#include <serial_at_cmd_app.h>
#include <global_param.h>
#include <string.h>
#include <stdio.h>
#include "Usart.h"
#include "mk_flash.h"
//#include "dw_app.h"
//#include "UsartII.h"
//#include "main.h"
#include "board.h"
//#include "Spi.h"
//#include "radio.h"



//#define EUART0_RX_BUF_SIZE 100
#define Label_id_local    1     //±êÇ©id
#define data_buff_MAX     50    //»ùÕ¾ÊýÁ¿
#define Lora_TXD_bff_MAX  220   //·¢ËÍ»º´æÇø´óС  >4+8+4*»ùÕ¾ÊýÁ¿+2=14+4*»ùÕ¾ÊýÁ¿

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=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,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
{
    BLE_RECV_STATE_IDLE = 0,
    BLE_RECV_STATE_MAC,
    BLE_RECV_STATE_RSSI,
    //BLE_RECV_STATE_LF,
} E_BLERecvState;
static char gps_header[20];
typedef struct
{
    char m_pData[100];
    uint32_t m_u32Len;
} GGA_DataStruct;
typedef struct
{
    E_BLERecvState m_eState;
    char m_macHeader[100],m_rssiHeader2[100];
    uint32_t m_u32HeaderLen,m_u32Header2Len;

    char m_acRecvBuf[128];
    uint32_t m_u32RecvLen;
} ST_BLERecv;


uint8_t  mUsart2ReceivePack_before , mUsart2ReceivePack_now;
uint8_t j_ct=0,CT_satrt_temp=0,CT_satrt=0,numb_base=0	;

uint8_t id_cmpare[12]= {0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x30, 0x30, 0x30, 0x31}; //123456780001//²âÊÔ//RC2202A£º
uint32_t CT_sum=0;
char char_broadcast_data[80];//¹ã²¥Êý¾Ý

uint8_t  Lora_TXD_bff[Lora_TXD_bff_MAX]; //lora·¢ËÍ»º´æÇø
uint16_t data_buff[data_buff_MAX][2];    //»ùÕ¾Êý¾Ý»º´æÇø

char  char_mac[14],char_ssi[6];
//int32_t distance_int;
double ssi_double;
uint16_t temp_16,temp_16_id,temp_16_distance,data_buff_start;


uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
    uint16_t sum = 0;
    uint32_t i;
    for(i=0; i<len; i++)
        sum += pdata[i];
    sum = ~sum;
    return sum;
}
 
void SendComMap0(uint8_t data_length, uint8_t index)//±íʾ³É¹¦¶ÁÈ¡µÄ»ØÓ¦°ü
{
  static uint8_t send_frame[EUART0_RX_BUF_SIZE];
    uint16_t checksum = 0;
    send_frame[0] = 0x55;
    send_frame[1] = 0xAA;
    send_frame[2] = 0x03;
    send_frame[3] = data_length+5;
    send_frame[4] = CMD_REPLY;
    send_frame[5] = index;
    send_frame[6] = data_length;
    memcpy(&send_frame[7], &g_com_map[index], data_length);
    for(int i = 0; i<(data_length+5); i++)
    {
        checksum += send_frame[2+i];
    }
    checksum = Checksum_u16(&send_frame[2],5+data_length);
    memcpy(&send_frame[7+data_length],&checksum,2);
		gpio_pin_set(CHANGE_UART_PIN);//£»À­¸ß±ä·¢ËÍ
    uart_send(UART_ID0, send_frame,data_length+9, NULL);
				while(uart_tx_in_progress(UART_ID0));
			gpio_pin_clr(CHANGE_UART_PIN);//£»À­µÍ±ä½ÓÊÕ
}
void SendComMap(uint8_t data_length, uint8_t index)//±íʾ³É¹¦¶ÁÈ¡µÄ»ØÓ¦°ü
{
    static uint8_t send_frame[EUART0_RX_BUF_SIZE];
    uint16_t checksum = 0;
    send_frame[0] = 0x55;
    send_frame[1] = 0xAA;
    send_frame[2] = 0x03;
    send_frame[3] = data_length+5;
    send_frame[4] = CMD_REPLY;
    send_frame[5] = index;
    send_frame[6] = data_length;
    memcpy(&send_frame[7], &g_com_map[index], data_length);
    for(int i = 0; i<(data_length+5); i++)
    {
        checksum += send_frame[2+i];
    }
    checksum = Checksum_u16(&send_frame[2],5+data_length);
    memcpy(&send_frame[7+data_length],&checksum,2);

    uart_send(UART_ID1, send_frame,data_length+9, NULL);
}
void UpdateProcess(uint8_t index)
{
    if(index == 2*CNT_UPDATE)
    {
        uint32_t result = 0;
        uint16_t tmp = 0xAAAA;
        __disable_irq();
        result = flash_open(FLASH_ID0,NULL);
        if(!result)//´ò¿ª³É¹¦
            flash_erase(FLASH_ID0,APP_CONFIG_IAPFLAG_SECTOR_ADDR,FLASH_SECTOR_SIZE);
        result = flash_write_nbytes(FLASH_ID0,APP_CONFIG_IAPFLAG_MAP,(uint8_t*)&tmp,2);
        __enable_irq();
        Serial0PutString("½øÈëÉý¼¶Ä£Ê½\r\n");
        g_com_map[CNT_UPDATE]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
    }
    if(index == 2*CNT_REBOOT)
    {   g_com_map[CNT_REBOOT]=0;
        g_com_map[MAP_SIGN_INDEX]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
    }
    if(index == 2*CNT_RESTART)
    {
        g_com_map[CNT_RESTART]=0;
        save_com_map_to_flash();
        delay_us(100000);
        NVIC_SystemReset(); //Èí¸´Î»»Øµ½bootloader
    }

}
double d_value;
uint16_t test_calculate,pack_checksum_test;
extern uint32_t tag_id_authorization_list[1024];
extern uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
extern uint8_t tag_near_frequency;
extern tag_id_authorization_list_num;
#define ID_SIZE 4
uint32_t temp_key;
uint8_t required_size_temp;
uint8_t delete_count_temp;
int low_temp,high_temp,mid_temp,elements_to_move_temp,temp_index;
void add_new_tag_id_to_list(uint8_t* add_list,uint32_t*tag_authorization_idlist,uint32_t*authorization_list_num)
{
uint32_t count = add_list[0];
    uint32_t current_size = *authorization_list_num;
    uint32_t new_size = current_size + count;
    
    // ´¦Àíÿ¸öÐÂID
    for (uint32_t i = 0; i < count; i++) {
        uint32_t add_offset = 1 + i * 4;  // Ìø¹ý¼ÆÊýbyte
        uint32_t new_id=0;
					memcpy(&new_id,&add_list[add_offset],4);
        
        // ¶þ·Ö²éÕÒÈ·¶¨²åÈëλÖÃ
        uint32_t left = 0;
        uint32_t right = current_size;
				uint32_t insert_pos = current_size;
				bool exists = false;
        while (left < right) {
            uint32_t mid = left + (right - left) / 2;
					  uint32_t mid_val = tag_authorization_idlist[mid];
					
						 if (mid_val == new_id) {
                exists = true;
                break;
						 } else if(tag_authorization_idlist[mid] < new_id) {
                left = mid + 1;
            } else {
                right = mid;
            }
        }
        
				// Èç¹ûID²»´æÔÚ£¬Ôò²åÈë
        if (!exists) {
            insert_pos = left;
        // ʹÓÃmemmoveÒƶ¯ÔªËØΪÐÂIDÌÚ³ö¿Õ¼ä
        memmove(
            &tag_authorization_idlist[left + 1],
            &tag_authorization_idlist[left],
            (current_size - left) * sizeof(uint32_t)
        );
        
        // ²åÈëÐÂID
        tag_authorization_idlist[left] = new_id;
        current_size++;  // ¸üе±Ç°´óС
    }
   } 
    *authorization_list_num = current_size;  // ¸üÐÂ×ÜÊý

}
void delete_authorization_list(uint8_t* delete_list,uint32_t*tag_authorization_idlist,uint32_t*authorization_list_num)
{
    if (*authorization_list_num == 0) {
//        for (int i = 0; i < taglist_num; i++) {
//            tag_authorized_List[i] = 0;
//        }
        return;
    }
 uint8_t delete_count = delete_list[0];
delete_count_temp=delete_count;
    // ±éÀúÐèÒª²éÕÒµÄÿ¸öID
    for (int i = 0; i < delete_count; i++) {
        uint32_t key=0;
			 uint8_t required_size = 1 + i * ID_SIZE;
		required_size_temp=	required_size;
				memcpy(&key,&delete_list[required_size],4);
        int low = 0;
        int high = *authorization_list_num - 1;
        int found = 0; // ±ê¼ÇÊÇ·ñÕÒµ½
				int index=0;
        // ÔÚÊÚȨÁбíÖÐÖ´Ðжþ·Ö²éÕÒ
			low_temp=low;//²âÊÔ
			high_temp=high;//²âÊÔ
			temp_key=key;
        while (low <= high) {
            int mid = low + (high - low) / 2; // ·ÀÖ¹ÕûÊýÒç³ö
            	LOG_INFO(TRACE_MODULE_APP,"high%d,low%d,mid%d,key%#x\r\n",high,low,mid,key);
            if (tag_id_authorization_list[mid] == key) {
                found = 1; // ÕÒµ½Æ¥ÅäÏî
								index=mid;
							temp_index=index;
                break;
            } else if (tag_id_authorization_list[mid] < key) {
                low = mid + 1; // ÔÚÓҰ벿·Ö¼ÌÐø²éÕÒ
            } else {
                high = mid - 1; // ÔÚ×ó°ë²¿·Ö¼ÌÐø²éÕÒ
            }
							
        }
				
				if(found)
				{
					LOG_INFO(TRACE_MODULE_APP,"½øÈëɾ³ýindex%d,key%#x\r\n",index,key);
				 int elements_to_move = *authorization_list_num - index - 1;
					elements_to_move_temp=elements_to_move;
					 if (elements_to_move > 0) {
        // ¼ÆËãÔ´µØÖ·ºÍÄ¿±êµØÖ·
        void *src = (uint32_t *)tag_authorization_idlist + (index + 1);
        void *dest =(uint32_t *)tag_authorization_idlist + index;
        
        // ʹÓÃmemmove½øÐÐÄÚ´æ¿éÒƶ¯£¨´¦ÀíÖصþÄÚ´æÇøÓò£©
        memmove(dest, src, elements_to_move * 4);
				*authorization_list_num=*authorization_list_num-1;//³É¹¦É¾³ýÒ»¸ö¸üÐÂÊýÁ¿
				tag_authorization_idlist[*authorization_list_num]=0xffffffff;//½«¶àÓàÖصþ²¿·ÖÖØÖÃ		 
				}else if (elements_to_move==0&&index==0){
				*authorization_list_num=*authorization_list_num-1;//³É¹¦É¾³ýÒ»¸ö¸üÐÂÊýÁ¿
				tag_authorization_idlist[index]=0xffffffff;
				}
				
				}
		}
}
extern uint8_t bind_flag;
void Usart0ParseDataHandler(uint8_t data)
{
if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
    {   //Éý¼¶³ÌÐò
        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)
        {   //ÈôÊÕµ½Ð£ÑéºÍ°ü
            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)				//УÑéͨ¹ý
            {
                switch(pack_cmd)
                {
                case CMD_WRITE:
//                  if(pack_index==MODBUS_MODE*2)
//                  {
//                      Uart1GpsRecDebugSend();                    
//                      g_com_map[MODBUS_MODE] = 1;
//                      return;
//                  }
                    //´ÓmUsartReceivePackÖжÁÈ¡pack_length³¤¶ÈµÄ×Ö½Ú£¬·Åµ½È«¾Ö±äÁ¿ÖÐ,¸³Öµ±£´æµÄ²ÎÊý²¢ÇÒ´æÈëflash
                    memcpy((uint8_t*)&g_com_map + pack_index, mUsart2ReceivePack, pack_datalen);
                    if(mUsart2ReceivePack[0]==1)
                        UpdateProcess(pack_index);
                    //·µ»ØÒ»¸öerror״̬
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    //delay_ms(100);
                    NVIC_SystemReset();
                    break;
                case CMD_READ:
                    //read°üÖÐdata×Ö½Ú£¬¼´mUsart2ReceivePack[0]±íʾÊý¾Ý³¤¶È£»
                    //´Óg_com_data½á¹¹ÌåÖеĵÚindexλÖöÁÈ¡³¤¶ÈΪmUsart2ReceivePack[0]µÄ×Ö½Ú£¬·¢ËͳöÀ´
                    SendComMap0(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) ) {	//Èô¹ûÊÕµ½µÄÊÇÕý³£Í¨Ñ¶°ü
            mUsart2ReceivePack[index] = data;
            index++;
            if(index == pack_length-5) {		//Èç¹ûÊÕµ½µÄindexÓ볤¶ÈÏàµÈ
                usart_receive_state = UsartReceiveWaitChecksum;
            }
        } else if(usart_receive_state == UsartReceiveWaitDataLen) {						//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_datalen = data;
            usart_receive_state = UsartReceiveWaitData;
        } else if(usart_receive_state == UsartReceiveWaitIndex) {						//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_index = data;
            usart_receive_state = UsartReceiveWaitDataLen;
        } else if(usart_receive_state == UsartReceiveWaitCMD) {							//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_cmd = data;
            usart_receive_state = UsartReceiveWaitIndex;
        } else if(usart_receive_state == UsartReceiveWaitLength) {						//ÊÕµ½³¤¶È×Ö½Ú

            pack_length = data;
            pack_index = 0;
            usart_receive_state = UsartReceiveWaitCMD;

        } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {	//ÊÕµ½µÚÒ»¸ö°üÍ·
            usart_receive_state = UsartReceiveWaitHead1;
        } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {	//ÊÕµ½µÚ¶þ¸ö°üÍ·
            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;
        }
    }
}
void Usart3ParseDataHandler(uint8_t data)
{
	// È«¾Ö±äÁ¿
static Usart0ReceiveState usart0_receive_state = Usart0ReceiveWaitHead0;

static uint8_t index = 0;               // »º³åÇøË÷Òý
static uint8_t pack_cmd_type = 0;       // Ö¸ÁîÀàÐÍ
static uint8_t pack_msg_type = 0;       // ÏûÏ¢ÀàÐÍ
static uint8_t pack_data_len = 0;       // Êý¾Ý³¤¶È
static uint8_t pack_param_addr = 0;     // ²ÎÊýµØÖ·
static uint16_t pack_checksum = 0;      // ½ÓÊÕµ½µÄУÑéºÍ
static uint16_t calculated_checksum = 0; // ¼ÆËãµÃµ½µÄУÑéºÍ
static uint8_t send_frame[256];  // ÓÃÓÚ¼ÆËãУÑéºÍµÄÖ¡
static uint8_t frame_index = 0;  // Ö¡»º³åÇøË÷Òý
static uint8_t pack_datalen = 0;
    LOG_INFO(TRACE_MODULE_APP,"ÊÕµ½Êý¾Ý%c\r\n",data);
	//LOG_INFO(TRACE_MODULE_APP,"ÊÕµ½ %#x\r\n",data);
    switch(usart0_receive_state) {
        case Usart0ReceiveWaitHead0:
            if(data == 0x55) {
                usart0_receive_state = Usart0ReceiveWaitHead1;
                // ³õʼ»¯Ö¡»º³åÇø
                frame_index = 0;
                send_frame[frame_index++] = data;
            }
            break;
            
        case Usart0ReceiveWaitHead1:
            if(data == 0xAA) {
                usart0_receive_state = Usart0ReceiveWaitCmdType;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitCmdType:
            if(data == 0x23) {
                pack_cmd_type = data;
                usart0_receive_state = Usart0ReceiveWaitMsgType;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitMsgType:
            if(data == 0x2||data==0x1||data == 0x3||data==0x4||data==0x5||data==0x6) {  // ¶Áд»Ø¸´ÏûÏ¢ÀàÐÍ
                pack_msg_type = data;
                usart0_receive_state = Usart0ReceiveWaitDataLen;
                send_frame[frame_index++] = data;
            } else {
                usart0_receive_state = Usart0ReceiveWaitHead0;
            }
            break;
            
        case Usart0ReceiveWaitDataLen:
            pack_data_len = data;
            index = 0;
            usart0_receive_state = Usart0ReceiveWaitData;
            send_frame[frame_index++] = data;
				if( pack_data_len-3==0)//ÈôµÈÓÚ0ÌáÇ°µ÷µ½Ð£Ñé
				usart0_receive_state=Usart0ReceiveWaitChecksum1;
            break;
            
//        case Usart0ReceiveWaitParamAddr:
//            pack_param_addr = data;
//						if(pack_msg_type==CMD_READ)
//						{
//							usart0_receive_state = Usart0ReceiveWaitChecksum1;
//							pack_datalen=pack_data_len-6;
//						}else{
//							usart0_receive_state = Usart0ReceiveWaitData;
//						}
//            send_frame[frame_index++] = data;
//            break;
            
        case Usart0ReceiveWaitData:
					
							send_frame[frame_index++] = data;
						mUsart2ReceivePack[index++] = data;
            
							if(index == pack_data_len-3) {
                usart0_receive_state = Usart0ReceiveWaitChecksum1;
								//pack_datalen=pack_data_len;
              }
            break;
            
        case Usart0ReceiveWaitChecksum1:
            pack_checksum = data;  // µÍ×Ö½Ú
						pack_checksum_test = data;  // µÍ×Ö½Ú
						send_frame[frame_index++] = data;
					usart0_receive_state = Usart0ReceiveWaitChecksum2;
					LOG_INFO(TRACE_MODULE_APP,"ÊÕµ½Ð£Ñé1 %#x\r\n",data);
						break;
				case Usart0ReceiveWaitChecksum2:
            pack_checksum |= data<<8;  // ¸ß×Ö½Ú
            pack_checksum_test |= data<<8;  // ¸ß×Ö½Ú
				LOG_INFO(TRACE_MODULE_APP,"ÊÕµ½Ð£Ñé2 %#x\r\n",data);
            // ¼ÆËãУÑéºÍ (´ÓµÚ3¸ö×Ö½Ú¿ªÊ¼£¬³¤¶ÈΪ4+Êý¾Ý³¤¶È)
//						if(pack_msg_type!=CMD_REPLY)
//            {
						calculated_checksum = Checksum_u16(&send_frame[2],pack_data_len);
//						}else{
//						//calculated_checksum = Checksum_u16(&send_frame[2],4);
//							
//						}
            test_calculate=calculated_checksum;
					LOG_INFO(TRACE_MODULE_APP,"ÊÕµ½Ð£Ñé %#x,%#x\r\n",calculated_checksum,pack_checksum);
            // Ñé֤УÑéºÍ
            if(pack_checksum == calculated_checksum) {
                // УÑéͨ¹ý£¬´¦ÀíÊý¾Ý
									switch(pack_msg_type)
										{	
										case BIND_DISTANCE_FOR_TAG:
										memcpy(&bind_distance,&mUsart2ReceivePack[0],2);
										memcpy(&g_com_map[BIND_DISTANCE],&bind_distance,2);
										bind_flag=1;
											save_com_map_to_flash();
											break;
										case DELETE_ALL:
											memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));
											save_taglist_map_to_flash();
											break;
										case DELETE_PART:
											delete_authorization_list(&mUsart2ReceivePack,&tag_id_authorization_list,&tag_id_authorization_list_num);//ɾ±íÖÐÔªËزÙ×÷
											save_taglist_map_to_flash();
										break;
										case SET_DISTANCE_DETERMINATION:
											memcpy(&button_determinate_distance,&mUsart2ReceivePack[0],2);//É趨¿ª¹ØÅжϾàÀë
											memcpy(&g_com_map[DETERMINATION_DISTANCE],&button_determinate_distance,2);
											save_com_map_to_flash();
											break;
										case SET_FREQUENCE_BY_DISTANCE:
										memcpy(&change_by_frequency_distance,&mUsart2ReceivePack[0],2);//É趨¸½½ü¾àÀë
										memcpy(&g_com_map[FREQUENCY_DISTANCE],&change_by_frequency_distance,2);
										tag_near_frequency=mUsart2ReceivePack[2];//»ñÈ¡É趨ƵÂÊ
										memcpy(&g_com_map[NERA_FREQUENCY],&tag_near_frequency,1);
										save_com_map_to_flash();
											break;
										case ADD_NEW_TAG_IN_LIST:
												add_new_tag_id_to_list(&mUsart2ReceivePack,&tag_id_authorization_list,&tag_id_authorization_list_num);
												save_taglist_map_to_flash();//´æÈëflash
										break;
										default:
											break;
									}
            }
            
            // ÖØÖÃ״̬»ú
            usart0_receive_state = Usart0ReceiveWaitHead0;
            index = 0;
            frame_index = 0;
            break;
            
        default:
            usart0_receive_state = Usart0ReceiveWaitHead0;
            index = 0;
            frame_index = 0;
            break;
    }


}
void Usart1ParseDataHandler(uint8_t data)
{
    if(state5V_prase_flag&&!g_com_map[MODBUS_MODE])
    {   //Éý¼¶³ÌÐò
        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)
        {   //ÈôÊÕµ½Ð£ÑéºÍ°ü
            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)				//УÑéͨ¹ý
            {
                switch(pack_cmd)
                {
                case CMD_WRITE:
                  if(pack_index==MODBUS_MODE*2)
                  {
                      Uart1GpsRecDebugSend();                    
                      g_com_map[MODBUS_MODE] = 1;
                      return;
                  }
                    //´ÓmUsartReceivePackÖжÁÈ¡pack_length³¤¶ÈµÄ×Ö½Ú£¬·Åµ½È«¾Ö±äÁ¿ÖÐ,¸³Öµ±£´æµÄ²ÎÊý²¢ÇÒ´æÈëflash
                    memcpy((uint8_t*)&g_com_map + pack_index, mUsartReceivePack, pack_datalen);
                    if(mUsartReceivePack[0]==1)
                        UpdateProcess(pack_index);
                    //·µ»ØÒ»¸öerror״̬
                    //SendComMap(pack_datalen,pack_index);
                    save_com_map_to_flash();
                    //delay_ms(100);
                    NVIC_SystemReset();
                    break;
                case CMD_READ:
                    //read°üÖÐdata×Ö½Ú£¬¼´mUsartReceivePack[0]±íʾÊý¾Ý³¤¶È£»
                    //´Óg_com_data½á¹¹ÌåÖеĵÚindexλÖöÁÈ¡³¤¶ÈΪmUsartReceivePack[0]µÄ×Ö½Ú£¬·¢ËͳöÀ´
                    SendComMap0(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) ) {	//Èô¹ûÊÕµ½µÄÊÇÕý³£Í¨Ñ¶°ü
            mUsartReceivePack[index] = data;
            index++;
            if(index == pack_length-5) {		//Èç¹ûÊÕµ½µÄindexÓ볤¶ÈÏàµÈ
                usart_receive_state = UsartReceiveWaitChecksum;
            }
        } else if(usart_receive_state == UsartReceiveWaitDataLen) {						//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_datalen = data;
            usart_receive_state = UsartReceiveWaitData;
        } else if(usart_receive_state == UsartReceiveWaitIndex) {						//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_index = data;
            usart_receive_state = UsartReceiveWaitDataLen;
        } else if(usart_receive_state == UsartReceiveWaitCMD) {							//ÊÕµ½Ö¸ÁîÀàÐÍ×Ö½Ú
            pack_cmd = data;
            usart_receive_state = UsartReceiveWaitIndex;
        } else if(usart_receive_state == UsartReceiveWaitLength) {						//ÊÕµ½³¤¶È×Ö½Ú

            pack_length = data;
            pack_index = 0;
            usart_receive_state = UsartReceiveWaitCMD;

        } else if((usart_receive_state == UsartReceiveWaitHead0) && (data == 0x55)) {	//ÊÕµ½µÚÒ»¸ö°üÍ·
            usart_receive_state = UsartReceiveWaitHead1;
        } else if((usart_receive_state == UsartReceiveWaitHead1) && (data == 0xAA)) {	//ÊÕµ½µÚ¶þ¸ö°üÍ·
            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;
//GPS½âÎöÊý¾Ý
//	static ST_BLERecv BLE_recvive;
        GGA_DataStruct jdrecv,wdrecv,Posstate;
        
        //½ÓÊÕÊý¾Ý¿ªÊ¼·ÖÎö
        mUsart2ReceivePack[index]  =  data; //charÊý×é´«½øÀ´²ÎÊýdata
        mUsart2ReceivePack_before  =  mUsart2ReceivePack_now;
        mUsart2ReceivePack_now=data;
        index++;
        if( mUsart2ReceivePack_before == 0x0D && mUsart2ReceivePack_now==0x0A )//½ÓÊÕÊý¾Ýµ½¡°0x0D 0x0A¡±½áÊø
        {
            //½âÎö¸ÃÌõGPS±¨ÎÄ
           
            analysis_num=sscanf((char*)mUsart2ReceivePack,"$%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*[^,],%*s",gps_header,wdrecv.m_pData,jdrecv.m_pData,Posstate.m_pData);
            if(!memcmp(gps_header,"GNGGA",5))
            { 
							memcpy(GPS_GGAmessage,mUsart2ReceivePack,strlen(mUsart2ReceivePack)-2);
                   
                    wd=strtod(wdrecv.m_pData,NULL);
                    jd=strtod(jdrecv.m_pData,NULL);
										if(wd!=0)
                    pos_state=atoi(Posstate.m_pData);
								if(pos_state!=0)
								{
								pos_state=0;//·ÀÖ¹¶à´Î½øÈë
								}
						
            }
//						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));
            index=0;
            mUsart2ReceivePack_before=0;
            mUsart2ReceivePack_now=0;
        }
    }
}