Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBP...

WXK

2025-05-06 8217c70984ac4feb7bfc952e4f6e944bf824527d

 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       :
@@ -487,81 +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;
//    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
@@ -665,6 +614,8 @@
 * Author            : hido.ltd
 * Modified Date:    : 2021年5月07日
 *******************************************************************************/
extern uint8_t GPS_UPLOAD_FLAG;
uint8_t gpserror;
HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    switch (l_stGPSRecv.m_eState)
@@ -702,15 +653,44 @@
            {
               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);
                    memset(l_stGPSRecv.m_acRecvBuf,0, l_stGPSRecv.m_u32RecvLen);
                    l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
                              if(GPS_UPLOAD_FLAG==1)
                              {
                       UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf); 
                                 GPS_UPLOAD_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)

                else //if(strstr(l_stGPSRecv.m_acRecvBuf, "RMC,") != HIDO_NULL)
               {
                  GPS_ParseRMC(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
                  gpserror++;
               }
            }

@@ -807,7 +787,7 @@
{
    HIDO_UINT8 u8RecvChar = 0;

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