From 32cafbc8686c458168d6ba7a404dda17ec041db5 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期四, 29 五月 2025 09:54:46 +0800
Subject: [PATCH] 测试固件，添加了串口打印测试信息，蓝牙基站数量，UWB基站数量以及加速度计的状态以及步数。
---
keil/include/drivers/serial_at_cmd_app.c | 91 ++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 88 insertions(+), 3 deletions(-)
diff --git a/keil/include/drivers/serial_at_cmd_app.c b/keil/include/drivers/serial_at_cmd_app.c
index b3e8fdf..3031dba 100644
--- a/keil/include/drivers/serial_at_cmd_app.c
+++ b/keil/include/drivers/serial_at_cmd_app.c
@@ -10,7 +10,7 @@
#include "board.h"
//#include "Spi.h"
//#include "radio.h"
-
+#include "PCA9555.h"
//#define EUART_RX_BUF_SIZE 100
@@ -141,7 +141,7 @@
uint8_t DMA_RXBuf_BT[200]={0};
uint8_t Forward_BT_buff[buff_lenth]={0};
uint8_t report_ancnum_bt=0;
-
+extern uint8_t uwbled,btled,loraled,powerled;;
void UsartParseDataHandler(uint8_t data)
{
static UsartRecvPackState usart_receive_state = UsartReceiveWaitHead0;
@@ -185,7 +185,7 @@
} else if ((usart_receive_state == UsartReceiveWaitMsgType) && (data == 0x41))
{
usart_receive_state = UsartReceiveWaitDataLen;
-
+ btled=1;
}
else {
usart_receive_state = UsartReceiveWaitHead0;
@@ -194,4 +194,89 @@
}
}
+void UsartParseDataHandler_1(uint8_t data)
+{
+ 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 += 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
+ 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;
+ }
+ }
--
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