From 2ebb8217f43b69f491620423ea4d5d5944d1f91d Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 05 七月 2025 22:43:58 +0800
Subject: [PATCH] 格式化部分代码
---
keil/include/src/GPS.c | 328 ++++++++++++++++++++++++++++++------------------------
1 files changed, 182 insertions(+), 146 deletions(-)
diff --git a/keil/include/src/GPS.c b/keil/include/src/GPS.c
index 9362494..639c630 100644
--- a/keil/include/src/GPS.c
+++ b/keil/include/src/GPS.c
@@ -7,14 +7,14 @@
#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)
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;
}
}
}
@@ -478,64 +478,39 @@
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;
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, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
{
+ gps_error2++;
return HIDO_ERR;
}
- if(*(HIDO_CHAR *)stPosState.m_pData != '0')
- {
-// HIDO_DebugString(_pcData, _u32Len);
- if(l_fnGPSEventCallback != NULL)
- {
- l_fnGPSEventCallback(GPS_TYPE_GGA, _pcData, _u32Len);
- }
- rtkled=BLUE;
- GPS_successful_flag=1;
- _pcData[_u32Len-1]=0;
- _pcData[_u32Len-2]=0;
-// memcpy(GPS_data,_pcData, _u32Len-2);//去掉回车换行
- state_flag = 0;
- state_flag = fangchai_flag;
-
- HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
- _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
- gpsbaoxu++;
- GPS_ParseGGA_changdu=u32Len;
- }
- else
- {
- rtkled=RED;
- GPS_successful_flag=0;
- _pcData[_u32Len-1]=0;
- _pcData[_u32Len-2]=0;
-// memcpy(GPS_data,_pcData, _u32Len-2);
- state_flag = 0;
- state_flag = fangchai_flag;
-
- HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
- _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
- gpsbaoxu++;
- GPS_ParseGGA_changdu=u32Len;
- }
- UDPClient_UploadGPS();
+ l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
+
return HIDO_OK;
}
+
/*******************************************************************************
* Function Name : GPS_ParseRMC
@@ -570,7 +545,7 @@
}
if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%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;
}
@@ -581,7 +556,7 @@
}
if (_pstGPS->m_eState != GPS_STATE_VALID)
- {
+ {
return HIDO_OK;
}
@@ -639,62 +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;
+ }
}
}
@@ -781,9 +821,9 @@
{
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);
+ GPS_RecvFsm(u8RecvChar);
}
}
@@ -826,21 +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);
+}
--
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