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 | 853 +++++++++++++++++++++-----------------------------------
1 files changed, 315 insertions(+), 538 deletions(-)
diff --git a/APL/App.c b/APL/App.c
index 64ec978..1051635 100644
--- a/APL/App.c
+++ b/APL/App.c
@@ -57,7 +57,9 @@
static HIDO_UINT32 l_u32LocationTick = 0;
extern ST_GPS l_stGPS;
extern uint32_t uwbled,gpsled,loraled,powerled;
-uint8_t uwb_send[100]={0x55,0xaa};
+uint8_t uwb_send[200]={0x55,0xaa};
+void Uwb_Zubao_Poll();
+extern IWDG_HandleTypeDef hiwdg;
/*******************************************************************************
* Local Function Declaration *
*******************************************************************************/
@@ -101,144 +103,83 @@
// HexToAsciiSendUDP(LBS_data,u32Len);
// UDPClient_UploadGPS((char*)LBS_data);
}
+extern UART_HandleTypeDef huart2;
+uint8_t chongdian_only_one_flag;
+void Stop_chongdian_Mode_Poll()
+{
+ if(chongdian_only_one_flag==0)
+ {
+ chongdian_only_one_flag=1;
+ GPS_PowerOff();
+ HAL_UART_DeInit(&huart2);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};//
+ GPIO_InitStruct.Pin = GPIO_PIN_4;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-/*******************************************************************************
- * Function Name : App_Poll
- * Description :
- * Input :
- * Output : None
- * Return : None
- * Author : www.hido-studio.com
- * Modified Date: : 2021年5月07日
- *******************************************************************************/
-//HIDO_VOID App_Poll(HIDO_VOID)
-//{
-// // 充电状态
-// if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8) == GPIO_PIN_SET)
-// {
-// if(HIDO_FALSE == l_bCharge)
-// {
-// l_bCharge = HIDO_TRUE;
-// l_u32ChargeTick = 0;
-// l_u32CancelChargeReport = HIDO_FALSE;
-// }
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
+// Radio.Sleep();
+ dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
+ dwt_entersleep();
+ }
+}
+uint8_t only_one_flag;
+void Stop_Mode_Poll()
+{
+ if(only_one_flag==0)
+ {
+ only_one_flag=1;
+ GPS_PowerOff();
+ HAL_UART_DeInit(&huart2);
+ GPIO_InitTypeDef GPIO_InitStruct = {0};//
+ GPIO_InitStruct.Pin = GPIO_PIN_4;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-// if(l_bCharge == HIDO_TRUE && l_u32CancelChargeReport == HIDO_FALSE)
-// {
-// if((HIDO_TimerGetTick() - l_u32ChargeTick) >= HIDO_TIMER_TICK_S(10))
-// {
-// l_u32ChargeTick = HIDO_TimerGetTick();
-
-// // 发送状态
-// }
-// }
-
-// return;
-// }
-// else
-// {
-// l_bCharge = HIDO_FALSE;
-// }
-
-// // 设备被拆卸
-// if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_11) == GPIO_PIN_RESET)
-// {
-// if(HIDO_FALSE == l_bDismantle)
-// {
-// l_bCancelAlarm = HIDO_FALSE;
-// l_bDismantle = HIDO_TRUE;
-// l_u32DismantleAlarmTick = 0;
-// }
-// }
-// else
-// {
-// l_bDismantle = HIDO_TRUE;
-// }
-
-// // 启动蜂鸣器
-// if(l_bDismantle == HIDO_TRUE && l_bCancelAlarm == HIDO_FALSE)
-// {
-// // 蜂鸣器动作
-
-// // 每隔10秒发送一次告警
-// if((HIDO_TimerGetTick() - l_u32DismantleAlarmTick) >= HIDO_TIMER_TICK_S(10))
-// {
-// l_u32DismantleAlarmTick = HIDO_TimerGetTick();
-
-// // 发送告警
-// }
-// }
-
-// // 10分钟上报一次位置
-// if((HIDO_TimerGetTick() - l_u32LocationTick) >= HIDO_TIMER_TICK_S(1/*0 * 60*/))
-// {
-// l_u32LocationTick = HIDO_TimerGetTick();
-
-// // GPS定位有效
-// if(l_stGPS.m_eState)
-// {
-// // 发送GNSS位置
-// }
-// // GPS定位无效
-// else
-// {
-// // 获取LBS位置
-// Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-// }
-// }
-//}
+ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
+// Radio.Sleep();
+ dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
+ dwt_entersleep();
+ }
+}
extern uint16_t nomove_count;
extern uint8_t bat_percent;
extern uint8_t chargedbg_flag;
u8 power_state = 0,chargeon = 0;
uint8_t chongman_flag;
-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)
- {
- DBG_Poll();
- IdleTask();
- uwbled=LEDOFF;
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
- if(bat_percent>90)
- {
- powerled = RED;
- gpsled = LEDOFF;
- uwbled = LEDOFF;
- loraled = LEDOFF;
- chongman_flag=1;
- }
- else
- {
- powerled = RED;
- }
- }
-
- }
- 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;
-
- }
-}
+extern uint8_t bat_percent;
+extern uint16_t heart_time;
+extern uint8_t nomove_flag;
+uint16_t qidong_time;
+#define QIDONG_TIME 60 //1分钟
+#define DENGDAI_TIME 30//90s
+//#define STOP_TIME 600-DENGDAI_TIME-QIDONG_TIME//600s 10分钟
+#define YUNDONG_UWB_TIME 1
+#define YUNDONG_GPS4G_TIME 100
+uint8_t GPS_data[200];
+uint8_t GPS_successful_flag;
+uint8_t fangchai_flag;
+uint8_t fangchai_state;
+extern uint16_t fangchai_time;
+extern uint8_t taglist_num;
+uint16_t tagseq;
+extern uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
+extern uint8_t tagbat_list[ANC_MAX_NUM];
+extern TIM_HandleTypeDef htim3;
+extern uint8_t beep_state;
+//extern uint8_t air780_state;
+extern uint16_t sleep_time;
+uint8_t zuihoufasong_falg;
+extern uint8_t receive1_gotosleep_flag;
+extern uint8_t receive2_gotosleep_flag;
+extern uint8_t receive3_gotosleep_flag;
+extern uint8_t chongdian_time;
+extern uint8_t input5vtime;
+extern uint16_t work_time;
uint8_t imu_enable;
extern uint32_t dev_id;
void Program_Init(void)
@@ -253,8 +194,8 @@
// hardware_type = STMFLASH_ReadHalfWord(FLASH_HARDWARE_VERSION_MAP + 4);
//deca_sleep(1000);
- g_com_map[GROUP_ID]=0;
- g_com_map[VERSION] = (2<<8)|1;
+ g_com_map[GROUP_ID]=3;
+ g_com_map[VERSION] = (3<<8)|1;
if (g_com_map[COM_INTERVAL] <50)
{
@@ -291,10 +232,12 @@
else
{g_com_map[GPS_HZ]=600;}
}
+ g_com_map[GPS_HZ]=1;
if(g_com_map[CHAICHUGPS_HZ]<180||g_com_map[CHAICHUGPS_HZ]>3600)
{
{g_com_map[CHAICHUGPS_HZ]=600;}
}
+ g_com_map[CHAICHUGPS_HZ]=1800;
if(g_com_map[NOMOVESLEEP_TIME]>120)
{
g_com_map[NOMOVESLEEP_TIME]=120;
@@ -309,30 +252,66 @@
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]);
- 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)
- {
-// sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
-// g_com_map[NTRIP_PORT_INDEX] = 8005;
-// sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
-// sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
-// sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
- printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
- printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
- printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
- printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
- printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
- }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
- {
- printf("单点定位模式模式. \r\n");
- }
+// 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)
+// {
+//// sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
+//// g_com_map[NTRIP_PORT_INDEX] = 8005;
+//// sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
+//// sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
+//// sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
+// printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
+// printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
+// printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
+// printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
+// printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
+// }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
+// {
+// 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();
@@ -352,74 +331,15 @@
}
}
-extern uint8_t bat_percent;
-extern uint16_t heart_time;
-extern uint8_t nomove_flag;
-uint16_t qidong_time;
-#define QIDONG_TIME 60 //1分钟
-#define DENGDAI_TIME 30//90s
-//#define STOP_TIME 600-DENGDAI_TIME-QIDONG_TIME//600s 10分钟
-#define YUNDONG_UWB_TIME 1
-#define YUNDONG_GPS4G_TIME 100
-extern UART_HandleTypeDef huart2;
-uint8_t GPS_data[100];
-uint8_t GPS_successful_flag;
-uint8_t fangchai_flag;
-uint8_t fangchai_state;
-uint8_t only_one_flag;
-uint8_t only_one_flag1;
-extern uint16_t fangchai_time;
-extern uint8_t taglist_num;
-uint16_t tagseq;
-extern uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
-extern uint8_t yundong_state;
-extern uint16_t yundong_time;
-extern uint8_t tagbat_list[ANC_MAX_NUM];
-extern TIM_HandleTypeDef htim3;
-extern uint8_t beep_state;
-extern uint8_t air780_state;
-void Stop_Mode_Poll()
-{
- if(only_one_flag==0)
- {
- only_one_flag=1;
- GPS_PowerOff();
- HAL_UART_DeInit(&huart2);
- GPIO_InitTypeDef GPIO_InitStruct = {0};//
- GPIO_InitStruct.Pin = GPIO_PIN_4;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
- Radio.Sleep();
- }
-}
-void Stop_Mode_chulelora_Poll()//关掉除了lora外的
-{
- if(only_one_flag1==0)
- {
- only_one_flag1=1;
- GPS_PowerOff();
- HAL_UART_DeInit(&huart2);
- GPIO_InitTypeDef GPIO_InitStruct = {0};//
- GPIO_InitStruct.Pin = GPIO_PIN_4;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
- HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
- }
-}
extern uint16_t testlorarecve;
void Uwb_Zubao_Poll()
{
uint16_t state_flag;
u16 uwbchecksum;
state_flag=fangchai_flag<<4;
-
+ if(taglist_num>8)
+ {taglist_num=8;}
uwb_send[2] = 0x12;//正常模式
uwb_send[3] = 15+5*(taglist_num);//数据段长度
memcpy(&uwb_send[4],&dev_id,2);
@@ -441,339 +361,196 @@
uwbchecksum = Checksum_u16(&uwb_send[2],15+5*taglist_num);
memcpy(&uwb_send[17+5*taglist_num],&uwbchecksum,2);
}
-//void Main_Poll()
-//{
-// u16 uwbchecksum;
-// IdleTask();
-// if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1)) // 设备被拆卸
-// {
-// if(air780_state>=2)
-// {
-// HAL_NVIC_SystemReset();
-// }
-// fangchai_flag=1;
-// yundong_state=0;
-// if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
-// {
-// if(bat_percent>90)
-// {
-// powerled = RED;
-// gpsled = LEDOFF;
-// uwbled = LEDOFF;
-// loraled = LEDOFF;
-// chongman_flag=1;
-// }
-// else
-// {
-// powerled = RED;
-// }
-// }
-// else
-// {chongman_flag=0;}
-
-// GPS_Poll();
-// Internet_Poll();
-// HIDO_TimerPoll();
-// HIDO_ATLitePoll();
-// UDPClient_Poll();
-
-// if(fangchai_time>g_com_map[CHAICHUGPS_HZ])
-// {
-// fangchai_time=0;
-// if(GPS_successful_flag)
-// {
-// UDPClient_UploadGPS((char*)GPS_data);
-// }
-// else
-// {
-// Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-// }
-// }
-// }
-// else//设备没被拆卸
-// {
-// fangchai_flag=0;
-// if(fangchai_state>=2)
-// {
-// HAL_NVIC_SystemReset();
-// }
-// if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))//5V输入检测
-// { yundong_state=0;
-// PowerLedTask();
-// DBG_Poll();
-// IdleTask();
-// Internet_Poll();
-// HIDO_TimerPoll();
-// HIDO_ATLitePoll();
-// UDPClient_Poll();
-// uwbled=LEDOFF;
-// }
-// else//没有5V输入
-// {
-// if(nomove_flag)//静止状态
-// {
-// yundong_state=0;
-// Stop_Mode_Poll();
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-// }
-// else//运动状态
-// {
-// if(yundong_state==0)
-// {Radio.Rx(0);}
-// yundong_state=1;
-// GPS_Poll();
-// Internet_Poll();
-// HIDO_TimerPoll();
-// HIDO_ATLitePoll();
-// UDPClient_Poll();
-//// taglist_num=5;
-// if(taglist_num>0)
-// {
-// if(air780_state>=2)
-// {
-// HAL_NVIC_SystemReset();
-// }
-// if(yundong_time>=YUNDONG_UWB_TIME)
-// {
-// air780_state=0;
-// yundong_time=0;
-// Uwb_Zubao_Poll();
-// HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
-//// loraled=BLUE;
-// taglist_num=0;
-// }
-// }
-// else
-// {
-// if(g_com_map[GPS_HZ]==1)
-// {
-// if(yundong_time>=g_com_map[GPS_HZ])
-// {
-// yundong_time=0;
-// if(GPS_successful_flag)
-// {
-// UDPClient_UploadGPS((char*)GPS_data);
-//// loraled=GREEN;
-// }
-// else
-// {
-// Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-//// loraled=WHITE;
-// }
-// }
-// }
-// else
-// {
-// if(yundong_time>=60&&air780_state==0)
-// {
-// air780_state=1;
-// yundong_time=0;
-// if(GPS_successful_flag)
-// {
-// UDPClient_UploadGPS((char*)GPS_data);
-//// loraled=GREEN;
-// }
-// else
-// {
-// Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-//// loraled=WHITE;
-// }
-// }
-// if(yundong_time>=30&&air780_state==1)
-// {
-// air780_state=2;
-// yundong_time=0;
-// Stop_Mode_chulelora_Poll();
-// }
-// if(air780_state==2)
-// {
-// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-// }
-// if(yundong_time>=g_com_map[GPS_HZ]-60&&air780_state==2)
-// {
-// HAL_NVIC_SystemReset();
-// }
-// }
-// }
-// }
-// }
-// }
-//}
-
-extern uint16_t testlorarecve;
-void Main_Poll()
+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)
{
- u16 uwbchecksum;
- IdleTask();
- 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。
+ 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))
{
- if(air780_state>=2)
- {
- HAL_NVIC_SystemReset();
- }
- fangchai_flag=1;
- yundong_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)
{
- if(bat_percent>90)
- {
- powerled = RED;
- gpsled = LEDOFF;
- uwbled = LEDOFF;
- loraled = LEDOFF;
- chongman_flag=1;
+ 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);
+ }
}
- else
+ 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;
}
- }
- else
- {chongman_flag=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//设备没被拆卸
- {
- fangchai_flag=0;
- if(fangchai_state>=2)
- {
- HAL_NVIC_SystemReset();
- }
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))//5V输入检测
- { yundong_state=0;
- PowerLedTask();
+ delay_ms(100);
DBG_Poll();
- IdleTask();
Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
- uwbled=LEDOFF;
- }
- else//没有5V输入
- {
- if(nomove_flag)//静止状态
- {
- yundong_state=0;
- Stop_Mode_Poll();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
- else//运动状态
- {
- if(yundong_state==0)
- {Radio.Rx(0);}
- yundong_state=1;
- GPS_Poll();
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
-// taglist_num=5;
- if(taglist_num>0)
- {
- if(air780_state>=2)
- {
- HAL_NVIC_SystemReset();
- }
- if(yundong_time>=YUNDONG_UWB_TIME)
- {
- air780_state=0;
- yundong_time=0;
- Uwb_Zubao_Poll();
- HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
-// loraled=BLUE;
- taglist_num=0;
- }
- }
- else
- {
- if(g_com_map[GPS_HZ]==1)
- {
- if(yundong_time>=g_com_map[GPS_HZ])
- {
- yundong_time=0;
- if(GPS_successful_flag)
- {
- UDPClient_UploadGPS((char*)GPS_data);
-// loraled=GREEN;
- }
- else
- {
- Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-// loraled=WHITE;
- }
- }
- }
- else
- {
- if(yundong_time>=60&&air780_state==0)
- {
- air780_state=1;
- yundong_time=0;
- if(GPS_successful_flag)
- {
- UDPClient_UploadGPS((char*)GPS_data);
-// loraled=GREEN;
- }
- else
- {
- Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
-// loraled=WHITE;
- }
- }
- if(yundong_time>=30&&air780_state==1)
- {
- air780_state=2;
- yundong_time=0;
- Stop_Mode_chulelora_Poll();
- }
- if(air780_state==2)
- {
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- }
- if(yundong_time>=g_com_map[GPS_HZ]-60&&air780_state==2)
- {
- HAL_NVIC_SystemReset();
- }
- }
- }
- }
+ 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);
+// }
+ if(stop_flag)
+ {
+ HAL_IWDG_Refresh(&hiwdg);
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON,PWR_STOPENTRY_WFI);
+ }
+ else
+ {
+ PowerLedTask();
+ DBG_Poll();
+ IdleTask();
+ GPS_Poll();
+ Internet_Poll();
+ HIDO_TimerPoll();
+ HIDO_ATLitePoll();
+ UDPClient_Poll();
+ HAL_IWDG_Refresh(&hiwdg);
+ PowerDownDetect();
+ Sleep_Panduan_Poll();
+ }
+// if(AIR780E_IsIPIdle() && Socket_IsSendQueueEmpty(0))
+// {
+// HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+// }
+// if(delaysleep_count==0/*&&!gps_need_data_flag*/)
+// if(((IfTCPConnected()&&AIR780E_IsIPIdle()&&Socket_IsSendQueueEmpty(0))/*||((!flag_TCP_reconnectting)&&!IfTCPConnected())*/))
+// {
+// 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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