现在的UWB常开1s测距一次(和老免布线基站测距)功耗是95ma一秒上传一次数据

zhangbo

2025-04-17 f224d649c2d62d0289f47ba704c7da3509647ff4

 keil/include/src/GPS.c

@@ -7,16 +7,22 @@
#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"
#include "PCA9555.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_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,
@@ -471,16 +477,28 @@
 * Author            : hido.ltd
 * Modified Date:    : 2021年5月07日
 *******************************************************************************/
uint8_t GPS_data[100];
//uint8_t GPS_data[100];
uint8_t GPS_successful_flag;
extern uint32_t uwbled,rtkled,led4g,powerled;
uint8_t jinru_parsegga_flag;
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;
uint8_t ave_sp_GSV;

extern uint16_t g_spsum_GSV,g_snum_GSV;
extern uint16_t g_spsum_GSV_sum;
extern uint16_t g_snum_GSV_sum;
extern uint8_t heart_upload_time;
uint8_t fixed_solution_count_minute;
extern uint8_t ceju_leave_flag;
extern uint8_t open_gps_time;
static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    uint16_t state_flag;
@@ -488,6 +506,7 @@
    HIDO_DataStruct stPosState;
    jinru_parsegga_flag=1;
    memset(&stGPS, 0, sizeof(ST_GPS));
//     ave_sp_GSV=g_spsum_GSV;
    if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
    {
        return HIDO_ERR;
@@ -497,6 +516,9 @@
    {
        return HIDO_ERR;
    }
    memcpy(YUANGPS_ParseGGA_data,_pcData,_u32Len);
    YUANGPS_ParseGGA_changdu=_u32Len;

    if(*(HIDO_CHAR *)stPosState.m_pData != '0')
    {
//        HIDO_DebugString(_pcData, _u32Len);
@@ -509,13 +531,17 @@
        _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;
            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);
        HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%d,%d,%d,%d,%d\r\n",
                _pcData, g_com_map[2], bat_percent,g_spsum_GSV_sum,g_snum_GSV_sum,lounei_flag,state_flag,gpsbaoxu);
        gpsbaoxu++;
        GPS_ParseGGA_changdu=u32Len;
            if(ceju_leave_flag==1)
            {
             fixed_solution_count_minute++;
            }

    }
    else
@@ -525,18 +551,87 @@
        _pcData[_u32Len-1]=0;
        _pcData[_u32Len-2]=0;
//        memcpy(GPS_data,_pcData, _u32Len-2);
            state_flag = 0;
    state_flag = fangchai_flag;
        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);
//        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,ave_sp_GSV,0,state_flag,gpsbaoxu);
           HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%d,%d,%d,%d,%d\r\n",
                _pcData, g_com_map[2], bat_percent,g_spsum_GSV_sum,g_snum_GSV_sum,lounei_flag,state_flag,gpsbaoxu);
        gpsbaoxu++;
        GPS_ParseGGA_changdu=u32Len;
    }
    UDPClient_UploadGPS();
  
    gps_ntripsend=1;
      if((open_gps_time%UPLOAD_4G_TIME==0))
      {
			
      UDPClient_UploadGPS();
    NTRIPApp_ReportGGA(GPS_ParseGGA_data, _u32Len);		
      }

      ave_sp_GSV=0;
      g_spsum_GSV=0;
//      g_spsum_GSV_sum=0;
      g_snum_GSV=0;
//      lounei_flag=0;
//    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;
//                }
//            }
//        }
    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       :
@@ -686,6 +781,10 @@
               {
                  GPS_ParseRMC(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
               }
                else if(strstr(l_stGPSRecv.m_acRecvBuf, "GSV,") != HIDO_NULL)
               {
                  GPS_ParseGSV(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
               }								
            }

            l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
@@ -781,7 +880,7 @@
{
    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 +943,57 @@

//    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;
      }
}

/*******************************************************************************
 * Function Name     : Switch_low_power_mode
 * Description       : 低功耗处理
 * Input             : 
 * Output            : 
 * Return            : 
 *******************************************************************************/

void Switch_low_power_mode()
{
   if(lounei_flag==1)
   {
    PCA9555_Set_One_Value_Output(GPS_POWER,0);
//    PCA9555_Set_One_Value_Output(LED_POWER,0);
   }

}