSG,GSV,1,0,*1A\r\n$CCMSG,GLL,1,0,*1F\r\n$CCMSG,TXT,1,0,*00\r\n";
//uint8_t Close_GSA[20]="$CCMSG,GSA,1,0,*0D\r\n";
//uint8_t Close_GSV[20]="$CCMSG,GSV,1,0,*1A\r\n";
//uint8_t Close_GLL[20]="$CCMSG,GLL,1,0,*1F\r\n";
//uint8_t Close_TXT[20]="$CCMSG,TXT,1,0,*00\r\n";
/* 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;
UART_HandleTypeDef huart5;
DMA_HandleTypeDef hdma_lpuart1_rx;
DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;

SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;

TIM_HandleTypeDef htim6;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC_Init(void);
static void MX_IWDG_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_USART5_UART_Init(void);
static void MX_TIM6_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern uint8_t shengji_flag;
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;
uint16_t recv_end_time,ledon_time;
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();
	}
}
void Usart5Init(void)
{
	 MX_DMA_Init();
	MX_USART5_UART_Init();
}
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);
}
void Usart5DeInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    waitusart_timer = 0;
//    MX_DMA_DeInit();
    HAL_UART_DeInit(&huart5);
    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
    
    GPIO_InitStruct.Pin = GPIO_PIN_2;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}
void LpusartDeInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    waitusart_timer = 0;
//    MX_DMA_DeInit();
    HAL_UART_DeInit(&hlpuart1);
    GPIO_InitStruct.Pin = GPIO_PIN_2;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
    GPIO_InitStruct.Pin = GPIO_PIN_3;
    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;
extern uint8_t du_flag;
extern uint8_t xie_flag;
float motor_keeptime;
void IdleTask(void)
{uint16_t current_lptime = GetLPTime();
    if(current_lptime-ledon_time>100||current_lptime<ledon_time-500)
    {
      //  Set4LEDColor(0,0,0,0);
         Set4LEDColor_Off();
    }
	if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
	{  state5v=1;
        LoraInit();
        HAL_UART_DMAStop(&hlpuart1); //  Í£Ö¹DMA´«Ê䣬·ÀÖ¹  
        Radio.Sleep();
        powerled=LEDOFF;
        loraled=LEDOFF;
        gpsled=LEDOFF;
        uwbled=LEDOFF;
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora µçÔ´
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb µçÔ´
        HAL_SPI_DeInit(&hspi1);
        HAL_SPI_DeInit(&hspi2);
        HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora  cs
        HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
        HAL_GPIO_WritePin( GPIOC, GPIO_PIN_3,GPIO_PIN_RESET);//LORA REST
        Usart5DeInit();
        LpusartDeInit();
//        HAL_ADC_DeInit(&hadc);
        while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
      {
        UART_CheckReceive();
		UART_CheckSend();
		nomove_count = 0;
        HAL_IWDG_Refresh(&hiwdg);
		if(bat_percent>95)
		{
            powerled=GREEN;
		}else{
            powerled=RED;           
		}
        uwbled=0;
        gpsled=0;
        loraled=0;
      }
     HAL_NVIC_SystemReset();    
	}else{
        state5v=0;
            if(bat_percent>20)
            {
            powerled=BLUE;
            }else{
            powerled=RED;           
            }
        
//        if(state5v==1)
//        {
//            state5v=0;
//            UsartDeInit();
//        }
}
        if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
		{
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
		}
        if(memcmp(g_com_map2,g_com_map,COM_MAP_SIZE)!=0)
         {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
         }

	}


u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
//u16 last_lpcount = 0;


/* ·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;
}
    

u8 active_flag,nomovesleeptime;

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)|33;
//    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]=0;
//    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(g_com_map[LORA_POWER]>22)
    {
        g_com_map[LORA_POWER] = 22;
    }
	 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();
//  }
//g_com_map[NOMOVESLEEP_TIME]=5;
    printf("¹Ì¼þ°æ±¾: URT-LORA-GPS°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();
}
extern u8 gps_chafenlingqi;
uint16_t irq_num;
u8 lora_irq_flag,lora_working_flag;
//u8 uwb_irq_flag;
extern uint8_t LoraUp_flag;
uint8_t anjian_num;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == RADIO_DIO1_Pin)
    {

      //  SystemClock_Config();
     irq_num++;
        
        if(LoraUp_flag)
        {
    RadioIrqProcess();
        }
        else
        {
        lora_irq_flag = 1;
        }
    }
    if(GPIO_Pin == GPIO_PIN_1)//°´¼ü
    {
      //   SystemClock_Config();
        anjian_flag=1;
        anjian_num++;
        if(anjian_num==2)
        {                        
        g_com_map[LORA_SEND_INDEX] = !g_com_map[LORA_SEND_INDEX];
        save_com_map_to_flash();
        Set4LEDColor(YELLOW,YELLOW,YELLOW,YELLOW);
        delay_ms(100);
        Set4LEDColor_Off();
        delay_ms(100);
        SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
        }
    }
    if(GPIO_Pin == GPIO_PIN_0)//¼ÓËÙ¶È
    {
      //   SystemClock_Config();
        if(chongqi_flag==1)
        {
        HAL_NVIC_SystemReset();
        }
      nomove_count = 0;
    }
   if(GPIO_Pin == GPIO_PIN_9)//UWB
    {
//     if(!HAL_GPIO_ReadPin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin))
//    {
//        gps_chafenlingqi++;
//        return;
//    }
//        uwb_irq_flag = 1;
        MbxTagUwbRec();
    }
}
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 uint8_t GPSchangdu;
uint8_t no_yingdaflag;
uint8_t GPS_GGAdate111[200]="±¨¾¯";


void MX_ADC1_Init()
{
    MX_ADC_Init();
}
void GPS_Close_Init()
{
    HAL_UART_Transmit_DMA(&hlpuart1,Close_RMC,100);
    Delay_Ms(150);
}
#define GPS_SIZE 400
extern uint16_t Lora_rece_error;
extern uint16_t Beepchixutime;
uint8_t group_id;
uint8_t fangzhijinrushuimian_flag;
uint8_t GPS_GGAdate[GPS_SIZE];
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) 
//{
//    {
//        GPS_RecvFsm(GPSRxBuffer[0]);
//        GPS_Recv_Poll(GPSRxBuffer[0]);
//    GPS_GGAdate[GPS_GGAdatenum]=GPSRxBuffer[0];
//    GPS_GGAdatenum++;
//    if(GPS_GGAdate[GPS_GGAdatenum-1]==0x0A&&GPS_GGAdate[GPS_GGAdatenum-2]==0x0D)
//    {
//       GPS_ParseGGA(GPS_GGAdate, GPS_GGAdatenum);
//    memset(GPS_GGAdate,0,sizeof(GPS_GGAdate));
//        GPS_GGAdatenum=0;
//        fangzhijinrushuimian_flag=0;
//    }
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 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)
//      if(HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate, LPUART_SIZE))  
//    {
//     Error_Handler();
//    }   
//    fangzhijinrushuimian_flag=1;
//    HAL_UART_Receive_IT(&hlpuart1, (uint8_t *)GPSRxBuffer, 1);
//    HAL_UART_Transmit(&hlpuart1,ble_rxdate,2,1000);
    
//}
extern uint8_t  yuyin_no_sleep_flag;
extern uint8_t yuyin_sendflag;
extern uint8_t xiafayuyin_data[200];
extern uint8_t yuyinzidongguan_time;
uint8_t yuyin_yinliang[10]={0X5B,0X76,0X31,0X30,0X5D};//ÒôÁ¿µÈ¼¶V10
void TTSchaxun_Busy(void)
{
    if(yuyin_sendflag)
    {
    yuyin_sendflag=0;
    SYN_FrameInfo(0,xiafayuyin_data); //²¥·ÅÄÚÈÝ
    memset(xiafayuyin_data,0,sizeof(xiafayuyin_data)); 
    }
}
void PowerDownDetect(void)
{  
 static uint32_t l_u32QXpowerTick = 0;    
static uint32_t powercount=0;
    if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
      {
          delay_ms(500);
          if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
          {     
              while(1)
              {
                  Set4LEDColor(RED,RED,RED,RED);
                  recv_end_time=0;
                if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0) 
                {
                    delay_ms(100);
                    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
                }
            }
          }
      }
}
uint8_t only_one_flag;
uint8_t gotosleep_flag;
uint8_t usart5_state,flag_onesecond;
void Jingzhi_Poll(void)
{
    if(only_one_flag==0)
    {
        only_one_flag=1;
          powerled=LEDOFF;
          loraled=LEDOFF;
          gpsled=LEDOFF;
          uwbled=LEDOFF;
          HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); //GuanGPS and lora µçÔ´
          HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); //guan uwb µçÔ´
          HAL_SPI_DeInit(&hspi1);
          HAL_SPI_DeInit(&hspi2);
          HAL_GPIO_WritePin( RADIO_NSS_GPIO_Port, RADIO_NSS_Pin,GPIO_PIN_RESET);//lora  cs
          HAL_GPIO_WritePin( GPIOA, GPIO_PIN_4,GPIO_PIN_RESET);//uwb cs
          HAL_GPIO_WritePin( GPIOC, GPIO_PIN_3,GPIO_PIN_RESET);//LORA REST
          Usart5DeInit();
          LpusartDeInit();
          HAL_ADC_DeInit(&hadc);

          Set4LEDColor_Off(); //¹Øled×ܵçÔ´
          chongqi_flag=1;
    }
}
void OneSecondTask(void)
{
    if(flag_onesecond==1)
    {
        flag_onesecond = 0;
    }
}
uint8_t GPS_Close_time;
uint8_t GPS_Close_flag=1;
uint8_t debugnum;
uint8_t Lora_send_flag;
extern uint8_t rec_secdelay;
void Lora_Send_Poll(void)
{
    
    if(Lora_send_flag)
    { 
        debugnum++;
        Lora_send_flag=0; 
        if(rec_secdelay>0)
            {
                loraled=YELLOW;
                rec_secdelay--;
                return;
            }        
        loraled=BLUE;
        LoraReportPoll();
        flag_onesecond = 1;
    }

}
extern  volatile uint16_t rx_len ;  //½ÓÊÕÒ»Ö¡Êý¾ÝµÄ³¤¶È
extern volatile uint8_t recv_end_flag; //Ò»Ö¡Êý¾Ý½ÓÊÕÍê³É±êÖ¾
void Lpuart_rx_Poll(void)
{
    if(recv_end_flag == 1)  //½ÓÊÕÍê³É±êÖ¾
    {
        uint16_t i;
        recv_end_time=0;
        for(i=0;i<GPS_SIZE;i++)
        {GPS_RecvFsm(GPS_GGAdate[i]);}
    //GPS_ParseGGA(GPS_GGAdate, rx_len);  
        memset(GPS_GGAdate,0,GPS_SIZE);
        rx_len = 0;//Çå³ý¼ÆÊý
        recv_end_flag = 0;//Çå³ý½ÓÊÕ½áÊø±ê־λ
        fangzhijinrushuimian_flag=0;
    }
    HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//ÖØдò¿ªDMA½ÓÊÕ
}
/* 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_DMA_Init();
  MX_ADC_Init();
//  MX_IWDG_Init();
  MX_LPTIM1_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_LPUART1_UART_Init();
  MX_USART5_UART_Init();
  MX_TIM6_Init();
  MX_SPI2_Init();
  /* USER CODE BEGIN 2 */
  GPIO_InitTypeDef GPIO_InitStruct = {0};
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET); //¿ªGPSµçÔ´
    delay_ms(100);
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); //¿ªuwbµçÔ´
    Program_Init();
    MX_IWDG_Init(); //¿´ÃŹ·Îñ±Ø·Åµ½¿ªGPSµçÔ´¿ªuwbµçÔ´ºóÃ棬·ñÔòGPS¹¤×÷²»Õý³£¡£
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, GPIO_PIN_SET);
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
#ifdef _USE_BAR
//BarInit();
#endif 
    Dw1000_Init();
    dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
    dwt_entersleep();

    LIS3DH_Data_Init();	
    Set4LEDColor(RED,RED,RED,RED);
    delay_ms(100);
    Set4LEDColor_Off();
    delay_ms(100);
    LoraInit();
//    delay_ms(1000);
bat_percent=Get_Battary();
        GPS_Close_flag=0;
        GPS_Close_Init();      
    if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, LPTIMER_1S_COUNT, 0) != HAL_OK)  //system time is 1010ms   1 puls=30.518us
  {
    Error_Handler();
  } 
//  HAL_UART_Receive_DMA(&hlpuart1,GPS_GGAdate,LPUART_SIZE);//ÖØдò¿ªDMA½ÓÊÕ
  __HAL_UART_ENABLE_IT(&hlpuart1, UART_IT_IDLE); //ʹÄÜIDLEÖжÏ
     if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
    {
     Error_Handler();
    }
    HAL_TIM_Base_Start_IT(&htim6);
    memcpy(g_com_map2,g_com_map,COM_MAP_SIZE);
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
      if(gotosleep_flag==1)
      {
          Jingzhi_Poll();
//          HAL_IWDG_Refresh(&hiwdg);
          HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
      }
      else
      {
//      HAL_IWDG_Refresh(&hiwdg);
          if(lora_irq_flag)
          {
              lora_irq_flag = 0;
              lora_working_flag = 1;
              RadioIrqProcess();
              lora_working_flag = 0;
          }
//          if(uwb_irq_flag)
//          {
//              MbxTagUwbRec();
//              uwb_irq_flag=0;
//          }
      Lpuart_rx_Poll();
      OneSecondTask();
      IdleTask();	
      PowerDownDetect();
        if(g_com_map[LORA_SEND_INDEX])
        {
        Lora_Send_Poll();
        }
      TTSchaxun_Busy();
      LoraUp_Poll();
//    #ifndef DEBUG_MODE	
//    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))	
//  {      
//      if(fangzhijinrushuimian_flag==0&&yuyin_no_sleep_flag==0)
//          {
//      if(usart5_state==0)
//      {
//      usart5_state=1;
//      Usart5DeInit();
//      }
//      if(GPS_Close_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);   
//      }
////    Set4LEDColor_Off();              
//    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 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_LPUART1
                              |RCC_PERIPHCLK_LPTIM1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_HSI;
  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 */
    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 USART5 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART5_UART_Init(void)
{

  /* USER CODE BEGIN USART5_Init 0 */

  /* USER CODE END USART5_Init 0 */

  /* USER CODE BEGIN USART5_Init 1 */

  /* USER CODE END USART5_Init 1 */
  huart5.Instance = USART5;
  huart5.Init.BaudRate = 9600;
  huart5.Init.WordLength = UART_WORDLENGTH_8B;
  huart5.Init.StopBits = UART_STOPBITS_1;
  huart5.Init.Parity = UART_PARITY_NONE;
  huart5.Init.Mode = UART_MODE_TX_RX;
  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
  huart5.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
  huart5.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
  if (HAL_UART_Init(&huart5) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART5_Init 2 */

  /* USER CODE END USART5_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 SPI2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  /* SPI2 parameter configuration*/
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_SOFT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 7;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */
__HAL_SPI_ENABLE(&hspi2);
  /* USER CODE END SPI2_Init 2 */

}

/**
  * @brief TIM6 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM6_Init(void)
{

  /* USER CODE BEGIN TIM6_Init 0 */

  /* USER CODE END TIM6_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM6_Init 1 */

  /* USER CODE END TIM6_Init 1 */
  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 32-1;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 1000-1;
  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM6_Init 2 */

  /* USER CODE END TIM6_Init 2 */

}

/**
  * 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, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
  /* DMA1_Channel4_5_6_7_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel4_5_6_7_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel4_5_6_7_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();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_7|GPIO_PIN_8, GPIO_PIN_RESET);

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, RADIO_NSS_Pin|RADIO_nRESET_Pin|SCL_Pin|SDA_Pin
                          |GPIO_PIN_6, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pins : PC13 PC4 PC7 PC8 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_4|GPIO_PIN_7|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(GPIOC, &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 pin : PA4 */
  GPIO_InitStruct.Pin = GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : RADIO_NSS_Pin PB2 RADIO_nRESET_Pin PB4
                           PB5 PB6 PB7 */
  GPIO_InitStruct.Pin = RADIO_NSS_Pin|GPIO_PIN_2|RADIO_nRESET_Pin|GPIO_PIN_4
                          |GPIO_PIN_5|GPIO_PIN_6|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 : PB1 */
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PB12 */
  GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : SCL_Pin SDA_Pin */
  GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
  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);

  /*Configure GPIO pins : PC6 RADIO_BUSY_Pin */
  GPIO_InitStruct.Pin = GPIO_PIN_6|RADIO_BUSY_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PC9 RADIO_DIO1_Pin */
  GPIO_InitStruct.Pin = GPIO_PIN_9|RADIO_DIO1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PA8 PA12 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_8|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 pin : INPUT_5V_Pin */
  GPIO_InitStruct.Pin = INPUT_5V_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(INPUT_5V_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 2, 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 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;
uint8_t no_yingdatime;
#define YUYINSTOP_TIME 10
uint8_t bat_time;
void Bat_Percent_Poll()
{
    bat_time++;
    if(bat_time>100)
    {
        bat_time=0;
    bat_percent=Get_Battary();
    }
}
void Yuying_Poll()
{
    yuyinzidongguan_time++;
    if(yuyinzidongguan_time>YUYINSTOP_TIME)
    {
    yuyinzidongguan_time=0;
    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET); 
    yuyin_no_sleep_flag=0;
    }
}
#define NOGPS_RESET_TIME 300
u8 state_count = 0;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
 if(chongqi_flag==0&&shengji_flag==0)
 {
//    SystemClock_Config();
    Set4LEDColor(uwbled,gpsled,loraled,powerled); //´úÂëÓÐBUGÐèÒªÖ´ÐÐ2´Î£¬·ñÔòµçÔ´µÆ²»ÁÁ
//    Set4LEDColor(uwbled,gpsled,loraled,powerled);
    //Set4LEDColor(powerled,loraled,gpsled,uwbled);
    ledon_time = GetLPTime();
    Bat_Percent_Poll();
    if(state5v==0)
    {
        if(yuyin_no_sleep_flag==0)
        {
            recv_end_time++;
            if(recv_end_time>NOGPS_RESET_TIME)
            {HAL_NVIC_SystemReset();}
        }
        Yuying_Poll();
        state_count++;
        switch(state_count)
        {
            case 0:
                
                break;
            case 1:
                break;
            case 2:
                break;
        }
        Lora_send_flag=1;
        if(nomove_count++>g_com_map[STATIONARY_TIME])
        {
            stationary_flag = 1;
        } 
        else 
        {
            stationary_flag = 0;
        }
        if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
        {
            gotosleep_flag=1;
        } else {
            gotosleep_flag=0;
        }
    }
//    powerled=LEDOFF;
//    loraled=LEDOFF;
//    gpsled=LEDOFF;
//    uwbled=LEDOFF;
//    Set4LEDColor_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 */

  /* 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 */