/*******************************************************************************
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* File Name : APL.c
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* Description :
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* Created on : 2018Äê5ÔÂ8ÈÕ
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* Author : ¶Å¼ü
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*******************************************************************************/
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include "AppConfig.h"
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#include "string.h"
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#include "stm32f4xx_hal.h"
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#include "Uart.h"
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#include "Shell.h"
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#include "DBG.h"
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#include "Internet.h"
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#include "HIDO_Input.h"
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#include "HIDO_Timer.h"
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#include "HIDO_ATLite.h"
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#include "HIDO_Debug.h"
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#include "HIDO_Json.h"
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#include "Uart.h"
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#include "Led.h"
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#include "Reboot.h"
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#include "Delay.h"
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#include "GPS.h"
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#include "qxwz_app.h"
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#include "UDPClient.h"
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#include "APL.h"
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#include "mainex.h"
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#include "lis3dh_driver.h"
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#include "dw_driver.h"
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#include "deca_device_api.h"
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#include "global_param.h"
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#include "TrackingDiff.h"
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#include "dw_app.h"
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#include "lis3dh_driver.h"
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#include "Beep.h"
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#include "mainex.h"
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#include "Delay.h"
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#include "Module.h"
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#include "OTA.h"
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#include "ADC.h"
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#include "ADC_hal.h"
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#include "OTA.h"
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#include "Log.h"
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#include "HTTPClient.h"
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#include "SPIFlash.h"
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#include "Power.h"
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#include "TCPClient.h"
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#include "RTKClient.h"
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#include "NTRIPClient.h"
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#include "NTRIPApp.h"
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#include "TTS.h"
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/*******************************************************************************
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* Macro *
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*******************************************************************************/
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/*******************************************************************************
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* Type Definition *
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*******************************************************************************/
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/*******************************************************************************
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* Local Variable *
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*******************************************************************************/
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/*******************************************************************************
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* Local Function Declaration *
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*******************************************************************************/
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/*******************************************************************************
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* Local Function *
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*******************************************************************************/
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/*******************************************************************************
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* Global Function *
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*******************************************************************************/
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/*******************************************************************************
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* Function Name :
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* Description :
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* Input :
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* Output :
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* Return :
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* Author : ¶Å¼ü
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* Modified Date: : 2018Äê5ÔÂ8ÈÕ
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*******************************************************************************/
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static HIDO_UINT32 l_u32TimerID = 0;
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extern u8 bat_percent2,chargedbg_flag;
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extern TIM_HandleTypeDef htim1;
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extern uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
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extern uint8_t anchordata_bat[TAG_NUM_IN_SYS];
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extern uint8_t anchordata_num;
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uint16_t beepontime,beep_start;
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extern float nomove_count;
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u8 stationary_flag;
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void message_construct_for_4G()
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{
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}
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#ifdef __APP_CODE__
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void IMUTask(void)
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{
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if (nomove_count > g_com_map[STATIONARY_TIME])
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{
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stationary_flag = 1;
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}
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else
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{
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stationary_flag = 0;
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}
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// g_com_map[NOMOVESLEEP_TIME] = 5;
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if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&g_com_map[IMU_ENABLE]==1)
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{
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// CloseRTK4G();
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mcu_sleep();
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}
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}
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u8 motor_flag;
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void BepperTask(void)
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{
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if(beepontime>0)
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{beep_start=1;}
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if(beep_start)
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{
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if(beepontime>0)
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{
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beepontime--;
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motor_flag = 1;
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
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}else{
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motor_flag = 0;
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_4);
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}
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}
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}
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uint16_t uwb_losttimer = 0;
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HIDO_VOID OneSecond_TimerCallback(HIDO_VOID *_pArg)
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{
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BepperTask();
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IMUTask();
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uwb_losttimer++;
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message_construct_for_4G();
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}
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#endif
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HIDO_VOID APL_Init(void)
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{
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#ifdef __APP_CODE__
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SPIFlash_Init(SPI_FLASH_ID_0);
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parameter_init();
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Power_Init();
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DBG_Init();
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Shell_Init();
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ADC_Init();
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Accelerometer_Init();
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Internet_Init();
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if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
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{
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TCPClient_Init();
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}else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
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{
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// qxwz_app_init();
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NTRIPClient_Init();
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NTRIPApp_Init();
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}
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#ifdef __USE_QXWZ__
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/* ʹÓÃǧѰλÖà */
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qxwz_app_init();
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#endif
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GPS_Init();
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UDPClient_Init();
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#ifdef __USE_TCP_RTCM__
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RTKClient_Init();
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#endif
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#ifdef __USE_UWB__
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uwb_app_init();
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#endif
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HIDO_TimerCreate(&l_u32TimerID);
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HIDO_TimerStart(l_u32TimerID, HIDO_TIMER_TYPE_LOOP, HIDO_TIMER_TICK_MS(1000), OneSecond_TimerCallback, HIDO_NULL);
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#endif
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#ifdef __OTA_CODE__
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SPIFlash_Init(SPI_FLASH_ID_0);
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Power_Init();
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DBG_Init();
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#ifdef __USE_QXWZ__
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HIDO_Debug("\r\nstarting ota application\r\n");
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#endif
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Internet_Init();
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HTTPClient_Init();
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OTA_Init();
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#endif
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}
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#ifdef __APP_CODE__
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void LED4Gtask(void)
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{
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if(Internet_IsIPReady() == HIDO_TRUE)
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{
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led4g = GREEN;
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}else{
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if(rtk_state)
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{
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led4g = RED;
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}else{
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led4g = LEDOFF;
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}
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}
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}
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#define BATTARY_DEBUG
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u16 chongman_time;
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u8 only_one_flag;
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u8 power_state = 0,chargeon = 0;
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u32 adctick = 0;
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int LowPower_EN = 0;
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extern HIDO_FLOAT fVoltage1;
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void PowerLedTask(void)
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{
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static u8 powerled_state=0;
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if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
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{
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chongman_time=0;
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only_one_flag=0;
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if(!power_state&&!chargedbg_flag)
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{
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CloseRTK4G();
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DBG_SetMode(DBG_MODE_CHARGE);
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power_state = 1;
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}
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while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&DBG_GetMode() == DBG_MODE_CHARGE)
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{
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if(HIDO_TimerGetTick()-adctick>6000) //6s²ÉÑùÒ»´Î µçÁ¿
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{
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adctick = HIDO_TimerGetTick();
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chongman_time=chongman_time+6;
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#ifdef BATTARY_DEBUG
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//printf("µçѹ: %f V,µçÁ¿ %d,±ê־λ%d,ʱ¼ä %d\r\n",fVoltage1,bat_percent2,only_one_flag,chongman_time);
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#endif
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if( HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10))
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{
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bat_percent2=Power_GetBatteryPercentage();
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}else{
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
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bat_percent2=Power_GetBatteryPercentage();
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
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}
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}
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if(fVoltage1>=4.15&&!only_one_flag)
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{
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only_one_flag=1;
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chongman_time=0;
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}
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if(fVoltage1>=4.15&&chongman_time>=1800)
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{
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powerled = GREEN;
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}else{
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powerled = RED;
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}
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delay_ms(100);
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DBG_Poll();
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Internet_Poll();
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Set4LEDColor(0,0,0,powerled);
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}
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}
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chargeon = 0;
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if(power_state)
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{
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DBG_SetMode(DBG_MODE_SHELL);
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power_state = 0;
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OpenRTK4G();
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if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
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{
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delay_ms(100);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
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delay_ms(100);
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}
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}
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if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
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{
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chargedbg_flag = 0;
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}
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if(HIDO_TimerGetTick()%1000<10 )
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{
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if(powerled_state==0)
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{
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if(bat_percent2>15)
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{
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powerled = BLUE;
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}else{
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powerled = RED;
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}
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powerled_state = 1;
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// bat_percent = Battery_GetPercentage();
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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}
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}else{
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if(powerled_state)
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{
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powerled_state = 0;
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powerled = LEDOFF;
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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}
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}
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if(HIDO_TimerGetTick()-adctick>5000) //10·ÖÖÓ²ÉÑùÒ»´Î µçÁ¿
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{
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adctick = HIDO_TimerGetTick();
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#ifdef BATTARY_DEBUG
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//printf("µçѹ: %f V,µçÁ¿ %d,±ê־λ%d,ʱ¼ä %d\r\n",fVoltage1,bat_percent2,only_one_flag,chongman_time);
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#endif
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if( HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10))
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{
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bat_percent2=Power_GetBatteryPercentage();
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}else{
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
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bat_percent2=Power_GetBatteryPercentage();
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
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}
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}
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}
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//void PowerDownDetect(void)
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//{
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// static HIDO_UINT32 l_u32QXpowerTick = 0;
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//static uint32_t powercount=0;
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//
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// if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
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// {
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// if((HIDO_TimerGetTick() - l_u32QXpowerTick) >=1000)
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// {
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// while(1)
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// {
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// if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
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// {
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// powercount = 0;
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// l_u32QXpowerTick = HIDO_TimerGetTick();
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// while(1)
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// {
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//
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// if((HIDO_TimerGetTick() - l_u32QXpowerTick) >=100)
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// {
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// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
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// }
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// }
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// }
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// }
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// }
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// }else{
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// l_u32QXpowerTick = HIDO_TimerGetTick();
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// }
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//}
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void PowerDownDetect(void)
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{
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static HIDO_UINT32 l_u32QXpowerTick = 0;
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static uint32_t powercount=0;
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if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
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{
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delay_ms(1000);
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if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
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{
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while(1)
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{
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if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
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{
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delay_ms(100);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
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}
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}
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}
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}
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}
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extern u8 bat_percent2;
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u16 basesystimer=0,g_Resttimer= 0;
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u8 g_start_sync_flag;
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void HAL_SYSTICK_Callback(void)
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{
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}
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u32 keystarttime,keystarttime2;
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extern u8 heartbeasend_flag,userkey_state4g;
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u8 userkey_state;
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void UserKeyTask(void)
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{
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if(!GET_USERKEY)
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{
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if(HIDO_TimerGetTick() - keystarttime>3000)
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{
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beepontime = 2;
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userkey_state4g = 1;
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userkey_state = 1;
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heartbeasend_flag = 1;
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keystarttime = HIDO_TimerGetTick();
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}
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if(HIDO_TimerGetTick() - keystarttime2>10000)
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{
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// g_com_map[CNT_RESTART] = 1;
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}
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}else
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{
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keystarttime = HIDO_TimerGetTick();
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keystarttime2 = HIDO_TimerGetTick();
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}
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}
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#endif
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void APLPollTask(void)
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{
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#ifdef __APP_CODE__
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g_Resttimer=0;
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DBG_Poll();
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#ifdef _RTK_MODE_
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Internet_Poll();
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HIDO_TimerPoll();
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HIDO_ATLitePoll();
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LED4Gtask();
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GPS_Poll();
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UDPClient_Poll();
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#ifdef __USE_TCP_RTCM__
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RTKClient_Poll();
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#endif
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#endif
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#ifdef GAOJINGDU
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#ifdef TCP_RTCM
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if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
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TCPClient_Poll();
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#endif
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#endif
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PowerLedTask();
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PowerDownDetect();
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//uwbpolltask();
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UserKeyTask();
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#endif
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#ifdef __OTA_CODE__
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Internet_Poll();
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HIDO_TimerPoll();
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HIDO_ATLitePoll();
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HTTPClient_Poll();
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OTA_Poll();
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#endif
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// CloseRTK4G();
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}
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uint8_t udp_uwbenable = 1,uwb_state;
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void APL_Poll(void)
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{
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APLPollTask();
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if(uwb_state!=udp_uwbenable)
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{
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uwb_state = udp_uwbenable;
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if(uwb_state)
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{
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UWBSPIWakeup();
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}else{
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uwbled = LEDOFF;
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dwt_entersleep();
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}
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}
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// printf("UWB״̬:%d",uwb_state);
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if(uwb_state)
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uwb_app_poll();
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IdleTask();
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}
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