From df5669303bd54d7bfd553c7cfad279231d7ece17 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 25 四月 2025 09:33:37 +0800
Subject: [PATCH] 3.6，加入蜂鸣器等逻辑
---
APL/App.c | 560 +++++++++++++++++++++++++++++--------------------------
1 files changed, 298 insertions(+), 262 deletions(-)
diff --git a/APL/App.c b/APL/App.c
index f15b87b..6827944 100644
--- a/APL/App.c
+++ b/APL/App.c
@@ -103,14 +103,54 @@
// 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);
+ 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);
+ 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;
-extern uint16_t chongdian_yundong_time;
extern uint8_t bat_percent;
extern uint16_t heart_time;
extern uint8_t nomove_flag;
@@ -120,111 +160,26 @@
//#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[200];
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;
+//extern uint8_t air780_state;
extern uint16_t sleep_time;
uint8_t zuihoufasong_falg;
-uint8_t UDPClient_UploadGPS_flag;
-extern uint16_t chongdianmeiyouuwb_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)
- {
- HAL_IWDG_Refresh(&hiwdg);
- DBG_Poll();
- IdleTask();
- uwbled=LEDOFF;
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
- GPS_Poll();
- if(bat_percent>90)
- {
- powerled = RED;
- chongman_flag=1;
- }
- else
- {
- powerled = RED;
- }
- if(chongdianmeiyouuwb_time>30)
- {
- HAL_NVIC_SystemReset();
- }
- if(taglist_num>0)
- {
- if(air780_state>=2)
- {
- HAL_NVIC_SystemReset();
- }
- if(chongdian_yundong_time>=YUNDONG_UWB_TIME)
- {
- air780_state=0;
- chongdian_yundong_time=0;
- Uwb_Zubao_Poll();
- UDPClient_UploadGPS((char*)GPS_data);
-// UDPClient_UploadGPS_flag=1;
- HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
- taglist_num=0;
- chongdianmeiyouuwb_time=0;
- }
- }
- else
- {
- if(chongdian_yundong_time>=g_com_map[GPS_HZ])
- {
- chongdian_yundong_time=0;
- if(GPS_successful_flag)
- {
- UDPClient_UploadGPS((char*)GPS_data);
-// UDPClient_UploadGPS_flag=1;
- }
- 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;
-
- }
-}
+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)
@@ -240,7 +195,7 @@
//deca_sleep(1000);
g_com_map[GROUP_ID]=3;
- g_com_map[VERSION] = (2<<8)|10;
+ g_com_map[VERSION] = (3<<8)|6;
if (g_com_map[COM_INTERVAL] <50)
{
@@ -297,10 +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)
@@ -320,7 +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;
+ Set4LEDColor(uwbled,gpsled,loraled,powerled);
+ 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();
@@ -340,45 +331,7 @@
}
}
-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();
- dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- }
-}
-void Stop_Mode_chulelora_Poll()//关掉除了uwb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);
- dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- }
-}
extern uint16_t testlorarecve;
void Uwb_Zubao_Poll()
{
@@ -408,142 +361,225 @@
uwbchecksum = Checksum_u16(&uwb_send[2],15+5*taglist_num);
memcpy(&uwb_send[17+5*taglist_num],&uwbchecksum,2);
}
-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();
- HAL_IWDG_Refresh(&hiwdg);
- if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))//5V输入检测
- { yundong_state=0;
+ 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);
+}
+extern uint8_t ledonflag;
+extern uint32_t ledontime;
+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()-ledontime>100&&ledonflag==1)
+ {
+ ledonflag=0;
+ Set4LEDColor_Off();
+ }
+// else
+// {
+//// if(powerled_state)
+// {
+// powerled_state = 0;
+//// powerled = LEDOFF;
+//// uwbled = LEDOFF;
+//// gpsled = LEDOFF;
+//// loraled = LEDOFF;
+//// Set4LEDColor(uwbled,gpsled,loraled,powerled);
+// Set4LEDColor_Off();
+// }
+//
+// }
+
+
+ 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;
+ }
+ }
+ }
+ if(bat_percent<=1)
+ {
+ 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);
+ }
+}
+
+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;
+extern uint16_t beepontime;
+u32 keystarttime,keystarttime2;
+extern uint8_t userkey_state4g;
+void UserKeyTask(void)
+{
+ if(!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_1))
+ {
+ if(HIDO_TimerGetTick() - keystarttime>1000)
+ {
+ beepontime = 2;
+ userkey_state4g = 1;
+// userkey_state = 1;
+// heartbeasend_flag = 1;
+ keystarttime = HIDO_TimerGetTick();
+ }
+ }else
+ {
+ keystarttime = HIDO_TimerGetTick();
+ keystarttime2 = HIDO_TimerGetTick();
+ }
+ if(beepontime>0)
+ {Beep_On();}
+ else
+ {Beep_Off();}
+ Sleep_Panduan_Poll();
+
+}
+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();
+ UserKeyTask();
+ Sleep_Panduan_Poll();
+
}
- else
- {
- 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(air780_state>=2)
- {
- HAL_NVIC_SystemReset();
- }
- 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);
-// UDPClient_UploadGPS_flag=1;
- }
- 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(nomove_flag/*&&zuihoufasong_falg*/)//静止状态
- {
- yundong_state=0;
- if(sleep_time>12)
- {
- Stop_Mode_Poll();
- HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
- if(sleep_time>1800)
- {HAL_NVIC_SystemReset();}
- }
- else
- {
- Internet_Poll();
- HIDO_TimerPoll();
- HIDO_ATLitePoll();
- UDPClient_Poll();
- }
- }
- else
- {
- 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();
- UDPClient_UploadGPS((char*)GPS_data);
-// UDPClient_UploadGPS_flag=1;
- HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
- 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);
-// UDPClient_UploadGPS_flag=1;
- }
- else
- {
- Module_GetLBSLocationAsync(LBSLocationCallback, HIDO_NULL);
- }
- }
- }
- }
-
- }
-}
+// 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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