初步实现一对多测距并加上车内外人数显示机制

chen

2024-11-22 830dcfa451dafb98eee1e3b129ed3efc2d9eadf6

 keil/include/drivers/serial_at_cmd_app.c

@@ -20,15 +20,17 @@

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,gps_prase_flag=1;
uint8_t state5V_prase_flag=1,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 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
{
@@ -135,9 +137,10 @@
    }

}
double d_value;
void UsartParseDataHandler(uint8_t data)
{
    if(state5V_prase_flag)
    if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
    {   //升级程序
        static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
        uint16_t checksum = 0;
@@ -163,6 +166,12 @@
                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, mUsartReceivePack, pack_datalen);
                    if(mUsartReceivePack[0]==1)
@@ -222,10 +231,11 @@
        }
    } 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;
        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;
@@ -234,27 +244,40 @@
        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
            { 
                     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_enable_flag=0;//收到有效数据关闭GPS
                        //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
                        }
						
            }
            //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));