#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 "stm32h7xx_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 "FreeRTOS.h"
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#include "task.h"
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#include "GPS.h"
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#include "GPIO.h"
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#include "Uart.h"
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// #include "global_param.h"
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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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#define IM23A_HEADER_LEN (4U)
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#define IM23A_NAV_FRAME_LEN (100U) /* 包含头、负载、校验和及尾部 */
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#define IM23A_IMU_FRAME_LEN (52U)
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#define IM23A_MAX_FRAME_LEN IM23A_NAV_FRAME_LEN
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#define IM23A_CHECKSUM_LEN (2U)
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#define IM23A_TAIL_LEN (2U)
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#define IM23A_NAV_HEADER "fmin"
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#define IM23A_IMU_HEADER "fmim"
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#define IM23A_GPS_TIME_SCALE (100.0) /* hhmmss.ss -> centisecond */
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#define IM23A_IMU_TIME_SCALE (1000.0) /* hhmmss.ss -> millisecond */
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typedef struct
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{
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HIDO_UINT8 m_au8Buffer[IM23A_MAX_FRAME_LEN];
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HIDO_UINT32 m_u32RecvLen;
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HIDO_UINT32 m_u32ExpectedLen;
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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_UINT32 l_u32QXTick = 0;
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HIDO_UINT32 getRTK_Tick = 0;
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/* 存储最新的GPRMI和GPIMU数据 */
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static ST_GPRMI l_stGPRMI;
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static ST_GPIMU l_stGPIMU;
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static HIDO_UINT32 s_gprmi_log_idx = 0U;
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/* GPS���� */
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/*******************************************************************************
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* IM23A Helper Declarations *
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*******************************************************************************/
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static HIDO_VOID IM23A_ResetParser(ST_GPSRecv *parser);
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static HIDO_BOOL IM23A_ValidateFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len);
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static HIDO_VOID IM23A_HandleFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len);
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static HIDO_VOID IM23A_HandleNavFrame(const HIDO_UINT8 *frame);
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static HIDO_VOID IM23A_HandleImuFrame(const HIDO_UINT8 *frame);
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static HIDO_DOUBLE IM23A_ReadDouble(const HIDO_UINT8 *ptr);
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static HIDO_FLOAT IM23A_ReadFloat(const HIDO_UINT8 *ptr);
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static HIDO_UINT32 IM23A_ReadU32(const HIDO_UINT8 *ptr);
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static HIDO_UINT16 IM23A_ReadU16(const HIDO_UINT8 *ptr);
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static HIDO_UINT32 IM23A_ConvertTime(double utc_val, double scale);
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/* 旧版NMEA解析函数已移除，以下为IM23A专用解析工具函数 */
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static HIDO_DOUBLE IM23A_ReadDouble(const HIDO_UINT8 *ptr)
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{
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HIDO_DOUBLE val = 0.0;
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memcpy(&val, ptr, sizeof(val));
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return val;
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}
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static HIDO_FLOAT IM23A_ReadFloat(const HIDO_UINT8 *ptr)
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{
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HIDO_FLOAT val = 0.0f;
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memcpy(&val, ptr, sizeof(val));
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return val;
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}
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static HIDO_UINT32 IM23A_ReadU32(const HIDO_UINT8 *ptr)
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{
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HIDO_UINT32 val = 0U;
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memcpy(&val, ptr, sizeof(val));
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return val;
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}
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static HIDO_UINT16 IM23A_ReadU16(const HIDO_UINT8 *ptr)
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{
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HIDO_UINT16 val = 0U;
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memcpy(&val, ptr, sizeof(val));
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return val;
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}
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static HIDO_UINT32 IM23A_ConvertTime(double utc_val, double scale)
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{
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if (!isfinite(utc_val) || utc_val < 0.0)
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{
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return 0U;
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}
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double scaled = utc_val * scale;
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if (scaled < 0.0)
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{
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scaled = 0.0;
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}
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return (HIDO_UINT32)(scaled + 0.5);
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}
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static HIDO_VOID IM23A_ResetParser(ST_GPSRecv *parser)
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{
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memset(parser->m_au8Buffer, 0, sizeof(parser->m_au8Buffer));
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parser->m_u32RecvLen = 0U;
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parser->m_u32ExpectedLen = 0U;
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}
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static HIDO_BOOL IM23A_ValidateFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len)
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{
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if (frame == HIDO_NULL)
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{
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return HIDO_FALSE;
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}
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if ((len != IM23A_NAV_FRAME_LEN) && (len != IM23A_IMU_FRAME_LEN))
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{
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return HIDO_FALSE;
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}
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if (frame[len - 2U] != 'e' || frame[len - 1U] != 'd')
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{
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return HIDO_FALSE;
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}
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const HIDO_UINT32 sum_len = len - IM23A_TAIL_LEN - IM23A_CHECKSUM_LEN;
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HIDO_UINT16 calc = 0U;
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for (HIDO_UINT32 i = 0U; i < sum_len; ++i)
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{
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calc = (HIDO_UINT16)(calc + frame[i]);
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}
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const HIDO_UINT16 expect = IM23A_ReadU16(&frame[sum_len]);
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return (calc == expect);
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}
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static HIDO_VOID IM23A_HandleFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len)
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{
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if (len == IM23A_NAV_FRAME_LEN && memcmp(frame, IM23A_NAV_HEADER, IM23A_HEADER_LEN) == 0)
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{
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IM23A_HandleNavFrame(frame);
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}
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else if (len == IM23A_IMU_FRAME_LEN && memcmp(frame, IM23A_IMU_HEADER, IM23A_HEADER_LEN) == 0)
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{
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IM23A_HandleImuFrame(frame);
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}
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}
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static HIDO_VOID IM23A_HandleNavFrame(const HIDO_UINT8 *frame)
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{
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if (IM23A_ValidateFrame(frame, IM23A_NAV_FRAME_LEN) == HIDO_FALSE)
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{
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return;
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}
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const HIDO_UINT8 *p = frame + IM23A_HEADER_LEN;
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double utc = IM23A_ReadDouble(p); p += 8U;
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double latitude = IM23A_ReadDouble(p); p += 8U;
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double longitude = IM23A_ReadDouble(p); p += 8U;
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double altitude = IM23A_ReadDouble(p); p += 8U;
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float vel_n = IM23A_ReadFloat(p); p += 4U;
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float vel_e = IM23A_ReadFloat(p); p += 4U;
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float vel_d = IM23A_ReadFloat(p); p += 4U;
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float roll = IM23A_ReadFloat(p); p += 4U;
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float pitch = IM23A_ReadFloat(p); p += 4U;
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float heading = IM23A_ReadFloat(p); p += 4U;
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float pos_accuracy = IM23A_ReadFloat(p); p += 4U;
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float accel_bias_x = IM23A_ReadFloat(p); p += 4U;
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float accel_bias_y = IM23A_ReadFloat(p); p += 4U;
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float accel_bias_z = IM23A_ReadFloat(p); p += 4U;
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float gyro_bias_x = IM23A_ReadFloat(p); p += 4U;
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float gyro_bias_y = IM23A_ReadFloat(p); p += 4U;
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float gyro_bias_z = IM23A_ReadFloat(p); p += 4U;
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float sensor_temp = IM23A_ReadFloat(p); p += 4U;
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HIDO_UINT32 status = IM23A_ReadU32(p);
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memset(&l_stGPRMI, 0, sizeof(ST_GPRMI));
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l_stGPRMI.m_u32UTCTime = IM23A_ConvertTime(utc, IM23A_GPS_TIME_SCALE);
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l_stGPRMI.m_dLatitude = latitude;
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l_stGPRMI.m_dLongitude = longitude;
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l_stGPRMI.m_fAltitude = (HIDO_FLOAT)altitude;
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l_stGPRMI.m_fNorthVelocity = vel_n;
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l_stGPRMI.m_fEastVelocity = vel_e;
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l_stGPRMI.m_fUpVelocity = (HIDO_FLOAT)(-vel_d);
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l_stGPRMI.m_fRollAngle = roll;
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l_stGPRMI.m_fPitchAngle = pitch;
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l_stGPRMI.m_fHeadingAngle = heading;
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l_stGPRMI.m_fHorizontalVelStdDev = pos_accuracy;
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l_stGPRMI.m_fAccelBiasX = accel_bias_x;
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l_stGPRMI.m_fAccelBiasY = accel_bias_y;
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l_stGPRMI.m_fAccelBiasZ = accel_bias_z;
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l_stGPRMI.m_fGyroBiasX = gyro_bias_x;
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l_stGPRMI.m_fGyroBiasY = gyro_bias_y;
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l_stGPRMI.m_fGyroBiasZ = gyro_bias_z;
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l_stGPRMI.m_fImuTemperature = sensor_temp;
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l_stGPRMI.m_u32StatusFlags = status;
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l_stGPRMI.m_u8PositionQuality = (HIDO_UINT8)(status & 0xFFU);
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l_stGPRMI.m_bValid = HIDO_TRUE;
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l_u8PosState = l_stGPRMI.m_u8PositionQuality;
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}
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static HIDO_VOID IM23A_HandleImuFrame(const HIDO_UINT8 *frame)
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{
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if (IM23A_ValidateFrame(frame, IM23A_IMU_FRAME_LEN) == HIDO_FALSE)
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{
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return;
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}
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const HIDO_UINT8 *p = frame + IM23A_HEADER_LEN;
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double utc = IM23A_ReadDouble(p); p += 8U;
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float accel_x = IM23A_ReadFloat(p); p += 4U;
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float accel_y = IM23A_ReadFloat(p); p += 4U;
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float accel_z = IM23A_ReadFloat(p); p += 4U;
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float gyro_x = IM23A_ReadFloat(p); p += 4U;
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float gyro_y = IM23A_ReadFloat(p); p += 4U;
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float gyro_z = IM23A_ReadFloat(p); p += 4U;
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(void)IM23A_ReadFloat(p); p += 4U;
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(void)IM23A_ReadFloat(p); p += 4U;
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(void)IM23A_ReadFloat(p);
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memset(&l_stGPIMU, 0, sizeof(ST_GPIMU));
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l_stGPIMU.m_u32UTCTime = IM23A_ConvertTime(utc, IM23A_IMU_TIME_SCALE);
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l_stGPIMU.m_fAccelX = accel_x;
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l_stGPIMU.m_fAccelY = accel_y;
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l_stGPIMU.m_fAccelZ = accel_z;
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l_stGPIMU.m_fGyroX = gyro_x;
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l_stGPIMU.m_fGyroY = gyro_y;
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l_stGPIMU.m_fGyroZ = gyro_z;
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l_stGPIMU.m_fTemperature = l_stGPRMI.m_fImuTemperature;
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l_stGPIMU.m_bValid = HIDO_TRUE;
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}
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static HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
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{
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ST_GPSRecv *parser = &l_stGPSRecv;
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if (parser->m_u32ExpectedLen == 0U)
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{
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if (parser->m_u32RecvLen == 0U)
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{
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if (_u8RecvChar == 'f')
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{
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parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;
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}
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return;
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}
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parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;
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if (parser->m_u32RecvLen == 2U && _u8RecvChar != 'm')
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{
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if (_u8RecvChar == 'f')
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{
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parser->m_au8Buffer[0] = 'f';
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parser->m_u32RecvLen = 1U;
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}
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else
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{
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IM23A_ResetParser(parser);
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}
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return;
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}
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if (parser->m_u32RecvLen == 3U && _u8RecvChar != 'i')
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{
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if (_u8RecvChar == 'f')
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{
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parser->m_au8Buffer[0] = 'f';
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parser->m_u32RecvLen = 1U;
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}
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else
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{
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IM23A_ResetParser(parser);
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}
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return;
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}
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if (parser->m_u32RecvLen == IM23A_HEADER_LEN)
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{
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if (memcmp(parser->m_au8Buffer, IM23A_NAV_HEADER, IM23A_HEADER_LEN) == 0)
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{
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parser->m_u32ExpectedLen = IM23A_NAV_FRAME_LEN;
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}
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else if (memcmp(parser->m_au8Buffer, IM23A_IMU_HEADER, IM23A_HEADER_LEN) == 0)
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{
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parser->m_u32ExpectedLen = IM23A_IMU_FRAME_LEN;
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}
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else
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{
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HIDO_UINT8 restart = parser->m_au8Buffer[IM23A_HEADER_LEN - 1U];
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IM23A_ResetParser(parser);
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if (restart == 'f')
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{
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parser->m_au8Buffer[0] = 'f';
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parser->m_u32RecvLen = 1U;
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}
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}
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}
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return;
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}
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if (parser->m_u32RecvLen >= IM23A_MAX_FRAME_LEN)
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{
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IM23A_ResetParser(parser);
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return;
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}
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parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;
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if (parser->m_u32RecvLen == parser->m_u32ExpectedLen)
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{
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IM23A_HandleFrame(parser->m_au8Buffer, parser->m_u32ExpectedLen);
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IM23A_ResetParser(parser);
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}
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}
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/*******************************************************************************
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* Function Name : GPS_Rest
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* Description : GPS��λ
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* Input : None
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* Output : None
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* Return : None
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
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*******************************************************************************/
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static HIDO_VOID GPS_Rest(void)
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{
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GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
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vTaskDelay(pdMS_TO_TICKS(10));
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GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
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vTaskDelay(pdMS_TO_TICKS(10));
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GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
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}
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/*******************************************************************************
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* Function Name : GPS_PowerOn
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* Description : GPS�ϵ�
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* Input : None
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* Output : None
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* Return : None
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
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*******************************************************************************/
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static HIDO_VOID GPS_PowerOn(void)
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{
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GPIO_SET(&l_astGPSPin[GPS_PIN_EN]);
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}
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/*******************************************************************************
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* Function Name : GPS_PowerOff
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* Description : GPS����
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* Input : None
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* Output : None
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* Return : None
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
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*******************************************************************************/
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HIDO_VOID GPS_PowerOff(void)
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{
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GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
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}
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/*******************************************************************************
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* Global Function *
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*******************************************************************************/
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/*******************************************************************************
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* Function Name : GPS_GetState
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* Description : ��ȡGPS��λ״̬
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* Input : None
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* Output : None
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* Return : ��λ״̬ 0 1 2 3
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
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*******************************************************************************/
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HIDO_UINT8 GPS_GetState(HIDO_VOID)
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{
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return l_u8PosState;
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}
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/*******************************************************************************
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* Function Name : GPS_PinRegister
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* Description : GPSģ��ܽ�ע��
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* Input : _ePin �ܽŶ���
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* : _pstGPIOx GPIOx
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* : _u16GPIOPin GPIO_PIN_x
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* Output : None
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* Return : None
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
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*******************************************************************************/
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HIDO_VOID GPS_PinRegister(E_GPSPin _ePin, GPIO_TypeDef *_pstGPIOx, HIDO_UINT16 _u16GPIOPin)
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{
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l_astGPSPin[_ePin].m_pstGPIOx = _pstGPIOx;
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l_astGPSPin[_ePin].m_u16GPIOPin = _u16GPIOPin;
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}
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/*******************************************************************************
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* Function Name : GPS_Poll
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* Description : GPS轮询，读取UART数据并送入IM23A解析器
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*******************************************************************************/
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HIDO_VOID GPS_Poll(void)
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{
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HIDO_UINT8 u8RecvChar = 0U;
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while (Uart_GetChar(UART_ID_GPS, &u8RecvChar) == HIDO_OK)
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{
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GPS_RecvFsm(u8RecvChar);
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}
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}
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/*******************************************************************************
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* Function Name : GPS_Init
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* Description : GPSģ���ʼ��
|
* Input : None
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* Output : None
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* Return : None
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* Author : www.hido-studio.com
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* Modified Date: : 2021��1��8��
|
*******************************************************************************/
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HIDO_VOID GPS_Init(void)
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{
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GPS_PowerOn();
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GPS_Rest();
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ST_UartInit stInit;
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stInit.m_eRxMode = UART_RX_MODE_DMA;
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stInit.m_eTxMode = UART_TX_MODE_DMA;
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stInit.m_pu8RxBuf = l_au8GPSUartRxBuf;
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stInit.m_u32RxBufSize = GPS_UART_RX_BUF_SIZE;
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stInit.m_pu8TxBuf = l_au8GPSUartTxBuf;
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stInit.m_u32TxBufSize = GPS_UART_TX_BUF_SIZE;
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stInit.m_u32TxQueueMemberCnt = 2;
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Uart_Init(UART_ID_GPS, &stInit);
|
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IM23A_ResetParser(&l_stGPSRecv);
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Uart_ReConfigBaudRate(UART_ID_GPS, 115200);
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_GetGPRMI
|
* Description : 获取最新的GPRMI数据
|
* Input : _pstGPRMI - 存储GPRMI数据的结构体指针
|
* Output : None
|
* Return : HIDO_OK - 成功, HIDO_ERR - 失败或数据无效
|
* Author : www.hido-studio.com
|
* Modified Date: : 2025年11月11日
|
*******************************************************************************/
|
HIDO_INT32 GPS_GetGPRMI(ST_GPRMI *_pstGPRMI)
|
{
|
if (_pstGPRMI == HIDO_NULL)
|
{
|
return HIDO_ERR;
|
}
|
|
if (l_stGPRMI.m_bValid == HIDO_FALSE)
|
{
|
return HIDO_ERR;
|
}
|
|
memcpy(_pstGPRMI, &l_stGPRMI, sizeof(ST_GPRMI));
|
|
return HIDO_OK;
|
}
|
|
/*******************************************************************************
|
* Function Name : GPS_GetGPIMU
|
* Description : 获取最新的GPIMU数据
|
* Input : _pstGPIMU - 存储GPIMU数据的结构体指针
|
* Output : None
|
* Return : HIDO_OK - 成功, HIDO_ERR - 失败或数据无效
|
* Author : www.hido-studio.com
|
* Modified Date: : 2025年11月11日
|
*******************************************************************************/
|
HIDO_INT32 GPS_GetGPIMU(ST_GPIMU *_pstGPIMU)
|
{
|
if (_pstGPIMU == HIDO_NULL)
|
{
|
return HIDO_ERR;
|
}
|
|
if (l_stGPIMU.m_bValid == HIDO_FALSE)
|
{
|
return HIDO_ERR;
|
}
|
|
memcpy(_pstGPIMU, &l_stGPIMU, sizeof(ST_GPIMU));
|
|
return HIDO_OK;
|
}
|
