From 8e20afae32b9e4115caeea49a470016f71661555 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 09 一月 2025 09:25:33 +0800
Subject: [PATCH] 目前调试完毕 1s上发一次 适配最新板子 看门狗跟静止休眠能同时用，去掉了低功耗超链接模式目前
---
APL/App.c | 422 +++++++++++++++++++++++++---------------------------
1 files changed, 206 insertions(+), 216 deletions(-)
diff --git a/APL/App.c b/APL/App.c
index 1582cbf..1051635 100644
--- a/APL/App.c
+++ b/APL/App.c
@@ -180,99 +180,6 @@
extern uint8_t chongdian_time;
extern uint8_t input5vtime;
extern uint16_t work_time;
-void PowerLedTask(void)
-{
- static u8 powerled_state=0;
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- if(!power_state&&!chargedbg_flag)
- {
- DBG_SetMode(DBG_MODE_CHARGE);
- power_state = 1;
- }
- while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&DBG_GetMode() == DBG_MODE_CHARGE)
- {
- nomove_count = 0;
- HAL_IWDG_Refresh(&hiwdg);
- DBG_Poll();
- IdleTask();
- if(bat_percent>=100)
- {
- powerled = RED;
- chongman_flag=1;
- }
- else
- {
- powerled = RED;
- }
-// if(receive1_gotosleep_flag||receive2_gotosleep_flag)
-// {
-// if(receive1_gotosleep_flag)
-// {
-// uwbled=LEDOFF;
-// Stop_chongdian_Mode_Poll();
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-// if(chongman_flag) //充满电重启，重启外设。
-// {HAL_NVIC_SystemReset();}
-// }
-// if(receive2_gotosleep_flag)
-// {
-// uwbled=LEDOFF;
-// Stop_chongdian_Mode_Poll();
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-// }
-// }
-// else
-// {
-// Internet_Poll();
-// HIDO_TimerPoll();
-// HIDO_ATLitePoll();
-// UDPClient_Poll();
-// GPS_Poll();
-// 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);
-// }
-// }
-//
-// }
-// }
- }
-
- }
- chongman_flag=0;
- chargeon = 0;
- if(power_state)
- {
- DBG_SetMode(DBG_MODE_SHELL);
- power_state = 0;
- }
- if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
- {
- chargedbg_flag = 0;
-
- }
-}
uint8_t imu_enable;
extern uint32_t dev_id;
void Program_Init(void)
@@ -345,10 +252,10 @@
dev_id = g_com_map[DEV_ID];
printf("设备ID: %x .\r\n",dev_id);
- printf("固件版本: 铁鞋定位 V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
+ printf("固件版本: L071无UWB工卡V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
printf("服务器地址: %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]);
printf("当前运动时GPS工作间隔: %d .\r\n",g_com_map[GPS_HZ]);
- printf("当前被拆时GPS工作间隔: %d .\r\n",g_com_map[CHAICHUGPS_HZ]);
+// printf("当前被拆时GPS工作间隔: %d .\r\n",g_com_map[CHAICHUGPS_HZ]);
// if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
// { printf("TCP_RTCM模式,服务器地址: %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]);
// }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
@@ -368,7 +275,43 @@
// printf("单点定位模式模式. \r\n");
// }
}
-
+void PowerDownDetect(void)
+{
+ static HIDO_UINT32 l_u32QXpowerTick = 0;
+ static uint32_t powercount=0;
+
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12))
+ {
+ if((HIDO_TimerGetTick() - l_u32QXpowerTick) >=1000)
+ {
+ while(1)
+ {
+ gpsled=WHITE;
+ uwbled=WHITE;
+ loraled=WHITE;
+ powerled=WHITE;
+
+ if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_12)==0)
+ {
+ powercount = 0;
+ l_u32QXpowerTick = HIDO_TimerGetTick();
+ while(1)
+ {
+
+ if((HIDO_TimerGetTick() - l_u32QXpowerTick) >=100)
+ {
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
+ }
+ }
+ }
+ }
+ }
+ }else{
+ l_u32QXpowerTick = HIDO_TimerGetTick();
+ }
+}
void IdleTask(void)
{
// APLPollTask();
@@ -418,50 +361,173 @@
uwbchecksum = Checksum_u16(&uwb_send[2],15+5*taglist_num);
memcpy(&uwb_send[17+5*taglist_num],&uwbchecksum,2);
}
+u8 only_one_flag;
+u16 chongman_time;
+u8 bat_percent_old=100;
+extern IWDG_HandleTypeDef hiwdg;
+u32 adctick = 0;
+u8 rtk_state = 1;
+void CloseRTK4G(void)
+{
+ rtk_state = 0;
+
+ loraled = LEDOFF;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+}
+void OpenRTK4G(void)
+{
+ loraled = 1;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
+}
+void PowerLedTask(void)
+{
+ static u8 powerled_state=0;
+
+ if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ chongman_time=0;
+ only_one_flag=0;
+ uwbled=0;
+ gpsled=0;
+ loraled=0;
+ powerled=0;
+ if(!power_state&&!chargedbg_flag)
+ {
+ CloseRTK4G();
+ DBG_SetMode(DBG_MODE_CHARGE);
+ power_state = 1;
+// Uart_ChongxinInit(UART_ID_DBG);
+// DBG_Init();
+// Shell_Init();
+ }
+ while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&DBG_GetMode() == DBG_MODE_CHARGE)
+ {
+ nomove_count = 0;
+ if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+ {HAL_IWDG_Refresh(&hiwdg);
+ chongman_time=chongman_time+6;
+ adctick = HIDO_TimerGetTick();
+ if( HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10))
+ {
+ bat_percent=Get_Battary();
+ }else{
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
+ bat_percent=Get_Battary();
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
+ }
+ }
+ if(bat_percent>=99&&!only_one_flag)
+ {
+ only_one_flag=1;
+ chongman_time=0;
+ }
+ if(bat_percent>=99&&chongman_time>=1800)
+ {
+ powerled = GREEN;
+ }else{
+ powerled = RED;
+ }
+ delay_ms(100);
+ DBG_Poll();
+ Internet_Poll();
+ Set4LEDColor(0,0,0,powerled);
+ }
+ }
+
+ chargeon = 0;
+ if(power_state)
+ {
+ DBG_SetMode(DBG_MODE_SHELL);
+ power_state = 0;
+ bat_percent_old=100;
+ OpenRTK4G();
+ }
+ if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ {
+ chargedbg_flag = 0;
+
+ }
+ if(HIDO_TimerGetTick()%1000<10 )
+ {
+ if(powerled_state==0)
+ {
+ if(bat_percent>15)
+ {
+ powerled = BLUE;
+ }else{
+ powerled = RED;
+ }
+ powerled_state = 1;
+ // bat_percent = Battery_GetPercentage();
+ Set4LEDColor(uwbled,gpsled,loraled,powerled);
+ }
+ }else
+ {
+ if(powerled_state)
+ {
+ powerled_state = 0;
+ powerled = LEDOFF;
+ uwbled = LEDOFF;
+ gpsled = LEDOFF;
+ loraled = LEDOFF;
+ Set4LEDColor(uwbled,gpsled,loraled,powerled);
+ }
+
+ }
+
+
+ if(HIDO_TimerGetTick()-adctick>6000) //10分钟采样一次 电量
+ {
+ adctick = HIDO_TimerGetTick();
+ if( HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10))
+ {
+ bat_percent=Get_Battary();
+ if(bat_percent>bat_percent_old)
+ {
+ bat_percent=bat_percent_old;
+ }
+ else
+ {
+ bat_percent_old=bat_percent;
+ }
+ }else{
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
+ bat_percent=Get_Battary();
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
+ if(bat_percent>bat_percent_old)
+ {
+ bat_percent=bat_percent_old;
+ }
+ else
+ {
+ bat_percent_old=bat_percent;
+ }
+ }
+ }
+}
+
extern uint32_t main_time;
extern uint16_t testlorarecve;
uint8_t delaysleep_count;
char str[17]= {"AT+IPR=9600;&W\r\n"};
extern UART_HandleTypeDef huart5;
+extern uint8_t stop_flag;
void Main_Poll()
{
- if(main_time>10&&only_one_flag==0)
- {
- only_one_flag=1;
- Uart_ReConfigBaudRate(UART_ID_4G,115200);
- HAL_UART_Transmit(&huart5, str,17,1000);
- Uart_ReConfigBaudRate(UART_ID_4G,9600);
- }
- PowerLedTask();
- DBG_Poll();
- IdleTask();
- GPS_Poll();
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
- HAL_IWDG_Refresh(&hiwdg);
-
-
-// if(AIR780E_IsIPIdle() && Socket_IsSendQueueEmpty(0))
+// if(main_time>10&&only_one_flag==0)
// {
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// only_one_flag=1;
+// Uart_ReConfigBaudRate(UART_ID_4G,115200);
+// HAL_UART_Transmit(&huart5, str,17,1000);
+// Uart_ReConfigBaudRate(UART_ID_4G,9600);
// }
- if(delaysleep_count==0/*&&!gps_need_data_flag*/)
- if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))/*||((!flag_TCP_reconnectting)&&!IfTCPConnected())*/))
+ if(stop_flag)
{
- HAL_IWDG_Refresh(&hiwdg);
- printf("要进入休眠了，当前时间戳%d\r\n",HIDO_TimerGetTick());
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+ HAL_IWDG_Refresh(&hiwdg);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON,PWR_STOPENTRY_WFI);
}
-}
-void Main_Poll_666()
-{
- u16 uwbchecksum;
- IdleTask();
- HAL_IWDG_Refresh(&hiwdg);
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))//5V输入检测
- {
+ else
+ {
PowerLedTask();
DBG_Poll();
IdleTask();
@@ -470,97 +536,21 @@
HIDO_TimerPoll();
HIDO_ATLitePoll();
UDPClient_Poll();
-
+ HAL_IWDG_Refresh(&hiwdg);
+ PowerDownDetect();
+ Sleep_Panduan_Poll();
}
- else
- {
- if(chongdian_only_one_flag)//如果从充电休眠状态突然拔掉充电线，进入正常工作模式，要重启重新启动4g gps等模块
- {HAL_NVIC_SystemReset();}
-// if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1)) // 设备被拆卸拆卸后每秒发1次XTB，连续发五次。 然后10分钟发送一次定位信息，和XTB,其他时候休眠。
+// if(AIR780E_IsIPIdle() && Socket_IsSendQueueEmpty(0))
// {
-// 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();
-// }
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
// }
-// else//设备没被拆卸
+// if(delaysleep_count==0/*&&!gps_need_data_flag*/)
+// if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))/*||((!flag_TCP_reconnectting)&&!IfTCPConnected())*/))
// {
- if(receive3_gotosleep_flag)//没有处于充电状态&&同时在静止休状态，收到上位机要求的休眠标志位
- {
- Stop_Mode_Poll();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- if(work_time>1200)
- {HAL_NVIC_SystemReset();}///20分钟后再次启动工作，重复a步骤(避免铁鞋被盗找不到)
- }
- 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);
- }
- }
- }
- }
-}
+// HAL_IWDG_Refresh(&hiwdg);
+// printf("要进入休眠了，当前时间戳%d\r\n",HIDO_TimerGetTick());
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// }
}
//*/
--
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