修复ACC状态问题，添加终端属性查询功能，添加定位附加信息电池电压电量 zsxfly20250211

custom/GPS/src/gps_config.c

@@ -86,10 +86,10 @@ static void gps_TaskHandle(void *param){
             nmea_parse(&parser, gps_rev_data, gps_rev_len, &gps_data.info);
             nmea_info2pos(&gps_data.info, &gps_data.dpos);
             gps_data.flow_num++;
-            app_printf(
+            // app_printf(
-                "[GPS]:%03d,Lat:%.02f,Lon:%.02f,Sig:%d,Fix:%d,RL=%d\n",
+            //     "[GPS]:%03d,Lat:%.02f,Lon:%.02f,Sig:%d,Fix:%d,RL=%d\n",
-                it++, gps_data.info.lat, gps_data.info.lon, gps_data.info.sig, gps_data.info.fix, gps_rev_len
+            //     it++, gps_data.info.lat, gps_data.info.lon, gps_data.info.sig, gps_data.info.fix, gps_rev_len
-            );
+            // );
 
             if((gps_data.info.fix == 1)||(gps_data.info.sig == 0)){ // 不可用
                 gps_flag =0;

custom/control_out/inc/control_out.h

@@ -3,12 +3,72 @@
 #include "cm_os.h"
 #include "cm_gpio.h"
 
+#define BAT_SxP1            4 // 电池四串一并 
+#define BAT_VOLT(_Volt)     (_Volt * BAT_SxP1) //电压单位转换
+#define BAT_Low_VOLT        BAT_VOLT(105) //10.5V x 4 = 42V
+#define BAT_Full_VOLT       BAT_VOLT(144) //14.4V x 4 = 57.6V
 
+// #define BAT_LEVEL_0PERCENT_VOLT             BAT_VOLT(105) //  0%:(105~110]=(42.0V~44.0V]
+// #define BAT_LEVEL_10PERCENT_VOLT            BAT_VOLT(113) // 10%:(110~113]=(44.0V~45.2V]
+// #define BAT_LEVEL_20PERCENT_VOLT            BAT_VOLT(116) // 20%:(113~116]=(45.2V~46.4V]
+// #define BAT_LEVEL_30PERCENT_VOLT            BAT_VOLT(119) // 30%:(116~119]=(46.4V~47.6V]
+// #define BAT_LEVEL_40PERCENT_VOLT            BAT_VOLT(122) // 40%:(119~122]=(47.6V~48.8V]
+// #define BAT_LEVEL_50PERCENT_VOLT            BAT_VOLT(125) // 50%:(122~125]=(48.8V~50.0V]
+// #define BAT_LEVEL_60PERCENT_VOLT            BAT_VOLT(128) // 60%:(125~128]=(50.0V~51.2V]
+// #define BAT_LEVEL_70PERCENT_VOLT            BAT_VOLT(131) // 70%:(128~131]=(51.2V~52.4V]
+// #define BAT_LEVEL_80PERCENT_VOLT            BAT_VOLT(134) // 80%:(131~134]=(52.4V~53.6V]
+// #define BAT_LEVEL_90PERCENT_VOLT            BAT_VOLT(137) // 90%:(134~137]=(53.6V~54.8V]
+// #define BAT_LEVEL_100PERCENT_VOLT           BAT_VOLT(144) //100%:(137~144]=(54.8V~57.6V]
+
+// 内阻 20mΩ * 4 =80mΩ // 线损 10A 0.1V
+
+#define BAT_LEVEL_0PERCENT_VOLT             BAT_VOLT(105) //  0%
+#define BAT_LEVEL_10PERCENT_VOLT            BAT_VOLT(107) // 10%
+#define BAT_LEVEL_20PERCENT_VOLT            BAT_VOLT(109) // 20%
+#define BAT_LEVEL_30PERCENT_VOLT            BAT_VOLT(111) // 30%
+#define BAT_LEVEL_40PERCENT_VOLT            BAT_VOLT(113) // 40%
+#define BAT_LEVEL_50PERCENT_VOLT            BAT_VOLT(115) // 50%
+#define BAT_LEVEL_60PERCENT_VOLT            BAT_VOLT(117) // 60%
+#define BAT_LEVEL_70PERCENT_VOLT            BAT_VOLT(119) // 70%
+#define BAT_LEVEL_80PERCENT_VOLT            BAT_VOLT(121) // 80%
+#define BAT_LEVEL_90PERCENT_VOLT            BAT_VOLT(123) // 90%
+#define BAT_LEVEL_100PERCENT_VOLT           BAT_VOLT(144) //100%
+
+
+// 充电状态
+typedef enum {
+    Bat_Low_STA=(1<<0),
+    Bat_30_STA=(1<<1),
+    Bat_60_STA=(1<<2),
+    Bat_80_STA=(1<<3),
+    Bat_100_STA=(1<<4),
+    Bat_NotCharge_STA=(1<<5),
+    Bat_Charge_STA=(1<<6),
+} BAT_STA_t;
+
+
+typedef struct BAT_Message{
+    uint8_t Bat_STA;
+    uint8_t Bat_Percent; // 42=42%
+    uint8_t Bat_Low_Volt_count; // 低压计数
+    uint16_t Bat_Voltage; // 480=48.0V
+    uint16_t Runing_Time; // 系统运行时间
+    uint16_t Deep_ACC_Time; // 深踩油门时间
+} BAT_Message_t;
+
+#if 0
 #define ACC_RES_UP 10000
 #define ACC_RES_DOWN 3300
 
 #define VIN_RES_UP 240000
 #define VIN_RES_DOWN  3300
+#else
+#define ACC_RES_UP 47000
+#define ACC_RES_DOWN 20000
+
+#define VIN_RES_UP 94000
+#define VIN_RES_DOWN  3300
+#endif
 
 // ACC 输出设置
 #define ACC_OUT_RES_UP 5100
@@ -66,7 +126,7 @@ typedef struct{
 } sys_sta_t;
 
 extern sys_sta_t sys_sta;
-
+extern BAT_Message_t BAT_Message;
 
 void control_out_init(void);
 

custom/control_out/src/control_out.c

@@ -37,12 +37,12 @@ SYS_CONF_t sys_conf ={
 };
 sys_sta_t sys_sta;
 
-
 typedef enum {
     ADC_power = 0,
     ADC_acc = 1,
 }adc_chx_t;
 
+// 获取电压值 unit:mV
 int32_t get_voltage(adc_chx_t chx){
     int32_t voltage = 0;
     if(chx == ADC_acc){
@@ -93,16 +93,103 @@ void set_out_acc_percent(uint8_t percent){//1000000设置频率为10KHz
     }
 }
 
+const uint16_t coulomp_voltage_table[11] = {
+    BAT_LEVEL_0PERCENT_VOLT,
+    BAT_LEVEL_10PERCENT_VOLT,
+    BAT_LEVEL_20PERCENT_VOLT,
+    BAT_LEVEL_30PERCENT_VOLT,
+    BAT_LEVEL_40PERCENT_VOLT,
+    BAT_LEVEL_50PERCENT_VOLT,
+    BAT_LEVEL_60PERCENT_VOLT,
+    BAT_LEVEL_70PERCENT_VOLT,
+    BAT_LEVEL_80PERCENT_VOLT,
+    BAT_LEVEL_90PERCENT_VOLT,
+    BAT_LEVEL_100PERCENT_VOLT,
+};
+
+uint8_t pmu_voltage_to_percent(uint32_t volt){//电压转百分比
+    uint8_t i, percent;
+    float step, base;
+    if((volt < coulomp_voltage_table[0])){
+        return 0;
+    }
+    if((volt >= coulomp_voltage_table[10])){
+        return 100;
+    }
+
+    for (i = 0; i < 10; i++) {
+        if((volt < coulomp_voltage_table[i+1]) && (volt >= coulomp_voltage_table[i])){
+            step = (coulomp_voltage_table[i+1] - coulomp_voltage_table[i]) / 10.0;
+            base = coulomp_voltage_table[i];
+            percent = (10 * i) + (volt - base) / step;
+            // DEBUG("\n\ni:%d,volt:%d,step:%02.2f,base:%02.2f,percent:%d\n\n",i,volt,step,base,percent);
+            return (uint8_t)percent;
+        }
+    }
+    return 0;
+}
 
 #define _out_UPDETE_TIME 10
 static uint32_t back_timecount = 0;
 static uint8_t door_lock_last_status = 0;
 static uint8_t S_MODE_last_status = 1;
 
+BAT_Message_t BAT_Message;
+
+// 门锁状态更新标志
+bool GRB_Door_lock_updata=0;
+uint16_t Voltage_lag_count;
+uint16_t Voltage_update_count;
+float temp_bat_voltage=0;
 
 void control_out_task(void *argument){
     cm_gpio_level_e level = 0;
     while(1){
+
+        uint16_t in_acc_percent= get_in_acc_percent();
+
+        if(BAT_Message.Runing_Time < 0xFFFF){
+            BAT_Message.Runing_Time++;
+        }
+        
+        temp_bat_voltage += get_voltage(ADC_power) / 100;
+
+        Voltage_update_count++;
+        if(Voltage_update_count >= (1000/_out_UPDETE_TIME)){//1s
+            BAT_Message.Bat_Voltage = temp_bat_voltage / Voltage_update_count;
+            Voltage_update_count=0;
+            temp_bat_voltage = 0;
+        }
+        in_acc_percent =80;
+        if(in_acc_percent >= 80){ // 油门大于80%时，
+            if(BAT_Message.Deep_ACC_Time < 0xFFFF){
+                BAT_Message.Deep_ACC_Time++;
+            }
+            Voltage_lag_count++;
+            if(Voltage_lag_count >= (2000/_out_UPDETE_TIME)){//2s
+                Voltage_lag_count=0;
+                BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage);
+            }
+            if(BAT_Message.Bat_Percent < 12){
+                BAT_Message.Bat_Low_Volt_count++;
+            }
+        }else{
+            Voltage_lag_count=0;
+        }
+
+        if(BAT_Message.Bat_Percent < 7){
+            BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_Low_STA;
+        }else if(BAT_Message.Bat_Percent < 30){ // 7~30%
+            BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_30_STA;
+        }else if(BAT_Message.Bat_Percent < 60){ // 30~60%
+            BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_60_STA;
+        }else if(BAT_Message.Bat_Percent < 80){ // 60~80%
+            BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_80_STA;
+        }else{
+            BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_100_STA;
+        }
+        // DEBUG("Bat_Percent:%d,Bat_Voltage:%d,Bat_STA:%X\r\n",BAT_Message.Bat_Percent,BAT_Message.Bat_Voltage,BAT_Message.Bat_STA);
+
         // DEBUG("ADC_acc:%dmV\r\n",get_voltage(ADC_acc));
         // DEBUG("ADC_power:%dmV\r\n\n",get_voltage(ADC_power));
         // 系统模式状态
@@ -184,12 +271,12 @@ void control_out_task(void *argument){
             uint8_t acc_percent =0;
             if((1 == sys_sta.MAG_MODE)&&(1 == sys_sta.PLT_MODE )){ // 游客模式
                 if(sys_sta.A_Speed_Cut){ // 自动减速
-                    acc_percent = (get_in_acc_percent() * sys_conf.Speed_Cut_sLim) / 100.0;
+                    acc_percent = (in_acc_percent * sys_conf.Speed_Cut_sLim) / 100.0;
                 }else{
-                    acc_percent = (get_in_acc_percent() * sys_conf.Tourist_sLim) / 100.0;
+                    acc_percent = (in_acc_percent * sys_conf.Tourist_sLim) / 100.0;
                 }
             }else{ // 管理员模式
-                acc_percent = (get_in_acc_percent() * sys_conf.Manager_sLim) / 100.0;
+                acc_percent = (in_acc_percent * sys_conf.Manager_sLim) / 100.0;
             }
             set_out_acc_percent(acc_percent);
             // DEBUG("acc_percent:%d\r\n",acc_percent);

custom/custom.mk

@@ -10,5 +10,5 @@ include $(CUSTOM_DIR)/jt808/jt808.mk
 include $(CUSTOM_DIR)/tcp_client/tcp_client.mk
 include $(CUSTOM_DIR)/control_out/control_out.mk
 include $(CUSTOM_DIR)/local_tts/local_tts.mk
-# include $(CUSTOM_DIR)/radar/radar.mk
+include $(CUSTOM_DIR)/radar/radar.mk
 endif

custom/custom_main/src/app_uart.c

@@ -15,7 +15,7 @@
 #include "app_uart.h"
 #include "app_common.h"
 
-
+#include "radar.h"
 
 #define APP_UART_TASK_PRIORITY osPriorityNormal
 
@@ -41,7 +41,7 @@
  
 #define UART_BUF_LEN  1024
 
-static int rx_rev_len = 0;
+// static int rx_rev_len = 0;
 static char rx_rev_data[UART_BUF_LEN] = {0};
 
 static osThreadId_t os_UART_RX_ThreadId = NULL; //串口数据接收、解析任务Handle
@@ -60,18 +60,21 @@ typedef struct{
 static void Uart_RX_TaskHandle(void *param){
     int temp_len = 0;
     
-    while (1){
+    while(1){
-        if (uart_rx_sem != NULL){
+        if(uart_rx_sem != NULL){
             osSemaphoreAcquire(uart_rx_sem, osWaitForever);//阻塞
         }
-        temp_len = cm_uart_read(APP_URAT, (void*)&rx_rev_data[rx_rev_len], UART_BUF_LEN, 1000);
+        temp_len = cm_uart_read(APP_URAT, (void*)&rx_rev_data[0], UART_BUF_LEN, 1000);
-        rx_rev_len += temp_len;
+        radar_CheckData(rx_rev_data, temp_len); // 接收数据处理
-        if (rx_rev_len < UART_BUF_LEN){ // 处理数据
 
-            memset((void*)rx_rev_data, 0, rx_rev_len);
+        // temp_len = cm_uart_read(APP_URAT, (void*)&rx_rev_data[rx_rev_len], UART_BUF_LEN, 1000);
-            temp_len = 0;
+        // rx_rev_len += temp_len;
-            rx_rev_len = 0;
+        // if (rx_rev_len < UART_BUF_LEN){ // 处理数据
-        }
+
+        //     memset((void*)rx_rev_data, 0, rx_rev_len);
+        //     temp_len = 0;
+        //     rx_rev_len = 0;
+        // }
 
         // app_printf("uart rev data len = %d\n", rx_rev_len);
         // if (uart_rx_sem != NULL && (strstr(rx_rev_data, "\r\n"))){

custom/custom_main/src/custom_main.c

@@ -22,6 +22,7 @@
 #include "jt808_pkg_transmit.h"
 #include "tcp_client.h"
 #include "control_out.h"
+#include "radar.h"
 
 #include "local_tts.h"
 
@@ -240,6 +241,7 @@ void  my_appimg_enter(char *param){
     jt808_init();
     tcp_client_init();
     gps_config_init();
+    radar_init();// 雷达测离初始化
     while(1){
         osDelay(1000/5);
     }

custom/jt808/inc/jt808_config.h

@@ -12,7 +12,8 @@
 #include "app_uart.h"
 #define JT808_DEBUG(fmt, args...) app_printf("[JT808]" fmt, ##args)
 #else
-#define JT808_DEBUG(fmt, arg...)
+#include "app_uart.h"
+#define JT808_DEBUG(fmt, ...)
 #endif
 
 

custom/jt808/inc/jt808_protocol.h

@@ -154,11 +154,11 @@ typedef struct {
     uint8_t manufacturer_id[5];// 制造商ID, 固定5个字节
     uint8_t term_model[20];// 终端型号, 固定20个字节, 位数不足后补0x00
     uint8_t term_id[7];// 终端ID, 固定7个字节, 位数不足后补0x00
-    uint8_t term_ICCID[10];// ICCID, 
+    uint8_t term_ICCID[10];// ICCID
     uint8_t hw_ver_len;// 终端硬件版本号长度
-    uint8_t *str_hw_ver;// 终端硬件版本号
+    uint8_t str_hw_ver[5];// 终端硬件版本号
     uint8_t fw_ver_len;// 终端固件版本号长度
-    uint8_t *str_fw_ver;// 终端固件版本号
+    uint8_t str_fw_ver[5];// 终端固件版本号
     uint8_t GnssModule_attr;// GNSS模块属性
     uint8_t CommModule_attr;// 通讯模块属性
 }GetTermAttrResp_t;

custom/jt808/inc/jt808_set_TermParam.h

@@ -45,6 +45,8 @@ typedef enum{
   NetworkQuantityID = 0x30,// 无线通信网络信号强度, BYTE
   GnssSatellitesID = 0x31,// GNSS 定位卫星数, BYTE
   CustomInformationLengthID = 0xE0,// 后续自定义信息长度, BYTE
+  BAT_VoltageID = 0xE1, // 电池电压, 0.1V WORD
+  BAT_PercentageID = 0xE2, // 电池电量, % BYTE
 }addi_infoID_t;
 
 // big_标记的参数需以大端方式存储，需手动转换为大端
@@ -54,6 +56,7 @@ typedef struct {// 终端参数项
     Term_RegInfo_t big_reg_info; // 注册信息
     Term_Auth_t big_auth_info; // 终端鉴权信息
 	set_TermParam_t set_term_param; // 设置终端参数
+	GetTermAttrResp_t big_term_attr_resp; // 终端属性查询响应
     GetSpecificTermParams_t big_specific_params; // 解析出的待查询指定终端参数列表
     Term_Ctrl_t big_ctrl_info; // 解析出的终端控制信息
     Term_Upgrade_t big_upgrade_info; // 解析出的升级信息

custom/jt808/src/jt808_msg_parse.c

@@ -67,6 +67,7 @@ static int jt808_BodyParse(void *Prsmsg_body, PrsResult_t *Result){
 		}
 		case ID_GetTermAttr:{// 查询终端属性
 			
+			jt808_pkg_send(ID_GetTermAttrResp, 0);// 发送查询终端属性应答，设置本消息无发送应答
 			break;
 		}
 		case ID_Term_Upgrade:{// 下发终端升级包
@@ -83,7 +84,9 @@ static int jt808_BodyParse(void *Prsmsg_body, PrsResult_t *Result){
 		}
 		case ID_TxtMsgdelivery:{// 文本信息下发
 			uint8_t device_volume, speed, volume, mode;
-
+			uint8_t txt_flag = ((uint8_t *)Prsmsg_body)[0];
+			JT808_DEBUG("ID_TxtMsgdelivery:%x\r\n", txt_flag);
+			Prsmsg_body = (void *)((uint8_t *)Prsmsg_body + 1); // 跳过标志位
 			device_volume =10*(((uint8_t *)Prsmsg_body)[0]-'0') + (((uint8_t *)Prsmsg_body)[1]-'0');
 			speed =10*(((uint8_t *)Prsmsg_body)[3]-'0') + (((uint8_t *)Prsmsg_body)[4]-'0');
 			volume =10*(((uint8_t *)Prsmsg_body)[6]-'0') + (((uint8_t *)Prsmsg_body)[7]-'0');
@@ -114,10 +117,14 @@ static int jt808_BodyParse(void *Prsmsg_body, PrsResult_t *Result){
 			break;
 		}
 		case ID_Car_Ctrl:{// 车辆控制
-			jt808_Set_CarStatus(((uint8_t *)Prsmsg_body)[0]); // 设置车辆状态
+			if(Result->msg_head.msgbody_attr.msgbodylen == 1){ // 车辆控制
+				jt808_Set_CarStatus(((uint8_t *)Prsmsg_body)[0]); // 设置车辆状态
+				Result->Rsp_result = Msg_ok;
+			}else{
+				Result->Rsp_result = Msg_invalid;
+			}
 			Result->Rsp_flow_num = Result->msg_head.msg_flow_num;
 			Result->Rsp_msg_id = Result->msg_head.msg_id;
-			Result->Rsp_result = Msg_ok;
 			jt808_pkg_send(ID_Car_CtrlResp, 0);// 发送车辆控制应答，设置本消息无发送应答
 			break;
 		}

custom/jt808/src/jt808_msg_pkg.c

@@ -85,13 +85,14 @@ static int jt808_BodyPackage(JT808_2013_MsgFrame_t *p_MsgFrame, MessageID_t Msg_
             break;
         }
         case ID_GetTermAttrResp:{ // 查询终端属性应答
-            // p_MsgFrame->msg_head.msgbody_attr.msgbodylen = sizeof(GetTermAttrResp_t);// 消息体长度
+            p_MsgFrame->msg_head.msgbody_attr.msgbodylen = sizeof(GetTermAttrResp_t);// 消息体长度
-            // GetTermAttrResp_t *get_term_attr_resp = (GetTermAttrResp_t *)jt808_realloc(p_MsgFrame->p_msg_body, sizeof(GetTermAttrResp_t));
+            GetTermAttrResp_t *get_term_attr_resp = (GetTermAttrResp_t *)jt808_malloc(p_MsgFrame->msg_head.msgbody_attr.msgbodylen);
-            // if(get_term_attr_resp == NULL){
+            if(get_term_attr_resp == NULL){
-            //     JT808_DEBUG("[%s,%s] malloc failed \r\n", __FUNCTION__,__LINE__);
+                JT808_DEBUG("[%s,%s] malloc failed \r\n", __FUNCTION__,__LINE__);
-            //     return -1;
+                return -1;
-            // }
+            }
-            // p_MsgFrame->p_msg_body = (void *)get_term_attr_resp;
+            memcpy(get_term_attr_resp, &PrsResult.term_param_item->big_term_attr_resp, sizeof(GetTermAttrResp_t)); // 复制查询终端属性应答内容
+            p_MsgFrame->p_msg_body = (void *)get_term_attr_resp;
             break;
         }
         case ID_Term_UpgradeResult:{ // 终端升级结果通知

custom/jt808/src/jt808_set_TermParam.c

@@ -132,12 +132,85 @@ int jt808_updateLocBasicInfo(Loc_basic_info_t *loc_basic_info){
 	return 0;
 }
 
+// 增加附加信息(队尾增加)
+void jt808_LocReport_add_tail_addi_info(uint8_t msg_id){
+	// TODO: 增加附加信息
+	Loc_addi_info_t *p_head =jt808_term_param_item.big_loc_report.addi_info;
+	while(p_head != NULL){
+		if(p_head->msg_id == msg_id){
+			// 已存在该消息ID
+			return;
+		}
+		p_head = p_head->next;
+	}
+	// 未找到该消息ID，增加
+	p_head = (Loc_addi_info_t *)jt808_malloc(sizeof(Loc_addi_info_t));
+	if(p_head == NULL){
+		JT808_DEBUG("[%s,%s] malloc failed \r\n", __FUNCTION__,__LINE__);
+		return;
+	}
+	if(jt808_term_param_item.big_loc_report.addi_info == NULL){
+		jt808_term_param_item.big_loc_report.addi_info = p_head;
+	}else{
+		Loc_addi_info_t *p_tail =jt808_term_param_item.big_loc_report.addi_info;
+		while(p_tail->next != NULL){
+			p_tail = p_tail->next;
+		}
+		p_tail->next = p_head;
+	}
+	p_head->msg_id = msg_id;
+	p_head->next = NULL;
+
+	// TODO: 增加附加信息
+	switch(msg_id){
+		case BAT_VoltageID:{
+			// 电池电压, 0.1V WORD
+			p_head->msg_len = 2;
+			p_head->msg = (void *)(&BAT_Message.Bat_Voltage);
+			break;
+		}
+		case BAT_PercentageID:{
+			// 电池电量 , % BYTE
+			p_head->msg_len = 1;
+			p_head->msg = (void *)(&BAT_Message.Bat_Percent);
+			break;
+		}
+		default:{
+			// TODO: 未知消息ID
+			jt808_free(p_head);
+			break;
+		}
+	}
+}
+
+ // 移除附加信息(指定消息ID)
+void jt808_LocReport_remove_addi_info(uint8_t msg_id){
+	Loc_addi_info_t *p_head =jt808_term_param_item.big_loc_report.addi_info;
+	Loc_addi_info_t *p_prev =NULL;
+	while(p_head != NULL){
+		if(p_head->msg_id == msg_id){
+			if(p_prev == NULL){
+				jt808_term_param_item.big_loc_report.addi_info = p_head->next;
+			}else{
+				p_prev->next = p_head->next;
+			}
+			jt808_free(p_head);
+			break;
+		}
+		p_prev = p_head;
+		p_head = p_head->next;
+	}
+}
+
 osThreadFunc_t Autoreport_param_ThreadId;
 
 void Autoreport_param_Task(void *arg){
 	uint32_t count_Sec = 0;// 计数器
 	nmeaTIME beiJingTime; // 北京时间
 
+	jt808_LocReport_add_tail_addi_info(BAT_VoltageID); // 增加电池电压信息
+	jt808_LocReport_add_tail_addi_info(BAT_PercentageID); // 增加电池电量信息
+
 	while(1){
 		// TODO: 自动上报参数
 		// 1. 位置基本信息
@@ -158,7 +231,7 @@ void Autoreport_param_Task(void *arg){
 
 		jt808_term_param_item.big_loc_report.basic_info.status.val32 = 0; // 清除状态信息
 		jt808_term_param_item.big_loc_report.basic_info.status.positioning = (((gps_data.info.fix == 1)||(gps_data.info.sig == 0)) ? 0 : 1); // 0:未定位，1:已定位
-		jt808_term_param_item.big_loc_report.basic_info.status.acc =sys_sta.O_door_lock; // 1:电门锁打开,0:电门锁关闭
+		jt808_term_param_item.big_loc_report.basic_info.status.acc =((1==sys_sta.O_door_lock)||(0==sys_sta.MAG_MODE)); // 1:电门锁打开,0:电门锁关闭
 		jt808_term_param_item.big_loc_report.basic_info.status.MAG_MODE =sys_sta.MAG_MODE;// 1:游客模式,0:管理模式
         jt808_term_param_item.big_loc_report.basic_info.status.PLT_MODE =sys_sta.PLT_MODE; // 1:游客模式,0:管理模式
         jt808_term_param_item.big_loc_report.basic_info.status.IO_RX_back =sys_sta.IO_RX_back; // 1:正常 0:倒车
@@ -179,6 +252,9 @@ void Autoreport_param_Task(void *arg){
 		if(0 == (count_Sec % jt808_term_param_item.set_term_param.HeartBeatInterval)){
 			if((gps_data.info.fix == 1)||(gps_data.info.sig == 0)){ // 不可用// 未定位时发送心跳包
 				jt808_pkg_send(ID_Term_HB,0); // 发送心跳包 // 不接收应答
+				// jt808_pkg_send(ID_LocReport, 0); // 发送位置信息上报包
+				// JT808_DEBUG("Bat_Percent:%d,Bat_Voltage:%d,Bat_STA:%X\r\n",BAT_Message.Bat_Percent,BAT_Message.Bat_Voltage,BAT_Message.Bat_STA);
+				// jt808_pkg_send(ID_GetTermAttrResp, 0); // 发送终端属性查询应答包
 			}else{
 				jt808_pkg_send(ID_LocReport,10000/5); // 发送位置信息上报包
 			}
@@ -274,8 +350,23 @@ void jt808_set_term_param_init(void){
 		char CarPlateNum[] ="京A12345"; // 车牌号码
 		memcpy(jt808_term_param_item.big_reg_info.car_plate_num, CarPlateNum, strlen(CarPlateNum)); // 车牌号码
 	}while(0);
-	do{// 授权信息初始化
+	do{ // 终端属性参数初始化
+		jt808_term_param_item.big_term_attr_resp.term_type = Swap16(0); // 终端类型
+		memcpy(jt808_term_param_item.big_term_attr_resp.manufacturer_id, "LAT01", 5); // 制造商ID
+		memcpy(jt808_term_param_item.big_term_attr_resp.term_model, jt808_term_param_item.big_reg_info.term_model, 20); // 终端型号
+		memcpy(jt808_term_param_item.big_term_attr_resp.term_id, jt808_term_param_item.big_reg_info.term_id, 7); // 终端ID
+		memcpy(jt808_term_param_item.big_term_attr_resp.term_ICCID+4, jt808_term_param_item.phone_BCDnum, 6); // 终端手机号码
 
+		char str_hw_ver[] = "1.0.0"; // 硬件版本
+		char str_fw_ver[] = "1.0.0"; // 固件版本
+		jt808_term_param_item.big_term_attr_resp.hw_ver_len = strlen(str_hw_ver); // 硬件版本长度
+		jt808_term_param_item.big_term_attr_resp.fw_ver_len = strlen(str_fw_ver); // 固件版本长度
+		memcpy(jt808_term_param_item.big_term_attr_resp.str_hw_ver, str_hw_ver, strlen(str_hw_ver)); // 硬件版本
+		memcpy(jt808_term_param_item.big_term_attr_resp.str_fw_ver, str_fw_ver, strlen(str_fw_ver)); // 固件版本
+		jt808_term_param_item.big_term_attr_resp.GnssModule_attr = 0x03; // GNSS模块属性
+		jt808_term_param_item.big_term_attr_resp.CommModule_attr = 0x01; // 通信模块属性
+	}while(0);
+	do{// 授权信息初始化
 		char str_auth[]="auth code error..."; // 授权码
 		jt808_term_param_item.big_auth_info.str_auth_code = jt808_malloc(strlen(str_auth)+1); // 授权码
 		if(jt808_term_param_item.big_auth_info.str_auth_code == NULL){
@@ -287,7 +378,7 @@ void jt808_set_term_param_init(void){
 		// jt808_term_param_item.big_auth_info.str_auth_code = NULL;
 	}while(0);
 	do{// 终端参数初始化
-		jt808_term_param_item.set_term_param.HeartBeatInterval = 30; // 心跳包间隔(秒)
+		jt808_term_param_item.set_term_param.HeartBeatInterval = 3; // 心跳包间隔(秒)
 		char ServerAddr[] ="47.99.118.34"; // 车牌号码
 		uint32_t ServerPort = 5000; // 服务器端口
 		// char ServerAddr[] ="36.137.226.30"; // 车牌号码

custom/local_tts/src/local_tts.c

@@ -22,7 +22,7 @@
 static osMessageQueueId_t local_tts_play_queue = NULL;
 // static osMessageQueueId_t local_tts_free_sem_queue = NULL;
 static osSemaphoreId_t local_tts_play_ok_sem = NULL;
-// static osSemaphoreId_t local_tts_play_stat_sem = NULL;
+static osSemaphoreId_t local_tts_play_stat_sem = NULL;
 // static int32_t TTS_play_finish_flag = 0; //播放完成标志位 0-完成 !=0-未完成
 
 typedef struct{
@@ -137,10 +137,11 @@ static void __local_tts_callback(cm_local_tts_event_e event, void *param)
             break;
         case CM_LOCAL_TTS_EVENT_PLAY_INTERRUPT:
             DEBUG("[[%s] PLAY_INTERRUPT\n", (char *)param);
-            break;
+            // break;
         case CM_LOCAL_TTS_EVENT_PLAY_FINISH:{
 			DEBUG("[PLAY_FINISH] %p=%x \n\n", param, *((osSemaphoreId_t *)param));
 			osSemaphoreRelease(local_tts_play_ok_sem); // 释放发送成功应答信号量
+			osSemaphoreRelease(local_tts_play_stat_sem);
             break;
 		}
         default:
@@ -172,22 +173,25 @@ static osThreadFunc_t local_tts_play_task(void *arg){
 				DEBUG("tts task: text= null\n");
 				continue;
 			}
-			if(0 == cm_local_tts_play_stop()){ // 停止播放
+			if(0 == cm_local_tts_play_status()){ // 正在播放中
-				ret =osSemaphoreAcquire(local_tts_play_ok_sem, 30000/5);// 等待播放结束
+				cm_local_tts_play_stop();// 停止播放
+				ret =osSemaphoreAcquire(local_tts_play_stat_sem, 30000/5);// 等待播放结束
 				if(osOK != ret){
-					DEBUG("local_tts_play_ok_sem:%d\n", ret);
+					DEBUG("local_tts_play_stat_sem:%d\n", ret);
 				}
 			}
 			// DEBUG("tts task: 00000000000\n\n");
 			cm_local_tts_play(tts_play_queue.text, tts_play_queue.len, __local_tts_callback, NULL);
 			// DEBUG("tts task: 1111111111\n\n");
-			if(0 == tts_play_queue.en_interruptible){ // 不允许被打断播放
+			// if(0 == tts_play_queue.en_interruptible){ // 不允许被打断播放
 				// DEBUG("tts task: 2222222222\n\n");
-				ret =osSemaphoreAcquire(local_tts_play_ok_sem, 30000/5);// 等待播放结束
+				ret =osSemaphoreAcquire(local_tts_play_ok_sem, (0 == tts_play_queue.en_interruptible)?(30000/5):(300/5));// 等待播放结束
 				if(osOK != ret){
 					DEBUG("local_tts_play_ok_sem:%d\n", ret);
 				}
-			}
+			// }else{
+			// 	osSemaphoreAcquire(local_tts_play_ok_sem, 300/5);
+			// }
 			// DEBUG("tts task: 3333333333\n\n");
 			cm_free(tts_play_queue.text);
 			tts_play_queue.text = NULL;
@@ -225,6 +229,9 @@ void local_tts_init(void){
 	if(local_tts_play_ok_sem == NULL){
 		local_tts_play_ok_sem = osSemaphoreNew(1, 0, NULL);
 	}
+	if(local_tts_play_stat_sem == NULL){
+		local_tts_play_stat_sem = osSemaphoreNew(1, 0, NULL);
+	}
 	osThreadAttr_t local_tts_play_thread_attr = {
 		.name = "local_tts_play_thread",
 		.stack_size = 4096*4,

custom/radar/src/radar.c

@@ -118,6 +118,7 @@ void radar_CheckData(uint8_t *data, uint16_t data_len){
         radar_data.radar_id = data[0];
         radar_data.distance = ((uint16_t)data[3] << 8 ) | data[4];
         radar_AUTO_BrakeORSpeedCut(radar_data.radar_id ,radar_data.distance);
+        DEBUG("radar_id:%#02x,distance:%d", radar_data.radar_id, radar_data.distance);
         radar_CMDReceive_cnt++;
     }
 }
@@ -138,9 +139,9 @@ static void RADAR_TaskHandle(void *param){
         }
 
         // 进入游客模式开启雷达 //管理员模式优先于游客模式
-        if(((0 != sys_sta.O_door_lock) && ((1 == sys_sta.MAG_MODE)||(1 == sys_sta.PLT_MODE ))) && sys_sta.P_Radar_EN){
+        if(((0 != sys_sta.O_door_lock) && ((1 == sys_sta.MAG_MODE)&&(1 == sys_sta.PLT_MODE ))) && sys_sta.P_Radar_EN){
             // 根据倒车状态确定雷达ID
-            DEBUG("SendCMD:ID=%#02x", (0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front);
+            // DEBUG("SendCMD:ID=%#02x", (0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front);
             radar_Sendcmd((0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front, RADAR_MODE_Real);
         }
         osDelay(140/5); // 140ms

custom/tcp_client/src/tcp_client.c

@@ -11,7 +11,7 @@
 #include "app_common.h"
 #include "local_tts.h"
 
-#define TCP_CLIENT_ENABLE 1
+#define TCP_CLIENT_ENABLE 0
 
 #if TCP_CLIENT_ENABLE
 #include "app_uart.h"

src/cm_lib/cm_tts_play/cm_tts_play.c

@@ -20,6 +20,7 @@
 typedef struct {
     osThreadId_t TaskHandle;                        /* TTS播放管理句柄 */
     osSemaphoreId_t SemHandle;                      /* TTS播放信号量句柄 */
+    osSemaphoreId_t SemHandle_ack;                   /* TTS播放信号量句柄 */
     cm_local_tts_state_e state;                     /* TTS播放状态 */
     uint8_t *TtsPcmBuf;                             /* TTS转码后的数据 */
     uint32_t TtsPcmBufLen;                          /* 当前TTS已完成转码的数据长度 */
@@ -27,7 +28,7 @@ typedef struct {
     void* user_cb_param;                            /* 回调函数中的参数，由上层应用设置 */
 } cm_tts_play_cfg_t;
 
-static cm_tts_play_cfg_t cm_tts_play_cfg = {NULL, NULL, CM_LOCAL_TTS_STATE_IDLE, NULL, 0, NULL, NULL};
+static cm_tts_play_cfg_t cm_tts_play_cfg = {NULL, NULL, NULL, CM_LOCAL_TTS_STATE_IDLE, NULL, 0, NULL, NULL};
 
 static void __cm_tts_play_callback(cm_local_tts_event_e event, void *param)
 {
@@ -69,7 +70,7 @@ static void __cm_tts_play_task(void *param)
         {
             osSemaphoreAcquire(cm_tts_play_cfg.SemHandle, osWaitForever);
         }
-
+        osSemaphoreRelease(cm_tts_play_cfg.SemHandle_ack);
         int32_t index = 0;
         bool isError = false;               //播放过程中是否有错误
 
@@ -78,6 +79,9 @@ static void __cm_tts_play_task(void *param)
         {
             DEBUG("play_task :len:%d, index: %d\n",cm_tts_play_cfg.TtsPcmBufLen, index);
 
+            if(CM_LOCAL_TTS_STATE_IDLE == cm_tts_play_cfg.state){
+                break;
+            }
             /* 每200ms传10帧PCM数据 */
             if (index + 3200 <= cm_tts_play_cfg.TtsPcmBufLen)
             {
@@ -104,11 +108,13 @@ static void __cm_tts_play_task(void *param)
                     index = cm_tts_play_cfg.TtsPcmBufLen;
                 }
             }
-
             osDelay(40);
         }
 
         cm_audio_player_stream_close();
+        cm_tts_play_cfg.TtsPcmBufLen = 0;
+        cm_free(cm_tts_play_cfg.TtsPcmBuf);
+        cm_tts_play_cfg.TtsPcmBuf = NULL;
 
         if (cm_tts_play_cfg.user_cb)
         {
@@ -122,10 +128,7 @@ static void __cm_tts_play_task(void *param)
             }
         }
         cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_IDLE;
-        cm_tts_play_cfg.TtsPcmBufLen = 0;
 
-        cm_free(cm_tts_play_cfg.TtsPcmBuf);
-        cm_tts_play_cfg.TtsPcmBuf = NULL;
 
         //cm_heap_stats_t stats = {0};
         //cm_mem_get_heap_stats(&stats);
@@ -169,6 +172,7 @@ int32_t cm_local_tts_play(const char *text, int32_t len, cm_local_tts_callback c
             return -1;
         }
     }
+    cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_WORKING;
 
     cm_audio_sample_param_t frame = {.sample_format = CM_AUDIO_SAMPLE_FORMAT_16BIT, .rate = CM_AUDIO_SAMPLE_RATE_8000HZ, .num_channels = CM_AUDIO_SOUND_MONO};
     int32_t ret = cm_audio_player_stream_open(CM_AUDIO_PLAY_FORMAT_PCM, &frame);              //从pipe中播放音频（开启）
@@ -179,6 +183,7 @@ int32_t cm_local_tts_play(const char *text, int32_t len, cm_local_tts_callback c
         // ret = cm_audio_player_stream_open(CM_AUDIO_PLAY_FORMAT_PCM, &frame);              //从pipe中播放音频（开启）
         // if (-1 == ret){
         //     DEBUG("__%d__ stream_open1() error, ret: %d", __LINE__, ret);
+        cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_IDLE;
             return -1;
         // }
     }
@@ -189,8 +194,21 @@ int32_t cm_local_tts_play(const char *text, int32_t len, cm_local_tts_callback c
 
         if (NULL == cm_tts_play_cfg.SemHandle)
         {
-            DEBUG("__%d__ osSemaphoreNew() error",__LINE__);
+            DEBUG("__%d__ osSemaphoreNew0() error",__LINE__);
             cm_audio_player_stream_close();
+            cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_IDLE;
+            return -1;
+        }
+    }
+    if (NULL == cm_tts_play_cfg.SemHandle_ack)
+    {
+        cm_tts_play_cfg.SemHandle_ack = osSemaphoreNew(1, 0, NULL);
+
+        if (NULL == cm_tts_play_cfg.SemHandle_ack)
+        {
+            DEBUG("__%d__ osSemaphoreNew1() error",__LINE__);
+            cm_audio_player_stream_close();
+            cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_IDLE;
             return -1;
         }
     }
@@ -209,6 +227,7 @@ int32_t cm_local_tts_play(const char *text, int32_t len, cm_local_tts_callback c
         {
             DEBUG("__%d__ osThreadNew() error", __LINE__);
             cm_audio_player_stream_close();
+            cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_IDLE;
             return -1;
         }
     }
@@ -216,15 +235,20 @@ int32_t cm_local_tts_play(const char *text, int32_t len, cm_local_tts_callback c
     cm_tts_play_cfg.user_cb = cb;
     cm_tts_play_cfg.user_cb_param = cb_param;
     cm_tts_play_cfg.TtsPcmBufLen = 0;
-    cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_WORKING;
+    // cm_tts_play_cfg.state = CM_LOCAL_TTS_STATE_WORKING;
-    DEBUG("tts_synth_start\n\n========\n");
+    // DEBUG("tts_synth_start\n\n========\n");
     ret = cm_local_tts_synth(text, len, __cm_tts_play_callback, cb_param);
-    DEBUG("tts_synth_end\n\n========\n");
+    // DEBUG("tts_synth_end\n\n========\n");
     if (0 == ret)
     {
         osSemaphoreRelease(cm_tts_play_cfg.SemHandle);
     }
 
+    if(cm_tts_play_cfg.SemHandle_ack != NULL)
+    {
+        osSemaphoreAcquire(cm_tts_play_cfg.SemHandle_ack, 3000/5);
+    }
+
     return ret;
 }