From 59a4e01d92da432e9736b24c085089cd31963833 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 21 五月 2025 15:19:22 +0800
Subject: [PATCH] 修改了串口读取的bug，现在是通过飞线控制的 PCA蓝牙IRQ拉低，修改灯的闪灯逻辑，
---
keil/include/drivers/serial_at_cmd_app.c | 135 +++++++++++++++++++++++++--------------------
1 files changed, 75 insertions(+), 60 deletions(-)
diff --git a/keil/include/drivers/serial_at_cmd_app.c b/keil/include/drivers/serial_at_cmd_app.c
index 3776eee..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
@@ -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);
@@ -135,23 +135,76 @@
}
}
+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;
+extern uint8_t uwbled,btled,loraled,powerled;;
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
+ 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[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
+ pack_datalen = 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) && (data == 0x41))
+ {
+ usart_receive_state = UsartReceiveWaitDataLen;
+ btled=1;
+ }
+ else {
+ usart_receive_state = UsartReceiveWaitHead0;
+ pack_index = 0;
+ pack_length = 0;
+ }
+
+}
+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 += mUsartReceivePack[i];
+ checksum += mUsart2ReceivePack[i];
}
checksum += pack_cmd;
checksum += pack_length;
@@ -163,9 +216,15 @@
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)
+ 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);
@@ -187,7 +246,7 @@
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;
+ mUsart2ReceivePack[index] = data;
index++;
if(index == pack_length-5) { //如果收到的index与长度相等
usart_receive_state = UsartReceiveWaitChecksum;
@@ -220,48 +279,4 @@
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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