移植开关GPS代码

zhangbo

2025-05-13 e0a196fc7dcb47d200ab81a933dde2b18d169ed5

 keil/include/src/GPS.c

@@ -7,16 +7,21 @@
#include "HIDO_Util.h"
#include "HIDO_Debug.h"
#include "HIDO_Timer.h"

#include "DBG.h"
#include "GPS.h"
//#include "GPIO.h"
#include "Uart.h"
#include "WS2812.h"
#define GPS_DBG(level, fmt, ...) HIDO_Debug(fmt, __VA_ARGS__)

#define GPS_UART_RX_BUF_SIZE                    1024
#include <global_param.h>
#define GPS_UART_RX_BUF_SIZE                    1000
#define GPS_UART_TX_BUF_SIZE                    (4)

/**************************************************************************************************************************************/
#define ARRAY_SIZE 60  
uint8_t  Gsv_count = 0;               // 已存储的数据个数
uint8_t lounei_flag=0;
/**************************************************************************************************************************************/
typedef enum
{
    GPS_RECV_STATE_IDLE = 0,
@@ -40,7 +45,7 @@
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       :
@@ -478,65 +483,78 @@
uint8_t fangchai_flag;
uint8_t GPS_ParseGGA_data[256];
uint8_t GPS_ParseGGA_changdu;
extern uint16_t g_com_map[256];
uint8_t YUANGPS_ParseGGA_data[256];
uint8_t YUANGPS_ParseGGA_changdu;
//extern uint16_t g_com_map[256];
extern uint8_t bat_percent;
uint8_t gpsbaoxu;
extern uint8_t gps_ntripsend;
//static HIDO_UINT8 l_u8GPSBuff[512];
//static HIDO_UINT32 l_u8GPSLen = 0;
//static HIDO_UINT32 l_u8GPSRecvTick = 0;
uint8_t gps_error1,gps_error2;
extern uint16_t g_spsum_GSV,g_snum_GSV;
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;
    }
    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();
    l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
      g_spsum_GSV=0;
      g_snum_GSV=0;
    return HIDO_OK;
}


uint16_t g_spsum_GSV,g_snum_GSV;
static HIDO_INT32 GPS_ParseGSV(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    ST_GPS stGPS;
    HIDO_DataStruct spower[4];

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

    if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1], &spower[2], &spower[3]) == 21)
    {
        g_snum_GSV+=4;
        g_spsum_GSV+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData)+atoi((HIDO_CHAR *)spower[2].m_pData)+atoi((HIDO_CHAR *)spower[3].m_pData);
    }else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1], &spower[2]) == 17)
    {
         g_snum_GSV+=3;
        g_spsum_GSV+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData)+atoi((HIDO_CHAR *)spower[2].m_pData);

    }else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%p,%**", &spower[0], &spower[1]) == 13)
    {
         g_snum_GSV+=2;
        g_spsum_GSV+=atoi((HIDO_CHAR *)spower[0].m_pData)+atoi((HIDO_CHAR *)spower[1].m_pData);

    }else if(HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%p,%**", &spower[0]) == 9)
    {
         g_snum_GSV+=1;
        g_spsum_GSV+=atoi((HIDO_CHAR *)spower[0].m_pData);

    }
   // l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
		
    return HIDO_OK;
}
/*******************************************************************************
 * Function Name     : GPS_ParseRMC
 * Description       :
@@ -639,6 +657,11 @@
 * 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;
uint8_t fixed_solution_count_minute;
extern uint8_t ceju_leave_flag;
HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    switch (l_stGPSRecv.m_eState)
@@ -676,16 +699,72 @@
            {
               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';
                    #ifdef UWB_CG
                    UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf); 
                            #elseif  UWB_CK
                            UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
                    #else  UWB_1_5HZ
                              if (l_u8PosState >= 1) 
                              {
                                    if (++GPS_UPLOAD_FLAG >= 5)      
                                    { 
                                          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;    
                                    }
                              }										
                    #endif  

             
                    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;
                    } 
                           if(ceju_leave_flag==1)
                              {
                               fixed_solution_count_minute++;
                              }
               }
                else if(strstr(l_stGPSRecv.m_acRecvBuf, "RMC,") != HIDO_NULL)
                     else if(strstr(l_stGPSRecv.m_acRecvBuf, "GSV,") != HIDO_NULL)
               {
                  GPS_ParseRMC(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
                  GPS_ParseGSV(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
               }			

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

            }

            l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
@@ -781,7 +860,7 @@
{
    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);
    }
@@ -844,3 +923,40 @@

//    HIDO_UtilBzero(&l_stGPSRecv, sizeof(ST_GPSRecv));
//}

/*******************************************************************************
 * Function Name     : Receive_g_spsum_Data
 * Description       : 计算平均值
 * Input             : newData
 * Output            : sum
 * Return            : g_spsum_GSV_sum
 *******************************************************************************/
uint16_t GSV_sum;
uint16_t GSV_g_snum_sum;
uint16_t g_spsum_GSV_sum=300;
uint16_t g_snum_GSV_sum=10;
void Receive_g_spsum_Data(int newData)
{
    GSV_sum +=newData; 
    if (Gsv_count < ARRAY_SIZE) 
      {
       Gsv_count++;											 
    }
      if(Gsv_count==60)
      {
       g_spsum_GSV_sum=GSV_sum/Gsv_count;
       GSV_sum=0;
      }
}

void Receive_g_snum_Data(int newData)
{
    GSV_g_snum_sum +=newData; 						
      if(Gsv_count==60)
      {
      g_snum_GSV_sum=GSV_g_snum_sum/Gsv_count;
      GSV_g_snum_sum=0;
      Gsv_count=0;
//      in_the_room_flag=0;
      }
}