AVS/GD32F103C8T6/App/User/app.c

#include "app.h"

#include "can_parsing.h"

#define STROBE_LIGHT_MODE_SETTING_INDEX       (0x00)
#define CAN_TYPE_SETTING_INDEX                (0x01)
#define STROBE_LIGHT_ENABLE_SETTING_INDEX     (0x02)
#define VOLUME_LEVEL_SETTING_INDEX            (0x03)

static uint64_t led_rx_timestamp = 0, led_tx_timestamp = 0;

static uint8_t door_front_status = 1, door_front_status_temporary = 1;
static uint8_t door_back_status = 1, door_back_status_temporary = 1;
static uint8_t door_status = 1, door_status_temporary = 1;
static uint8_t turn_left_status = 1, turn_left_status_temporary = 1;
static uint8_t turn_left_parsing_count = 0; /* 转向接收次数 */
static uint8_t turn_right_status = 1, turn_right_status_temporary = 1;
static uint8_t turn_right_parsing_count = 0;                                           /* 转向接收次数 */
static uint8_t emergency_flashers_status = 1, emergency_flashers_status_temporary = 1; /* 双闪 */
static uint8_t reversing_status = 1, reversing_status_temporary = 1;
static uint8_t diaodu_status = 0, diaodu_status_temporry = 0;

static uint8_t volume_1_status = 1, volume_1_status_temporary = 1;
static uint8_t volume_2_status = 1, volume_2_status_temporary = 1;
static uint8_t volume_3_status = 1, volume_3_status_temporary = 1;
static uint8_t volume_4_status = 1, volume_4_status_temporary = 1;

static uint8_t can_type = 0;
static uint8_t strobe_light_flashing_enable = 1; /* 0 关闭; 1 开启 */
static uint8_t strobe_light_flashing_mode = 1;   /* 0 常亮; 1 频闪; 2 爆闪; */
static uint32_t strobe_light_flashing_count = 0;

static uint8_t strobe_light_task_uuid = 0;               /* 频闪灯控制任务 ID */
static uint8_t emergency_flashers_operate_task_uuid = 0; /* 双闪状态下频闪灯控制任务 ID */

static uint8_t volume_level = 0; /* 音量默认级别 */
static uint8_t set_volume_count = 0;

/* 车辆状态上传状态, 0x00 不需要上传，0x01 需要上传 */
static uint8_t door_front_upload_status = 0;
static uint8_t door_back_upload_status = 0;
static uint8_t turn_left_upload_status = 0;
static uint8_t turn_right_upload_status = 0;
static uint8_t reversing_upload_status = 0;
static uint8_t diaodu_upload_status = 0;

/* 频闪灯复位*/
static void strobe_light_reset(void);

#ifdef USE_LED
/* LED 指示灯分析任务 */
static void led_parsing_task(uint8_t uuid);
#endif

/* 设置音量级别 */
static void set_volume_level(uint8_t level);
/* 音量级别控制按钮 分析任务 */
static void volume_io_control_parsing_task(uint8_t uuid);
/* can 数据分析任务 */
static void can_parsing_task(uint8_t uuid);
/* 频闪灯控制任务 */
static void strobe_light_operate_task(uint8_t uuid);
/* 双闪状态下频闪灯控制任务 */
static void emergency_flashers_operate_task(uint8_t uuid);
/* 车辆状态 分析任务 */
static void vehicle_status_parsing_task(uint8_t uuid);
/* 车辆状态 上传任务 */
static void vehicle_status_upload_task(uint8_t uuid);
/* 发送状态灯更新 */
static void led_tx_update(void);
/* 接受状态灯更新 */
static void led_rx_update(void);

/**
 * @brief 定时器回调处理函数
 */
void timer_interrupt_callback(uint32_t timer_periph)
{
}

/**
 * @brief GPIO中断回调函数
 */
void gpio_interrupt_callback(uint32_t pin)
{
    switch (pin)
    {
    case DOOR_FRONT_PIN:
        door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
        door_front_upload_status = 0x01;
        break;

    case DOOR_BACK_PIN:
        door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
        door_back_upload_status = 0x01;
        break;

    case TURN_LEFT_PIN:
        turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
        turn_left_upload_status = 0x01;
        break;

    case TURN_RIGHT_PIN:
        turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
        turn_right_upload_status = 0x01;
        break;

    case REVERSING_PIN:
        reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
        reversing_upload_status = 0x01;
        break;
    }
}

/**
 * @brief 串口中断回调函数
 */
void usart_interrupt_callback(uint32_t usart_periph, uint8_t data)
{
    switch (usart_periph)
    {
    case HOST_USART_PERIPH:
        api_concat_byte(data);
        break;

    case RS485_USART_PERIPH:
        diaodu_concat_byte(data);
        break;
    }
}

/**
 * @brief 应用程序初始化
 */
void app_init(void)
{
    /* 上位机通讯协议初始化 */
    api_init();

    /* 语音芯片初始化 */
    v58_init();

    m62429_init();

    // ir_init();

    /* 主动获取一次IO状态 */
    door_front_status = door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
    door_back_status = door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
    turn_left_status = turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
    turn_right_status = turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
    reversing_status = reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);

    can_type = setting_read_byte(CAN_TYPE_SETTING_INDEX, 0x00);
    strobe_light_flashing_mode = setting_read_byte(STROBE_LIGHT_MODE_SETTING_INDEX, 0x01);
    strobe_light_flashing_enable = setting_read_byte(STROBE_LIGHT_ENABLE_SETTING_INDEX, 0x01);
    volume_level = setting_read_byte(VOLUME_LEVEL_SETTING_INDEX, 0x01); /* 默认中档 */

    set_volume_level(volume_level);

    /* 创建 上位机数据检测任务 */
    task_create((task_func)api_process, 0);

    /* 创建 红外遥控器数据检测任务 */
    task_create((task_func)ir_process, 0);

    /* 创建 调度数据检测任务 */
    task_create((task_func)diaodu_process, 0);

    /* 创建 心跳发送任务 */
    task_create((task_func)api_upload_heart_beat, 3000);

#ifdef USE_LED
    /* 创建 LED 指示灯分析任务 */
    task_create(led_parsing_task, 30);
#endif

    /* 创建 CAN数据分析任务 */
    task_create(can_parsing_task, 0);

    /* 创建 频闪灯控制任务, 并挂起 */
    strobe_light_task_uuid = task_create(strobe_light_operate_task, 500);
    task_suspend(strobe_light_task_uuid);

    /* 创建 双闪状态下频闪灯控制任务 */
    emergency_flashers_operate_task_uuid = task_create(emergency_flashers_operate_task, 500);
    task_suspend(emergency_flashers_operate_task_uuid);

    /* 创建 车辆状态分析任务 */
    task_create(vehicle_status_parsing_task, 1000);

    /* 创建 车辆状态 定时上传任务 */
    task_create(vehicle_status_upload_task, 100);

    /* 创建 音量按键 定时分析任务 */
    task_create(volume_io_control_parsing_task, 100);
}

static void strobe_light_reset(void)
{
    gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, RESET);
}

#ifdef USE_LED
static void led_parsing_task(uint8_t uuid)
{
    /* 超过500ms钟未发送数据，熄灭发送指示灯 */
    if (timestamp - led_rx_timestamp > 500)
    {
        gpio_bit_write(LED_RX_PERIPH, LED_RX_PIN, RESET);
        led_rx_timestamp = timestamp;
    }

    /* 超过500ms钟未接收到数据，熄灭接收指示灯 */
    if (timestamp - led_tx_timestamp > 500)
    {
        gpio_bit_write(LED_TX_PERIPH, LED_TX_PIN, RESET);
        led_tx_timestamp = timestamp;
    }
}
#endif

static void set_volume_level(uint8_t level)
{
    switch (level)
    {
    case 0x00:
        m62429_set_vol(0);
        strobe_light_flashing_enable = 0x01;
        break;
    case 0x01:
        m62429_set_vol(8);
        strobe_light_flashing_enable = 0x01;
        break;
    case 0x02:
        m62429_set_vol(9);
        strobe_light_flashing_enable = 0x01;
        break;
    case 0x03:
        m62429_set_vol(11);
        strobe_light_flashing_enable = 0x00;
        break;

    default:
        return;
    }

    if (level == 3)
        gpio_bit_write(AMP_CTRL_PERIPH, AMP_CTRL_PIN, RESET); /* 停止功放 */
    else
        gpio_bit_write(AMP_CTRL_PERIPH, AMP_CTRL_PIN, SET); /* 开启功放 */

    setting_write_byte(STROBE_LIGHT_ENABLE_SETTING_INDEX, strobe_light_flashing_enable);
    setting_write_byte(VOLUME_LEVEL_SETTING_INDEX, volume_level = level);
    setting_save();
}

static void volume_io_control_parsing_task(uint8_t uuid)
{
    uint8_t level = 0xFF;

    volume_1_status_temporary = gpio_input_bit_get(VOLUME_1_PERIPH, VOLUME_1_PIN);
    volume_2_status_temporary = gpio_input_bit_get(VOLUME_2_PERIPH, VOLUME_2_PIN);
    volume_3_status_temporary = gpio_input_bit_get(VOLUME_3_PERIPH, VOLUME_3_PIN);
    volume_4_status_temporary = gpio_input_bit_get(VOLUME_4_PERIPH, VOLUME_4_PIN);

    if (volume_1_status != volume_1_status_temporary)
    {
        volume_1_status = volume_1_status_temporary;

        if (volume_1_status == 0)
            level = 0;
    }

    if (volume_2_status != volume_2_status_temporary)
    {
        volume_2_status = volume_2_status_temporary;

        if (volume_2_status == 0)
            level = 1;
    }

    if (volume_3_status != volume_3_status_temporary)
    {
        volume_3_status = volume_3_status_temporary;

        if (volume_3_status == 0)
            level = 2;
    }

    if (volume_4_status != volume_4_status_temporary)
    {
        volume_4_status = volume_4_status_temporary;

        if (volume_4_status == 0)
            level = 3;
    }

    if (level != 0xFF)
    {
        set_volume_level(level);
        api_upload_data_forwarding(0x06, level);
    }
}

static void can_parsing_task(uint8_t uuid)
{
    can_receive_message_struct receive_message = {0};

    if (can_try_receive(CAN0, &receive_message))
    {
        /* CAN 解析 */
        if (receive_message.rx_ff == CAN_FF_EXTENDED)
        {
            switch (can_type)
            {
            case 0x00:
                can_byd_01_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            case 0x01:
                can_byd_02_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            case 0x02:
                can_byd_03_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            case 0x03:
                can_yutong_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            case 0x04:
                can_jinlong_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            case 0x05:
                can_ankai_parsing(receive_message.rx_efid, receive_message.rx_data, &door_front_status_temporary, &door_back_status_temporary, &turn_left_status_temporary, &turn_right_status_temporary, &reversing_status_temporary);
                break;
            }

            if (door_front_status_temporary != door_front_status)
                door_front_upload_status = 0x01;

            if (door_back_status_temporary != door_back_status)
                door_back_upload_status = 0x01;

            if (turn_left_status_temporary != turn_left_status)
                turn_left_upload_status = 0x01;

            if (turn_right_status_temporary != turn_right_status)
                turn_right_upload_status = 0x01;

            if (reversing_status_temporary != reversing_status)
                reversing_upload_status = 0x01;
        }
    }
}

/* 频闪灯控制任务 */
static void strobe_light_operate_task(uint8_t uuid)
{
    if (strobe_light_flashing_enable == 0)
    {
        /* 恢复频闪灯状态 */
        strobe_light_reset();

        strobe_light_flashing_count = 0;

        return;
    }

    strobe_light_flashing_count += 1;

    if (strobe_light_flashing_mode == 0)
    {
        /* 设置任务频率 1000 毫秒 */
        task_set_frequency(uuid, 1000);

        /* 常亮 */
        gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, SET);

        /* 计数归零 */
        strobe_light_flashing_count = 0;
    }
    else if (strobe_light_flashing_mode == 1)
    {
        /* 频闪 */
        gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);

        if (strobe_light_flashing_count >= 4)
        {
            strobe_light_flashing_count = 0;
            task_set_frequency(uuid, 1000);
        }
        else if (strobe_light_flashing_count == 2)
            task_set_frequency(uuid, 500);
        else
            task_set_frequency(uuid, 50);
    }
    else if (strobe_light_flashing_mode == 2)
    {
        /* 爆闪 */
        gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);

        if (strobe_light_flashing_count >= 20)
        {
            strobe_light_flashing_count = 0;
            task_set_frequency(uuid, 1000);
        }
        else
            task_set_frequency(uuid, 50);
    }
}

static void emergency_flashers_operate_task(uint8_t uuid)
{
    strobe_light_flashing_count += 1;

    /* 频闪 */
    gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);

    if (strobe_light_flashing_count >= 4)
    {
        strobe_light_flashing_count = 0;
        task_set_frequency(uuid, 1000);
    }
    else if (strobe_light_flashing_count == 2)
        task_set_frequency(uuid, 500);
    else
        task_set_frequency(uuid, 50);
}

static void vehicle_status_parsing_task(uint8_t uuid)
{
    uint8_t status = 0xFF, status_type = 0xFF;

    uint8_t door_change = 0;

    /* 倒车状态判断 */
    if (reversing_status != reversing_status_temporary)
    {
        reversing_status = reversing_status_temporary;

        status_type = 3;

        status = reversing_status;

        /* 优先级最高, 如果状态为触发, 关闭语音 */
        if (reversing_status == 0)
            v58_stop();

        goto EXECUTE;
    }

    /* 处于倒车状态时, 不继续检测 */
    if (reversing_status == 0)
        return;

    /* 进出站状态判断 */
    if (diaodu_status_temporry != 0 && diaodu_status != diaodu_status_temporry)
    {
        diaodu_status = diaodu_status_temporry;

        /* 到站 */
        if (diaodu_status == 1)
        {
            status_type = 4;

            status = 0x00;

            /* 优先级最高，关闭语音 */
            v58_stop();
        }
        ///* 出站 */
        // else if(diaodu_status == 2)
        //    status_type = 5;

        goto EXECUTE;
    }

    if (door_front_status_temporary != door_front_status)
        door_front_status = door_front_status_temporary;

    if (door_back_status_temporary != door_back_status)
        door_back_status = door_back_status_temporary;

    door_status_temporary = door_front_status_temporary | door_back_status_temporary;

    if (door_status != door_status_temporary)
    {
        door_status = door_status_temporary;

        status_type = 0;

        status = door_status;
    }

    /* 进站状态, 不继续执行 */
    if (diaodu_status == 1)
    {
        /* 当前后门开启后 */
        if (door_status == 0)
        {
            /* 重置进站状态 */
            diaodu_status = diaodu_status_temporry = 0;
            /* 关闭语音 */
            v58_stop();

            goto EXECUTE;
        }

        return;
    }

    /* 当前后门开启后, 不处理其他数据 */
    if (door_status == 0)
        goto EXECUTE;

    /* 左转弯状态判断 */
    if (turn_left_status != turn_left_status_temporary)
    {
        /* 如果未触发状态, 需进行二次判断 */
        if (turn_left_status_temporary == 1)
        {
            turn_left_parsing_count++;

            if (turn_left_parsing_count < 3)
                goto TURN_RIGHT_STATUS_TAG2;
        }

        turn_left_parsing_count = 0;

        turn_left_status = turn_left_status_temporary;

        status_type = 1;

        status = turn_left_status;

        /* 屏蔽此时左转弯数据 */
        if (turn_left_status == 1 && turn_right_status == 0)
            status_type = 0xFF;
    }

TURN_RIGHT_STATUS_TAG2:
    /* 右转弯状态判断 */
    if (turn_right_status != turn_right_status_temporary)
    {
        /* 如果未触发状态, 需进行二次判断 */
        if (turn_right_status_temporary == 1)
        {
            turn_right_parsing_count++;

            if (turn_right_parsing_count < 3)
                goto EXECUTE;
        }

        turn_right_parsing_count = 0;

        turn_right_status = turn_right_status_temporary;

        status_type = 2;

        status = turn_right_status;

        /* 屏蔽此时右转弯数据 */
        if (turn_right_status == 1 && turn_left_status == 0)
            status_type = 0xFF;
    }

#if 0
    /* 判断双闪状态 */
    emergency_flashers_status_temporary = turn_left_status | turn_right_status;

    if (emergency_flashers_status != emergency_flashers_status_temporary)
    {
        emergency_flashers_status = emergency_flashers_status_temporary;
    
        if (emergency_flashers_status_temporary == 0)
        {
            /* 挂起 频闪灯控制任务 */
            task_suspend(strobe_light_task_uuid);

            /* 恢复频闪灯状态 */
            strobe_light_reset();

            /* 停止语音播报 */
            v58_stop();

            /* 恢复 双闪状态下频闪灯控制任务 */
            task_resume(emergency_flashers_operate_task_uuid);

#if defined(USE_AK517)
        ak517_please_note_that();
#elif defined(USE_QGEL50X)
        qgel50x_please_note_that();
#endif
        }
        else if (emergency_flashers_status_temporary == 1)
        {
            /* 挂起 频闪灯控制任务 */
            task_suspend(emergency_flashers_operate_task_uuid);

            /* 恢复频闪灯状态 */
            strobe_light_reset();

            /* 停止语音播报 */
            v58_stop();
        }
    }
#endif

EXECUTE:

    if (status_type == 0xFF || emergency_flashers_status_temporary == 0)
        return;

    if (status == 0x01)
    {
        /* 挂起 频闪灯控制任务 */
        task_suspend(strobe_light_task_uuid);

        /* 恢复频闪灯状态 */
        strobe_light_reset();

        /* 停止语音播报 */
        v58_stop();
    }
    else
    {
        /* 停止语音播报 */
        v58_stop();

        /* 播报语音 */
        switch (status_type)
        {
        case 0:
            v58_door_opening_warning();
            break;

        case 1:
            v58_left_turn_warning();
            break;

        case 2:
            v58_right_turn_warning();
            break;

        case 3:
            v58_reverse_warning();
            break;

        case 4:
            v58_arrival_warning();
            break;

        case 5:
            return;
        }

        /* 恢复 频闪灯控制任务 */
        task_resume(strobe_light_task_uuid);
    }
}

/* IO 数据定时上传任务 */
static void vehicle_status_upload_task(uint8_t uuid)
{
    if (door_front_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x00, door_front_status_temporary);
        api_upload_data_forwarding(0x00, door_front_status_temporary);
        door_front_upload_status = 0x00;
    }

    if (door_back_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x01, door_back_status_temporary);
        api_upload_data_forwarding(0x01, door_back_status_temporary);
        door_back_upload_status = 0x00;
    }

    if (turn_left_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x02, turn_left_status_temporary);
        api_upload_data_forwarding(0x02, turn_left_status_temporary);
        turn_left_upload_status = 0x00;
    }

    if (turn_right_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x03, turn_right_status_temporary);
        api_upload_data_forwarding(0x03, turn_right_status_temporary);
        turn_right_upload_status = 0x00;
    }

    if (reversing_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x04, reversing_status_temporary);
        api_upload_data_forwarding(0x04, reversing_status_temporary);
        reversing_upload_status = 0x00;
    }

    if (diaodu_upload_status == 0x01)
    {
        api_upload_vehicle_status(0x05, diaodu_status_temporry);
        api_upload_data_forwarding(0x05, diaodu_status_temporry);
        diaodu_upload_status = 0x00;
    }
}

static void led_tx_update(void)
{
#ifdef USE_LED
    gpio_bit_toggle(LED_TX_PERIPH, LED_TX_PIN);

    led_tx_timestamp = timestamp;
#endif
}

static void led_rx_update(void)
{
#ifdef USE_LED
    gpio_bit_toggle(LED_RX_PERIPH, LED_RX_PIN);

    led_rx_timestamp = timestamp;
#endif
}

void diaodu_arrival_or_departure_parsing(uint8_t status)
{
    diaodu_status_temporry = status;
    diaodu_upload_status = 0x01;
}

void ir_key_triggered(uint8_t key)
{
    uint8_t level = 0x00;

    if (key == 0x98) /* + */
        level = volume_level - 1;
    else if (key == 0x68) /* - */
        level = volume_level + 1;
    else
        return;

    set_volume_level(level);

    api_upload_data_forwarding(0x06, level);
}

void api_notify_data_upload(uint8_t *buffer, uint16_t length)
{
    led_tx_update();

    usart_send_bytes(HOST_USART_PERIPH, buffer, length);
}

void api_notify_set_strobe_light_mode(uint8_t mode)
{
    led_rx_update();

    strobe_light_flashing_mode = mode;

    setting_write_byte(STROBE_LIGHT_MODE_SETTING_INDEX, mode);

    setting_save();

    api_response_set_strobe_light_mode(API_SUCCESS);
}

void api_notify_get_strobe_light_mode(void)
{
    led_rx_update();

    api_response_get_strobe_light_mode(API_SUCCESS, strobe_light_flashing_mode);
}

void api_notify_set_volume_level(uint8_t level)
{
    led_rx_update();

    set_volume_level(level);

    api_response_set_volume_level(API_SUCCESS);

    api_upload_data_forwarding(0x06, level);
}

void api_notify_get_volume_level(void)
{
    api_response_get_volume_level(API_SUCCESS, volume_level);
}

void api_notify_set_can_type(uint8_t type)
{
    led_rx_update();

    can_type = type;

    setting_write_byte(CAN_TYPE_SETTING_INDEX, type);

    setting_save();

    api_response_set_can_type(API_SUCCESS);
}

void api_notify_get_can_type(void)
{
    led_rx_update();

    api_response_get_can_type(API_SUCCESS, can_type);
}

void api_notify_send_audio_pulse(uint8_t pulse_count)
{
    v58_send_pulse(pulse_count);

    api_response_send_audio_pulse(API_SUCCESS);
}

void api_notify_data_forwarding(uint8_t type, uint8_t value)
{
    switch (type)
    {
    case 0x00:
        door_front_status_temporary = value;
        break;

    case 0x01:
        door_back_status_temporary = value;
        break;

    case 0x02:
        turn_left_status_temporary = value;
        break;

    case 0x03:
        turn_right_status_temporary = value;
        break;

    case 0x04:
        reversing_status_temporary = value;
        break;

    case 0x05:
        diaodu_status_temporry = value;
        break;

    case 0x06:
        set_volume_level(value);
        break;
    }
}