初步写好MK与蓝牙的传输交互函数未测试

chen

2025-05-22 43d055054fc3eee6d0c63f429a14ce74712626c1

 keil/include/drivers/serial_at_cmd_app.c

@@ -19,17 +19,8 @@
#define Lora_TXD_bff_MAX  220   //发送缓存区大小  >4+8+4*基站数量+2=14+4*基站数量

uint8_t mUsartReceivePack[100] = {0};
uint8_t mUsart2ReceivePack[150] = {0};
double jd,wd;
int analysis_num,pos_state;
uint8_t state5V_prase_flag,gps_prase_flag=1;
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);
extern void blink_led(uint8_t*state);
extern void updata_led_power_state(void);
extern uint8_t gps_success_state;
extern uint8_t gps_success_state,gps_enable_flag,gps_need_data_flag,gps_timeout_flag;
extern uint16_t gps_wait_count;
uint8_t mUsart2ReceivePack[100] = {0};

typedef enum
{
    BLE_RECV_STATE_IDLE = 0,
@@ -37,12 +28,6 @@
    BLE_RECV_STATE_RSSI,
    //BLE_RECV_STATE_LF,
} E_BLERecvState;
static char gps_header[20];
typedef struct
{
    char m_pData[100];
    uint32_t m_u32Len;
} GGA_DataStruct;
typedef struct
{
    E_BLERecvState m_eState;
@@ -57,7 +42,7 @@
uint8_t  mUsart2ReceivePack_before , mUsart2ReceivePack_now;
uint8_t j_ct=0,CT_satrt_temp=0,CT_satrt=0,numb_base=0   ;

uint8_t id_cmpare[12]= {0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x30, 0x30, 0x30, 0x31}; //123456780001//测试//RC2202A：
uint8_t id_cmpare[12]={0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x30, 0x30, 0x30, 0x31};//123456780001//测试//RC2202A：
uint32_t CT_sum=0;
char char_broadcast_data[80];//广播数据

@@ -70,7 +55,7 @@
uint16_t temp_16,temp_16_id,temp_16_distance,data_buff_start;


uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
    uint16_t sum = 0;
    uint32_t i;
@@ -79,27 +64,47 @@
    sum = ~sum;
    return sum;
}

void SendComMap0(uint8_t data_length, uint8_t index)//表示成功读取的回应包
   {
   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_send(UART_ID0, send_frame,data_length+9, NULL);	
}
void SendComMap(uint8_t data_length, uint8_t index)//表示成功读取的回应包
{
    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_send(UART_ID1, send_frame,data_length+9, NULL);
   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_send(UART_ID1, send_frame,data_length+9, NULL);	
}
void UpdateProcess(uint8_t index)
{
@@ -110,158 +115,366 @@
        __disable_irq();
        result = flash_open(FLASH_ID0,NULL);
        if(!result)//打开成功
            flash_erase(FLASH_ID0,APP_CONFIG_IAPFLAG_SECTOR_ADDR,FLASH_SECTOR_SIZE);
        result = flash_write_nbytes(FLASH_ID0,APP_CONFIG_IAPFLAG_MAP,(uint8_t*)&tmp,2);
               flash_erase(FLASH_ID0,APP_CONFIG_IAPFLAG_SECTOR_ADDR,FLASH_SECTOR_SIZE);
          result = flash_write_nbytes(FLASH_ID0,APP_CONFIG_IAPFLAG_MAP,(uint8_t*)&tmp,2);
        __enable_irq();
        Serial0PutString("进入升级模式\r\n");
        g_com_map[CNT_UPDATE]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //软复位回到bootloader
       NVIC_SystemReset(); //软复位回到bootloader   
    }
    if(index == 2*CNT_REBOOT)
    {   g_com_map[CNT_REBOOT]=0;
    {      g_com_map[CNT_REBOOT]=0;
        g_com_map[MAP_SIGN_INDEX]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //软复位回到bootloader
         delay_us(100000);
        NVIC_SystemReset(); //软复位回到bootloader   
    }
    if(index == 2*CNT_RESTART)
    {
        g_com_map[CNT_RESTART]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //软复位回到bootloader
         delay_us(100000);
       NVIC_SystemReset(); //软复位回到bootloader   
    }

}
extern uint8_t enable_sleep_count,sleep_flag;
void UsartParseDataHandler(uint8_t data)
{
    if(state5V_prase_flag)
    {   //升级程序
        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;
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) {         //若收到校验和包
      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)            //校验通过
      {
         switch(pack_cmd)
         {
            case CMD_WRITE:
               //从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中,赋值保存的参数并且存入flash
            enable_sleep_count=0;
               memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
				
               if(mUsartReceivePack[0]==1)
          UpdateProcess(pack_index);
               //返回一个error状态
               //SendComMap(pack_datalen,pack_index);
               save_com_map_to_flash();
               //delay_ms(100);
               NVIC_SystemReset();
               break;
            case CMD_READ:
                    enable_sleep_count=0;
               //read包中data字节，即mUsartReceivePack[0]表示数据长度；
            //从g_com_data结构体中的第index位置读取长度为mUsartReceivePack[0]的字节，发送出来
               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) ) {   //若果收到的是正常通讯包
      mUsartReceivePack[index] = data;
      index++;
      if(index == pack_length-5) {      //如果收到的index与长度相等
         usart_receive_state = UsartReceiveWaitChecksum;
      }
   } else if(usart_receive_state == UsartReceiveWaitDataLen) {                  //收到指令类型字节
      pack_datalen = data;
      usart_receive_state = UsartReceiveWaitData;
   }else if(usart_receive_state == UsartReceiveWaitIndex) {                  //收到指令类型字节
      pack_index = data;
      usart_receive_state = UsartReceiveWaitDataLen;
   } else if(usart_receive_state == UsartReceiveWaitCMD) {                     //收到指令类型字节
      pack_cmd = data;
      usart_receive_state = UsartReceiveWaitIndex;
   } else if(usart_receive_state == UsartReceiveWaitLength) {                  //收到长度字节
		
         pack_length = data;
         pack_index = 0;			
         usart_receive_state = UsartReceiveWaitCMD;
		
   } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {   //收到第一个包头
      usart_receive_state = UsartReceiveWaitHead1;
   } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {   //收到第二个包头
      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;
   }	

        if(usart_receive_state == UsartReceiveWaitChecksum)
        {   //若收到校验和包
            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)            //校验通过
            {
                switch(pack_cmd)
                {
                case CMD_WRITE:
                    //从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中,赋值保存的参数并且存入flash
                    memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
                    if(mUsartReceivePack[0]==1)
                        UpdateProcess(pack_index);
                    //返回一个error状态
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    //delay_ms(100);
                    NVIC_SystemReset();
                    break;
                case CMD_READ:
                    //read包中data字节，即mUsartReceivePack[0]表示数据长度；
                    //从g_com_data结构体中的第index位置读取长度为mUsartReceivePack[0]的字节，发送出来
                    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) ) {   //若果收到的是正常通讯包
            mUsartReceivePack[index] = data;
            index++;
            if(index == pack_length-5) {      //如果收到的index与长度相等
                usart_receive_state = UsartReceiveWaitChecksum;
            }
        } else if(usart_receive_state == UsartReceiveWaitDataLen) {                  //收到指令类型字节
            pack_datalen = data;
            usart_receive_state = UsartReceiveWaitData;
        } else if(usart_receive_state == UsartReceiveWaitIndex) {                  //收到指令类型字节
            pack_index = data;
            usart_receive_state = UsartReceiveWaitDataLen;
        } else if(usart_receive_state == UsartReceiveWaitCMD) {                     //收到指令类型字节
            pack_cmd = data;
            usart_receive_state = UsartReceiveWaitIndex;
        } else if(usart_receive_state == UsartReceiveWaitLength) {                  //收到长度字节

            pack_length = data;
            pack_index = 0;
            usart_receive_state = UsartReceiveWaitCMD;

        } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {   //收到第一个包头
            usart_receive_state = UsartReceiveWaitHead1;
        } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {   //收到第二个包头
            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;
        }
    } else if(gps_prase_flag)
    {
//GPS解析数据
//   static ST_BLERecv BLE_recvive;
        GGA_DataStruct jdrecv,wdrecv,Posstate;
        static uint8_t index = 0;
        //接收数据开始分析
        mUsart2ReceivePack[index]  =  data; //char数组传进来参数data
        mUsart2ReceivePack_before  =  mUsart2ReceivePack_now;
        mUsart2ReceivePack_now=data;
        index++;
        if( mUsart2ReceivePack_before == 0x0D && mUsart2ReceivePack_now==0x0A )//接收数据到“0x0D 0x0A”结束
        {
            //解析该条GPS报文
            analysis_num=sscanf((char*)mUsart2ReceivePack,"$%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*s",gps_header,wdrecv.m_pData,jdrecv.m_pData,Posstate.m_pData);
            if(!memcmp(gps_header,"GNGGA",5))
            {
                wd=strtod(wdrecv.m_pData,NULL);
                jd=strtod(jdrecv.m_pData,NULL);
                pos_state=atoi(Posstate.m_pData);
            } else {
                wd=0;
                jd=0;
            }
            blink_led(&gps_success_state);
            if(pos_state!=0)
            {
                //4g.jd=jd;
                //4g.wd=wd;
                gps_timeout_flag=1;//不超时接收状态
                gps_need_data_flag=0;//接收数据完成
                gps_wait_count=0;//清0接收状态
//      gps_enable_flag=0;//收到有效数据关闭GPS
            }
            //memset(mUsart2ReceivePack,0,sizeof(mUsart2ReceivePack));
            memset(wdrecv.m_pData,0,sizeof(wdrecv.m_pData));
            memset(jdrecv.m_pData,0,sizeof(jdrecv.m_pData));
            memset(Posstate.m_pData,0,sizeof(Posstate.m_pData));
            index=0;
            mUsart2ReceivePack_before=0;
            mUsart2ReceivePack_now=0;
        }
    }
}
void uart0_send_ComMap_to_BLE(uint8_t data_length, uint8_t index)	
{
   static uint8_t send_frame[100];
   uint16_t checksum = 0;
   send_frame[0] = 0x55;
   send_frame[1] = 0xAA;
   send_frame[2] = 0x40;
   send_frame[3] = CMD_REPLY;
   send_frame[4] = data_length+6;
   send_frame[5] = index;
   memcpy(&send_frame[6], &g_com_map[index], data_length);
   checksum = Checksum_u16(&send_frame[2],5+data_length);
   memcpy(&send_frame[6+data_length],&checksum,2);
	
    uart_send(UART_ID0, send_frame,data_length+8, NULL);	
}
void Send_Commap_mk_to_ble(uint8_t data_length, uint8_t index)
{
static uint8_t send_frame[100];
   uint16_t checksum = 0;
   send_frame[0] = 0x55;
   send_frame[1] = 0xAA;
   send_frame[2] = 0x40;
   send_frame[3] = CMD_WRITE;
   send_frame[4] = data_length+6;
   send_frame[5] = index;
   memcpy(&send_frame[6], &g_com_map[index], data_length);
   checksum = Checksum_u16(&send_frame[2],5+data_length);
   memcpy(&send_frame[6+data_length],&checksum,2);
	
    uart_send(UART_ID0, send_frame,data_length+8, NULL);	
}

void read_com_map(uint8_t data_length, uint8_t index)
{
static uint8_t send_frame[100];
   uint16_t checksum = 0;
   send_frame[0] = 0x55;
   send_frame[1] = 0xAA;
   send_frame[2] = 0x40;
   send_frame[3] = CMD_READ;
   send_frame[4] = data_length;
   send_frame[5] = index;
   checksum = Checksum_u16(&send_frame[2],5+data_length);
    uart_send(UART_ID0, send_frame,6, NULL);	
}
void Usart0ParseDataHandler(uint8_t data)//UART蓝牙数据分析处理
{
      // 全局变量
static Usart0ReceiveState usart0_receive_state = Usart0ReceiveWaitHead0;

static uint8_t index = 0;               // 缓冲区索引
static uint8_t pack_cmd_type = 0;       // 指令类型
static uint8_t pack_msg_type = 0;       // 消息类型
static uint8_t pack_data_len = 0;       // 数据长度
static uint8_t pack_param_addr = 0;     // 参数地址
static uint16_t pack_checksum = 0;      // 接收到的校验和
static uint16_t calculated_checksum = 0; // 计算得到的校验和
static uint8_t send_frame[256];  // 用于计算校验和的帧
static uint8_t frame_index = 0;  // 帧缓冲区索引
static uint8_t pack_datalen = 0;
    
    switch(usart0_receive_state) {
        case Usart0ReceiveWaitHead0:
            if(data == 0x55) {
                usart0_receive_state = Usart0ReceiveWaitHead1;
                // 初始化帧缓冲区
                frame_index = 0;
                send_frame[frame_index++] = data;
            }
            break;
            
        case Usart0ReceiveWaitHead1:
            if(data == 0xAA) {
                usart0_receive_state = Usart0ReceiveWaitCmdType;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitCmdType:
            if(data == 0x40) {
                pack_cmd_type = data;
                usart0_receive_state = Usart0ReceiveWaitMsgType;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitMsgType:
            if(data == 0x2) {  // 写消息类型
                pack_msg_type = data;
                usart0_receive_state = Usart0ReceiveWaitDataLen;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitDataLen:
            pack_data_len = data;
            index = 0;
            usart0_receive_state = Usart0ReceiveWaitParamAddr;
            send_frame[frame_index++] = data;
            break;
            
        case Usart0ReceiveWaitParamAddr:
            pack_param_addr = data;
            usart0_receive_state = Usart0ReceiveWaitData;
            send_frame[frame_index++] = data;
            break;
            
        case Usart0ReceiveWaitData:
            mUsart2ReceivePack[index++] = data;
            send_frame[frame_index++] = data;
            if(index == pack_data_len-6) {
                usart0_receive_state = Usart0ReceiveWaitChecksum;
                        pack_datalen=pack_data_len-6;
            }
            break;
            
        case Usart0ReceiveWaitChecksum:
            pack_checksum = data << 8;  // 高字节
            pack_checksum |= data;  // 低字节
            
            // 计算校验和 (从第3个字节开始，长度为5+数据长度)
            calculated_checksum = Checksum_u16(&send_frame[2],pack_datalen+5);
            
            // 验证校验和
            if(pack_checksum == calculated_checksum) {
                // 校验通过，处理数据
                           switch(pack_cmd_type)
                           {
                              case CMD_WRITE:
                                 //从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中,赋值保存的参数并且存入flash
										
                                 memcpy((uint8_t*)&g_com_map + pack_param_addr, mUsart2ReceivePack, pack_datalen);
										
                                 //返回一个error状态
                                 //SendComMap(pack_datalen,pack_index);
                                 save_com_map_to_flash();
                                 //delay_ms(100);
//                                 NVIC_SystemReset();
                                 break;
                              case CMD_READ:
                                       Send_Commap_mk_to_ble(pack_datalen,pack_param_addr);	
											
                                 break;
                              case CMD_REPLY:
                                 memcpy((uint8_t*)&g_com_map + pack_param_addr, mUsart2ReceivePack, pack_datalen);
                                 save_com_map_to_flash();
                                 break;
                              default:
                                 break;
                           }
            }
            
            // 重置状态机
            usart0_receive_state = Usart0ReceiveWaitHead0;
            index = 0;
            frame_index = 0;
            break;
            
        default:
            usart0_receive_state = Usart0ReceiveWaitHead0;
            index = 0;
            frame_index = 0;
            break;
    }

	
//   if(usart_receive_state == UsartReceiveWaitChecksum) {         //若收到校验和包
//      checksum = 0;
//      for(int i = 0; i<pack_length-5; i++) { 
//         checksum += mUsart2ReceivePack[i];
//      }
//      checksum += pack_cmd;
//      checksum += pack_length;
//      checksum += pack_index;
//      checksum += pack_datalen;
//      checksum += pack_msgtype;
//      if(((data + checksum)&0xff) == 0xFF)            //校验通过
//      {
//         switch(pack_cmd)
//         {
//            case CMD_WRITE:
//               //从mUsartReceivePack中读取pack_length长度的字节，放到全局变量中,赋值保存的参数并且存入flash
//            enable_sleep_count=0;
//               memcpy((uint8_t*)&g_com_map + pack_index, mUsart2ReceivePack, pack_datalen);
//				
//               if(mUsart2ReceivePack[0]==1)
//          UpdateProcess(pack_index);
//               //返回一个error状态
//               //SendComMap(pack_datalen,pack_index);
//               save_com_map_to_flash();
//               //delay_ms(100);
//               //NVIC_SystemReset();
//               break;
//            case CMD_READ:
//               //read包中data字节，即mUsartReceivePack[0]表示数据长度；
//            //从g_com_data结构体中的第index位置读取长度为mUsartReceivePack[0]的字节，发送出来
//               SendComMap0(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) ) {   //若果收到的是正常通讯包
//      mUsart2ReceivePack[index] = data;
//      index++;
//      if(index == pack_length-5) {      //如果收到的index与长度相等
//         usart_receive_state = UsartReceiveWaitChecksum;
//      }
//   } else if(usart_receive_state == UsartReceiveWaitDataLen) {                  //收到指令类型字节
//      pack_datalen = data;
//      usart_receive_state = UsartReceiveWaitData;
//   }else if(usart_receive_state == UsartReceiveWaitIndex) {                  //收到指令类型字节
//      pack_index = data;
//      usart_receive_state = UsartReceiveWaitDataLen;
//   } else if(usart_receive_state == UsartReceiveWaitCMD) {                     //收到指令类型字节
//      pack_cmd = data;
//      usart_receive_state = UsartReceiveWaitIndex;
//   } else if(usart_receive_state == UsartReceiveWaitLength) {                  //收到长度字节
//		
//         pack_length = data;
//         pack_index = 0;			
//         usart_receive_state = UsartReceiveWaitCMD;
//		
//   } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {   //收到第一个包头
//      usart_receive_state = UsartReceiveWaitHead1;
//   } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {   //收到第二个包头
//      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;
//   }
}