V9_PMU302/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 "adc.h"
#include "can.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "stdbool.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "soft_can.h"
#include "soft_uart.h"
#include "soft_adc.h"
#include "soft_flow.h"
#include "hard_led.h"
#include "soft_timer.h"
#include "soft_test.h"
#include "soft_bms.h"
#include "soft_okcell.h"
#include "soft_tattu.h"
#include "soft_poweramp.h"
#include "soft_obstacle.h"
#include "soft_p_2_c.h"
#include "soft_terrain.h"
#include "string.h"
#include "soft_engine.h"
#include "soft_calibration.h"
#include "soft_eft.h"
#include "soft_flash.h"
#include "soft_seed_device.h"
#include "soft_flow.h"
#include "soft_version.h"
#include "config.h"
#include "math.h"
#include "stdio.h"
#include "soft_update.h"
#include "can_debug.h"
#include "dronecan.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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* 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 */
  SCB->VTOR = FLASH_BASE | 0x8007800; //偏移
  /* 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_CAN_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_ADC1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
  
  user_init();
  //cm_backtrace_init("CmBacktrace", HARDWARE_VERSION, SOFTWARE_VERSION);
  //获取时钟频率
  uint32_t Freq = 0;
  Freq = HAL_RCC_GetSysClockFreq();//72M
  (void)Freq;

  /* USER CODE END 2 */

  /* Infinite loop */

  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    //点亮pmu内部led灯
    pmu_inside_led();

    //AD电压50HZ采集
    adc_gather_hz();

    // //PMU向飞控定时发送数据  定时器
    timer_function();

    // //uart2发送数据给主控制器 雷达升级不发送数据
    pmu_to_fcu();

    //UART2 接收主控制器数据
    uart_recv_con_msg();

    //刚上电需要发送的信息
    pmu_start_info();

    //更新播撒，称重，水泵，离心喷头,流量计等设备信息
    update_device_type_data(); 

    DM_obs_test();

    //获取外设版本和SN号
    get_device_version_and_sn();

    //写flash相关功能
    flash_write_pmu_par();

    //雷达相关功能
    lidar_function();
    
    //外部LED灯循环
    led_blink_repeat();
    
    //发动机相关功能
    engine_function();

    //智能电池相关功能
    bms_function(); 

    //流量计相关功能
    flow_function();

    //液位计相关功能
    L1L2_GPIO_check();

#ifdef mimo_update
    mimo_obs_update_func();
#else
    //设备升级
    Vk_Update_Device_Protocol();
#endif 
    
    //串口发送
    send_uartfifo_msg();
    //dronecan发送
    //dronecan_tx_processing(); //test
    //CAN DEBUG
    if(planep.Candebug_flag == true)
    {
      seek_can_debug_buf_adr();
    }

    /* 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};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_USART3
                              |RCC_PERIPHCLK_ADC12;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
  PeriphClkInit.Adc12ClockSelection = RCC_ADC12PLLCLK_DIV1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 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 == TIM1)
  {
    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)
  {
  }
  /* 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 */