#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 "stm32l0xx_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 "WS2812.h"
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#include "dw_app.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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extern uint32_t uwbled,gpsled,loraled,powerled;
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extern void Set4LEDColor_Off(void);
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uint8_t GPS_final_data[128];
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uint8_t GPS_final_changdu;
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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_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 HIDO_BOOL l_bIsPowerOn = HIDO_FALSE;
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static ST_GPSRecv l_stGPSRecv;
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static FN_GPSEventCallback l_fnGPSEventCallback;
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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 : hido.ltd
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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 : hido.ltd
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* Modified Date: : 2021Äê5ÔÂ07ÈÕ
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*******************************************************************************/
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uint32_t uwb_status_reg;
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char _pcData_final[256];
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extern uint8_t fangchai_flag;
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extern uint8_t GPSchangdu;
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extern uint8_t GPS_GGAdate[200];
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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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HIDO_DataStruct stPosState;
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static u8 gpsledstate;
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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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// memset(&_pcData[_u32Len-2],0,2);//ΪÁËÆ´½ÓºóÃæµÄÊý¾Ý£¬É¾³ý\r\n¡£
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// HIDO_UINT32 lora_u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)_pcData_final, sizeof(_pcData_final), "%s,%X,%02x,%x,%d,%x,%d%\r\n",
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// _pcData, g_com_map[DEV_ID], bat_percent,g_com_map[VERSION],0,0,0);//ÓëÉ豸id£¬µçÁ¿£¬°æ±¾ºÅ£¬µÈ½øÐÐÆ´½Ó¡£
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memcpy(&GPS_final_data, &_pcData, _u32Len);//gps×îºóÒ»°üµÄÊý¾Ý
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GPSchangdu=_u32Len;
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memset(&GPS_final_data, 0, sizeof(GPS_final_data));
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// GPS_final_changdu=lora_u32Len;//gps×îºóÒ»°üµÄ³¤¶È
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if(*(char *)stPosState.m_pData != '0')//Èç¹ûÊdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
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{
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gpsled=BLUE;
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}
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else//Èç¹û²»Êdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
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{
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gpsled=RED;
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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_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 : hido.ltd
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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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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_CR;
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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_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) - 2))
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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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{
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if ('\n' == _u8RecvChar)
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{
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
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l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen] = '\0';
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if(strstr(l_stGPSRecv.m_acRecvBuf, "GGA,") != HIDO_NULL)
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{
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GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
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}
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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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default:
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{
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break;
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}
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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¸´Î»
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// * Modified Date: : 2021Äê1ÔÂ8ÈÕ
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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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//// HAL_Delay(10);
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//// GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
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//// HAL_Delay(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 : GPSÉϵç
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// * Modified Date: : 2021Äê1ÔÂ8ÈÕ
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// *******************************************************************************/
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//HIDO_VOID GPS_PowerOn(void)
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//{
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// l_bIsPowerOn = HIDO_TRUE;
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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 : GPSµôµç
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// * Modified Date: : 2021Äê1ÔÂ8ÈÕ
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// *******************************************************************************/
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//HIDO_VOID GPS_PowerOff(void)
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//{
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// l_bIsPowerOn = HIDO_FALSE;
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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_PinRegister
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// * Description : GPSÄ£¿é¹Ü½Å×¢²á
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// * Input : _ePin ¹Ü½Å¶¨Òå
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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 : hido.ltd
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// * Modified Date: : 2021Äê1ÔÂ8ÈÕ
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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 : GPSÂÖѯ´¦Àí
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// *******************************************************************************/
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HIDO_VOID GPS_Recv_Poll(uint8_t u8RecvChar)
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{
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GPS_RecvFsm(u8RecvChar);
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}
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///*******************************************************************************
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// * Function Name : GPS_SetEventCallback
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// * Description : GPSÉèÖÃGPSʼþ»Øµ÷
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// *******************************************************************************/
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//HIDO_VOID GPS_SetEventCallback(FN_GPSEventCallback _fnEventCallback)
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//{
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// l_fnGPSEventCallback = _fnEventCallback;
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//}
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///*******************************************************************************
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// * Function Name : GPS_IsIdle
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// * Description : GPSÂÖѯ´¦Àí
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// *******************************************************************************/
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////HIDO_BOOL GPS_IsIdle(void)
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////{
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//// if(l_bIsPowerOn)
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//// {
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//// return HIDO_FALSE;
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//// }
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//// return HIDO_TRUE;
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////}
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///*******************************************************************************
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// * Function Name : GPS_Init
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// * Description : GPSÄ£¿é³õʼ»¯
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// * Input : None
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// * Output : None
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// * Return : None
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// * Author : hido.ltd
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// *******************************************************************************/
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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_INT;
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//// stInit.m_eTxMode = UART_TX_MODE_POLL;
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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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//// HIDO_UtilBzero(&l_stGPSRecv, sizeof(ST_GPSRecv));
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//// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);//Àg gps¸´Î»½Å
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////}
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