格式化部分代码

yincheng.zhong

3 天以前 2ebb8217f43b69f491620423ea4d5d5944d1f91d

 keil/include/src/GPS.c

@@ -14,7 +14,7 @@
#include "WS2812.h"
#define GPS_DBG(level, fmt, ...) HIDO_Debug(fmt, __VA_ARGS__)
#include <global_param.h>
#define GPS_UART_RX_BUF_SIZE                    1024
#define GPS_UART_RX_BUF_SIZE                    1000
#define GPS_UART_TX_BUF_SIZE                    (4)

typedef enum
@@ -40,7 +40,7 @@
static ST_GPSRecv l_stGPSRecv;
static FN_GPSEventCallback l_fnGPSEventCallback;
ST_GPS l_stGPS;

static HIDO_UINT8 l_u8PosState = 0;
/*******************************************************************************
 * Function Name     : GPS_AddHours
 * Description       :
@@ -59,54 +59,54 @@
        _pstGPS->m_u8Day++;
        switch (_pstGPS->m_u8Mon)
        {
            case 1:
            case 3:
            case 5:
            case 7:
            case 8:
            case 10:
                if (_pstGPS->m_u8Day > 31)
        case 1:
        case 3:
        case 5:
        case 7:
        case 8:
        case 10:
            if (_pstGPS->m_u8Day > 31)
            {
                _pstGPS->m_u8Day = 1;
                _pstGPS->m_u8Mon++;
            }
            break;
        case 2:
            if (0 == (_pstGPS->m_u16Year % 4))
            {
                if (_pstGPS->m_u8Day > 29)
                {
                    _pstGPS->m_u8Day = 1;
                    _pstGPS->m_u8Mon++;
                }
                break;
            case 2:
                if (0 == (_pstGPS->m_u16Year % 4))
                {
                    if (_pstGPS->m_u8Day > 29)
                    {
                        _pstGPS->m_u8Day = 1;
                        _pstGPS->m_u8Mon++;
                    }
                }
                else
                {
                    if (_pstGPS->m_u8Day > 28)
                    {
                        _pstGPS->m_u8Day = 1;
                        _pstGPS->m_u8Mon++;
                    }
                }
                break;
            case 4:
            case 6:
            case 9:
            case 11:
                if (_pstGPS->m_u8Day > 30)
            }
            else
            {
                if (_pstGPS->m_u8Day > 28)
                {
                    _pstGPS->m_u8Day = 1;
                    _pstGPS->m_u8Mon++;
                }
                break;
            case 12:
                if (_pstGPS->m_u8Day > 31)
                {
                    _pstGPS->m_u8Day = 1;
                    _pstGPS->m_u8Mon = 1;
                    _pstGPS->m_u16Year++;
                }
                break;
            }
            break;
        case 4:
        case 6:
        case 9:
        case 11:
            if (_pstGPS->m_u8Day > 30)
            {
                _pstGPS->m_u8Day = 1;
                _pstGPS->m_u8Mon++;
            }
            break;
        case 12:
            if (_pstGPS->m_u8Day > 31)
            {
                _pstGPS->m_u8Day = 1;
                _pstGPS->m_u8Mon = 1;
                _pstGPS->m_u16Year++;
            }
            break;
        }
    }
}
@@ -487,82 +487,30 @@
//static HIDO_UINT8 l_u8GPSBuff[512];
//static HIDO_UINT32 l_u8GPSLen = 0;
//static HIDO_UINT32 l_u8GPSRecvTick = 0;
uint8_t gps_error1,gps_error2;
static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    uint16_t state_flag;
    ST_GPS stGPS;
    HIDO_DataStruct stPosState;
    jinru_parsegga_flag=1;

    memset(&stGPS, 0, sizeof(ST_GPS));
    if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
    {
        gps_error1++;
        return HIDO_ERR;
    }

    if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
    {
        gps_error2++;
        return HIDO_ERR;
    }
    memcpy(YUANGPS_ParseGGA_data,_pcData,_u32Len);
    YUANGPS_ParseGGA_changdu=_u32Len;
    if(*(HIDO_CHAR *)stPosState.m_pData != '0')
    {
//        HIDO_DebugString(_pcData, _u32Len);
        if(l_fnGPSEventCallback != NULL)
        {
            l_fnGPSEventCallback(GPS_TYPE_GGA, _pcData, _u32Len);
        }
        rtkled=BLUE;
        GPS_successful_flag=1;
        _pcData[_u32Len-1]=0;
        _pcData[_u32Len-2]=0;
//        memcpy(GPS_data,_pcData, _u32Len-2);//去掉回车换行
    state_flag = 0;
    state_flag = fangchai_flag;
        
        HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
                _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
        gpsbaoxu++;
        GPS_ParseGGA_changdu=u32Len;

    }
    else
    {
        rtkled=RED;
        GPS_successful_flag=0;
        _pcData[_u32Len-1]=0;
        _pcData[_u32Len-2]=0;
//        memcpy(GPS_data,_pcData, _u32Len-2);
            state_flag = 0;
    state_flag = fangchai_flag;
        
        HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
                _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
        gpsbaoxu++;
        GPS_ParseGGA_changdu=u32Len;
    }
    UDPClient_UploadGPS();
    gps_ntripsend=1;
    NTRIPApp_ReportGGA(GPS_ParseGGA_data, _u32Len);
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP&&gps_ntripsend)
//    {
//        gps_ntripsend=0;
//        NTRIPApp_ReportGGA(GPS_ParseGGA_data, _u32Len);
////        l_u8GPSLen = 0;
//    }    
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//        {
//            if(GPS_ParseGGA_changdu > 0)
//            {
//                if((HIDO_TimerGetTick() - l_u8GPSRecvTick) > 50)
//                {
//                    NTRIPApp_ReportGGA(GPS_ParseGGA_data, GPS_ParseGGA_changdu);
//                    GPS_ParseGGA_changdu = 0;
//                }
//            }
//        }
    l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);

    return HIDO_OK;
}


/*******************************************************************************
 * Function Name     : GPS_ParseRMC
@@ -597,7 +545,7 @@
    }

    if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%p,%p,%p,%p,%p,%p,%p,%p,%p,%*,%*,%**", &stTimeData, &stStateData,
            &stLatData, &stLatSignData, &stLonData, &stLonSignData, &stSpeedData, &stDirData, &stDateData) != 13)
                             &stLatData, &stLatSignData, &stLonData, &stLonSignData, &stSpeedData, &stDirData, &stDateData) != 13)
    {
        return HIDO_ERR;
    }
@@ -608,7 +556,7 @@
    }

    if (_pstGPS->m_eState != GPS_STATE_VALID)
    {   
    {
        return HIDO_OK;
    }

@@ -666,62 +614,127 @@
 * Author            : hido.ltd
 * Modified Date:    : 2021年5月07日
 *******************************************************************************/
extern uint8_t GPS_UPLOAD_FLAG;
uint16_t GPS_UPload_sleep_flag=0;
uint8_t gpserror;
HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    switch (l_stGPSRecv.m_eState)
    {
        case GPS_RECV_STATE_IDLE:
    case GPS_RECV_STATE_IDLE:
    {
        if ('$' == _u8RecvChar)
        {
            if ('$' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
                l_stGPSRecv.m_u32RecvLen = 0;
                l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            }
            break;
        }
        case GPS_RECV_STATE_CR:
        {
            l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
            l_stGPSRecv.m_u32RecvLen = 0;
            l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;

            if (l_stGPSRecv.m_u32RecvLen >= (sizeof(l_stGPSRecv.m_acRecvBuf) - 2))
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
                break;
            }

            if ('\r' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_LF;
            }

            break;
        }
        case GPS_RECV_STATE_LF:
        break;
    }
    case GPS_RECV_STATE_CR:
    {
        l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;

        if (l_stGPSRecv.m_u32RecvLen >= (sizeof(l_stGPSRecv.m_acRecvBuf) - 2))
        {
            if ('\n' == _u8RecvChar)
            {
               l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
               l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen] = '\0';

               if(strstr(l_stGPSRecv.m_acRecvBuf, "GGA,") != HIDO_NULL)
               {
                  GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
                    memset(l_stGPSRecv.m_acRecvBuf,0, l_stGPSRecv.m_u32RecvLen);
               }
                else if(strstr(l_stGPSRecv.m_acRecvBuf, "RMC,") != HIDO_NULL)
               {
                  GPS_ParseRMC(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
               }
            }

            l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
            break;
        }
        default:

        if ('\r' == _u8RecvChar)
        {
            break;
            l_stGPSRecv.m_eState = GPS_RECV_STATE_LF;
        }

        break;
    }
    case GPS_RECV_STATE_LF:
    {
        if ('\n' == _u8RecvChar)
        {
            l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen] = '\0';
//                l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
//                UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
            if(strstr(l_stGPSRecv.m_acRecvBuf, "GGA,") != HIDO_NULL)
            {
                GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
                l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
//                    #ifdef UWB_CG
                if(g_com_map[GPSENBLE]==0)
                {
//                    UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
                }
                else if(g_com_map[GPSENBLE]&&g_com_map[GPSFrequency]==1)
                {
                    if (l_u8PosState >= 1)
                    {
                        UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);           //
                    }
                    else if (l_u8PosState == 0)
                    {
                        if (++GPS_UPload_sleep_flag >= 60)
                        {
                            UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
                            GPS_UPload_sleep_flag = 0;
                        }
                    }
                }
                else if(g_com_map[GPSENBLE])
                {
                    if (l_u8PosState >= 1)
                    {
                        if (++GPS_UPLOAD_FLAG >= g_com_map[GPSFrequency])
                        {
                            UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
                            GPS_UPLOAD_FLAG = 0;
                        }
                    }
                    else if (l_u8PosState == 0)
                    {
                        if (++GPS_UPload_sleep_flag >= 60)
                        {
                            UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
                            GPS_UPload_sleep_flag = 0;
                        }
                    }
                }
                switch(l_u8PosState)
                {
                case 0:
                    rtkled = RED;
                    break;
                case 1:
                    rtkled = BLUE;
                    break;
                case 2:
                    rtkled = BLUE+GREEN;
                    break;
                case 4:
                    rtkled = GREEN;
                    break;
                case 5:
                    rtkled = YELLOW;
                    break;
                default:
                    rtkled = WHITE;
                    break;
                }
            }

            else //if(strstr(l_stGPSRecv.m_acRecvBuf, "RMC,") != HIDO_NULL)
            {
                gpserror++;
            }
        }

        l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
        break;
    }
    default:
    {
        break;
    }
    }
}

@@ -810,7 +823,7 @@

    while (Uart_GetChar(UART_ID_DBG_GPS, &u8RecvChar) == HIDO_OK)
    {
       GPS_RecvFsm(u8RecvChar);
        GPS_RecvFsm(u8RecvChar);
    }
}

@@ -853,21 +866,17 @@
 * Return            : None
 * Author            : hido.ltd
 *******************************************************************************/
//HIDO_VOID GPS_Init(void)
//{
HIDO_VOID GPS_Init(void)
{
    char str[19]= {"$POLCFGMSG,0,2,0\r\n"};
//    GPS_PowerOn();
//    GPS_Rest();

//    ST_UartInit stInit;

//    stInit.m_eRxMode = UART_RX_MODE_INT;
//    stInit.m_eTxMode = UART_TX_MODE_POLL;
//    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));
//}
    uart_send(UART_ID1, str,19, NULL);
    delay_ms(10);
    sprintf(str,"$POLCFGMSG,0,1,0\r\n");
    uart_send(UART_ID1, str,19, NULL);
    delay_ms(10);
    sprintf(str,"$POLCFGSAVE\r\n");
    uart_send(UART_ID1, str,19, NULL);
    delay_ms(10);
}