ChinaUWBProject.git

			@@ -12,7 +12,8 @@
			//#include "radio.h"



			#define MSG_RW 3
			#define MSG_RW_TAG_ANC 0x30
			//#define EUART_RX_BUF_SIZE 100
			#define Label_id_local 1 //标签id
			#define data_buff_MAX 50 //基站数量
			@@ -20,6 +21,8 @@

			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 +30,8 @@
			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
			{
			@@ -99,7 +102,7 @@
			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);
			uart_send(UART_ID0, send_frame,data_length+9, NULL);
			}
			void UpdateProcess(uint8_t index)
			{
			@@ -136,6 +139,12 @@

			}
			double d_value;
			uint16_t pwtag_idrec,pwanc_id,pwanc_value;
			uint8_t taguserdata_recflag[TAG_NUM_IN_SYS],pwtag_index = 0;
			extern uint16_t mubiao_anchor_ID;
			struct pwtag_structure pwtag;
			extern uint8_t Get_anchor_appdata_flag;
			extern uint8_t Get_anchor_appdata_num;
			void UsartParseDataHandler(uint8_t data)
			{
			if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
			@@ -151,27 +160,43 @@
			if(usart_receive_state == UsartReceiveWaitChecksum)
			{ //若收到校验和包
			checksum = 0;
			for(int i = 0; i<pack_length-5; i++) {
			for(int i = 0; i<pack_length-2; i++) {
			checksum += mUsartReceivePack[i];
			}
			checksum += pack_cmd;
			checksum += pack_length;
			checksum += pack_index;
			checksum += pack_datalen;
			checksum += pack_msgtype;
			checksum += pack_msgtype;
			checksum += pack_length;
			if(((data + checksum)&0xff) == 0xFF) //校验通过
			{
			switch(pack_msgtype)
			{
			uint16_t serial_tag_id_recv;
			case MSG_RW:
			pack_cmd = mUsartReceivePack[0];
			pack_index = mUsartReceivePack[1];
			pack_datalen = mUsartReceivePack[2];
			switch(pack_cmd)
			{
			case CMD_WRITE:
			if(pack_index==MODBUS_MODE*2)
			{
			Uart1GpsRecDebugSend();
			g_com_map[MODBUS_MODE] = 1;
			return;
			}
			// 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, mUsartReceivePack, pack_datalen);
			memcpy((uint8_t*)&g_com_map + pack_index, &mUsartReceivePack[3], pack_datalen);

			if(g_com_map[YAOGEIANC_UPWENJIAN_FLAG]==1)
			{
			Get_anchor_appdata_flag=1;
			Get_anchor_appdata_num=0;
			save_com_map_to_flash();
			delay_ms(300);
			SCB->AIRCR = 0X05FA0000\|(unsigned int)0x04; //软复位回到bootloader
			break;
			}


			if(mUsartReceivePack[0]==1)
			UpdateProcess(pack_index);
			//返回一个error状态
			@@ -186,95 +211,166 @@
			SendComMap(pack_datalen,pack_index>>1);
			break;
			default:
			break;
			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)
			{
			static uint8_t index = 0;
			//GPS解析数据
			// static ST_BLERecv BLE_recvive;
			GGA_DataStruct jdrecv,wdrecv,Posstate;

			//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))
			{
			if(g_com_map[MODBUS_MODE])
			LOG_INFO(TRACE_MODULE_APP,"%s", mUsart2ReceivePack);
			d_value = strtod(wdrecv.m_pData,NULL);
			if(d_value>1)
			break;

			case MSG_RW_TAG_ANC: //批量修改标签参数
			memcpy(&pwtag_idrec,&mUsartReceivePack[2],2);
			if(mUsartReceivePack[0]<0x10) //判断是修改基站还是修改标签。
			{
			blink_led(&gps_success_state);
			wd=strtod(wdrecv.m_pData,NULL);
			jd=strtod(jdrecv.m_pData,NULL);
			pos_state=atoi(Posstate.m_pData);
			if(mUsartReceivePack[0]==0x06)//如果是升级
			{
			for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
			{
			if(pwtag.groupid[i][0]==pwtag_idrec)
			{
			pwtag.duorxie[i]=mUsartReceivePack[0];
			pwtag.index[i] = mUsartReceivePack[1];
			pwtag.remain_time[i] = 5;
			memcpy(pwtag.groupid[i],&mUsartReceivePack[2],4);
			pwtag.len[pwtag_index] = pack_length-8;
			memcpy(&pwtag.value[i][0],&g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO],2);
			memcpy(&mubiao_anchor_ID,&mUsartReceivePack[2],2);
			break;
			}
			if(i==PWTAG_MAXGROUPNUM-1)
			{
			if(pwtag_index++>=PWTAG_MAXGROUPNUM)
			{
			pwtag_index = 0;
			}
			pwtag.index[pwtag_index] = mUsartReceivePack[1];
			pwtag.remain_time[pwtag_index] = 5;
			pwtag.duorxie[pwtag_index]=mUsartReceivePack[0];
			memcpy(pwtag.groupid[pwtag_index],&mUsartReceivePack[2],4);
			pwtag.len[pwtag_index] = pack_length-8;
			memcpy(&pwtag.value[pwtag_index][0],&g_com_map[YAOGEIANC_UPWENJIAN_DAXIAO],2);
			memcpy(&mubiao_anchor_ID,&mUsartReceivePack[2],2);
			}
			}
			}
			else
			{
			for(uint8_t i=0; i<PWTAG_MAXGROUPNUM; i++)
			{
			if(pwtag.groupid[i][0]==pwtag_idrec)
			{
			pwtag.duorxie[i]=mUsartReceivePack[0];
			pwtag.index[i] = mUsartReceivePack[1];
			pwtag.remain_time[i] = 5;
			memcpy(pwtag.groupid[i],&mUsartReceivePack[2],4);
			pwtag.len[pwtag_index] = pack_length-8;
			memcpy(&pwtag.value[i][0],&mUsartReceivePack[6],pack_length-8);
			break;
			}
			if(i==PWTAG_MAXGROUPNUM-1)
			{
			if(pwtag_index++>=PWTAG_MAXGROUPNUM)
			{
			pwtag_index = 0;
			}
			pwtag.index[pwtag_index] = mUsartReceivePack[1];
			pwtag.remain_time[pwtag_index] = 5;
			pwtag.duorxie[pwtag_index]=mUsartReceivePack[0];
			memcpy(pwtag.groupid[pwtag_index],&mUsartReceivePack[2],4);
			pwtag.len[pwtag_index] = pack_length-8;
			memcpy(&pwtag.value[pwtag_index][0],&mUsartReceivePack[6],pack_length-8);

			}
			}
			}

			}
			}
			index = 0;
			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
			break;
			}
			//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));
			}
			usart_receive_state = UsartReceiveWaitHead0;
			pack_index = 0;
			pack_length = 0;
			index=0;
			mUsart2ReceivePack_before=0;
			mUsart2ReceivePack_now=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-2) { //如果收到的index与长度相等
			usart_receive_state = UsartReceiveWaitChecksum;
			}
			} else if(usart_receive_state == UsartReceiveWaitLength) { //收到长度字节

			pack_length = data;
			pack_index = 0;
			usart_receive_state = UsartReceiveWaitData;

			} 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)) {
			usart_receive_state = UsartReceiveWaitLength;
			pack_msgtype = data;
			}
			else {
			usart_receive_state = UsartReceiveWaitHead0;
			pack_index = 0;
			pack_length = 0;
			}
			}
			// else if(gps_prase_flag)
			// {
			// static uint8_t index = 0;
			////GPS解析数据
			//// static ST_BLERecv BLE_recvive;
			// GGA_DataStruct jdrecv,wdrecv,Posstate;
			//
			// //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))
			// {
			// memcpy(GPS_GGAmessage,mUsart2ReceivePack,strlen(mUsart2ReceivePack)-2);
			//
			// wd=strtod(wdrecv.m_pData,NULL);
			// jd=strtod(jdrecv.m_pData,NULL);
			// if(wd!=0)
			// blink_led(&gps_success_state);
			// pos_state=atoi(Posstate.m_pData);
			// if(pos_state!=0)
			// {
			// gps_timeout_flag=0;//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_power_state=0;//关闭gps
			// if(gps_open_flag){
			// UDPClient_UploadGPS();//上传GPS超时无效数据
			// gps_power_state=0;//立即关掉gps，防止串口数据过多导致无法切换休眠
			// update_led_power_state();
			// }
			// pos_state=0;//防止多次进入
			// }
			//
			// }
			//// 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));
			// index=0;
			// mUsart2ReceivePack_before=0;
			// mUsart2ReceivePack_now=0;
			// }
			// }
			}