#include <serial_at_cmd_app.h>
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#include <global_param.h>
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#include <string.h>
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#include <stdio.h>
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#include "Usart.h"
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#include "mk_flash.h"
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//#include "dw_app.h"
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//#include "UsartII.h"
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//#include "main.h"
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#include "board.h"
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//#include "Spi.h"
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//#include "radio.h"
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#include "PCA9555.h"
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//#define EUART_RX_BUF_SIZE 100
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#define Label_id_local 1 //±êÇ©id
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#define data_buff_MAX 50 //»ùÕ¾ÊýÁ¿
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#define Lora_TXD_bff_MAX 220 //·¢ËÍ»º´æÇø´óС >4+8+4*»ùÕ¾ÊýÁ¿+2=14+4*»ùÕ¾ÊýÁ¿
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uint8_t mUsartReceivePack[100] = {0};
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uint8_t mUsart2ReceivePack[150] = {0};
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double jd,wd;
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int analysis_num,pos_state;
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uint8_t state5V_prase_flag=1,gps_prase_flag=1;
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extern void IO_LED_control_change(uint8_t data);
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extern void IO_control_init(void);
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extern void blink_led(uint8_t*state);
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extern void updata_led_power_state(void);
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extern uint8_t gps_success_state;
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extern uint8_t gps_success_state,gps_enable_flag,gps_need_data_flag,gps_timeout_flag;
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extern uint16_t gps_wait_count;
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typedef enum
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{
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BLE_RECV_STATE_IDLE = 0,
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BLE_RECV_STATE_MAC,
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BLE_RECV_STATE_RSSI,
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//BLE_RECV_STATE_LF,
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} E_BLERecvState;
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static char gps_header[20];
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typedef struct
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{
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char m_pData[100];
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uint32_t m_u32Len;
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} GGA_DataStruct;
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typedef struct
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{
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E_BLERecvState m_eState;
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char m_macHeader[100],m_rssiHeader2[100];
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uint32_t m_u32HeaderLen,m_u32Header2Len;
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char m_acRecvBuf[128];
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uint32_t m_u32RecvLen;
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} ST_BLERecv;
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uint8_t mUsart2ReceivePack_before , mUsart2ReceivePack_now;
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uint8_t j_ct=0,CT_satrt_temp=0,CT_satrt=0,numb_base=0 ;
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uint8_t id_cmpare[12]= {0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x30, 0x30, 0x30, 0x31}; //123456780001//²âÊÔ//RC2202A£º
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uint32_t CT_sum=0;
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char char_broadcast_data[80];//¹ã²¥Êý¾Ý
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uint8_t Lora_TXD_bff[Lora_TXD_bff_MAX]; //lora·¢ËÍ»º´æÇø
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uint16_t data_buff[data_buff_MAX][2]; //»ùÕ¾Êý¾Ý»º´æÇø
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char char_mac[14],char_ssi[6];
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//int32_t distance_int;
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double ssi_double;
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uint16_t temp_16,temp_16_id,temp_16_distance,data_buff_start;
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
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{
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uint16_t sum = 0;
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uint32_t i;
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for(i=0; i<len; i++)
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sum += pdata[i];
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sum = ~sum;
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return sum;
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}
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void SendComMap(uint8_t data_length, uint8_t index)//±íʾ³É¹¦¶ÁÈ¡µÄ»ØÓ¦°ü
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{
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static uint8_t send_frame[EUART_RX_BUF_SIZE];
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uint16_t checksum = 0;
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send_frame[0] = 0x55;
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send_frame[1] = 0xAA;
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send_frame[2] = 0x03;
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send_frame[3] = data_length+5;
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send_frame[4] = CMD_REPLY;
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send_frame[5] = index;
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send_frame[6] = data_length;
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memcpy(&send_frame[7], &g_com_map[index], data_length);
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for(int i = 0; i<(data_length+5); i++)
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{
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checksum += send_frame[2+i];
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}
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checksum = Checksum_u16(&send_frame[2],5+data_length);
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memcpy(&send_frame[7+data_length],&checksum,2);
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uart_send(UART_ID1, send_frame,data_length+9, NULL);
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}
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void UpdateProcess(uint8_t index)
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{
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if(index == 2*CNT_UPDATE)
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{
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uint32_t result = 0;
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uint16_t tmp = 0xAAAA;
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__disable_irq();
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result = flash_open(FLASH_ID0,NULL);
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if(!result)//´ò¿ª³É¹¦
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flash_erase(FLASH_ID0,APP_CONFIG_IAPFLAG_SECTOR_ADDR,FLASH_SECTOR_SIZE);
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result = flash_write_nbytes(FLASH_ID0,APP_CONFIG_IAPFLAG_MAP,(uint8_t*)&tmp,2);
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__enable_irq();
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Serial0PutString("½øÈëÉý¼¶Ä£Ê½\r\n");
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g_com_map[CNT_UPDATE]=0;
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save_com_map_to_flash();
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delay_us(100000);
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NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
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}
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if(index == 2*CNT_REBOOT)
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{ g_com_map[CNT_REBOOT]=0;
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g_com_map[MAP_SIGN_INDEX]=0;
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save_com_map_to_flash();
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delay_us(100000);
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NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
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}
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if(index == 2*CNT_RESTART)
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{
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g_com_map[CNT_RESTART]=0;
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save_com_map_to_flash();
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delay_us(100000);
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NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
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}
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}
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double d_value;
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#define buff_lenth 1024
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#define MAX_BASE_STATIONS 10
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uint8_t DMA_RXBuf_BT[200]={0};
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uint8_t Forward_BT_buff[buff_lenth]={0};
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uint8_t report_ancnum_bt=0;
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extern uint8_t uwbled,btled,loraled,powerled;;
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void UsartParseDataHandler(uint8_t data)
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{
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static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
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uint16_t checksum = 0;
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static uint8_t pack_datalen = 0,pack_length = 0,pack_index = 0,pack_msgtype = 0,pack_cmd = CMD_READ,pack_num=0;
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static uint8_t index = 0;
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if(usart_receive_state == UsartReceiveWaitChecksum)
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{ //ÈôÊÕµ½Ð£ÑéºÍ°ü
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if(mUsartReceivePack[pack_datalen-1]==0x66&&data==0xBB)
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{
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memcpy(&DMA_RXBuf_BT[0],&mUsartReceivePack[0], pack_datalen-1);
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}
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usart_receive_state = UsartReceiveWaitHead0;
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pack_index = 0;
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pack_length = 0;
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index=0;
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}
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else if((usart_receive_state == UsartReceiveWaitData) )
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{ //Èô¹ûÊÕµ½µÄÊÇÕý³£Í¨Ñ¶°ü
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mUsartReceivePack[pack_index] = data;
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pack_index++;
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if(pack_index == pack_datalen)
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{ //Èç¹ûÊÕµ½µÄindexÓ볤¶ÈÏàµÈ
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usart_receive_state = UsartReceiveWaitChecksum;
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}
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}
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else if(usart_receive_state == UsartReceiveWaitDataLen)
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{ //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
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pack_datalen = data;
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pack_index = 0;
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usart_receive_state = UsartReceiveWaitData;
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}
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else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55))
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{ //ÊÕµ½µÚÒ»¸ö°üÍ·
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usart_receive_state = UsartReceiveWaitHead1;
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}
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else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA))
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{ //ÊÕµ½µÚ¶þ¸ö°üÍ·
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usart_receive_state = UsartReceiveWaitMsgType;
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} else if ((usart_receive_state == UsartReceiveWaitMsgType) && (data == 0x41))
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{
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usart_receive_state = UsartReceiveWaitDataLen;
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btled=1;
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}
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else {
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usart_receive_state = UsartReceiveWaitHead0;
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pack_index = 0;
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pack_length = 0;
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}
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}
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void UsartParseDataHandler_1(uint8_t data)
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{
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static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
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uint16_t checksum = 0;
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static uint8_t pack_datalen = 0,pack_length = 0,pack_index = 0,pack_msgtype = 0,pack_cmd = CMD_READ,pack_num=0;
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static uint8_t index = 0;
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if(usart_receive_state == UsartReceiveWaitChecksum)
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{ //ÈôÊÕµ½Ð£ÑéºÍ°ü
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checksum = 0;
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for(int i = 0; i<pack_length-5; i++) {
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checksum += mUsart2ReceivePack[i];
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}
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checksum += pack_cmd;
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checksum += pack_length;
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checksum += pack_index;
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checksum += pack_datalen;
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checksum += pack_msgtype;
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if(((data + checksum)&0xff) == 0xFF) //УÑéͨ¹ý
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{
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switch(pack_cmd)
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{
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case CMD_WRITE:
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if(pack_index==MODBUS_MODE*2)
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{
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// Uart1GpsRecDebugSend();
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g_com_map[MODBUS_MODE] = 1;
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return;
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}
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//´ÓmUsartReceivePackÖжÁÈ¡pack_length³¤¶ÈµÄ×Ö½Ú£¬·Åµ½È«¾Ö±äÁ¿ÖÐ,¸³Öµ±£´æµÄ²ÎÊý²¢ÇÒ´æÈëflash
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memcpy((uint8_t*)&g_com_map + pack_index, mUsart2ReceivePack, pack_datalen);
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if(mUsart2ReceivePack[0]==1)
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UpdateProcess(pack_index);
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//·µ»ØÒ»¸öerror״̬
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//SendComMap(pack_datalen,pack_index);
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save_com_map_to_flash();
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//delay_ms(100);
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NVIC_SystemReset();
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break;
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case CMD_READ:
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//read°üÖÐdata×Ö½Ú£¬¼´mUsartReceivePack[0]±íʾÊý¾Ý³¤¶È£»
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//´Óg_com_data½á¹¹ÌåÖеĵÚindexλÖöÁÈ¡³¤¶ÈΪmUsartReceivePack[0]µÄ×Ö½Ú£¬·¢ËͳöÀ´
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SendComMap(pack_datalen,pack_index>>1);
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break;
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default:
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break;
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}
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}
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usart_receive_state = UsartReceiveWaitHead0;
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pack_index = 0;
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pack_length = 0;
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index=0;
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} else if((usart_receive_state == UsartReceiveWaitData) ) { //Èô¹ûÊÕµ½µÄÊÇÕý³£Í¨Ñ¶°ü
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mUsart2ReceivePack[index] = data;
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index++;
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if(index == pack_length-5) { //Èç¹ûÊÕµ½µÄindexÓ볤¶ÈÏàµÈ
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usart_receive_state = UsartReceiveWaitChecksum;
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}
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} else if(usart_receive_state == UsartReceiveWaitDataLen) { //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
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pack_datalen = data;
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usart_receive_state = UsartReceiveWaitData;
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} else if(usart_receive_state == UsartReceiveWaitIndex) { //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
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pack_index = data;
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usart_receive_state = UsartReceiveWaitDataLen;
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} else if(usart_receive_state == UsartReceiveWaitCMD) { //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
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pack_cmd = data;
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usart_receive_state = UsartReceiveWaitIndex;
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} else if(usart_receive_state == UsartReceiveWaitLength) { //ÊÕµ½³¤¶È×Ö½Ú
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pack_length = data;
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pack_index = 0;
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usart_receive_state = UsartReceiveWaitCMD;
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} else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) { //ÊÕµ½µÚÒ»¸ö°üÍ·
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usart_receive_state = UsartReceiveWaitHead1;
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} else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) { //ÊÕµ½µÚ¶þ¸ö°üÍ·
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usart_receive_state = UsartReceiveWaitMsgType;
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} else if ((usart_receive_state == UsartReceiveWaitMsgType) && (data == 0x3)) {
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usart_receive_state = UsartReceiveWaitLength;
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pack_msgtype = data;
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}
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else {
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usart_receive_state = UsartReceiveWaitHead0;
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pack_index = 0;
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pack_length = 0;
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}
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}
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