V3.1，改为最新逻辑。 1.铁鞋没有处于充电状态&&同时在运动状态，正常定位，有uwb发uwb跟gps数据，没有就看是否有gps数据，有发gps数据...

WXK

2024-08-28 767edd5ec2a133c04c5d84aeba4135f0bd21d23f

 Core/Src/main.c

@@ -831,19 +831,18 @@
uint16_t fangchai_time;
extern uint8_t fangchai_flag;
extern uint8_t fangchai_state;
uint8_t yundong_state;
uint16_t yundong_time;


uint8_t gpslednum;
#define BAT_TIME 100
#define DIANLIANG 15
uint8_t air780_state;
//uint8_t air780_state;
extern uint8_t chongman_flag;
uint8_t jinru_parsegga_flag;
uint8_t input_5v_flag;
uint8_t num;
uint16_t sleep_time;
uint16_t chongdian_yundong_time;
uint16_t chongdianmeiyouuwb_time;
uint16_t chongdian_time;
void Bat_Percent_Poll()
{
    bat_time++;
@@ -856,19 +855,8 @@
void Powerled_Poll()
{
    if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {input_5v_flag=0;
        if(bat_percent>DIANLIANG)
        {
             powerled = RED;
        }
        else
        {
             powerled = RED;
        }
    }
    else
    {
    input_5v_flag=1;
        powerled = RED;
    }
}
void Fangchai_Panduan_Poll()
@@ -898,17 +886,7 @@
//        Beep_Off();        
    }
}
void Yundong_Panduan_Poll()
{
    if(yundong_state>0)
    {
        yundong_time++;
    }
    else
    {
        yundong_time=0;
    }
}

void Sleep_Panduan_Poll()
{
    if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
@@ -926,7 +904,7 @@
}
void Gps_Chongqi_Poll()
{
    if(nomove_flag==0&&!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&fangchai_state==0&&air780_state==0)
    if(nomove_flag==0&&!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&fangchai_state==0)
    {
        if(jinru_parsegga_flag==0)
        {
@@ -940,12 +918,27 @@
        }
    }
}
uint16_t work_time;
uint8_t input5vtime=10;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
    SystemClock_Config();
    Gps_Chongqi_Poll();
    Powerled_Poll();
    chongdianmeiyouuwb_time++;
//    chongdianmeiyouuwb_time++;
    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
    {
    chongdian_time++;
        if(chongdian_time>input5vtime)
        {input_5v_flag=1;}
        else
        {input_5v_flag=0;}
    }
    else
    {
    chongdian_time=0;
    input_5v_flag=0;    
    }
    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
    {
        num++;
@@ -968,20 +961,12 @@
        Set4LEDColor(powerled,loraled,gpsled,uwbled);
    }
    Fangchai_Panduan_Poll();
    Yundong_Panduan_Poll();
    heart_time++;
    work_time++;
    nomove_count++;
    Sleep_Panduan_Poll();
    Bat_Percent_Poll();
    chongdian_yundong_time++;
//    if(!chongman_flag)
//    {
//    powerled=LEDOFF;
//    loraled=LEDOFF;
//    gpsled=LEDOFF;
//    uwbled=LEDOFF;
//    Set4LEDColor_Off();
//    }

    if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&chongman_flag==0)
    {
    }