feat: 添加RC522站点匹配逻辑及到站提示功能

Core/Bsp/bsp_rc522.c

@@ -1,25 +1,4 @@
 #include "bsp_rc522.h"
-#include <string.h>
-
-// 站点UID白名单（可扩展）
-static const uint8_t g_station_1_uid[] = STATION_1_UID;
-static const uint8_t g_station_2_uid[] = STATION_2_UID;
-
-station_id_t rc522_match_station(const uint8_t *uid, uint8_t uid_len)
-{
-    if (uid == NULL || uid_len == 0) return STATION_NONE;
-    // 匹配站点1
-    if (uid_len == sizeof(g_station_1_uid) && memcmp(uid, g_station_1_uid, uid_len) == 0) {
-        return STATION_1;
-    }
-    // 匹配站点2
-    if (uid_len == sizeof(g_station_2_uid) && memcmp(uid, g_station_2_uid, uid_len) == 0) {
-        return STATION_2;
-    }
-    // 可继续添加更多站点匹配
-    return STATION_NONE;
-}
-#include "bsp_rc522.h"
 
 #include "spi.h"
 #include <string.h>
@@ -630,3 +609,24 @@ void rc522_irq_callback(uint16_t GPIO_Pin)
         g_irq_pending = 1U;
     }
 }
+
+/* 站点UID白名单（可扩展） */
+static const uint8_t g_station_1_uid[] = STATION_1_UID;
+static const uint8_t g_station_2_uid[] = STATION_2_UID;
+
+station_id_t rc522_match_station(const uint8_t *uid, uint8_t uid_len)
+{
+    if (uid == NULL || uid_len == 0U) {
+        return STATION_NONE;
+    }
+
+    if (uid_len == sizeof(g_station_1_uid) && memcmp(uid, g_station_1_uid, uid_len) == 0) {
+        return STATION_1;
+    }
+
+    if (uid_len == sizeof(g_station_2_uid) && memcmp(uid, g_station_2_uid, uid_len) == 0) {
+        return STATION_2;
+    }
+
+    return STATION_NONE;
+}

Core/Bsp/protocol.c

@@ -12,6 +12,8 @@
 #include "bsp_hall.h"
 #include "bsp_pid.h"
 #include "bsp_uart.h"
+#include "bsp_rc522.h"
+#include "bsp_beep.h"
 #include "checksum.h"
 #include "cmsis_os.h"
 #include "elog.h"
@@ -46,6 +48,10 @@ static float target_v_w = 0;   // 原地旋转分量
 static uint8_t car_running = 0;         // 小车运行状态（1=运行，0=停止）
 static uint8_t car_speed_percent = 0;   // 当前整体速度百分比（0~100）
 static uint16_t car_target_station = 0; // 目标站点编号
+static uint8_t car_target_reached = 0;  // 到站锁存，避免重复触发
+
+#define CAR_STATION_MIN ((uint16_t)STATION_1)
+#define CAR_STATION_MAX ((uint16_t)STATION_2)
 
 /* 4个电机的 PID 控制器 */
 static PID_TypeDef motor_pid[MOTOR_COUNT];
@@ -85,6 +91,46 @@ static void CarCtrl_StopAll(void)
   }
 }
 
+/**
+ * @brief 到站蜂鸣提示
+ * @param times 蜂鸣次数
+ */
+static void CarCtrl_BeepTimes(uint8_t times)
+{
+  for (uint8_t i = 0; i < times; i++) {
+    BEEP_On();
+    osDelay(120);
+    BEEP_Off();
+    osDelay(120);
+  }
+}
+
+/**
+ * @brief 运行期间检测是否到达目标站点
+ */
+static void CarCtrl_CheckTargetStation(void)
+{
+  rc522_card_info_t card;
+  station_id_t station;
+
+  if (car_running == 0U || car_target_reached != 0U || car_target_station == 0U) {
+    return;
+  }
+
+  if (rc522_get_new_card(&card) == 0U) {
+    return;
+  }
+
+  station = rc522_match_station(card.uid, card.uid_len);
+  if ((uint16_t)station == car_target_station) {
+    car_running = 0U;
+    car_target_reached = 1U;
+    CarCtrl_StopAll();
+    elog_i(Protocol_TAG, "到达目标站点%u，停车并蜂鸣", car_target_station);
+    CarCtrl_BeepTimes(3U);
+  }
+}
+
 /**
  * @brief 按当前 car_speed_percent 设置所有电机速度
  */
@@ -184,11 +230,30 @@ static void CarCtrl_HandleCommand(const char *cmd_payload)
   // 启动/停止命令（仅作为自动循迹任务的启动/暂停信号，不直接控制电机）
   if (strncmp(cmd_payload, "ST", 2) == 0) {
     if (strcmp(arg + 1, "RUN") == 0) {
+      if (car_target_reached != 0U) {
+        car_running = 0U;
+        CarCtrl_StopAll();
+        elog_w(Protocol_TAG, "已到达站点，请先重新设置目标站点 (GS:xxx) 之后再启动");
+        CarCtrl_BeepTimes(2U);
+        return;
+      }
+
+      if (car_target_station < CAR_STATION_MIN || car_target_station > CAR_STATION_MAX) {
+        car_running = 0U;
+        CarCtrl_StopAll();
+        elog_w(Protocol_TAG, "未设置有效站点，拒绝启动。请先下发 GS:001 或 GS:002");
+        CarCtrl_BeepTimes(2U);
+        return;
+      }
+
       car_running = 1;
+      car_target_reached = 0;
       elog_i(Protocol_TAG, "小车自动循迹启动, speed=%u%%, station=%u", car_speed_percent,
              car_target_station);
     } else if (strcmp(arg + 1, "STOP") == 0) {
       car_running = 0;
+      car_target_reached = 0;
+      CarCtrl_StopAll();
       elog_i(Protocol_TAG, "小车自动循迹暂停");
     } else {
       elog_w(Protocol_TAG, "未知启动/停止命令: %s", cmd_payload);
@@ -225,12 +290,17 @@ static void CarCtrl_HandleCommand(const char *cmd_payload)
 
     // 解析站点编号（0~999）
     if (sscanf(arg + 1, "%u", &station) == 1) {
-      if (station > 999U) {
+      if (station < CAR_STATION_MIN || station > CAR_STATION_MAX) {
-        station = 999U;
+        elog_w(Protocol_TAG, "站点%03u未配置，目前仅支持 %03u~%03u", station,
+               CAR_STATION_MIN, CAR_STATION_MAX);
+        CarCtrl_BeepTimes(2U);
+        return;
       }
 
       car_target_station = (uint16_t)station;
+      car_target_reached = 0;
       elog_i(Protocol_TAG, "设置目标站点: %03u", car_target_station);
+      CarCtrl_BeepTimes(1U);
     } else {
       elog_w(Protocol_TAG, "站点参数解析失败: %s", cmd_payload);
     }
@@ -345,6 +415,9 @@ void CarCtrl_Task(void *argument) {
       CarCtrl_HandleCommand(cmd_payload);
     }
 
+    /* 1.1 运行中检查 RFID 是否到达目标站点 */
+    CarCtrl_CheckTargetStation();
+
     /* 2. 执行 PID 闭环控制更新 */
     CarCtrl_UpdateClosedLoop();