#include "stdio.h"
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#include "stdarg.h"
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#include "stdlib.h"
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#include "string.h"
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#include "stm32f4xx_hal.h"
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#include "math.h"
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#include "HIDO_Util.h"
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#include "HIDO_Debug.h"
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#include "HIDO_Timer.h"
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#include "GPS.h"
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#include "DBG.h"
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#include "GPIO.h"
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#include "Uart.h"
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#include "Delay.h"
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#include "UDPClient.h"
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#include "global_param.h"
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#include "TTS.h"
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#define GPS_DBG(level, fmt, ...) HIDO_Debug(fmt, __VA_ARGS__)
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#define GPS_UART_RX_BUF_SIZE 1024
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#define GPS_UART_TX_BUF_SIZE (2048 + 512)
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typedef enum
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{
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GPS_RECV_STATE_IDLE = 0,
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GPS_RECV_STATE_HEAD,
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GPS_RECV_STATE_CR,
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GPS_RECV_STATE_LF,
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} E_GPSRecvState;
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typedef struct
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{
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E_GPSRecvState m_eState;
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HIDO_CHAR m_acHeader[10],m_acHeader2[10],m_acHeader3[10];
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HIDO_UINT32 m_u32HeaderLen,m_u32Header2Len,m_u32Header3Len;
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HIDO_CHAR m_acRecvBuf[128];
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HIDO_UINT32 m_u32RecvLen;
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} ST_GPSRecv;
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static HIDO_UINT8 l_au8GPSUartRxBuf[GPS_UART_RX_BUF_SIZE];
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static HIDO_UINT8 l_au8GPSUartTxBuf[GPS_UART_TX_BUF_SIZE];
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static ST_GPIO l_astGPSPin[GPS_PIN_LAST];
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static ST_GPSRecv l_stGPSRecv;
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static HIDO_UINT8 l_u8PosState = 0;
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static HIDO_UINT8 l_u8GPS_HZ = 0;
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static HIDO_BOOL l_bGPSConfig = HIDO_FALSE;
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static HIDO_UINT32 l_u32QXTick = 0;
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HIDO_UINT32 getRTK_Tick = 0;
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/* GPSÃüÁî */
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static HIDO_UINT8 l_au8CmdSave[] = { 0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF };
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static HIDO_UINT8 l_au8CmdRate1Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00, 0x01, 0x39 };
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static HIDO_UINT8 l_au8CmdRate2Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xF4, 0x01, 0x01, 0x00, 0x01, 0x00, 0x0B, 0x77 };
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static HIDO_UINT8 l_au8CmdRate5Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A };
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static HIDO_UINT8 l_au8CmdRate10Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01, 0x00, 0x7A, 0x12 };
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/*******************************************************************************
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* Function Name : GPS_RateConfig
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* Description : GPSËÙÂÊÅäÖà ֧³Ö1HZ¡¢2HZ¡¢5HZ¡¢10HZ
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* Input : _u8Rate ËÙÂÊ
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* Output : None
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* Return : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
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* Author : www.hido-studio.com
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* Modified Date: : 2021Äê5ÔÂ07ÈÕ
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*******************************************************************************/
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static HIDO_INT32 GPS_RateConfig(HIDO_UINT8 _u8Rate)
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{
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l_u8GPS_HZ = _u8Rate;
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switch(_u8Rate)
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{
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case 1:
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{
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Uart_Send(UART_ID_GPS, l_au8CmdRate1Hz, sizeof(l_au8CmdRate1Hz));
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Uart_Send(UART_ID_GPS, l_au8CmdSave, sizeof(l_au8CmdSave));
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break;
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}
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case 2:
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{
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Uart_Send(UART_ID_GPS, l_au8CmdRate2Hz, sizeof(l_au8CmdRate2Hz));
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Uart_Send(UART_ID_GPS, l_au8CmdSave, sizeof(l_au8CmdSave));
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break;
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}
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case 5:
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{
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Uart_Send(UART_ID_GPS, l_au8CmdRate5Hz, sizeof(l_au8CmdRate5Hz));
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Uart_Send(UART_ID_GPS, l_au8CmdSave, sizeof(l_au8CmdSave));
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break;
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}
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case 10:
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{
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Uart_Send(UART_ID_GPS, l_au8CmdRate10Hz, sizeof(l_au8CmdRate10Hz));
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Uart_Send(UART_ID_GPS, l_au8CmdSave, sizeof(l_au8CmdSave));
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break;
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}
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default:
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{
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break;
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}
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}
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return HIDO_OK;
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}
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/*******************************************************************************
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* Function Name : GPS_DataCheck
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* Description : GPSÊý¾Ý¸ñʽ¼ì²é
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* Input : _pcData GPSÊý¾Ý
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* : _u32Len GPSÊý¾Ý³¤¶È
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* Output : None
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* Return : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
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* Author : www.hido-studio.com
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* Modified Date: : 2021Äê5ÔÂ07ÈÕ
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*******************************************************************************/
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static HIDO_INT32 GPS_DataCheck(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
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{
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HIDO_DataStruct stData;
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HIDO_DataStruct stCheckValue;
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HIDO_UINT8 u8CheckValue = 0;
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HIDO_UINT8 u8CalcValue = 0;
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HIDO_UINT32 i = 0;
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if(HIDO_UtilParseFormat((HIDO_UINT8 *)_pcData, _u32Len, "$%p*%p\r\n", &stData, &stCheckValue) != 2)
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{
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return HIDO_ERR;
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}
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u8CheckValue = HIDO_UtilHexStrBufToInt((HIDO_CHAR *)stCheckValue.m_pData, stCheckValue.m_u32Len);
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u8CalcValue = ((HIDO_UINT8 *)stData.m_pData)[0];
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for(i = 1; i < stData.m_u32Len; i++)
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{
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u8CalcValue ^= ((HIDO_UINT8 *)stData.m_pData)[i];
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}
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if(u8CalcValue != u8CheckValue)
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{
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return HIDO_ERR;
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}
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return HIDO_OK;
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}
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/*******************************************************************************
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* Function Name : GPS_ParseGGA
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* Description : GPS GGAÊý¾Ý½âÎö(½ö¼ì²éÊý¾ÝÊÇ·ñÓÐЧ)
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* Input : _pcData GGAÊý¾Ý
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* : _u32Len GGAÊý¾Ý³¤¶È
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* Output : None
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* Return : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
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* Author : www.hido-studio.com
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* Modified Date: : 2021Äê5ÔÂ07ÈÕ
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*******************************************************************************/
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double jd1,wd1;//ÓÃÓÚ´«µÝGNGGAµã¾Î³¶È
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int gps_state;
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char utc_time_save[20];
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HIDO_DataStruct jd1Recv,wd1Recv,type,stPosState,utcTimeStemp;
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static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
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{
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ST_GPS stGPS;
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|
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memset(&stGPS, 0, sizeof(ST_GPS));
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if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
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{
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return HIDO_ERR;
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}
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// if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
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// {
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// return HIDO_ERR;
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// }
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if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len,"$%*,%p,%p,%*,%p,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**",&utcTimeStemp,&wd1Recv,&jd1Recv,&stPosState) !=15 )
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{
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return HIDO_ERR;
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}
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l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);//°ÑGNGGAµÄÖÐÊý¾Ý½âÎö³öÀ´×ª»¯¸ø±äÁ¿
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jd1=strtod((HIDO_CHAR *)jd1Recv.m_pData,NULL);//ת»»ÎªdoubleÀàÐ;γ¶È×ø±ê
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wd1=strtod((HIDO_CHAR *)wd1Recv.m_pData,NULL);
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l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
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memcpy(&utc_time_save,utcTimeStemp.m_pData,6);
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gps_state=l_u8PosState;
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return HIDO_OK;
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}
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u16 g_spsum,g_snum;
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static HIDO_INT32 GPS_ParseGSV(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
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{
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ST_GPS stGPS;
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HIDO_DataStruct spower[4];
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memset(&stGPS, 0, sizeof(ST_GPS));
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// if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
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// {
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// return HIDO_ERR;
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// }
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if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1], &spower[2], &spower[3]) == 21)
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{
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g_snum+=4;
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g_spsum+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData)+atoi((HIDO_CHAR *)spower[2].m_pData)+atoi((HIDO_CHAR *)spower[3].m_pData);
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}else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1], &spower[2]) == 17)
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{
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g_snum+=3;
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g_spsum+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData)+atoi((HIDO_CHAR *)spower[2].m_pData);
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}else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1]) == 13)
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{
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g_snum+=2;
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g_spsum+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData);
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}else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%**", &spower[0]) == 9)
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{
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g_snum+=1;
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g_spsum+=atoi((HIDO_CHAR *)spower[0].m_pData);
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}
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// l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
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return HIDO_OK;
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}
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/*******************************************************************************
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* Function Name : GPS_RecvFsm
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* Description : GPS Êý¾Ý½ÓÊÕ״̬»ú
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* Input : _u8RecvChar Ò»¸ö½ÓÊÕ×Ö·û
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* Output : None
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* Return : one
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* Author : www.hido-studio.com
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* Modified Date: : 2021Äê5ÔÂ07ÈÕ
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*******************************************************************************/
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static HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
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{
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static int LastRTK = 0;
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HIDO_CHAR GPS_1[10] = "É豸µ¥µã";
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HIDO_CHAR GPS_4[10] = "É豸¹Ì¶¨";
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HIDO_CHAR GPS_5[10] = "É豸¸¡¶¯";
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switch (l_stGPSRecv.m_eState)
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{
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case GPS_RECV_STATE_IDLE:
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{
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if ('$' == _u8RecvChar)
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_HEAD;
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l_stGPSRecv.m_u32RecvLen = 0;
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
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}
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break;
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}
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case GPS_RECV_STATE_HEAD:
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{
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
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if (l_stGPSRecv.m_u32RecvLen >= l_stGPSRecv.m_u32HeaderLen)
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{
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if (memcmp(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_acHeader, l_stGPSRecv.m_u32HeaderLen) == 0)
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
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}else if(memcmp(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_acHeader2, l_stGPSRecv.m_u32Header2Len) == 0)
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
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}else if(memcmp(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_acHeader3, l_stGPSRecv.m_u32Header3Len) == 0)
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
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}
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else
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
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}
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}
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break;
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}
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case GPS_RECV_STATE_CR:
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{
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
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if (l_stGPSRecv.m_u32RecvLen >= (sizeof(l_stGPSRecv.m_acRecvBuf) - 1))
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
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break;
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}
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if ('\r' == _u8RecvChar)
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{
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l_stGPSRecv.m_eState = GPS_RECV_STATE_LF;
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}
|
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break;
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}
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case GPS_RECV_STATE_LF:
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{static u8 gpsled_state=0;
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
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if ('\n' == _u8RecvChar)
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{
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/* ÅäÖÃGPS HZ */
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// g_com_map[GPS_HZ] = 10;
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if(l_bGPSConfig || l_u8GPS_HZ != g_com_map[GPS_HZ])
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{
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l_bGPSConfig = HIDO_FALSE;
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GPS_RateConfig(g_com_map[GPS_HZ]);
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}
|
|
|
|
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if (memcmp(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_acHeader3, l_stGPSRecv.m_u32Header3Len) == 0)
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{
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GPS_ParseGSV(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
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}
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if (memcmp(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_acHeader, l_stGPSRecv.m_u32HeaderLen) == 0)
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{
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GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
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//UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
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if(gpsled_state)
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{
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gpsled_state = 0;
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rtkled = LEDOFF;
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Set4LEDColor(uwbled,rtkled,led4g,powerled);
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}else{
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gpsled_state = 1;
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|
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if(LastRTK != l_u8PosState) //µ±RTK״̬·¢Éú±ä»¯Ê±£¬½øÐÐÓïÒô²¥±¨
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{
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switch(l_u8PosState)
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{
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// case 1:
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// TTS_Play((HIDO_UINT8 *)GPS_1, strlen(GPS_1));
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// break;
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case 4:
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TTS_Play((HIDO_UINT8 *)GPS_4, strlen(GPS_4));
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break;
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// case 5:
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// TTS_Play((HIDO_UINT8 *)GPS_5, strlen(GPS_5));
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// break;
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}
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}
|
|
|
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switch(l_u8PosState)
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{
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case 0:
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rtkled = RED;
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break;
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case 1:
|
rtkled = BLUE;
|
break;
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case 2:
|
rtkled = BLUE+GREEN;
|
break;
|
case 4:
|
rtkled = GREEN;
|
break;
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case 5:
|
rtkled = YELLOW;
|
break;
|
default:
|
rtkled = WHITE;
|
break;
|
}
|
//g_Resttimer=0;
|
Set4LEDColor(uwbled,rtkled,led4g,powerled);
|
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LastRTK = l_u8PosState; //¼Ç¼RTK״̬
|
}
|
}
|
if((HIDO_TimerGetTick() - l_u32QXTick) >= 1000)
|
{
|
l_u32QXTick = HIDO_TimerGetTick();
|
#ifdef __USE_QXWZ__
|
qxwz_app_upload_gga(l_stGPSRecv.m_acRecvBuf);
|
#endif
|
}
|
|
}
|
|
l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
|
break;
|
}
|
default:
|
{
|
break;
|
}
|
}
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_Rest
|
* Description : GPS¸´Î»
|
* Input : None
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
static HIDO_VOID GPS_Rest(void)
|
{
|
GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
|
HAL_Delay(10);
|
GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
|
HAL_Delay(10);
|
GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_PowerOn
|
* Description : GPSÉϵç
|
* Input : None
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
static HIDO_VOID GPS_PowerOn(void)
|
{
|
GPIO_SET(&l_astGPSPin[GPS_PIN_EN]);
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_PowerOff
|
* Description : GPSµôµç
|
* Input : None
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
HIDO_VOID GPS_PowerOff(void)
|
{
|
GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
|
}
|
|
/*******************************************************************************
|
* Global Function *
|
*******************************************************************************/
|
|
/*******************************************************************************
|
* Function Name : GPS_GetState
|
* Description : »ñÈ¡GPS¶¨Î»×´Ì¬
|
* Input : None
|
* Output : None
|
* Return : ¶¨Î»×´Ì¬ 0 1 2 3
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
HIDO_UINT8 GPS_GetState(HIDO_VOID)
|
{
|
return l_u8PosState;
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_PinRegister
|
* Description : GPSÄ£¿é¹Ü½Å×¢²á
|
* Input : _ePin ¹Ü½Å¶¨Òå
|
* : _pstGPIOx GPIOx
|
* : _u16GPIOPin GPIO_PIN_x
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
HIDO_VOID GPS_PinRegister(E_GPSPin _ePin, GPIO_TypeDef* _pstGPIOx, HIDO_UINT16 _u16GPIOPin)
|
{
|
l_astGPSPin[_ePin].m_pstGPIOx = _pstGPIOx;
|
l_astGPSPin[_ePin].m_u16GPIOPin = _u16GPIOPin;
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_Poll
|
* Description : GPSÂÖѯ´¦Àí
|
* Input : None
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
HIDO_VOID GPS_Poll(void)
|
{
|
static HIDO_UINT8 l_u8GPSBuff[512];
|
static HIDO_UINT32 l_u8GPSLen = 0;
|
static HIDO_UINT32 l_u8GPSRecvTick = 0;
|
|
volatile HIDO_INT32 i32Result = HIDO_OK;
|
HIDO_UINT8 u8RecvChar = 0;
|
UART_HandleTypeDef *pstUartHandle = HIDO_NULL;
|
|
Uart_GetHandle(UART_ID_DBG, (HIDO_VOID **)&pstUartHandle);
|
|
while ((i32Result = Uart_GetChar(UART_ID_GPS, &u8RecvChar)) == HIDO_OK)
|
{
|
if(DBG_GetMode() == DBG_MODE_GPS||DBG_GetMode() == DBG_MODE_CFG)
|
{
|
HAL_UART_Transmit(pstUartHandle, &u8RecvChar, 1, 1000);
|
}
|
GPS_RecvFsm(u8RecvChar);
|
l_u8GPSBuff[l_u8GPSLen++] = u8RecvChar;
|
if(l_u8GPSLen >= sizeof(l_u8GPSBuff))
|
{
|
#ifdef __USE_TCP_RTCM__
|
RTKClient_ReportData(l_u8GPSBuff, l_u8GPSLen);
|
#endif
|
#ifdef __USE_NTRIP__
|
NTRIPApp_ReportGGA(l_u8GPSBuff, l_u8GPSLen);
|
#endif
|
l_u8GPSLen = 0;
|
}
|
|
l_u8GPSRecvTick = HIDO_TimerGetTick();
|
}
|
|
if(l_u8GPSLen > 0)
|
{
|
if((HIDO_TimerGetTick() - l_u8GPSRecvTick) > 50)
|
{
|
#ifdef __USE_TCP_RTCM__
|
RTKClient_ReportData(l_u8GPSBuff, l_u8GPSLen);
|
#endif
|
#ifdef __USE_NTRIP__
|
NTRIPApp_ReportGGA(l_u8GPSBuff, l_u8GPSLen);
|
#endif
|
l_u8GPSLen = 0;
|
}
|
}
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_Init
|
* Description : GPSÄ£¿é³õʼ»¯
|
* Input : None
|
* Output : None
|
* Return : None
|
* Author : www.hido-studio.com
|
* Modified Date: : 2021Äê1ÔÂ8ÈÕ
|
*******************************************************************************/
|
HIDO_VOID GPS_Init(void)
|
{
|
uint32_t gpsbaudrate;
|
GPS_PowerOn();
|
GPS_Rest();
|
|
ST_UartInit stInit;
|
|
stInit.m_eRxMode = UART_RX_MODE_DMA;
|
stInit.m_eTxMode = UART_TX_MODE_DMA;
|
stInit.m_pu8RxBuf = l_au8GPSUartRxBuf;
|
stInit.m_u32RxBufSize = GPS_UART_RX_BUF_SIZE;
|
stInit.m_pu8TxBuf = l_au8GPSUartTxBuf;
|
stInit.m_u32TxBufSize = GPS_UART_TX_BUF_SIZE;
|
stInit.m_u32TxQueueMemberCnt = 2;
|
Uart_Init(UART_ID_GPS, &stInit);
|
|
HIDO_UtilBzero(&l_stGPSRecv, sizeof(ST_GPSRecv));
|
l_stGPSRecv.m_u32HeaderLen = HIDO_UtilSnprintf(l_stGPSRecv.m_acHeader, sizeof(l_stGPSRecv.m_acHeader), "$GNGGA");
|
l_stGPSRecv.m_u32Header2Len = HIDO_UtilSnprintf(l_stGPSRecv.m_acHeader2, sizeof(l_stGPSRecv.m_acHeader2), "$GPGSV");
|
l_stGPSRecv.m_u32Header3Len = HIDO_UtilSnprintf(l_stGPSRecv.m_acHeader3, sizeof(l_stGPSRecv.m_acHeader3), "$GBGSV");
|
l_bGPSConfig = HIDO_TRUE;
|
gpsbaudrate = (g_com_map[GPSBAUDRATE1_INDEX]<<8)|g_com_map[GPSBAUDRATE2_INDEX];
|
if(gpsbaudrate>921600||gpsbaudrate<9600)
|
{
|
gpsbaudrate = 115200;
|
}
|
Uart_ReConfigBaudRate(UART_ID_GPS,gpsbaudrate);
|
}
|
