测试阶段：可以跟多个UWB基站测距，以及蓝牙协议转发，现在上传协议是强制写进去的，然后还有那个基站，标签时间同步没有调试正常，

zhangbo

2025-02-24 e54166d028ed6c32324d24fc28c54c8194906c60

 keil/include/drivers/serial_at_cmd_app.c

@@ -136,145 +136,180 @@

}
double d_value;
#define buff_lenth 1024
#define MAX_BASE_STATIONS 10
uint8_t DMA_RXBuf_BT[200]={0};
uint8_t Forward_BT_buff[buff_lenth]={0};
uint8_t report_ancnum_bt=0;

void UsartParseDataHandler(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 += 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:
                  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)
                        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)
     uint8_t buff[buff_lenth] = {0};
    uint8_t length = 0;
    uint8_t base_station_count = 0;
      memcpy(buff, m_EUART_DMA_RXBuf, 1024);
    //memcpy(buff, Forward_BT_buff, 1024);
    // 遍历
    for (int n = 0; n < 1024 - 6; n++) 
    {
        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
        // 包头 0x55 0xAA 0x41
        if (buff[n] == 0x55 && buff[n+1] == 0xAA && buff[n+2] == 0x41)
        {
            //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)
                {
                     blink_led(&gps_success_state);
                    wd=strtod(wdrecv.m_pData,NULL);
                    jd=strtod(jdrecv.m_pData,NULL);
                    pos_state=atoi(Posstate.m_pData);
                }
            } 
            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
                  report_ancnum_bt=buff[n+4];
            length = buff[n+3];
            if (n + 6 + report_ancnum_bt * 6 + length > 1024) {
                continue; // 如果数据越界，跳过该包
            }
            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;
            
            // 将数据复制到 DMA 缓冲区
            memcpy(DMA_RXBuf_BT, &buff[n+4], length);

            // 为了避免多次重复解析同一个数据包，可以在这里添加跳跃
            n += 6 + report_ancnum_bt * 6 + length - 1; // 跳过当前数据包
        }
    }

    // 清除临时缓冲区
    memset(buff, 0, buff_lenth);
    
//    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 += 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:
//                  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)
//                        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)
//    {
//        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)
//                {
//                     blink_led(&gps_success_state);
//                    wd=strtod(wdrecv.m_pData,NULL);
//                    jd=strtod(jdrecv.m_pData,NULL);
//                    pos_state=atoi(Posstate.m_pData);
//                }
//            } 
//            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
//            }
//            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;
//        }
//    }
		
}