TricycleCentralControlMotherboard/si/centralCtrSys.si4project/Backup/EC800(1603).c

//----------------------------说明
// 程序使用hal库，数据传输使用的串口，串口设置为发送+dma，接收+dma+空闲中断的模式

#include "EC800.h"

//-----------------------------变量定义
//---------
ec800Date s_ec800Date = {
	.ip = "39.98.37.180",
	.port = 32449,
	.clientid = "NULL",
	.username = "hechun",
	.password = "admin123",
//	.username = "SZC30010-AE01",
//	.password = "qazSZC30010-AE01",
};

messageDate s_messageDate = {0};

typedef struct{
	uint8_t maxSpeed; 			// 服务器下发的允许最大车速
	uint16_t year; 				// 上传时间 年 
	uint8_t month; 				// 上传时间 月
	uint8_t day;				// 上传时间 日
	uint8_t hour; 				// 上传时间 时
	uint8_t minute;				// 上传时间 分
	uint8_t sec; 				// 上传时间 秒
}recDate;
recDate s_recDate = {0};

nmea_msg s_nmea_msg = {0};
nmea_utc_time s_nmea_utc_time = {0};

// AT指令响应超时时间定义
#define 	REC_TIMEOUT 								(10000) // 1ms


/**
 * @brief       计算字符串的长度
 * @param       str: 所需计算字符串的指针
 * @note       
 * @retval      无
 */
int EC800_calculateStringLength(const char* str) {
    int length = 0;
    while (str[length] != '\0') {
        length++;
    }
    return length;
}

/**
 * @brief       发送指令函数
 * @param       command: 指令
 * @param       enterNum: 进入函数次数，只有第一次的时候清除buff
 * @note       
 * @retval      无
 */
void EC800M_SendCommand(const char* command)
{
	uint32_t stringLen = 0;

	stringLen = EC800_calculateStringLength(command);

	//等待发送状态OK
    while(HAL_DMA_GetState(&hdma_usart3_tx) == HAL_DMA_STATE_BUSY) osDelay(1);
    //发送数据
    HAL_UART_Transmit_DMA(&huart3, (uint8_t*)command, stringLen);
 	
}

/**
 * @brief       接收指令回复函数
 * @param       haystack: 接收的字符串数据
 * @param       needle: 正确回复的数据
 * @note       
 * @retval      无
 */
char*  EC800M_RecRespond(char *haystack, const char *needle ){
	char* p = NULL;
	
	HAL_UART_Receive_DMA(&huart3, (uint8_t*)g_usart3_rx_buf, USART3_REC_LEN); //设置接收缓冲区
	__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
	while(g_usart3_rx_sta == 0) osDelay(1);

	__HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE); // 关闭空闲中断
	g_usart3_rx_sta= 0;
	p = strstr(haystack, needle);
	memset(haystack, 0, USART3_REC_LEN); // 清除数据buff

	return p;
}

// 自定义的搜索函数
void* search_sequence(const void* haystack, size_t haystack_len, const void* needle, size_t needle_len) {
    const unsigned char* h = (const unsigned char*)haystack;
    const unsigned char* n = (const unsigned char*)needle;

    // 如果needle为空或haystack长度小于needle长度，则直接返回NULL
    if (needle_len == 0 || haystack_len < needle_len) {
        return NULL;
    }

    for (size_t i = 0; i <= haystack_len - needle_len; ++i) {
        size_t j;
        for (j = 0; j < needle_len; ++j) {
            if (h[i + j] != n[j]) {
                break; // 如果当前字符不匹配，则跳出内层循环
            }
        }
        if (j == needle_len) {
            return (void*)(h + i); // 找到匹配的序列，返回其在haystack中的位置
        }
    }

    // 如果遍历了整个haystack都没有找到匹配的序列，则返回NULL
    return NULL;
}


// 接收并比较响应字符串
uint8_t Accept_and_Compare_Str(const char* needle){
	uint8_t temp = 0;
	static uint16_t timeOutCnt = 0; // 超时计数

	HAL_UART_Receive_DMA(&huart3, (uint8_t*)g_usart3_rx_buf, USART3_REC_LEN); //设置接收缓冲区
	__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);

	while(!temp) {

		osDelay(1);
	
		if(search_sequence(g_usart3_rx_buf, USART3_REC_LEN, needle, strlen(needle))){
			temp = 1;
		}

		if(search_sequence(g_usart3_rx_buf, USART3_REC_LEN, "ERROR", strlen("ERROR"))){
			temp = 2;			
		}

		if(timeOutCnt < REC_TIMEOUT){
			timeOutCnt++;
		}else{
			timeOutCnt = 0;
			temp = 3;
		}

	}

	g_usart3_rx_sta = 0;
	__HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE); // 关闭空闲中断

	return temp;
}


/**
 * @brief       接收使能函数
 * @note       
 * @retval      无
 */
void EC800_recEnable(void){
	HAL_UART_Receive_DMA(&huart3, (uint8_t*)g_usart3_rx_buf, USART3_REC_LEN); //设置接收缓冲区
	__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
	while(g_usart3_rx_sta == 0) osDelay(1);
}

/**
 * @brief       提取检查信号响应字符串字段中的信号量并进行信号判断
 * @param       data: 响应的信号量指针
 * @note       
 * @retval      无
 */
static uint8_t EC800_extractSignal(char *data){
    char *token;
    int field_1;

    // 使用strtok函数提取字段
    token = strtok(data, ":,");
    while (token != NULL) {
        field_1 = atoi(token);  // 转换为整数类型

		token = strtok(NULL, ":,");
		memset(data, 0, USART3_REC_LEN); // 清除数据buff
		g_usart3_rx_sta = 0; // 清除接收状态
		
        if (field_1 < 31) {
            return 1;
        } else {
            return 0;
        }
    }

	 return 0;
}

/**
 * @brief       获取IMSI号
 * @param       无
 * @note       
 * @retval      1: imsi没有获取到 0；imsi获取到
 */
uint8_t EC800_getIMSI(void){
	char* found = NULL;
	char number[16]; // 15 digits + 1 for null terminator
    int numberIndex = 0;
    int numberFound = 0;

	EC800M_SendCommand(AT_CIMI);

	EC800_recEnable();
	
	found = strstr(g_usart3_rx_buf, AT_RESP_OK);

	if (found != NULL) {
		printf("IMSI is get\r\n");
	}else{
		printf("IMSI is not get\r\n");
		return 1;
	}

    for (int i = 0; i < strlen(g_usart3_rx_buf); i++) {
        if (isdigit(g_usart3_rx_buf[i])) {
            number[numberIndex] = g_usart3_rx_buf[i];
            numberIndex++;
            if (numberIndex >= 15) {
                numberFound = 1;
                break;
            }
        }
    }
    number[numberIndex] = '\0';

    if (numberFound) {
		memcpy(s_messageDate.imsi, number, strlen(number));
        printf("IMSI is: %s\n", number);
    } else {
        printf("Error: Unable to extract the number\n");
    }

	return 0;
}


/**
 * @brief       EC800M确认网络并链接MQTT服务器
 * @param       NONE
 * @note       
 * @retval      无
 */
uint8_t linkStep = 0;
void EC800M_link(void){
	uint8_t temp = 0;
	char command[100] = {0};
	char errrCnt = 0; // 错误计数
	char* found = NULL;

	switch(linkStep){
		case 0: // 基础配置
			EC800M_SendCommand(AT_CMD_TEST);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Module status normal\r\n");
			}else{
				errrCnt++;
				printf("Module status abnormal\r\n");
			}	
			
			if(errrCnt == 0){
				linkStep = 1;
			}else{
				errrCnt = 0;
			}
			break;
		case 1: // 获取ISMI号
			errrCnt = EC800_getIMSI();
		
			if(errrCnt == 0){
				linkStep = 2;
			}else{
				errrCnt = 0;
			}
			break;
		case 2:
			EC800M_SendCommand(AT_CMD_ATE0);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Cancel module echo\r\n");
			}else{
				errrCnt++;
				printf("Failed to cancel module echo\r\n");
			}	
			
			if(errrCnt == 0){
				linkStep = 3;
			}else{
				errrCnt = 0;
			}
			break;
		case 3:
			EC800M_SendCommand(AT_CMD_CPIN);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_CPIN_READY);

			if (found != NULL) {
				printf("SIM card normal\r\n");
			}else{
				errrCnt++;
				printf("SIM card abnormal\r\n");
			}
			
			if(errrCnt == 0){
				linkStep = 4;
			}else{
				errrCnt = 0;
			}
			break;
		case 4: 
			EC800M_SendCommand(AT_CMD_CSQ);

			EC800_recEnable();
			
			temp = EC800_extractSignal(g_usart3_rx_buf);
			if (temp) {
				printf("signal normal\r\n");
			}else{
				errrCnt++;
				printf("signal abnormal\r\n");
			}  

			if(errrCnt == 0){
				linkStep = 5;
			}else{
				errrCnt = 0;
			}
			break;
		case 5:
			EC800M_SendCommand(AT_CMD_CREG);
			
			EC800_recEnable();
			
			// 使用字符串处理函数判断是否为正常状态
		    if (strstr(g_usart3_rx_buf, "1") != NULL || strstr(g_usart3_rx_buf, "5") != NULL) {
		        printf("The module successfully registered on the GSM network\r\n");
		    } else {
		    	errrCnt++;
		        printf("The module failed to register on the GSM network\r\n");
		    }
			memset(g_usart3_rx_buf, 0, USART3_REC_LEN); // 清除数据buff
			g_usart3_rx_sta = 0; // 清除接收状态
			
			if(errrCnt == 0){
				linkStep = 6;
			}else{
				errrCnt = 0;
			}
			break;
		case 6:
			EC800M_SendCommand(AT_CMD_QIDEACT);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
			
			if (found != NULL) {
				printf("Successfully disabled mobile scene\r\n");
			}else{
				errrCnt++;
				printf("Failed to disable mobile scene\r\n");
			}
			
			if(errrCnt == 0){
				linkStep = 7;
			}else{
				errrCnt = 0;
			}
			break;
		case 7:		
			EC800M_SendCommand(AT_CMD_QIACT);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
			
			if (found != NULL) {
				printf("Successfully enabled mobile scene\r\n");
			}else{
				errrCnt++;
				printf("Failed to enable mobile scene\r\n");
			}

			if(errrCnt == 0){
				linkStep = 8;
			}else{
				errrCnt = 0;
			}
			break;
		case 8: // 连接mqtt服务器
			sprintf(command, "AT+QMTCFG=\"qmtping\",0,%d\r\n", 30);
			EC800M_SendCommand(command);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
			
			if (found != NULL) {
				printf("MQTT heartbeat set successfully\r\n");
			}else{
				errrCnt++;
				printf("Failed to set MQTT heartbeat\r\n");
			}

			if(errrCnt == 0){
				linkStep = 9;
			}else{
				errrCnt = 0;
			}
			break;
		case 9:
			EC800M_SendCommand(AT_CMD_QMTCFG_SET_DATA_MODE);

			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
			
			if (found != NULL) {
				printf("Data receiving mode set successfully.\r\n");
			}else{
				errrCnt++;
				printf("Failed to set data receiving mode\r\n");
			}

			if(errrCnt == 0){
				linkStep = 10;
			}else{
				errrCnt = 0;
			}
			break;
		case 10:
			sprintf(command,"AT+QMTOPEN=0,\"%s\",%d\r\n", s_ec800Date.ip, s_ec800Date.port);
			EC800M_SendCommand(command);

//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_QMTOPEN);
//			
//			if (found != NULL) {
//				printf("Successfully opened a network for the module\r\n");
//			}else{
//				errrCnt++;
//				printf("Failed to open a network for the module\r\n");
//			}		

			temp = Accept_and_Compare_Str(AT_RESP_QMTOPEN);

			if (temp == 1) {
				printf("Successfully opened a network for the module\r\n");
			}else{
				errrCnt++;
				printf("Failed to open a network for the module\r\n");
			}

			if(errrCnt == 0){
				linkStep = 11;
			}else{
				errrCnt = 0;
			}
			break;
		case 11:
			sprintf(command,"AT+QMTCONN=0,%s,%s,%s\r\n",s_ec800Date.clientid, s_ec800Date.username, s_ec800Date.password);
			EC800M_SendCommand(command);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_QMTCONN);

			if (found != NULL) {
				printf("Successfully connected to the MQTT server\r\n");
			}else{
				errrCnt++;
				printf("Failed to connect to the MQTT server\r\n");
			}
			
			if(errrCnt == 0){
				linkStep = 12;
			}else{
				errrCnt = 0;
			}
			break;
		default: break;
	}
}

/**
 * @brief       EC800M初始化GNSS
 * @param       NONE
 * @note       
 * @retval      无
 */
uint8_t gnssStep = 0;
void EC800_gnss_init(void){
	char errrCnt = 0; // 错误计数
	char* found = NULL;
	
	switch(gnssStep){
		case 6:
			EC800M_SendCommand(AT_QGPS_0);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Turn off the GNSS module\r\n");
			}else{
				errrCnt++;
				printf("Failed to turn off the GNSS module\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 7;
			}else{
				gnssStep = 7;
			}
			break;
		case 7:
			EC800M_SendCommand(AT_QGPS_1);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Turn on the GNSS module\r\n");
			}else{
				errrCnt++;
				printf("Failed to turn on the GNSS module\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 8;
			}else{
				errrCnt = 0;
			}
			break;
		case 0:
			EC800M_SendCommand(AT_QGPSCFG_out_port);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Outputting NMEA Sentences via Serial Debugging\r\n");
			}else{
				errrCnt++;
				printf("The NMEA sentence output is set incorrectly\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 1;
			}else{
				errrCnt = 0;
			}
			break;
		case 1:
			EC800M_SendCommand(AT_QGPSCFG_nmeasrc);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Enabling NMEA sentence retrieval via AT+QGPSGNMEA\r\n");
			}else{
				errrCnt++;
				printf("Failed to enable retrieving NMEA sentences via AT+QGPSGNMEA\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 2;
			}else{
				errrCnt = 0;
			}
			break;
		case 2:
			EC800M_SendCommand(AT_QGPSCFG_gpsnmeatype);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Configuring the output type of NMEA sentences to all formats\r\n");
			}else{
				errrCnt++;
				printf("Failed to configure the output type of NMEA sentences to all formats\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 3;
			}else{
				errrCnt = 0;
			}
			break;
		case 3:
			EC800M_SendCommand(AT_QGPSCFG_gnssconfig);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Configuring the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
			}else{
				errrCnt++;
				printf("Failed to configure the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 4;
			}else{
				errrCnt = 0;
			}
			break;
		case 4:
			EC800M_SendCommand(AT_QGPSCFG_autogps);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Disable GNSS auto-start\r\n");
			}else{
				errrCnt++;
				printf("Failed to disable GNSS auto-start\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 5;
			}else{
				errrCnt = 0;
			}
			break;
		case 5:
			EC800M_SendCommand(AT_QGPSCFG_apflash);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);

			if (found != NULL) {
				printf("Disable AP-Flash quick start function\r\n");
			}else{
				errrCnt++;
				printf("Failed to disable AP-Flash quick start function\r\n");
			}	
			
			if(errrCnt == 0){
				gnssStep = 6;
			}else{
				errrCnt = 0;
			}
			break;
		default:
			break;
	}
}

//UTC时间转换为任意时区时间，如果是转换为北京时间，timezone传8即可
void utc_to_local_time(nmea_utc_time* utc_time, int8_t timezone, nmea_utc_time* local_time)
{
	int year,month,day,hour;
	int lastday = 0;			//last day of this month 本月天数
	int lastlastday = 0;		//last day of last month 上个月天数

	year	 = utc_time->year;	//utc time
	month  	 = utc_time->month;
	day 	 = utc_time->date;
	hour 	 = utc_time->hour + timezone; 
	
	//1月大，2月小，3月大，4月小，5月大，6月小，7月大，8月大，9月小，10月大，11月小，12月大
	if(month==1 || month==3 || month==5 || month==7 || month==8 || month==10 || month==12)
	{
		lastday = 31;//本月天数
		lastlastday = 30;//这里应该补上上个月的天数
		
		if(month == 3)
		{
			if((year%400 == 0)||(year%4 == 0 && year%100 != 0))//if this is lunar year
				lastlastday = 29;
			else
				lastlastday = 28;
		}
		
		if(month == 8 || month == 1)//这里应该是8月和1月，因为8月和1月的上一个月（7月和12月）的天数是31天的
			lastlastday = 31;
	}
	else if(month == 4 || month == 6 || month == 9 || month == 11)
	{
		lastday = 30;
		lastlastday = 31;
	}
	else
	{
		lastlastday = 31;
		
		if((year%400 == 0)||(year%4 == 0 && year%100 != 0))
			lastday = 29;
		else
			lastday = 28;
	}

	if(hour >= 24)// if >24, day+1
	{					
		hour -= 24;
		day += 1; 
		if(day > lastday)// next month, day-lastday of this month
		{ 		
			day -= lastday;
			month += 1;
			if(month > 12)// next year, month-12
			{
				month -= 12;
				year += 1;
			}
		}
	}
	
	if(hour < 0)// if <0, day-1
	{
		hour += 24;
		day -= 1;
		if(day < 1)// month-1, day=last day of last month
		{
			day = lastlastday;
			month -= 1;
			if(month < 1)// last year, month=12
			{
				month = 12;
				year -= 1;
			}
		}
	}
	
  	// transfer value to local_time
	local_time->year  = year;
	local_time->month = month;
	local_time->date  = day;
	local_time->hour  = hour;
	local_time->min	 = utc_time->min;
	local_time->sec	 = utc_time->sec;
}

/**
 * @brief       常用时间格式转时间戳
 * @param       NONE
 * @note       
 * @retval      无
 */
uint32_t EC800_mktime (unsigned int year, unsigned int mon,
					unsigned int day, unsigned int hour,
					unsigned int min, unsigned int sec)     
{
    if (0 >= (int) (mon -= 2)){    /**//* 1..12 -> 11,12,1..10 */
         mon += 12;      /**//* Puts Feb last since it has leap day */
         year -= 1;
    }
 
    return (((
             (unsigned long) (year/4 - year/100 + year/400 + 367*mon/12 + day) +
             year*365 - 719499
          )*24 + hour /**//* now have hours */
       )*60 + min /**//* now have minutes */
    )*60 + sec; /**//* finally seconds */
}


/**
 * @brief       读取GNSS的数据
 * @param       NONE
 * @note       
 * @retval      无
 */

void EC800_readGnssDate(void){		
	char* found = NULL;
	
	EC800M_SendCommand(AT_QGPSGNMEA_RMC);

	EC800_recEnable();

	found = strstr(g_usart3_rx_buf, AT_RESP_OK);

	if (found != NULL) {
		printf("Location information received successfully\r\n");
	}else{
		printf("Location information reception failed\r\n");
		return ;
	}	

	printf("Location information:%s\r\n", g_usart3_rx_buf);

	NMEA_GNRMC_Analysis(&s_nmea_msg, (uint8_t*)g_usart3_rx_buf);
	utc_to_local_time(&(s_nmea_msg.utc), 8, &s_nmea_utc_time);
	printf("timer-%d/%d/%d %d:%d:%d\r\n",s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,s_nmea_utc_time.hour,s_nmea_utc_time.min,s_nmea_utc_time.sec);

	s_messageDate.Timestamp = EC800_mktime(s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,s_nmea_utc_time.hour,s_nmea_utc_time.min,s_nmea_utc_time.sec);
	
	g_usart3_rx_sta= 0;
	memset(g_usart3_rx_buf, 0, USART3_REC_LEN); // 清除数据buff
	printf("latitude:%d%d--longitude:%d%d\r\n", s_nmea_msg.latitude, s_nmea_msg.nshemi, s_nmea_msg.longitude, s_nmea_msg.ewhemi);

	/* 尝试获取互斥量，等待无限长时间 */
	if(osMutexAcquire(s_messageDate_locationHandle, osWaitForever) == osOK)
	{
	  /* 安全地访问s_rs485RecDate结构体 */
	  s_messageDate.latitude = s_nmea_msg.latitude; 
	  s_messageDate.nshemi = s_nmea_msg.nshemi;
	  s_messageDate.longitude = s_nmea_msg.longitude;
	  s_messageDate.ewhemi = s_nmea_msg.ewhemi;
	  
	  /* 访问完成，释放互斥量 */
	  osMutexRelease(s_messageDate_locationHandle);
	}	
	
}

/**
 * @brief       EC800M订阅主题
 * @param       topic1: 订阅的主题名称1字符串形式
 * @param       topic2: 订阅的主题名称2字符串形式
 * @note       
 * @retval      无
 */
uint8_t EC800_subscribeToTopic(const char* topic1){
	char command[100] = {0};
	uint8_t recTemp = 0;
	
    sprintf(command, "AT+QMTSUB=0,1,\"%s\",0\r\n", topic1);
	EC800M_SendCommand(command);

	recTemp = Accept_and_Compare_Str(AT_RESP_QMTSUB);

	if (recTemp == 1) {
		printf("Subscription to the topic successful\r\n");
		return 1;
	}else if (recTemp == 2){
		printf("Subscription to the topic failed\r\n");
		return 0;
	}

	return 0;
}

/**
 * @brief       EC800M发布消息
 * @param       topic:   消息发布的主题 字符串形式
 * @param       message: 发布的消息 字符串形式
 * @param       len:     发布消息的字节长度
 * @note       
 * @retval      无
 */
uint8_t EC800_publishMessage(const char* topic, const char* message, uint16_t len){
	char command[100] = {0};
	char* found = NULL;
	char* responseCmd = ">";
	static uint8_t publishStep = 0;
	uint8_t recBack = 0;

	switch(publishStep){
		case 0:
			sprintf(command,"AT+QMTPUBEX=0,0,0,0,\"%s\",%d\r\n",topic,len);
			EC800M_SendCommand(command);
			
			found = EC800M_RecRespond(g_usart3_rx_buf, responseCmd);

			if (found != NULL) {
				found = NULL; // 将found指针指向NULL处
				printf("The topic has been linked\r\n");
				publishStep = 1;
			}else{
				printf("The topic link failed\r\n");
				publishStep = 0;
			}
//			break;
		case 1:
			EC800M_SendCommand(message);
//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_QMTPUBEX);
//			if (found != NULL) {
//				printf("The message has been successfully posted\r\n");
//				publishStep = 0;
//			}else{
//				printf("Message publication failed\r\n");
//				publishStep = 0;
//			}

			recBack = Accept_and_Compare_Str(AT_RESP_QMTPUBEX);
			if (recBack == 1) {
				publishStep = 0;
				printf("The message has been successfully posted\r\n");
			}else{
				printf("Message publication failed\r\n");
				publishStep = 0;
			}	
			
			break;
		default:
			break;
	}

	return recBack;
}

/**
 * @brief       登录 topic
 * @param       NONE
 * @note        topic 101
 * @retval      无
 */
 uint8_t Login_Topic(void){
	cJSON *root = NULL;
	char *jsonString = NULL;
	uint8_t temp = 0;

	// 定义对象 { }
	root = cJSON_CreateObject();

	// 插入元素，对应 键值对
	cJSON_AddItemToObject(root, "msgType", cJSON_CreateString("json"));
	cJSON_AddItemToObject(root, "imsi", cJSON_CreateString(s_messageDate.imsi));
	cJSON_AddItemToObject(root, "hardVersion", cJSON_CreateString(HARD_VERSION));
	cJSON_AddItemToObject(root, "softVersion", cJSON_CreateString(SOFT_VERSION));
	cJSON_AddItemToObject(root, "devId", cJSON_CreateString(DEV_ID));
	cJSON_AddItemToObject(root, "protocolVersion", cJSON_CreateString(PROTOCOL_VERSION));
	cJSON_AddItemToObject(root, "devType", cJSON_CreateNumber(DEV_TYPE));
	cJSON_AddItemToObject(root, "txnNo", cJSON_CreateNumber(s_messageDate.Timestamp));

	// 将 JSON 对象转换为字符串
    jsonString = cJSON_Print(root);

	cJSON_Delete(root);
	temp = EC800_publishMessage("toServer/mqtt/101", jsonString, strlen(jsonString));
	free(jsonString);

	return temp;
 }


/**
 * @brief       下位机请求围栏数据
 * @param       NONE
 * @note       	topic 604
 * @retval      无
 */
 uint8_t requesting_Fence_Data(void){
	cJSON *root = NULL;
	char *jsonString = NULL;
	uint8_t temp = 0;

	// 定义对象 { }
	root = cJSON_CreateObject();

	// 插入元素，对应 键值对
	cJSON_AddItemToObject(root, "msgType", cJSON_CreateString("json"));
	cJSON_AddItemToObject(root, "imsi", cJSON_CreateString(s_messageDate.imsi));
	cJSON_AddItemToObject(root, "hardVersion", cJSON_CreateString(HARD_VERSION));
	cJSON_AddItemToObject(root, "softVersion", cJSON_CreateString(SOFT_VERSION));
	cJSON_AddItemToObject(root, "devId", cJSON_CreateString(DEV_ID));
	cJSON_AddItemToObject(root, "protocolVersion", cJSON_CreateString(PROTOCOL_VERSION));
	cJSON_AddItemToObject(root, "txnNo", cJSON_CreateNumber(s_messageDate.Timestamp));
	cJSON_AddItemToObject(root, "devType", cJSON_CreateNumber(DEV_TYPE));

	// 将 JSON 对象转换为字符串
    jsonString = cJSON_Print(root);

	cJSON_Delete(root);
	temp = EC800_publishMessage("toServer/mqtt/604", jsonString, strlen(jsonString));
	free(jsonString);

	return temp;
 }


/**
 * @brief       EC800M与服务器进行时间对时
 * @note       
 * @retval      无
 */
uint8_t EC800_time_calibration(void){
	cJSON *root = NULL;
	char *jsonString = NULL;
	uint8_t temp = 0;

	// 定义对象 { }
	root = cJSON_CreateObject();

	// 插入元素，对应 键值对
	cJSON_AddItemToObject(root, "msgType", cJSON_CreateString("json"));
	cJSON_AddItemToObject(root, "imsi", cJSON_CreateString(s_messageDate.imsi));
	cJSON_AddItemToObject(root, "hardVersion", cJSON_CreateString(HARD_VERSION));
	cJSON_AddItemToObject(root, "softVersion", cJSON_CreateString(SOFT_VERSION));
	cJSON_AddItemToObject(root, "devId", cJSON_CreateString(DEV_ID));
	cJSON_AddItemToObject(root, "protocolVersion", cJSON_CreateString(PROTOCOL_VERSION));
	cJSON_AddItemToObject(root, "txnNo", cJSON_CreateNumber(s_messageDate.Timestamp));
	cJSON_AddItemToObject(root, "devType", cJSON_CreateNumber(DEV_TYPE));

	// 将 JSON 对象转换为字符串
    jsonString = cJSON_Print(root);

	cJSON_Delete(root);
	temp = EC800_publishMessage("toServer/mqtt/105", jsonString, strlen(jsonString));
	free(jsonString);

	return temp;
}

/**
 * @brief       将服务器响应的字符串中的年月日进行分离
 * @note       
 * @retval      无
 */
void parseServerTime(char* str){
	char year[5];
    char month[3];
    char day[3];
    char hour[3];
    char minute[3];
    char second[3];

    strncpy(year, str, 4);
    year[4] = '\0';

    strncpy(month, str + 4, 2);
    month[2] = '\0';

    strncpy(day, str + 6, 2);
    day[2] = '\0';

    strncpy(hour, str + 8, 2);
    hour[2] = '\0';

    strncpy(minute, str + 10, 2);
    minute[2] = '\0';

    strncpy(second, str + 12, 2);
    second[2] = '\0';

    s_recDate.year = atoi(year);
    s_recDate.month = atoi(month);
    s_recDate.day = atoi(day);
    s_recDate.hour = atoi(hour);
    s_recDate.minute = atoi(minute);
    s_recDate.sec = atoi(second);

	s_messageDate.Timestamp = EC800_mktime(s_recDate.year,s_recDate.month,s_recDate.day,s_recDate.hour,s_recDate.minute,s_recDate.sec);

    printf("Year (int): %d\n", s_recDate.year);
    printf("Month (int): %d\n", s_recDate.month);
    printf("Day (int): %d\n", s_recDate.day);
    printf("Hour (int): %d\n", s_recDate.hour);
    printf("Minute (int): %d\n", s_recDate.minute);
    printf("Second (int): %d\n", s_recDate.sec);
}

/**
 * @brief       解析对时数据帧的响应
 * @note       
 * @retval      无
 */
void EC800_parseRespondTime(cJSON *root, cJSON *item){
	uint8_t temp = 0;

	// 获取"resultCode"字段的值
    item = cJSON_GetObjectItem(root, "resultCode");
    if (item == NULL) {
        printf("Field \"resultCode\" not found\n");
    }else{
		 // 打印"resultCode"字段的值
		 printf("resultCode: %d\n", item->valueint);

		 if((item->valueint) == 1){
			printf("The upload of synchronized data was successful.\n");
			temp = 1; // 上传成功
		 }else{
			printf("The upload of synchronized data has failed.\n");
		 }
	}   

	if(temp == 1){
		item = cJSON_GetObjectItem(root, "serverTime");
		if (item == NULL) {
	        printf("Field \"serverTime\" not found\n");
	    }else{
			// 打印"serverTime"字段的值
		 	printf("serverTime: %s\n", item->valuestring);

			parseServerTime(item->valuestring);
		}
	}

}


/**
 * @brief       EC800M上传实时数据
 * @note       
 * @retval      无
 */
 uint8_t EC800_uploadRealDate(void){
	cJSON *root = NULL;
	char *jsonString = NULL;
	cJSON *rt000 = NULL;
	cJSON *rt000Object1 = NULL;
	uint8_t temp = 0;

	// 定义对象 { }
	root = cJSON_CreateObject();
//
	// 插入元素，对应 键值对
	cJSON_AddItemToObject(root, "msgType", cJSON_CreateString("json"));
	cJSON_AddItemToObject(root, "imsi", cJSON_CreateString(s_messageDate.imsi));
	cJSON_AddItemToObject(root, "hardVersion", cJSON_CreateString(HARD_VERSION));
	cJSON_AddItemToObject(root, "softVersion", cJSON_CreateString(SOFT_VERSION));
	cJSON_AddItemToObject(root, "devId", cJSON_CreateString(DEV_ID));
	cJSON_AddItemToObject(root, "protocolVersion", cJSON_CreateString(PROTOCOL_VERSION));
	cJSON_AddItemToObject(root, "txnNo", cJSON_CreateNumber(s_messageDate.Timestamp));
	cJSON_AddItemToObject(root, "devType", cJSON_CreateNumber(DEV_TYPE));

	// 定义 { } 对象
	rt000Object1 = cJSON_CreateObject();
	cJSON_AddItemToObject(rt000Object1, "rt003", cJSON_CreateNumber(s_messageDate.vehicleStatus));
	cJSON_AddItemToObject(rt000Object1, "rt025", cJSON_CreateNumber(s_messageDate.demandVol));
	cJSON_AddItemToObject(rt000Object1, "rt026", cJSON_CreateNumber(s_messageDate.demandCur));
	cJSON_AddItemToObject(rt000Object1, "rt027", cJSON_CreateString((char *)s_messageDate.VIN));
	cJSON_AddItemToObject(rt000Object1, "rt028", cJSON_CreateString(s_messageDate.lat_long_data));
	cJSON_AddItemToObject(rt000Object1, "rt029", cJSON_CreateNumber(s_messageDate.drivDirection));
	cJSON_AddItemToObject(rt000Object1, "rt030", cJSON_CreateNumber(s_messageDate.vehicleSpeed));
	cJSON_AddItemToObject(rt000Object1, "rt031", cJSON_CreateNumber(s_messageDate.dailyDrivTime));
	cJSON_AddItemToObject(rt000Object1, "rt032", cJSON_CreateNumber(s_messageDate.dailyDrivMileage));
	cJSON_AddItemToObject(rt000Object1, "rt033", cJSON_CreateNumber(s_messageDate.accTotalDrivTime_h_min));
	cJSON_AddItemToObject(rt000Object1, "rt034", cJSON_CreateNumber((s_messageDate.accTotalMileage_h << 16) + s_messageDate.accTotalMileage_l));
	cJSON_AddItemToObject(rt000Object1, "rt035", cJSON_CreateNumber(s_messageDate.runTime));

	// 定义 [ ] 数组
	rt000 = cJSON_CreateArray();
	// 往数组中添加元素
	cJSON_AddItemToArray(rt000, rt000Object1);

	// 将子项插入根项中
	cJSON_AddItemToObject(root, "rt000", rt000);
//	
	// 将 JSON 对象转换为字符串
	jsonString = cJSON_Print(root);


	cJSON_Delete(root);
	temp = EC800_publishMessage("toServer/mqtt/201", jsonString, strlen(jsonString));

	free(jsonString);

	return temp;
 }

/**
 * @brief       解析实时数据响应
 * @note       
 * @retval      无
 */
void EC800_respondRealDate(cJSON *root, cJSON *item){

	// 获取"name"字段的值
    item = cJSON_GetObjectItem(root, "resultCode");
    if (item == NULL) {
        printf("Field \"resultCode\" not found\n");
    }else{
		 // 打印"name"字段的值
		 printf("resultCode: %d\n", item->valueint);

		 if((item->valueint) == 1){
			printf("Uploaded real-time data successfully\n");
		 }else{
			printf("The upload of real-time data has failed\n");
		 }
	}   

}

/**
 * @brief       解析升級数据
 * @note       
 * @retval      无
 */
void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){

	/* 获取address对象 */
    cJSON *hardwareUpdate = cJSON_GetObjectItem(root, "paramList");
	if (hardwareUpdate == NULL) {
        printf("Failed to parse paramList data\n");
        return ;
    }

	// 获取"name"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "function");
    if (item == NULL) {
        printf("Field \"update\" not found\n");
    }else{
		 // 打印"name"字段的值
		 printf("function: %d\n", item->valueint); 

		// 1：表示固件更新 2：下发时速
		if((item->valueint) == 1){
			s_ec800Date.hardwareUpdate = 1; // 更新固件
			printf("update begin\n");
		}else{
			printf("no update\n");
		}
	}  

	// 获取"ftpAddr"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "ftpAddr");
    if (item == NULL) {
        printf("Field \"ftpAddr\" not found\n");
    }else{
		printf("ftpAddr: %s\n", item->valuestring);

		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
	    strncpy(p_ftpInfo->ftpAddr, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);

	    /* 确保字符串以空字符结尾 */
	    p_ftpInfo->ftpAddr[sizeof(p_ftpInfo->ftpAddr) - 1] = '\0';
	} 

	// 获取"ftpPort"字段的值
		item = cJSON_GetObjectItem(hardwareUpdate, "ftpPort");
		if (item == NULL) {
			printf("Field \"ftpPort\" not found\n");
		}else{
			 // 打印"name"字段的值
			 printf("ftpPort: %d\n", item->valueint);
	
			 p_ftpInfo->ftpPort = item->valueint;
		} 


	// 获取"account"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "account");
    if (item == NULL) {
        printf("Field \"account\" not found\n");
    }else{
		printf("account: %s\n", item->valuestring);

		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
	    strncpy(p_ftpInfo->account, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);

	    /* 确保字符串以空字符结尾 */
	    p_ftpInfo->ftpAddr[sizeof(p_ftpInfo->account) - 1] = '\0';
	} 

	// 获取"passWord"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "passWord");
    if (item == NULL) {
        printf("Field \"passWord\" not found\n");
    }else{
		printf("account: %s\n", item->valuestring);

		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
	    strncpy(p_ftpInfo->passWord, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);

	    /* 确保字符串以空字符结尾 */
	    p_ftpInfo->ftpAddr[sizeof(p_ftpInfo->passWord) - 1] = '\0';
	} 

	// 获取"passWord"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "textDirectory");
    if (item == NULL) {
        printf("Field \"textDirectory\" not found\n");
    }else{
		printf("textDirectory: %s\n", item->valuestring);

		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
	    strncpy(p_ftpInfo->textDirectory, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);

	    /* 确保字符串以空字符结尾 */
	    p_ftpInfo->ftpAddr[sizeof(p_ftpInfo->textDirectory) - 1] = '\0';
	} 

	// 获取"passWord"字段的值
    item = cJSON_GetObjectItem(hardwareUpdate, "textName");
    if (item == NULL) {
        printf("Field \"textName\" not found\n");
    }else{
		printf("textName: %s\n", item->valuestring);

		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
	    strncpy(p_ftpInfo->textName, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);

	    /* 确保字符串以空字符结尾 */
	    p_ftpInfo->ftpAddr[sizeof(p_ftpInfo->textName) - 1] = '\0';
	} 

}


/**
 * @brief       解析围栏经纬度数据
 * @note        
 * @param       root: cJSON 根对象
 * @param       Latitude: 纬度数组
 * @param       Longitude: 经度数组
 * @retval      成功返回1，失败返回0
 */
int parse_Latitude_Longitude_Data(cJSON *root, double Latitude[], double Longitude[]) {
    // 确保输入不为空
    if (root == NULL) {
        printf("Root object is NULL\n");
        return 0;
    }

    // 获取 polygonLat 数组
    cJSON *polygonLat = cJSON_GetObjectItem(root, "polygonLat");
    if (polygonLat == NULL || polygonLat->type != cJSON_Array) {
        printf("polygonLat is not an array or is missing\n");
        return 0;
    }
    
    // 获取 polygonLng 数组
    cJSON *polygonLng = cJSON_GetObjectItem(root, "polygonLng");
    if (polygonLng == NULL || polygonLat->type != cJSON_Array) {
        printf("polygonLng is not an array or is missing\n");
        return 0;
    }

    // 获取数组大小并检查是否匹配和是否超出预定义的最大大小
    int polygonLatSize = cJSON_GetArraySize(polygonLat);
    int polygonLngSize = cJSON_GetArraySize(polygonLng);
    if (polygonLatSize != polygonLngSize || polygonLatSize > REC_COORDINATE_DEPTH) {
        printf("Array sizes mismatch or exceed maximum allowed size\n");
        return 0;
    }

    // 解析 polygonLat 数组
    for (int i = 0; i < polygonLatSize; ++i) {
        cJSON *latItem = cJSON_GetArrayItem(polygonLat, i);
        if (latItem == NULL || latItem->type != cJSON_Number) {
            printf("Lat item is not a number or is missing\n");
            return 0;
        }
        Latitude[i] = latItem->valuedouble;
    }

    // 解析 polygonLng 数组
    for (int i = 0; i < polygonLngSize; ++i) {
        cJSON *lngItem = cJSON_GetArrayItem(polygonLng, i);
        if (lngItem == NULL || lngItem->type != cJSON_Number) {
            printf("Lng item is not a number or is missing\n");
            return 0;
        }
        Longitude[i] = lngItem->valuedouble;
    }

    return 1;  // 成功
}

/**
 * @brief       解析登录响应
 * @note
 * @return		
 */
void parse_Login_Response(cJSON *root, cJSON *item){
	// 获取"name"字段的值
    item = cJSON_GetObjectItem(root, "resultCode");
    if (item == NULL) {
        printf("Field \"resultCode\" not found\n");
    }else{
		 // 打印"name"字段的值
		 printf("resultCode: %d\n", item->valueint);

		 if((item->valueint) == 1){
		 	s_messageDate.loginResult = 1; // 登录成功
			printf("Login response data successfully\n");
		 }else{
			printf("Login response has failed\n");
		 }
	}   
}


/**
 * @brief       通信响应解析
 * @note
 * @return		当前的控制命令
 */

short EC800_respondParse(void){
	cJSON *root = NULL;
	cJSON *item = NULL;

	uint16_t cmd = 0;

	// 找到JSON数据的起始位置
    const char* start = strchr(g_usart3_rx_buf, '{');
    if (start == NULL) {
        printf("JSON data not found\n");
        return 0;
    }

	// 解析JSON数据
    root = cJSON_Parse(start);
    if (root == NULL) {
        printf("Failed to parse JSON data\n");
		cJSON_Delete(root);
        return 0;
    }

	// 获取"controlCode"字段的值
    item = cJSON_GetObjectItem(root, "controlCode");
    if (item == NULL) {
        printf("Field \"devId\" not found\n");
    }else{
		 // 打印"controlCode"字段的值
		 printf("controlCode: %d\n", item->valueint);

		 cmd = item->valueint;
	} 

	// 解析对应命令的对应数据
	switch(cmd){
		case 102:
			parse_Login_Response(root, item);
			break;
		case 106:
			EC800_parseRespondTime(root, item);
			break;
		case 202:
			EC800_respondRealDate(root, item);
			break;
		case 602:
			EC800_respondUpdateDate(root, item, &s_ftpInfo);
			break;
		case 604:
			parse_Latitude_Longitude_Data(root, polygonLat, polygonLng);
			break;
		default :
			break;
	}

	cJSON_Delete(root);

	return (cmd);
}

/**
 * @brief       EC800M状态转换与使用
 * @note       
 * @retval      无
 */
uint8_t stateStep = 0;
void EC800_stateTransition_use(void){
uint16_t right = 1; // 返回是否为正确
static uint16_t timesCnt = 0;
static uint8_t tudeErrcnt = 0; // 定位信息错误计数
ec800Date *p_ec800Date = &s_ec800Date;
char command[100] = {0};

	
	switch(stateStep){
		case 0: // 初始化模块
			EC800M_link();
			if(linkStep == 12){
				stateStep = 1;
				p_ec800Date->ec800InitFlag = 1; // 初始化完成
			}else{
				p_ec800Date->ec800InitFlag = 0; // 初始化未完成
			}
			break;
		case 1: // 初始化GNSS
			EC800_gnss_init();
			if(gnssStep == 8){
				stateStep = 2;
			}
			break;
		case 2: // 订阅主题
			sprintf(command, "toclient/%d/%x%x%x", DEV_TYPE, s_messageDate.devId[0], s_messageDate.devId[1], s_messageDate.devId[2]);
			right = EC800_subscribeToTopic(command);

			if(right != 1){ // 发布消息失败，可能断开链接
//				stateStep = 0; // 重新初始化
			}else{
				stateStep = 3;
			}
			break;
		case 3: // 登录服务器主题
			right = Login_Topic();
			
			if(right == 1){
				stateStep = 8; // 去步骤6等待登录响应 收到登录响应后，发布实时消息
			}
			break;
		case 4: // 下位机请求围栏数据
			right = requesting_Fence_Data();
			
			if(right == 1){
				stateStep = 8; // 去步骤6等待登录响应 收到登录响应后，发布实时消息
			}
			break;
		case 5:
			// 获取定位信息
			EC800_readGnssDate();
			// 没有获取到定位信息 重复获取三次
			if((s_messageDate.latitude == 0) && (s_messageDate.longitude == 0)){
				tudeErrcnt++;
				if(tudeErrcnt == 4){
					tudeErrcnt = 0;
					stateStep = 6;
				}
			}else{
				tudeErrcnt = 0;
				stateStep = 6;
			}
			break;
		case 6: // 与服务器对时
			right = EC800_time_calibration(); 

			if(right == 1){
				stateStep = 8; // 去步骤6等待对时响应 收到对时响应后，发布实时消息
			}
			break;
		case 7: // 发布消息
			right = EC800_uploadRealDate();

			stateStep = 8;
//			if(right == 0){ // 发布消息失败，可能断开链接
//				stateStep = 0; // 重新初始化
//				linkStep = 0;
//				stateStep = 6;
//			}else if(right == 1){
//				stateStep = 6;
//			}
			break;
		case 8: // 接收消息
			HAL_UART_Receive_DMA(&huart3, (uint8_t*)g_usart3_rx_buf, USART3_REC_LEN); //设置接收缓冲区
			__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
			if(g_usart3_rx_sta!=0){
				HAL_UART_Transmit(&huart1, (uint8_t*)g_usart3_rx_buf, strlen(g_usart3_rx_buf), HAL_MAX_DELAY); // 打印数据除去URC

				right = EC800_respondParse();
				if((right == CTR_CODE_LOGIN) && (s_messageDate.loginResult == 1)){ // 登录响应
					stateStep = 4;
					right = 0;
					timesCnt = 0;
				}else if(right == CTR_CODE_LOGIN){ // 登录响应 未登录成功
					stateStep = 3;
					right = 0;
					timesCnt = 0;
				}else if(right == CTR_CODE_FENCES){ // 围栏数据响应
					stateStep = 5;
					right = 0;
					timesCnt = 0;
				}
				else if(right == CTR_CODE_JUDETIME){ // 对时响应
					stateStep = 7;
					right = 0;
					timesCnt = 0;
				}else if(right == CTR_CODE_REMOTE){ // 固件更新
					stateStep = 0xff; // 停止占用4G模块
				}
				
				memset(g_usart3_rx_buf, 0, USART3_REC_LEN); // 清除数据buff,接收新的数据
				g_usart3_rx_sta = 0; // 清除接收状态
			}

			// 转弯行驶中
			if(turnFlag == 1){
				if(timesCnt < TURN_INTERVAL_TIME_MS){
					timesCnt++;
				}else{
					timesCnt= 0;
					stateStep = 5;
					HAL_UART_DMAStop(&huart3);
					__HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE);
				}
			}else{ // 正常行驶中
				if(timesCnt < PUBLISH_TIME_MS){
					timesCnt++;
				}else{
					timesCnt= 0;
					stateStep = 5;
					HAL_UART_DMAStop(&huart3);
					__HAL_UART_DISABLE_IT(&huart3, UART_IT_IDLE);
				}
			}
			
			break;
		default:
			break;
	}
}