/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2024 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "cmsis_os.h" #include "adc.h" #include "can.h" #include "dma.h" #include "iwdg.h" #include "rtc.h" #include "spi.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ uint8_t dataReceive1[BUFFER_SIZE]__attribute__((section(".ccmram")));;//调试 uint8_t dataReceive2[BUFFER_SIZE2]__attribute__((section(".ccmram")));;// 485 uint8_t uart2RXDATAbuffer[BUFFER_SIZE2]__attribute__((section(".ccmram")));; uint8_t receiveBuff4G[BUFFER_SIZE4G]__attribute__((section(".ccmram")));;//4G extern circle_buf_t uart3CircleBuf; // 环形缓冲区管理结构体 uint8_t receiveBuff4G_MIPURC[256]__attribute__((section(".ccmram")));;//4G处理mipurc的接收缓冲区 /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ uint8_t RX_Data[8]; uint8_t TX_Data[8]; /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); void MX_FREERTOS_Init(void); /* USER CODE BEGIN PFP */ void uart_enable(void); HAL_StatusTypeDef CAN_FilterInit(void); void CAN_Send_Msg(uint8_t *msg,uint8_t len,uint32_t id); /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ // __disable_irq(); // 关闭中断 /* 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_DMA_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_CAN1_Init(); MX_RTC_Init(); MX_USART3_UART_Init(); MX_IWDG_Init(); MX_ADC1_Init(); MX_SPI2_Init(); /* USER CODE BEGIN 2 */ // MX_IWDG_Init(); uart_enable(); HAL_GPIO_WritePin(GPIOB, RESET_4G_Pin, GPIO_PIN_RESET); HAL_Delay(500); HAL_GPIO_WritePin(GPIOB, RESET_4G_Pin, GPIO_PIN_SET); HAL_Delay(3000); CAN_FilterInit(); printf("MainBoard Hello V2025_0520\r\n"); // __enable_irq(); // 开启中断 /* USER CODE END 2 */ /* Init scheduler */ osKernelInitialize(); /* Call init function for freertos objects (in freertos.c) */ MX_FREERTOS_Init(); /* Start scheduler */ osKernelStart(); /* We should never get here as control is now taken by the scheduler */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* 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}; /** Configure the main internal regulator output voltage */ if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) { Error_Handler(); } /** 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.PLLM = 1; RCC_OscInitStruct.PLL.PLLN = 8; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; 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_DIV4; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ void uart_enable(void) { memset(dataReceive1, 0, sizeof(dataReceive1)); memset(dataReceive2, 0, sizeof(dataReceive2)); memset(receiveBuff4G, 0, sizeof(receiveBuff4G));//3 circle_buf_init(&uart3CircleBuf, BUFFER_SIZE4G, receiveBuff4G); __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//使能IDLE中断 __HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE); HAL_UART_Receive_DMA(&huart1, dataReceive1, BUFFER_SIZE); HAL_UART_Receive_DMA(&huart2, dataReceive2, BUFFER_SIZE2); // 启动USART2的DMA接收485 } HAL_StatusTypeDef CAN_FilterInit(void) { CAN_FilterTypeDef CAN_FilterInitStructure; CAN_FilterInitStructure.FilterBank=0; CAN_FilterInitStructure.FilterScale=CAN_FILTERSCALE_32BIT; CAN_FilterInitStructure.FilterMode=CAN_FILTERMODE_IDMASK; CAN_FilterInitStructure.FilterFIFOAssignment=CAN_FILTER_FIFO0; CAN_FilterInitStructure.FilterIdHigh=0x0000; CAN_FilterInitStructure.FilterIdLow=0x0000; CAN_FilterInitStructure.FilterMaskIdHigh=0x0000; CAN_FilterInitStructure.FilterMaskIdLow=0x0000; CAN_FilterInitStructure.FilterActivation=CAN_FILTER_ENABLE; if(HAL_CAN_ConfigFilter(&hcan1,&CAN_FilterInitStructure) != HAL_OK) { // Error_Handler(); return HAL_ERROR; } if (HAL_CAN_Start(&hcan1) != HAL_OK) { uint32_t can_error = HAL_CAN_GetError(&hcan1); printf("CAN Initialization Error: %ld\n", can_error); printf("CAN_start_FAIL\r\n"); // Error_Handler(); }else{ // printf("CAN_start_OK\r\n"); } /*##-4- Activate CAN RX notification #######################################*/ if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) { printf("CAN_Activate_FAIL\r\n"); Error_Handler(); }else{ // printf("CAN_Activate_OK\r\n"); } return HAL_OK; } void CAN_Send_Msg(uint8_t *msg,uint8_t len,uint32_t id) { CAN_TxHeaderTypeDef Tx_Header; uint32_t TxMailBox; Tx_Header.StdId = id; Tx_Header.ExtId = id; Tx_Header.IDE = CAN_ID_EXT; Tx_Header.RTR = CAN_RTR_DATA; Tx_Header.DLC = len; if (HAL_CAN_AddTxMessage(&hcan1, &Tx_Header, msg, &TxMailBox) != HAL_OK) { Error_Handler(); } } /* +MGNSSLOC: ,,,,,,,,,,< nstat>, (hhmmss.sss) UTC时间，时分秒.毫秒，位�?10�? (ddmm.mmmmN/S) 纬度，dd:度，mm.mmmm:分，N/S:北纬/南纬，保�?4位小数�?? (dddmm.mmmmE/W) 经度，ddd:度，mm.mmmm:分，E/W:东经/西经，保�?4位小�? (x.x) 水平精度因子，保�?1位小数�?? (x.x) 海拔高度，单�?:米，保留1位小数�?? (n) 定位类型�?1:未定位，2:2D定位�?3:3D定位；位�?1�? (ddd.dd) 运动角度，真北参照系，单�?:度，保留2位小�? (x.x) 水平运动速度，单位Km/h，保�?1位小�? (ddmmyy) 当前日期，日月年，位�?6 (nn) 参与定位的卫星数量，位宽2 (n) 差分定位标识，位�?1�?0:无效�?1:单点定位�?2:差分定位 */ //void ML307A_Read_Location(void) //{ // char response[256]; // // // 获取定位信息 // Send_Command_Check_Response("AT+MGNSSLOC?", response, sizeof(response)); // // // 解析响应 // if (strstr(response, "+MGNSSLOC:") != NULL) { // // 示例解析�?+MGNSSLOC: 005031.833,2937.1685N,10629.6172E,2.1,453.3,3,0.00,0.1,0.1,141222,06,1 // char utc[11]; // UTC时间 // float lat, lon, hdop, altitude, spkm; // int fix, cog, day, month, year, nsat, dtype; // int hour, minute, second, millisecond; // 添加毫秒的定�? // // 解析定位信息 // sscanf(response, "+MGNSSLOC: %10s,%f,%f,%f,%f,%d,%d,%f,%f,%6d,%d,%d", // utc, &lat, &lon, &hdop, &altitude, &fix, &cog, &spkm, &spkm, &day, &month, &year, &nsat, &dtype); // // // 处理时间 // sscanf(utc, "%2d%2d%2d.%3d", &hour, &minute, &second, &millisecond); // year = 2000 + (year % 100); // 假设年份�?2000年后�? // // printf("经度: %.4f, 纬度: %.4f\n", lon, lat); // printf("时间: %04d-%02d-%02d %02d:%02d:%02d\n", year, month, day, hour, minute, second); // // // 上传到MQTT // send_mqtt_tphcll(tem, pre, H2, CO, lon, lat); // send_mqtt_time_nsat_alt_spkm(year, month, day, hour, minute, second, nsat, altitude, spkm); // } else { // printf("fail\n"); // } //} /* USER CODE END 4 */ /** * @brief Period elapsed callback in non blocking mode * @note This function is called when TIM6 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim : TIM handle * @retval None */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ if (htim->Instance == TIM6) { HAL_IncTick(); } /* USER CODE BEGIN Callback 1 */ /* USER CODE END Callback 1 */ } /** * @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) { // NVIC_SystemReset(); // 执行芯片复位 } /* 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 */