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.orig | 978 +++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 874 insertions(+), 104 deletions(-)
diff --git a/keil/include/src/gps.c.orig b/keil/include/src/gps.c.orig
index e02ad9f..f57d7f3 100644
--- a/keil/include/src/gps.c.orig
+++ b/keil/include/src/gps.c.orig
@@ -1,112 +1,882 @@
-#include "board.h"
-#include "TCPClient.h"
-#include "global_param.h"
-#define GPS_OPEN_TIME_OUT 240
-#define GPS_RESTART_TIME1 1200
-#define GPS_RESTART_TIME2 120
-#define GPS_RESTART_TIME3 60
-#define GPS_OPEN_TIME_OUT1 600
-extern uint16_t gps_wait_count;
-uint8_t gps_power_state,gps_uwb_flag,gps_4g_flag,gps_timeout_flag,gps_need_data_flag = 1,gps_1h_open_flag=1;
-extern uint8_t air780_success_state;
-extern HIDO_INT32 l_i32TCPClientID;
-extern double jd,wd;
-void GPS_Poll(void)
+#include "stdio.h"
+#include "stdarg.h"
+#include "stdlib.h"
+#include "string.h"
+//#include "stm32l0xx_hal.h"
+#include "math.h"
+#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__)
+#include <global_param.h>
+#define GPS_UART_RX_BUF_SIZE 1000
+#define GPS_UART_TX_BUF_SIZE (4)
+
+typedef enum
{
+ GPS_RECV_STATE_IDLE = 0,
+ GPS_RECV_STATE_HEAD,
+ GPS_RECV_STATE_CR,
+ GPS_RECV_STATE_LF,
+} E_GPSRecvState;
- if(gps_4g_flag||gps_uwb_flag) {
- gps_power_state = 1; //打开GPS电源
- if(!gps_timeout_flag) {
- if(gps_need_data_flag) {
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT) { //超时切换工作状态
- gps_timeout_flag=1;//串口添加改变timeout逻辑
- gps_wait_count=0;
- gps_need_data_flag=0;//切换为关闭模式
- }
- } else {
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME2) {
- gps_power_state=1;//开启GPS
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
- } else { //超时工作状态
- if(gps_need_data_flag) {
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT) { //超时切换工作状态
- gps_timeout_flag=1;
- gps_need_data_flag=0;
- gps_wait_count=0;
- }
- } else {
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- if(gps_wait_count>GPS_RESTART_TIME1) {
- gps_power_state=1;//开启GPS
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
-
- }
- } else {
- gps_power_state=0;//关闭gps
- gps_wait_count=0;
- gps_timeout_flag=0;
- gps_need_data_flag=1;
- }
-}
-
-
-void GPS_Poll_1h(void)
+typedef struct
{
+ E_GPSRecvState m_eState;
+ HIDO_CHAR m_acRecvBuf[128];
+ HIDO_UINT32 m_u32RecvLen;
+} ST_GPSRecv;
- if(gps_1h_open_flag) {
-
- if(gps_need_data_flag) {
- gps_power_state = 1; //打开GPS电源
- air780_success_state=1;//4G亮起
- gps_wait_count++;
- if(gps_wait_count>=GPS_OPEN_TIME_OUT1) { //超时切换工作状态
- gps_timeout_flag=1;//串口添加改变timeout逻辑
- gps_wait_count=0;
- gps_need_data_flag=0;//切换为关闭模式
- TCPHeartBeatUpload();//上传GPS超时无效数据
- }
- } else {
- gps_wait_count++;
- gps_power_state=0;//关闭GPS
- air780_success_state=0;//关闭gps1234
- if(gps_wait_count>GPS_RESTART_TIME3) {
- gps_power_state=1;//开启GPS
- gps_need_data_flag=1;
- gps_wait_count=0;
- }
- }
- } else {
- gps_power_state=0;//关闭gps
- gps_wait_count=0;
- gps_timeout_flag=0;
- gps_need_data_flag=1;
- }
-}
-void GpsConrol(uint8_t flag_4g_uwb,uint8_t open_close)
+static HIDO_UINT8 l_au8GPSUartRxBuf[GPS_UART_RX_BUF_SIZE];
+static HIDO_UINT8 l_au8GPSUartTxBuf[GPS_UART_TX_BUF_SIZE];
+
+//static ST_GPIO l_astGPSPin[GPS_PIN_LAST];
+static HIDO_BOOL l_bIsPowerOn = HIDO_FALSE;
+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 :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+static void GPS_AddHours(ST_GPS *_pstGPS, HIDO_UINT32 _u32Hours)
{
- if(gps_4g_flag==0&&gps_uwb_flag==0)
- if(open_close)
- {
- gps_wait_count = 0;
- gps_need_data_flag = 1;
- gps_timeout_flag = 0;
- }
- if(flag_4g_uwb)
+ _pstGPS->m_u8Hour += _u32Hours;
+ if (_pstGPS->m_u8Hour >= 24)
{
- gps_4g_flag = open_close;
- } else {
- gps_uwb_flag = open_close;
+ _pstGPS->m_u8Hour -= 24;
+ _pstGPS->m_u8Day++;
+ switch (_pstGPS->m_u8Mon)
+ {
+ 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++;
+ }
+ }
+ 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)
+ {
+ _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;
+ }
+ }
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseDate
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseDate(HIDO_DataStruct *_pstDateData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstDateData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *)_pstDateData->m_pData;
+
+ if (u32Len != 6)
+ {
+ return HIDO_ERR;
}
-}
\ No newline at end of file
+ _pstGPS->m_u8Day = HIDO_UtilStrBufToInt(pcStart, 2);
+ _pstGPS->m_u8Mon = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ _pstGPS->m_u16Year = HIDO_UtilStrBufToInt(pcStart + 4, 2) + 2000;
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseState
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseState(HIDO_DataStruct *_pstStateData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstStateData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstStateData->m_pData;
+
+ if (u32Len != 1)
+ {
+ return HIDO_ERR;
+ }
+
+ if(pcStart[0] == 'A')
+ {
+ _pstGPS->m_eState = GPS_STATE_VALID;
+ }
+ else
+ {
+ _pstGPS->m_eState = GPS_STATE_INVALID;
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseTime
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseTime(HIDO_DataStruct *_pstTimeData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstTimeData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstTimeData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot)
+ {
+ return HIDO_ERR;
+ }
+
+ if ((pcDot - pcStart) != 6)
+ {
+ return HIDO_ERR;
+ }
+
+ _pstGPS->m_u8Hour = HIDO_UtilStrBufToInt(pcStart, 2);
+ _pstGPS->m_u8Min = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ _pstGPS->m_u8Sec = HIDO_UtilStrBufToInt(pcStart + 4, 2);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLat
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLat(HIDO_DataStruct *_pstLatData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLatData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLatData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+ HIDO_UINT32 u32TempLen = 0;
+ double dd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 9)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 4)
+ {
+ return HIDO_ERR;
+ }
+
+ dd = HIDO_UtilStrBufToInt(pcStart, 2);
+ mm = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ _pstGPS->m_dLat = dd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLon
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLon(HIDO_DataStruct *_pstLonData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLonData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLonData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+ HIDO_UINT32 u32TempLen = 0;
+ double ddd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 10)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 5)
+ {
+ return HIDO_ERR;
+ }
+
+ ddd = HIDO_UtilStrBufToInt(pcStart, 3);
+ mm = HIDO_UtilStrBufToInt(pcStart + 3, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ _pstGPS->m_dLon = ddd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseDir
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseDir(HIDO_DataStruct *_pstDirData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstDirData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstDirData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+
+ if (u32Len >= 1)
+ {
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (pcDot)
+ {
+ _pstGPS->m_u16Dir = HIDO_UtilStrBufToInt(pcStart, pcDot - pcStart);
+ }
+ else
+ {
+ _pstGPS->m_u16Dir = HIDO_UtilStrBufToInt(pcStart, u32Len);
+ }
+ }
+ else
+ {
+ _pstGPS->m_u16Dir = 0;
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLatSign
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLatSign(HIDO_DataStruct *_pstLatSignData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLatSignData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLatSignData->m_pData;
+
+ if (u32Len > 1)
+ {
+ return HIDO_ERR;
+ }
+
+ if (0 == u32Len)
+ {
+ return HIDO_OK;
+ }
+ else
+ {
+ if (pcStart[0] == 'S')
+ {
+ _pstGPS->m_dLat = -_pstGPS->m_dLat;
+ }
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLonSign
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLonSign(HIDO_DataStruct *_pstLonSignData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLonSignData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLonSignData->m_pData;
+
+ if (u32Len > 1)
+ {
+ return HIDO_ERR;
+ }
+
+ if (0 == u32Len)
+ {
+ return HIDO_OK;
+ }
+ else
+ {
+ if (pcStart[0] == 'W')
+ {
+ _pstGPS->m_dLon = -_pstGPS->m_dLon;
+ }
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseSpeed
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseSpeed(HIDO_DataStruct *_pstSpeedData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstSpeedData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstSpeedData->m_pData;
+ HIDO_CHAR acSpeed[10];
+
+ if (u32Len >= 10)
+ {
+ return HIDO_ERR;
+ }
+
+ if (u32Len >= 1)
+ {
+ memcpy(acSpeed, pcStart, u32Len);
+ acSpeed[u32Len] = 0;
+ _pstGPS->m_u16Speed = atof(acSpeed) * 1.852;
+ }
+ else
+ {
+ _pstGPS->m_u16Speed = 0;
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_DataCheck
+ * Description : GPS数据格式检查
+ * Input : _pcData GPS数据
+ * : _u32Len GPS数据长度
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : hido.ltd
+ * Modified Date: : 2021年5月07日
+ *******************************************************************************/
+static HIDO_INT32 GPS_DataCheck(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
+{
+ HIDO_DataStruct stData;
+ HIDO_DataStruct stCheckValue;
+ HIDO_UINT8 u8CheckValue = 0;
+ HIDO_UINT8 u8CalcValue = 0;
+ HIDO_UINT32 i = 0;
+
+ if(HIDO_UtilParseFormat((HIDO_UINT8 *)_pcData, _u32Len, "$%p*%p\r\n", &stData, &stCheckValue) != 2)
+ {
+ return HIDO_ERR;
+ }
+
+ u8CheckValue = HIDO_UtilHexStrBufToInt((HIDO_CHAR *)stCheckValue.m_pData, stCheckValue.m_u32Len);
+ u8CalcValue = ((HIDO_UINT8 *)stData.m_pData)[0];
+ for(i = 1; i < stData.m_u32Len; i++)
+ {
+ u8CalcValue ^= ((HIDO_UINT8 *)stData.m_pData)[i];
+ }
+
+ if(u8CalcValue != u8CheckValue)
+ {
+ return HIDO_ERR;
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseGGA
+ * Description : GPS GGA数据解析(仅检查数据是否有效)
+ * Input : _pcData GGA数据
+ * : _u32Len GGA数据长度
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : hido.ltd
+ * Modified Date: : 2021年5月07日
+ *******************************************************************************/
+uint8_t GPS_data[100];
+uint8_t GPS_successful_flag;
+extern uint32_t uwbled,rtkled,led4g,powerled;
+uint8_t jinru_parsegga_flag;
+uint8_t fangchai_flag;
+uint8_t GPS_ParseGGA_data[256];
+uint8_t GPS_ParseGGA_changdu;
+uint8_t YUANGPS_ParseGGA_data[256];
+uint8_t YUANGPS_ParseGGA_changdu;
+//extern uint16_t g_com_map[256];
+extern uint8_t bat_percent;
+uint8_t gpsbaoxu;
+extern uint8_t gps_ntripsend;
+//static HIDO_UINT8 l_u8GPSBuff[512];
+//static HIDO_UINT32 l_u8GPSLen = 0;
+//static HIDO_UINT32 l_u8GPSRecvTick = 0;
+uint8_t gps_error1,gps_error2;
+static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
+{
+ ST_GPS stGPS;
+ HIDO_DataStruct stPosState;
+
+ memset(&stGPS, 0, sizeof(ST_GPS));
+ if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
+ {
+ gps_error1++;
+ return HIDO_ERR;
+ }
+
+ if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
+ {
+ gps_error2++;
+ return HIDO_ERR;
+ }
+
+ l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
+
+ return HIDO_OK;
+}
+
+
+/*******************************************************************************
+ * Function Name : GPS_ParseRMC
+ * Description :
+ * Input :
+ * Output :
+ * Return :
+ * Author : wx:duj_an
+ *******************************************************************************/
+HIDO_INT32 GPS_ParseRMC(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
+{
+ HIDO_DataStruct stTimeData;
+ HIDO_DataStruct stStateData;
+ HIDO_DataStruct stLatData;
+ HIDO_DataStruct stLatSignData;
+ HIDO_DataStruct stLonData;
+ HIDO_DataStruct stLonSignData;
+ HIDO_DataStruct stSpeedData;
+ HIDO_DataStruct stDirData;
+ HIDO_DataStruct stDateData;
+ ST_GPS *_pstGPS = &l_stGPS;
+
+ if(NULL == _pstGPS)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
+ {
+ _pstGPS->m_eState = GPS_STATE_INVALID;
+ return HIDO_ERR;
+ }
+
+ if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%p,%p,%p,%p,%p,%p,%p,%p,%p,%*,%*,%**", &stTimeData, &stStateData,
+ &stLatData, &stLatSignData, &stLonData, &stLonSignData, &stSpeedData, &stDirData, &stDateData) != 13)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseState(&stStateData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (_pstGPS->m_eState != GPS_STATE_VALID)
+ {
+ return HIDO_OK;
+ }
+
+ if (GPS_ParseTime(&stTimeData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseDate(&stDateData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseLat(&stLatData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseLon(&stLonData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseSpeed(&stSpeedData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseDir(&stDirData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseLatSign(&stLatSignData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ if (GPS_ParseLonSign(&stLonSignData, _pstGPS) != HIDO_OK)
+ {
+ return HIDO_ERR;
+ }
+
+ GPS_AddHours(_pstGPS, 8);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_RecvFsm
+ * Description : GPS 数据接收状态机
+ * Input : _u8RecvChar 一个接收字符
+ * Output : None
+ * Return : one
+ * Author : hido.ltd
+ * Modified Date: : 2021年5月07日
+ *******************************************************************************/
+extern uint8_t GPS_UPLOAD_FLAG;
+uint16_t GPS_UPload_sleep_flag=0;
+uint8_t gpserror;
+HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
+{
+ switch (l_stGPSRecv.m_eState)
+ {
+ case GPS_RECV_STATE_IDLE:
+ {
+ if ('$' == _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_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:
+ {
+ 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;
+ }
+ }
+}
+
+/*******************************************************************************
+ * Function Name : GPS_Rest
+ * Description : GPS复位
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+//static HIDO_VOID GPS_Rest(void)
+//{
+// GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
+// HAL_Delay(10);
+// GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
+// HAL_Delay(10);
+// GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
+//}
+
+/*******************************************************************************
+ * Function Name : GPS_Powe.\Objects\uwb_simple_example.axf: Error: L6218E: Undefined symbol gps_power_state (referred from sn74hc595.o).rOn
+ * Description : GPS上电
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+//HIDO_VOID GPS_PowerOn(void)
+//{
+// l_bIsPowerOn = HIDO_TRUE;
+//// GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
+//}
+
+/*******************************************************************************
+ * Function Name : GPS_PowerOff
+ * Description : GPS掉电
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+//HIDO_VOID GPS_PowerOff(void)
+//{
+// l_bIsPowerOn = HIDO_FALSE;
+//// GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+//}
+
+/*******************************************************************************
+ * Global Function *
+ *******************************************************************************/
+
+/*******************************************************************************
+ * Function Name : GPS_PinRegister
+ * Description : GPS模块管脚注册
+ * Input : _ePin 管脚定义
+ * : _pstGPIOx GPIOx
+ * : _u16GPIOPin GPIO_PIN_x
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ * Modified Date: : 2021年1月8日
+ *******************************************************************************/
+//HIDO_VOID GPS_PinRegister(E_GPSPin _ePin, GPIO_TypeDef* _pstGPIOx, HIDO_UINT16 _u16GPIOPin)
+//{
+// l_astGPSPin[_ePin].m_pstGPIOx = _pstGPIOx;
+// l_astGPSPin[_ePin].m_u16GPIOPin = _u16GPIOPin;
+//}
+
+/*******************************************************************************
+ * Function Name : GPS_Poll
+ * Description : GPS轮询处理
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ *******************************************************************************/
+HIDO_VOID GPS_Poll(void)
+{
+ HIDO_UINT8 u8RecvChar = 0;
+
+ while (Uart_GetChar(UART_ID_DBG_GPS, &u8RecvChar) == HIDO_OK)
+ {
+ GPS_RecvFsm(u8RecvChar);
+ }
+}
+
+/*******************************************************************************
+ * Function Name : GPS_SetEventCallback
+ * Description : GPS设置GPS事件回调
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ *******************************************************************************/
+HIDO_VOID GPS_SetEventCallback(FN_GPSEventCallback _fnEventCallback)
+{
+ l_fnGPSEventCallback = _fnEventCallback;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_IsIdle
+ * Description : GPS轮询处理
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ *******************************************************************************/
+HIDO_BOOL GPS_IsIdle(void)
+{
+ if(l_bIsPowerOn)
+ {
+ return HIDO_FALSE;
+ }
+
+ return HIDO_TRUE;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_Init
+ * Description : GPS模块初始化
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : hido.ltd
+ *******************************************************************************/
+HIDO_VOID GPS_Init(void)
+{
+ char str[19]= {"$POLCFGMSG,0,2,0\r\n"};
+// GPS_PowerOn();
+// GPS_Rest();
+ uart_send(UART_ID1, str,19, NULL);
+ delay_ms(10);
+ sprintf(str,"$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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