增加防撞基站修改485和读取指令，修改showbuffer距离修改为g_com表设置距离

chen

7 天以前 448e16db1aaadf2ae321af8a7955aba2b610b12e

 keil/include/drivers/serial_at_cmd_app.c

@@ -13,13 +13,15 @@



//#define EUART_RX_BUF_SIZE 100
//#define EUART0_RX_BUF_SIZE 100
#define Label_id_local    1     //标签id
#define data_buff_MAX     50    //基站数量
#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};
uint8_t GPS_GGAmessage[150]={0};
uint8_t GPS_GSVmessage[150]={0};
double jd,wd;
int analysis_num,pos_state;
uint8_t state5V_prase_flag=1,gps_prase_flag=1;
@@ -27,8 +29,8 @@
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 uint8_t gps_success_state,gps_open_flag;
extern uint8_t gps_success_state,gps_enable_flag,gps_need_data_flag,gps_timeout_flag,gps_power_state;
extern uint16_t gps_wait_count;
typedef enum
{
@@ -79,10 +81,31 @@
    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[EUART0_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];
    static uint8_t send_frame[EUART0_RX_BUF_SIZE];
    uint16_t checksum = 0;
    send_frame[0] = 0x55;
    send_frame[1] = 0xAA;
@@ -135,7 +158,384 @@
    }

}
void UsartParseDataHandler(uint8_t data)
double d_value;
uint16_t test_calculate,pack_checksum_test;
extern uint32_t tag_id_authorization_list[1024];
extern uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
extern uint8_t tag_near_frequency;
extern tag_id_authorization_list_num;
#define ID_SIZE 4
uint32_t temp_key;
uint8_t required_size_temp;
uint8_t delete_count_temp;
int low_temp,high_temp,mid_temp,elements_to_move_temp,temp_index;
void add_new_tag_id_to_list(uint8_t* add_list,uint32_t*tag_authorization_idlist,uint32_t*authorization_list_num)
{
uint32_t count = add_list[0];
    uint32_t current_size = *authorization_list_num;
    uint32_t new_size = current_size + count;
    
    // 处理每个新ID
    for (uint32_t i = 0; i < count; i++) {
        uint32_t add_offset = 1 + i * 4;  // 跳过计数byte
        uint32_t new_id=0;
               memcpy(&new_id,&add_list[add_offset],4);
        
        // 二分查找确定插入位置
        uint32_t left = 0;
        uint32_t right = current_size;
            uint32_t insert_pos = current_size;
            bool exists = false;
        while (left < right) {
            uint32_t mid = left + (right - left) / 2;
                 uint32_t mid_val = tag_authorization_idlist[mid];
					
                   if (mid_val == new_id) {
                exists = true;
                break;
                   } else if(tag_authorization_idlist[mid] < new_id) {
                left = mid + 1;
            } else {
                right = mid;
            }
        }
        
            // 如果ID不存在，则插入
        if (!exists) {
            insert_pos = left;
        // 使用memmove移动元素为新ID腾出空间
        memmove(
            &tag_authorization_idlist[left + 1],
            &tag_authorization_idlist[left],
            (current_size - left) * sizeof(uint32_t)
        );
        
        // 插入新ID
        tag_authorization_idlist[left] = new_id;
        current_size++;  // 更新当前大小
    }
   } 
    *authorization_list_num = current_size;  // 更新总数

}
void delete_authorization_list(uint8_t* delete_list,uint32_t*tag_authorization_idlist,uint32_t*authorization_list_num)
{
    if (*authorization_list_num == 0) {
//        for (int i = 0; i < taglist_num; i++) {
//            tag_authorized_List[i] = 0;
//        }
        return;
    }
 uint8_t delete_count = delete_list[0];
delete_count_temp=delete_count;
    // 遍历需要查找的每个ID
    for (int i = 0; i < delete_count; i++) {
        uint32_t key=0;
          uint8_t required_size = 1 + i * ID_SIZE;
      required_size_temp=   required_size;
            memcpy(&key,&delete_list[required_size],4);
        int low = 0;
        int high = *authorization_list_num - 1;
        int found = 0; // 标记是否找到
            int index=0;
        // 在授权列表中执行二分查找
         low_temp=low;//测试
         high_temp=high;//测试
         temp_key=key;
        while (low <= high) {
            int mid = low + (high - low) / 2; // 防止整数溢出
               LOG_INFO(TRACE_MODULE_APP,"high%d,low%d,mid%d,key%#x\r\n",high,low,mid,key);
            if (tag_id_authorization_list[mid] == key) {
                found = 1; // 找到匹配项
                        index=mid;
                     temp_index=index;
                break;
            } else if (tag_id_authorization_list[mid] < key) {
                low = mid + 1; // 在右半部分继续查找
            } else {
                high = mid - 1; // 在左半部分继续查找
            }
							
        }
				
            if(found)
            {
               LOG_INFO(TRACE_MODULE_APP,"进入删除index%d,key%#x\r\n",index,key);
             int elements_to_move = *authorization_list_num - index - 1;
               elements_to_move_temp=elements_to_move;
                if (elements_to_move > 0) {
        // 计算源地址和目标地址
        void *src = (uint32_t *)tag_authorization_idlist + (index + 1);
        void *dest =(uint32_t *)tag_authorization_idlist + index;
        
        // 使用memmove进行内存块移动（处理重叠内存区域）
        memmove(dest, src, elements_to_move * 4);
            *authorization_list_num=*authorization_list_num-1;//成功删除一个更新数量
            tag_authorization_idlist[*authorization_list_num]=0xffffffff;//将多余重叠部分重置		 
            }else if (elements_to_move==0&&index==0){
            *authorization_list_num=*authorization_list_num-1;//成功删除一个更新数量
            tag_authorization_idlist[index]=0xffffffff;
            }
				
            }
      }
}
extern uint8_t bind_flag;
void Usart0ParseDataHandler(uint8_t data)
{
if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
    {   //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;
        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:
//                  if(pack_index==MODBUS_MODE*2)
//                  {
//                      Uart1GpsRecDebugSend();                    
//                      g_com_map[MODBUS_MODE] = 1;
//                      return;
//                  }
                    //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, 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mUsart2ReceivePack[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mUsart2ReceivePack[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;
        }
    }
}
void Usart3ParseDataHandler(uint8_t data)
{
   // 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;
    LOG_INFO(TRACE_MODULE_APP,"收到数据%c\r\n",data);
   //LOG_INFO(TRACE_MODULE_APP,"收到 %#x\r\n",data);
    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 == 0x23) {
                pack_cmd_type = data;
                usart0_receive_state = Usart0ReceiveWaitMsgType;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitMsgType:
            if(data == 0x2||data==0x1||data == 0x3||data==0x4||data==0x5||data==0x6) {  // 读写回复消息类型
                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 = Usart0ReceiveWaitData;
            send_frame[frame_index++] = data;
            if( pack_data_len-3==0)//若等于0提前调到校验
            usart0_receive_state=Usart0ReceiveWaitChecksum1;
            break;
            
//        case Usart0ReceiveWaitParamAddr:
//            pack_param_addr = data;
//                  if(pack_msg_type==CMD_READ)
//                  {
//                     usart0_receive_state = Usart0ReceiveWaitChecksum1;
//                     pack_datalen=pack_data_len-6;
//                  }else{
//                     usart0_receive_state = Usart0ReceiveWaitData;
//                  }
//            send_frame[frame_index++] = data;
//            break;
            
        case Usart0ReceiveWaitData:
					
                     send_frame[frame_index++] = data;
                  mUsart2ReceivePack[index++] = data;
            
                     if(index == pack_data_len-3) {
                usart0_receive_state = Usart0ReceiveWaitChecksum1;
                        //pack_datalen=pack_data_len;
              }
            break;
            
        case Usart0ReceiveWaitChecksum1:
            pack_checksum = data;  // 低字节
                  pack_checksum_test = data;  // 低字节
                  send_frame[frame_index++] = data;
               usart0_receive_state = Usart0ReceiveWaitChecksum2;
               LOG_INFO(TRACE_MODULE_APP,"收到校验1 %#x\r\n",data);
                  break;
            case Usart0ReceiveWaitChecksum2:
            pack_checksum |= data<<8;  // 高字节
            pack_checksum_test |= data<<8;  // 高字节
            LOG_INFO(TRACE_MODULE_APP,"收到校验2 %#x\r\n",data);
            // 计算校验和 (从第3个字节开始，长度为4+数据长度)
//                  if(pack_msg_type!=CMD_REPLY)
//            {
                  calculated_checksum = Checksum_u16(&send_frame[2],pack_data_len);
//                  }else{
//                  //calculated_checksum = Checksum_u16(&send_frame[2],4);
//							
//                  }
            test_calculate=calculated_checksum;
               LOG_INFO(TRACE_MODULE_APP,"收到校验 %#x,%#x\r\n",calculated_checksum,pack_checksum);
            // 验证校验和
            if(pack_checksum == calculated_checksum) {
                // 校验通过，处理数据
                           switch(pack_msg_type)
                              {	
                              case BIND_DISTANCE_FOR_TAG:
                              memcpy(&bind_distance,&mUsart2ReceivePack[0],2);
                              memcpy(&g_com_map[BIND_DISTANCE],&bind_distance,2);
                              bind_flag=1;
                                 save_com_map_to_flash();
                                 break;
                              case DELETE_ALL:
                                 memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));
                                 save_taglist_map_to_flash();
                                 break;
                              case DELETE_PART:
                                 delete_authorization_list(&mUsart2ReceivePack,&tag_id_authorization_list,&tag_id_authorization_list_num);//删表中元素操作
                                 save_taglist_map_to_flash();
                              break;
                              case SET_DISTANCE_DETERMINATION:
                                 memcpy(&button_determinate_distance,&mUsart2ReceivePack[0],2);//设定开关判断距离
                                 memcpy(&g_com_map[DETERMINATION_DISTANCE],&button_determinate_distance,2);
                                 save_com_map_to_flash();
                                 break;
                              case SET_FREQUENCE_BY_DISTANCE:
                              memcpy(&change_by_frequency_distance,&mUsart2ReceivePack[0],2);//设定附近距离
                              memcpy(&g_com_map[FREQUENCY_DISTANCE],&change_by_frequency_distance,2);
                              tag_near_frequency=mUsart2ReceivePack[2];//获取设定频率
                              memcpy(&g_com_map[NERA_FREQUENCY],&tag_near_frequency,1);
                              save_com_map_to_flash();
                                 break;
                              case ADD_NEW_TAG_IN_LIST:
                                    add_new_tag_id_to_list(&mUsart2ReceivePack,&tag_id_authorization_list,&tag_id_authorization_list_num);
                                    save_taglist_map_to_flash();//存入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;
    }


}
void Usart1ParseDataHandler(uint8_t data)
{
    if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
    {   //升级程序
@@ -182,7 +582,7 @@
                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);
                    SendComMap0(pack_datalen,pack_index>>1);
                    break;
                default:
                    break;
@@ -221,6 +621,7 @@
            usart_receive_state = UsartReceiveWaitLength;
            pack_msgtype = data;
        }
				
        else {
            usart_receive_state = UsartReceiveWaitHead0;
            pack_index = 0;
@@ -245,27 +646,25 @@
            analysis_num=sscanf((char*)mUsart2ReceivePack,"$%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*s",gps_header,wdrecv.m_pData,jdrecv.m_pData,Posstate.m_pData);
            if(!memcmp(gps_header,"GNGGA",5))
            { 
                if(g_com_map[MODBUS_MODE])
                    LOG_INFO(TRACE_MODULE_APP,"%s", mUsart2ReceivePack);
                wd=strtod(wdrecv.m_pData,NULL);
                jd=strtod(jdrecv.m_pData,NULL);
                pos_state=atoi(Posstate.m_pData);
            } else {
                wd=0;
                jd=0;
                     memcpy(GPS_GGAmessage,mUsart2ReceivePack,strlen(mUsart2ReceivePack)-2);
                   
                    wd=strtod(wdrecv.m_pData,NULL);
                    jd=strtod(jdrecv.m_pData,NULL);
                              if(wd!=0)
                    pos_state=atoi(Posstate.m_pData);
                        if(pos_state!=0)
                        {
                        pos_state=0;//防止多次进入
                        }
						
            }
            index = 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));
//                  if(!memcmp(gps_header,"GBGSV",5))
//                  {memcpy(GPS_GSVmessage,mUsart2ReceivePack,strlen(mUsart2ReceivePack)-2);
//                  GPS_ParseGSV(GPS_GSVmessage,strlen(GPS_GSVmessage));
//						
//                  }
            
            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));