/* 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"
/* USER CODE END Includes */

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

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//#define DEBUG_MODE
#define Period               (uint32_t) 32768 - 1
#define Timeout              (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */

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

/* USER CODE END PM */

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

LPTIM_HandleTypeDef hlptim1;

SPI_HandleTypeDef hspi1;

UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_LPTIM1_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);
/* 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,current_time;
extern uint8_t module_power;
uint8_t imu_enable,motor_enable;	
u16 GetLPTime(void)
{
	u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
 return count*LPTIMER_LSB/1000;
}	
void IdleTask(void)
{u16 current_time;
	
			UART_CheckReceive();
		UART_CheckSend();

if(huart1.Instance->ISR&USART_ISR_FE)
	{
	SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader   
	}	
//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
//{
//	LED_TR_ON;
//	LED_TB_OFF;
//}else{
//	LED_TR_OFF;
	current_time=GetLPTime();
	//motor_state=2;
	switch(motor_state)
		{case 0:
			MOTOR_OFF;
			break;
		case 1:
			if(current_time<MOTOR_ONTIME)
			{
				MOTOR_ON;		
			}else{
				MOTOR_OFF;	
			}	
				
			break;
		case 2:
			MOTOR_ON;	
			break;
		case 3:
			MOTOR_OFF;
			break;	
	}
	if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
	{
		if(bat_percent>99)
		{
			LED_TR_OFF;
			LED_TB_ON;
		}else{
			LED_TR_ON;
			LED_TB_OFF;		
		}		
	}else{
		LED_TR_OFF;
		LED_TB_OFF;
//	}
}
	if(g_com_map[CNT_UPDATE]==1)
	{
	uint32_t result = 0;
		uint16_t tmp = 0xAAAA;
	__disable_irq();
	result = FLASH_Prepare(0x8004A38, 128);
	if(result)
		result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2); 
	__enable_irq();
		printf("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   
	}
			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   
		}

	}


u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;

void SetNextPollTime(u16 time)
{
  int32_t lpcount,lptime,target_time;

	if(current_slotnum>=total_slotnum)
		current_slotnum-=total_slotnum;
	
	target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time)*1000;
	//if(target_time<90000)
	{
		lptime=target_time-offsettimeus;
		lpcount = lptime/LPTIMER_LSB;
	if(lpcount>LPTIMER_1S_COUNT)
		lpcount-=LPTIMER_1S_COUNT;
	if(lpcount<0)
	{
	lpcount+=LPTIMER_1S_COUNT;
	}
	__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
}
void Program_Init(void)
{	float temp;
	uint16_t temp2;
	uint16_t i;
	Usart1ParseDataCallback = UsartParseDataHandler;
	parameter_init();
	//deca_sleep(1000);
	g_com_map[VERSION] = 0x010d;
#ifdef DEBUG_MODE
//	g_com_map[DEV_ROLE]=1;
//		g_com_map[DEV_ID]=1;
	g_com_map[COM_INTERVAL]=100;
//	g_com_map[MAX_REPORT_ANC_NUM]=1;
	g_com_map[NOMOVESLEEP_TIME]=10;
#endif
		
	
	module_power = g_com_map[POWER];
	imu_enable=g_com_map[IMU_ENABLE];
	motor_enable=g_com_map[MOTOR_ENABLE];
	
	group_id=g_com_map[GROUP_ID];
	dev_id = g_com_map[DEV_ID];
	slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+2;
	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];
	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("±êÇ©ID: %d .\r\n",dev_id);
	printf("ͨѶ¼ä¸ô: %d ms.\r\n",g_com_map[COM_INTERVAL]);
	printf("µ¥´ÎͨѶ»ùÕ¾ÊýÁ¿: %d¸ö.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
	

//	printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//	printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

}

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   
}
/* 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_LPTIM1_Init();
	 MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  MX_ADC_Init();
  /* USER CODE BEGIN 2 */
	Program_Init();
	LIS3DH_Data_Init();	
	Dw1000_Init();
	Dw1000_App_Init();
	
	dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
	dwt_entersleep();
	waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
	DW_DISABLE;
	 if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
	{
	 Error_Handler();
	}
//	HAL_Delay(2000);
//	mcu_sleep();
	//LED0_BLINK;		
//	SystemPower_Config();
//HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);   
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
		if(g_start_send_flag)
	{ static uint16_t blink_count=0;
		SystemClock_Config();
		g_start_send_flag = 0;	
		
//		if(current_count>slot_startcount&&current_count<slot_startcount+interval_count)
//		{
//		HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//		}else{
//		HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
//		}
//		LED_TR_BLINK;
		
			bat_percent=Get_Battary();
		if(bat_percent>15)
		{	LED0_ON;
			Tag_App();
			LED0_OFF;
		}else{
			LED_LR_ON;
			Tag_App();
			LED_LR_OFF;		
		}
		//LED0_BLINK;		
		IdleTask();	
		if(waitusart_timer>0)
		{
			waitusart_timer--;
		}
			if(m_bEUARTTxEn==0&&waitusart_timer==0)
			{	
				
				HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);  
			}
		
 
	}else{
	IdleTask();	
	}

// HAL_Delay(100);
    //  Get_Battary();

	//	LIS3DH_Data_Init();	
  }
  /* 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_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_4;
  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

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

  if (HAL_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_Calibration_Start(&hadc,ADC_SINGLE_ENDED);
  /* USER CODE END ADC_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 */
//	if (HAL_LPTIM_TimeOut_Start_IT(&hlptim1, Period, Timeout) != HAL_OK)
//  {
//    Error_Handler();
//  }
  /* USER CODE END LPTIM1_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 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 */

}

/** 
  * 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, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);

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

  /*Configure GPIO pin : BAT_MEAS_Pin */
  GPIO_InitStruct.Pin = BAT_MEAS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(BAT_MEAS_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : SCL_Pin SDA_Pin */
  GPIO_InitStruct.Pin = SCL_Pin|SDA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI_CS_Pin */
  GPIO_InitStruct.Pin = SPI_CS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(SPI_CS_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : 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 pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
  GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO 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 : DW_WKUP_Pin DW_CTRL_Pin LED2_G_Pin */
  GPIO_InitStruct.Pin = DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PWR_ON_Pin */
  GPIO_InitStruct.Pin = PWR_ON_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(PWR_ON_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_1_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(EXTI0_1_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 float nomove_count;
float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
	static uint8_t i=0;
	i++;
	g_start_send_flag=1;
	current_slotnum++;
	SetNextPollTime(tyncpoll_time);
	nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
	if(!GET_USERKEY)
	{
		key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
		if(key_keeptime>=KEY_KEEPRESET_TIME)
		{
			SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; 
		}
	}else{
		key_keeptime=0;
	}
	if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
	{
		mcu_sleep();
	}
}
/* 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****/