V2.4 固定时间片版本 9标签20HZ测试通过

zhyinch

2020-10-31 bc6afcc8e1361a5ca81beb4f19d229e0748d4da2

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#include "serial_at_cmd_app.h"
#include "global_param.h"
#include <string.h>
#include <stdio.h>
#include "dw_app.h"
 
 
#define CMD_READ    1
#define CMD_WRITE    2
#define CMD_REPLY 3
#define EUART_RX_BUF_SIZE 100
typedef enum{    UsartReceiveWaitHead0, 
                UsartReceiveWaitHead1,
                UsartReceiveWaitMsgType,
                UsartReceiveWaitLength, 
                UsartReceiveWaitCMD,
                UsartReceiveWaitIndex,
                UsartReceiveWaitDataLen,
                UsartReceiveWaitData,
                UsartReceiveWaitChecksum
}UsartRecvPackState;
uint8_t mUsartReceivePack[100] = {0};
 
void SendComMap(uint8_t data_length, uint8_t index)
{
    static uint8_t send_frame[EUART_RX_BUF_SIZE];
    uint16_t checksum = 0;
    send_frame[0] = 0x55;
    send_frame[1] = 0xAA;
    send_frame[2] = 0x03;
    send_frame[3] = data_length+5;
    send_frame[4] = CMD_REPLY;
    send_frame[5] = index;
    send_frame[6] = data_length;
    memcpy(&send_frame[7], &g_com_map[index], data_length);
    for(int i = 0; i<(data_length+5); i++)
    {
        checksum += send_frame[2+i];
    }
    checksum = Checksum_u16(&send_frame[2],5+data_length);
    memcpy(&send_frame[7+data_length],&checksum,2);
    
    UART_PushFrame(send_frame, data_length+9);    
}
 
void UsartParseDataHandler(uint8_t data)
{
    static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
    uint16_t checksum = 0;
    static uint8_t pack_datalen = 0,pack_length = 0,pack_index = 0,pack_msgtype = 0,pack_cmd = CMD_READ;
    static uint8_t index = 0;
 
 
    
    if(usart_receive_state == UsartReceiveWaitChecksum) {            //ÈôÊÕµ½Ð£ÑéºÍ°ü
        checksum = 0;
        for(int i = 0; i<pack_length-5; i++) { 
            checksum += mUsartReceivePack[i];
        }
        checksum += pack_cmd;
        checksum += pack_length;
        checksum += pack_index;
        checksum += pack_datalen;
        checksum += pack_msgtype;
        if(((data + checksum)&0xff) == 0xFF)                //УÑéͨ¹ý
        {
            switch(pack_cmd)
            {
                case CMD_WRITE:
                    //´ÓmUsartReceivePackÖжÁÈ¡pack_length³¤¶ÈµÄ×Ö½Ú£¬·Åµ½È«¾Ö±äÁ¿ÖÐ
                    memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
                    //·µ»ØÒ»¸öerror״̬
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    delay_ms(100);
                    NVIC_SystemReset();
                    break;
                case CMD_READ:
                    //read°üÖÐdata×Ö½Ú£¬¼´mUsartReceivePack[0]±íʾÊý¾Ý³¤¶È£»
                //´Óg_com_data½á¹¹ÌåÖеĵÚindexλÖöÁÈ¡³¤¶ÈΪmUsartReceivePack[0]µÄ×Ö½Ú£¬·¢ËͳöÀ´
                    SendComMap(pack_datalen,pack_index>>1);        
                    break;
                default:
                    break;
            }
        }
        usart_receive_state = UsartReceiveWaitHead0;
        pack_index = 0;
        pack_length = 0;
        index=0;
    } else if((usart_receive_state == UsartReceiveWaitData) ) {    //Èô¹ûÊÕµ½µÄÊÇÕý³£Í¨Ñ¶°ü
        mUsartReceivePack[index] = data;
        index++;
        if(index == pack_length-5) {        //Èç¹ûÊÕµ½µÄindexÓ볤¶ÈÏàµÈ
            usart_receive_state = UsartReceiveWaitChecksum;
        }
    } else if(usart_receive_state == UsartReceiveWaitDataLen) {                        //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
        pack_datalen = data;
        usart_receive_state = UsartReceiveWaitData;
    }else if(usart_receive_state == UsartReceiveWaitIndex) {                        //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
        pack_index = data;
        usart_receive_state = UsartReceiveWaitDataLen;
    } else if(usart_receive_state == UsartReceiveWaitCMD) {                            //ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
        pack_cmd = data;
        usart_receive_state = UsartReceiveWaitIndex;
    } else if(usart_receive_state == UsartReceiveWaitLength) {                        //ÊÕµ½³¤¶È×Ö½Ú
        
            pack_length = data;
            pack_index = 0;            
            usart_receive_state = UsartReceiveWaitCMD;
        
    } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {    //ÊÕµ½µÚÒ»¸ö°üÍ·
        usart_receive_state = UsartReceiveWaitHead1;
    } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {    //ÊÕµ½µÚ¶þ¸ö°üÍ·
        usart_receive_state = UsartReceiveWaitMsgType;
    }else if ((usart_receive_state == UsartReceiveWaitMsgType) && (data == 0x3)) {
        usart_receive_state = UsartReceiveWaitLength;
        pack_msgtype = data;
    }
    else {
        usart_receive_state = UsartReceiveWaitHead0;
        pack_index = 0;
        pack_length = 0;
    }
 
}