From 08f19873a4a31b79da6f5438a936568b0c6c5b48 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 11 三月 2025 17:31:14 +0800
Subject: [PATCH] 蓝牙转发添加进去，测试正常，现在的逻辑是3s唤醒一次测距
---
keil/include/drivers/serial_at_cmd_app.c | 146 ++++++++++++------------------------------------
1 files changed, 38 insertions(+), 108 deletions(-)
diff --git a/keil/include/drivers/serial_at_cmd_app.c b/keil/include/drivers/serial_at_cmd_app.c
index 3776eee..b3e8fdf 100644
--- a/keil/include/drivers/serial_at_cmd_app.c
+++ b/keil/include/drivers/serial_at_cmd_app.c
@@ -22,7 +22,7 @@
uint8_t mUsart2ReceivePack[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);
@@ -135,133 +135,63 @@
}
}
+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)
- { //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,pack_num=0;
+ 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
- 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;
- }
- }
+ if(mUsartReceivePack[pack_datalen-1]==0x66&&data==0xBB)
+ {
+ memcpy(&DMA_RXBuf_BT[0],&mUsartReceivePack[0], pack_datalen-1);
+ }
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
+ }
+ else if((usart_receive_state == UsartReceiveWaitData) )
+ { //若果收到的是正常通讯包
+ mUsartReceivePack[pack_index] = data;
+ pack_index++;
+ if(pack_index == pack_datalen)
+ { //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
+ }
+ else if(usart_receive_state == UsartReceiveWaitDataLen)
+ { //收到指令类型字节
pack_datalen = data;
+ pack_index = 0;
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
+ }
+ 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
+ }
+ 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 if ((usart_receive_state == UsartReceiveWaitMsgType) && (data == 0x41))
+ {
+ usart_receive_state = UsartReceiveWaitDataLen;
+
}
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;
- }
- }
+
}
--
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