/*******************************************************************************
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* File Name : App.c
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* Description :
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* Created on : 2021Äê5ÔÂ07ÈÕ
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* Author : www.hido-studio.com
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*******************************************************************************/
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include <string.h>
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#include <math.h>
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#include <stdio.h>
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#include "App.h"
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#include "stm32l0xx_hal.h"
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#include "HIDO_Timer.h"
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#include "Module.h"
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#include "GPS.h"
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#include "main.h"
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#include "DBG.h"
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#include "global_param.h"
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#include "AIR780EDriver.h"
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#include "Uart.h"
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#include "Internet.h"
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#include "HIDO_ATLite.h"
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#include "UDPClient.h"
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#include "global_param.h"
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#include "SPIFlash.h"
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#include "App.h"
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#include "dw_driver.h"
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#include "deca_device_api.h"
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#include "dw_app.h"
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#include "Lora.h"
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#include "radio.h"
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#include "DBG.h"
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#include "WS2812.h"
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#include "dw_mbx_tag.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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static HIDO_BOOL l_bDismantle = HIDO_FALSE;
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static HIDO_BOOL l_bCancelAlarm = HIDO_FALSE;
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static HIDO_UINT32 l_u32DismantleAlarmTick = 0;
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static HIDO_BOOL l_bCharge = HIDO_FALSE;
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static HIDO_BOOL l_u32CancelChargeReport = HIDO_FALSE;
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static HIDO_UINT32 l_u32ChargeTick = 0;
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static HIDO_UINT32 l_u32LocationTick = 0;
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extern ST_GPS l_stGPS;
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extern uint32_t uwbled,gpsled,loraled,powerled;
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uint8_t uwb_send[200]={0x55,0xaa};
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void Uwb_Zubao_Poll();
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extern IWDG_HandleTypeDef hiwdg;
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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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char senddata[100];
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void HexToAsciiSendUDP(uint8_t* data,u8 len)
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{
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u8 i,temp;
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for(i=0;i<len;i++)
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{
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temp = *data++;
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sprintf(&senddata[2*i],"%x",temp>>4);
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sprintf(&senddata[2*i+1],"%x",temp&0xf);
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}
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senddata[2*len] = 0x0d;
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senddata[2*len+1] = 0x0a;
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// if(DBG_GetMode() == DBG_MODE_CFG)
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// Uart_Send(0, (HIDO_UINT8 *) senddata, 2*len+2);
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UDPClient_Uploadhex((uint8_t*)senddata,2*len+2);
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}
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extern uint8_t bat_percent;
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uint8_t LBS_data[100]="$GNGGA,LBS,";
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extern uint8_t fangchai_flag;
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static HIDO_VOID LBSLocationCallback(ST_LBSLocation *_pstLBSLocation, HIDO_VOID *_pArg)
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{ char LBS_dLon[16],LBS_dLat[16];
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// Éϱ¨LBSλÖÃ
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snprintf(LBS_dLon,sizeof(LBS_dLon),"%.8lf",_pstLBSLocation->m_dLon);
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snprintf(LBS_dLat,sizeof(LBS_dLat),"%.8lf",_pstLBSLocation->m_dLat);
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memcpy(&LBS_data[11],&LBS_dLon,12);
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LBS_data[23]=0x2C;
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memcpy(&LBS_data[24],&LBS_dLat,12);
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HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)LBS_data, sizeof(LBS_data), "%s,,,,,0,00,00.0,,,,,,*00,%X,%02x,%x,%d,%d,%d%\r\n",
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LBS_data,g_com_map[DEV_ID], bat_percent,0,0,0,fangchai_flag);
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Socket_Send(0, (HIDO_UINT8 *)LBS_data, u32Len);
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// HexToAsciiSendUDP(LBS_data,u32Len);
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// UDPClient_UploadGPS((char*)LBS_data);
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}
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extern UART_HandleTypeDef huart2;
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uint8_t chongdian_only_one_flag;
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void Stop_chongdian_Mode_Poll()
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{
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if(chongdian_only_one_flag==0)
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{
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chongdian_only_one_flag=1;
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GPS_PowerOff();
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HAL_UART_DeInit(&huart2);
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GPIO_InitTypeDef GPIO_InitStruct = {0};//
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GPIO_InitStruct.Pin = GPIO_PIN_4;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
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// Radio.Sleep();
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dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
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dwt_entersleep();
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}
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}
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uint8_t only_one_flag;
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void Stop_Mode_Poll()
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{
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if(only_one_flag==0)
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{
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only_one_flag=1;
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GPS_PowerOff();
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HAL_UART_DeInit(&huart2);
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GPIO_InitTypeDef GPIO_InitStruct = {0};//
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GPIO_InitStruct.Pin = GPIO_PIN_4;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
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// Radio.Sleep();
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dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
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dwt_entersleep();
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}
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}
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extern uint16_t nomove_count;
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extern uint8_t bat_percent;
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extern uint8_t chargedbg_flag;
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u8 power_state = 0,chargeon = 0;
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uint8_t chongman_flag;
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extern uint8_t bat_percent;
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extern uint16_t heart_time;
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extern uint8_t nomove_flag;
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uint16_t qidong_time;
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#define QIDONG_TIME 60 //1·ÖÖÓ
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#define DENGDAI_TIME 30//90s
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//#define STOP_TIME 600-DENGDAI_TIME-QIDONG_TIME//600s 10·ÖÖÓ
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#define YUNDONG_UWB_TIME 1
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#define YUNDONG_GPS4G_TIME 100
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uint8_t GPS_data[200];
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uint8_t GPS_successful_flag;
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uint8_t fangchai_flag;
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uint8_t fangchai_state;
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extern uint16_t fangchai_time;
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extern uint8_t taglist_num;
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uint16_t tagseq;
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extern uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
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extern uint8_t tagbat_list[ANC_MAX_NUM];
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extern TIM_HandleTypeDef htim3;
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extern uint8_t beep_state;
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//extern uint8_t air780_state;
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extern uint16_t sleep_time;
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uint8_t zuihoufasong_falg;
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extern uint8_t receive1_gotosleep_flag;
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extern uint8_t receive2_gotosleep_flag;
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extern uint8_t receive3_gotosleep_flag;
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extern uint8_t chongdian_time;
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extern uint8_t input5vtime;
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extern uint16_t work_time;
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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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if(!power_state&&!chargedbg_flag)
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{
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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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nomove_count = 0;
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HAL_IWDG_Refresh(&hiwdg);
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DBG_Poll();
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IdleTask();
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if(bat_percent>=100)
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{
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powerled = RED;
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chongman_flag=1;
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}
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else
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{
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powerled = RED;
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}
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if(receive1_gotosleep_flag||receive2_gotosleep_flag)
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{
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if(receive1_gotosleep_flag)
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{
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uwbled=LEDOFF;
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Stop_chongdian_Mode_Poll();
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HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
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if(chongman_flag) //³äÂúµçÖØÆô£¬ÖØÆôÍâÉè¡£
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{HAL_NVIC_SystemReset();}
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}
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if(receive2_gotosleep_flag)
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{
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uwbled=LEDOFF;
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Stop_chongdian_Mode_Poll();
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HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
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}
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}
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else
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{
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Internet_Poll();
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HIDO_TimerPoll();
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HIDO_ATLitePoll();
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UDPClient_Poll();
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GPS_Poll();
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if(taglist_num>0)
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{
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if(work_time>=YUNDONG_UWB_TIME)
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{
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work_time=0;
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Uwb_Zubao_Poll();
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UDPClient_UploadGPS((char*)GPS_data);
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HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
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taglist_num=0;
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}
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}
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else
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{
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if(work_time>=g_com_map[GPS_HZ])
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{
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work_time=0;
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if(GPS_successful_flag)
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{
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UDPClient_UploadGPS((char*)GPS_data);
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}
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else
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{
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Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
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}
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}
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}
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}
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}
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}
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chongman_flag=0;
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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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}
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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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}
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uint8_t imu_enable;
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extern uint32_t dev_id;
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void Program_Init(void)
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{
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float temp;
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uint16_t temp2;
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uint16_t i;
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parameter_init();
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// hardware_version = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP);
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// hardware_pici = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP + 2);
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// hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP + 4);
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//deca_sleep(1000);
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g_com_map[GROUP_ID]=3;
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g_com_map[VERSION] = (3<<8)|7;
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if (g_com_map[COM_INTERVAL] <50)
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{
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g_com_map[COM_INTERVAL] = 100;
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}
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if (g_com_map[COM_INTERVAL] >1000)
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{
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g_com_map[COM_INTERVAL] = 1000;
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}
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if (g_com_map[IMU_THRES] > 10)
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{
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g_com_map[IMU_THRES] = 2;
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}
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if (g_com_map[POWERx] > MAX_RFPOWER)
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{
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g_com_map[POWERx] = MAX_RFPOWER;
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}
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if (g_com_map[POWERx] < 0)
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{
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g_com_map[POWERx] = 0;
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}
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if(g_com_map[STATIONARY_TIME] == 0xffff)
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{
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g_com_map[STATIONARY_TIME] = 10;
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}
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if(g_com_map[NEARBASE_ID2]>10000)
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{
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g_com_map[NEARBASE_ID2] = 0;
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}
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if(g_com_map[GPS_HZ]<180||g_com_map[GPS_HZ]>3600)
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{
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if(g_com_map[GPS_HZ]==1)
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{g_com_map[GPS_HZ]=1;}
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else
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{g_com_map[GPS_HZ]=600;}
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}
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g_com_map[GPS_HZ]=1;
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if(g_com_map[CHAICHUGPS_HZ]<180||g_com_map[CHAICHUGPS_HZ]>3600)
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{
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{g_com_map[CHAICHUGPS_HZ]=600;}
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}
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g_com_map[CHAICHUGPS_HZ]=1800;
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if(g_com_map[NOMOVESLEEP_TIME]>120)
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{
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g_com_map[NOMOVESLEEP_TIME]=120;
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}
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// g_com_map[GPS_HZ]=120;
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imu_enable=g_com_map[IMU_ENABLE];
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// module_power = g_com_map[POWERx];
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// imu_enable = g_com_map[IMU_ENABLE];
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// motor_enable = g_com_map[MOTOR_ENABLE];
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//g_com_map[COM_INTERVAL] = 100;
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group_id = g_com_map[GROUP_ID];
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dev_id = g_com_map[DEV_ID];
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printf("É豸ID: %x .\r\n",dev_id);
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printf("¹Ì¼þ°æ±¾: ÌúЬ¶¨Î» V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
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printf("·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
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printf("µ±Ç°Ô˶¯Ê±GPS¹¤×÷¼ä¸ô: %d .\r\n",g_com_map[GPS_HZ]);
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printf("µ±Ç°±»²ðʱGPS¹¤×÷¼ä¸ô: %d .\r\n",g_com_map[CHAICHUGPS_HZ]);
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// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
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// { printf("TCP_RTCMģʽ,·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
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// }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
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// {
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//// sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
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//// g_com_map[NTRIP_PORT_INDEX] = 8005;
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//// sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
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//// sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
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//// sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
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// printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
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// printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
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// printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
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// printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
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// printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
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// }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
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// {
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// printf("µ¥µã¶¨Î»Ä£Ê½Ä£Ê½. \r\n");
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// }
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}
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void IdleTask(void)
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{
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// APLPollTask();
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if(g_com_map[CNT_RESTART]==1)
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{
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g_com_map[CNT_RESTART]=0;
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// printf("%s URTRestart",__debug_info__);
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// URTRestart();
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HAL_NVIC_SystemReset();
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}
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if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
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{
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// printf("%s URTRestart",__debug_info__);
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// URTRestart();
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// // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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HAL_NVIC_SystemReset();
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}
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}
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extern uint8_t jingzhiflag;
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extern uint16_t testlorarecve;
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void Uwb_Zubao_Poll()
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{
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for(u16 i=0;i<taglist_num-1;i++)
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{
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for(u16 j=0;j<taglist_num-1-i;j++)
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{
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if(tagdist_list[j]>tagdist_list[j+1])
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{
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u16 id,dist;
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u8 bat;
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id = tagid_list[j];
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dist = tagdist_list[j];
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bat = tagbat_list[j];
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tagid_list[j] = tagid_list[j+1];
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tagdist_list[j] = tagdist_list[j+1];
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tagbat_list[j] = tagbat_list[j+1];
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tagid_list[j+1] = id;
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tagdist_list[j+1] = dist;
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tagbat_list[j+1] = bat;
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}
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}
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}
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uint16_t state_flag;
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u16 uwbchecksum;
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state_flag=fangchai_flag<<4|jingzhiflag<<1;
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if(taglist_num>8)
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{taglist_num=8;}
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uwb_send[2] = 0x12;//Õý³£Ä£Ê½
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uwb_send[3] = 15+5*(taglist_num);//Êý¾Ý¶Î³¤¶È
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memcpy(&uwb_send[4],&dev_id,2);
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uwb_send[6] = tagseq;
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uwb_send[7] = (tagseq++)>>8;
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uwb_send[8] = bat_percent;
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uwb_send[9] = state_flag;
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memcpy(&uwb_send[10],&testlorarecve,2);
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testlorarecve=0;
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uwb_send[12] = 0;
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uwb_send[13] = 0;
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uwb_send[14] = 0;
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uwb_send[15] = 0;
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uwb_send[16] = taglist_num;
|
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memcpy(&uwb_send[17],&tagid_list,2*taglist_num);
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memcpy(&uwb_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
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memcpy(&uwb_send[17+taglist_num*4],&tagbat_list,taglist_num);
|
uwbchecksum = Checksum_u16(&uwb_send[2],15+5*taglist_num);
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memcpy(&uwb_send[17+5*taglist_num],&uwbchecksum,2);
|
}
|
extern uint16_t testlorarecve;
|
void Main_Poll()
|
{
|
u16 uwbchecksum;
|
IdleTask();
|
HAL_IWDG_Refresh(&hiwdg);
|
if(bat_percent<=5)
|
{
|
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
|
}
|
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))//5VÊäÈë¼ì²â
|
{
|
PowerLedTask();
|
DBG_Poll();
|
IdleTask();
|
}
|
else
|
{
|
if(chongdian_only_one_flag)//Èç¹û´Ó³äµçÐÝÃß״̬ͻȻ°Îµô³äµçÏߣ¬½øÈëÕý³£¹¤×÷ģʽ£¬ÒªÖØÆôÖØÐÂÆô¶¯4g gpsµÈÄ£¿é
|
{HAL_NVIC_SystemReset();}
|
// if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1)) // É豸±»²ðж²ðжºóÿÃë·¢1´ÎXTB£¬Á¬Ðø·¢Îå´Î¡£ È»ºó10·ÖÖÓ·¢ËÍÒ»´Î¶¨Î»ÐÅÏ¢£¬ºÍXTB,ÆäËûʱºòÐÝÃß¡£
|
// {
|
// fangchai_flag=1;
|
// yundong_state=0;
|
// if(fangchai_state==0||fangchai_state==1)
|
// {
|
// GPS_Poll();
|
// Internet_Poll();
|
// HIDO_TimerPoll();
|
// HIDO_ATLitePoll();
|
// UDPClient_Poll();
|
// }
|
// if(fangchai_time>QIDONG_TIME&&fangchai_state==0)
|
// {
|
// fangchai_state=1;
|
// fangchai_time=0;
|
// if(GPS_successful_flag)
|
// {
|
// UDPClient_UploadGPS((char*)GPS_data);
|
// }
|
// else
|
// {
|
// Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
|
// }
|
// }
|
// if(fangchai_time>DENGDAI_TIME&&fangchai_state==1)
|
// {
|
// fangchai_time=0;
|
// fangchai_state=2;
|
// Stop_Mode_Poll();
|
// }
|
// if(fangchai_state==2)
|
// {
|
// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
|
// }
|
// if(fangchai_time>g_com_map[CHAICHUGPS_HZ]-QIDONG_TIME-DENGDAI_TIME&&fangchai_state==2)
|
// {
|
// HAL_NVIC_SystemReset();
|
// }
|
// }
|
// else//É豸û±»²ðж
|
// {
|
if(receive3_gotosleep_flag)//ûÓд¦ÓÚ³äµç״̬&&ͬʱÔÚ¾²Ö¹ÐÝ״̬£¬ÊÕµ½ÉÏλ»úÒªÇóµÄÐÝÃß±ê־λ
|
{
|
Stop_Mode_Poll();
|
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
|
if(work_time>1200)
|
{HAL_NVIC_SystemReset();}///20·ÖÖÓºóÔÙ´ÎÆô¶¯¹¤×÷£¬Öظ´a²½Öè(±ÜÃâÌúЬ±»µÁÕÒ²»µ½)
|
}
|
else
|
{
|
GPS_Poll();
|
Internet_Poll();
|
HIDO_TimerPoll();
|
HIDO_ATLitePoll();
|
UDPClient_Poll();
|
// taglist_num=5;
|
if(taglist_num>0)
|
{
|
if(work_time>=YUNDONG_UWB_TIME)
|
{
|
work_time=0;
|
Uwb_Zubao_Poll();
|
UDPClient_UploadGPS((char*)GPS_data);
|
HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
|
taglist_num=0;
|
}
|
}
|
else
|
{
|
if(work_time>=g_com_map[GPS_HZ])
|
{
|
work_time=0;
|
if(GPS_successful_flag)
|
{
|
UDPClient_UploadGPS((char*)GPS_data);
|
}
|
else
|
{
|
Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
|
}
|
}
|
}
|
}
|
}
|
}
|
|
//*/
|
////ÒÔÉÏÊÇÔ´´úÂ룬±»²ð³ýʱ¼ä½ÓÐԹرÕ4G
|
