From bddf0b37dfea62d0d3f7f5f8c180c24727665b68 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 26 五月 2025 09:59:25 +0800
Subject: [PATCH] Merge branch 'MK大工卡-低精度GPS-1/5HZ' of http://47.108.70.204:60062/r/ChinaUWBProject into MK大工卡-低精度GPS-1/5HZ
---
keil/include/src/TCPClient.c | 150 ++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 134 insertions(+), 16 deletions(-)
diff --git a/keil/include/src/TCPClient.c b/keil/include/src/TCPClient.c
index 4f647a0..c002be9 100644
--- a/keil/include/src/TCPClient.c
+++ b/keil/include/src/TCPClient.c
@@ -360,6 +360,78 @@
WT588E_PLAY(atoi(apcSplitStr[2]));
}
}
+ else if (STRCMP(_u8Data, "$set_gpsuwbpara,") == 0)
+ {
+ u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
+ uint16_t buffer_len,datalen;
+ char send_buffer[20]={"ERROR\r\n"};
+ if (u32SplitCnt < 6)
+ {
+ return HIDO_ERR;
+ }
+ if (HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
+ {
+ HIDO_INT32 gpskaiguan,uwbkaiguan,gpspinlv,uwbpinlv,gpsbaudrate1;
+ gpskaiguan= HIDO_UtilStrToInt(apcSplitStr[2]);
+ g_com_map[GPSENBLE] = gpskaiguan;
+ uwbkaiguan= HIDO_UtilStrToInt(apcSplitStr[3]);
+ g_com_map[UWBENBLE] = uwbkaiguan;
+ gpspinlv= HIDO_UtilStrToInt(apcSplitStr[4]);
+ g_com_map[GPSFrequency] = gpspinlv;
+ uwbpinlv= HIDO_UtilStrToInt(apcSplitStr[5]);
+ g_com_map[UWBFrequency] = uwbpinlv;
+ gpsbaudrate1= HIDO_UtilStrToInt(apcSplitStr[6]);
+ g_com_map[GPSBAUDRATE1_INDEX] = gpsbaudrate1>>16;
+ g_com_map[GPSBAUDRATE2_INDEX] = gpsbaudrate1;
+
+
+ if((g_com_map[GPSENBLE]||g_com_map[GPSENBLE]==0)
+ &&(g_com_map[UWBENBLE]||g_com_map[UWBENBLE]==0)
+ &&(g_com_map[GPSFrequency]<65535&&g_com_map[GPSFrequency]>0)
+ &&(g_com_map[UWBFrequency]==1||g_com_map[UWBFrequency]==3||g_com_map[UWBFrequency]==5||g_com_map[UWBFrequency]==10)
+ &&(gpsbaudrate1==9600||gpsbaudrate1==115200)
+ )
+ {
+ save_com_map_to_flash();
+// Socket_Send(l_i32TCPClientID,(uint8_t*)send_buffer,buffer_len);
+ g_com_map[CNT_RESTART] = 1;
+ }
+ else
+ {
+ Socket_Send(l_i32TCPClientID,(uint8_t*)send_buffer,10);
+ }
+ }
+ }
+ else if (STRCMP(_u8Data, "$read_gpsuwbpara,") == 0)
+ {
+ u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
+ uint16_t buffer_len,datalen;
+ char send_buffer[200]={"ERROR\r\n"};
+ if (u32SplitCnt < 1)
+ {
+ return HIDO_ERR;
+ }
+ if (HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
+ {
+ uint16_t checksum = 0;
+ send_buffer[0] = 0x55;
+ send_buffer[1] = 0xAA;
+ send_buffer[2] = 0x03;
+ send_buffer[3] = 160+5;
+ send_buffer[4] = CMD_REPLY;
+ send_buffer[5] = 0;
+ send_buffer[6] = 160;
+ memcpy(&send_buffer[7], &g_com_map, 160);
+ for(uint8_t i = 0; i<(160+5); i++)
+ {
+ checksum += send_buffer[2+i];
+ }
+ checksum = Checksum_u16(&send_buffer[2],5+160);
+ memcpy(&send_buffer[7+160],&checksum,2);
+
+ Socket_Send(l_i32TCPClientID,send_buffer,9+160);
+ }
+ }
return HIDO_OK;
}
@@ -443,14 +515,24 @@
extern uint8_t GPS_ParseGGA_data[256];
extern uint8_t GPS_ParseGGA_changdu;
uint8_t uwbsendnum,gpssendnum;
-void UDPClient_UploadGPS(HIDO_CHAR *_pcGGA)
+
+extern uint8_t exercise_state;
+extern uint32_t step_count;
+extern uint16_t gaodu;void UDPClient_UploadGPS(HIDO_CHAR *_pcGGA)
{
if(TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState)
{
+
+#ifdef JIBU_XIUMIAN
HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "%s,%X,%02x,%x,%d,%d,%d%\r\n",
_pcGGA, g_com_map[DEV_ID], bat_percent,ave_sp,0,0,0);
+ _pcGGA, g_com_map[DEV_ID], bat_percent,ave_sp,gaodu,(uint8_t)(step_count),exercise_state);
+#else
+ HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "%s,%X,%02x,%x,%d,%d,%d%\r\n",
+ _pcGGA, g_com_map[DEV_ID], bat_percent,ave_sp,gaodu,0,0);
+#endif
// if((l_u32UploadBuffLen + u32Len) < sizeof(l_acUploadBuff))
// {
@@ -511,6 +593,7 @@
HIDO_UINT32 u32Len = 0;
if(TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState)
{
+
if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
{ u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,3:%d.%d.%d.%d:%d.,1",
g_com_map[DEV_ID], bat_percent, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),\
@@ -518,14 +601,15 @@
} else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
{
u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,2%s %s,1",
- g_com_map[DEV_ID], bat_percent, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, \
- Module_GetCCID(),userkey_state,(char *)&g_com_map[NTRIP_HOST_INDEX],(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
+ g_com_map[DEV_ID], bat_percent, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),\
+ userkey_state,(char *)&g_com_map[NTRIP_HOST_INDEX],(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
} else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
{
u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,1.,1",
g_com_map[DEV_ID], bat_percent, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),\
userkey_state,g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
}
+ userkey_state=0;
Socket_Send(l_i32TCPClientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
}
// u32HeartLen = HIDO_UtilSnprintf((HIDO_CHAR *)acHeart, sizeof(acHeart), "$XTB,%X,%02u%%,%d.%d,%s",
@@ -548,6 +632,7 @@
alarm_type = 0;
}
extern uint32_t uwbled,rtkled,led4g,powerled;
+extern uint8_t heartbeasend_flag;
HIDO_INT32 TCPClient_Poll(void)
{
if (Internet_IsIPReady() == HIDO_TRUE)
@@ -584,9 +669,10 @@
else if (TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState)
{
led4g=GREEN;
- if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(60)||flag_first_TCPconnect)
+ if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(60)||flag_first_TCPconnect||heartbeasend_flag)
//if ((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(g_com_map[SEND_4G_SECOND])||flag_first_TCPconnect)
{
+ heartbeasend_flag=0;
flag_first_TCPconnect = 0;
l_u32HeartBeatTick = u32CurTick;
// 这里是自定义心跳
@@ -673,18 +759,39 @@
return HIDO_OK;
}
-//char str[19]= {"AT+IPR=115200;&W\r\n"};
-//void AIR780E_Reset(void)
-//{
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G
-// delay_ms(100);
-// PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);//打开4G
-// delay_ms(3000);
-// Uart_ReConfigBaudRate(UART_ID_4G,9600);
-// uart_send(UART_ID0, str,19, NULL);
+#ifdef _GPS_115200
+char str[19]= {"AT+IPR=115200;&W\r\n"};
+void AIR780E_Reset(void)
+{
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G
+ delay_ms(1500);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);//打开4G
+ delay_ms(3000);
// Uart_ReConfigBaudRate(UART_ID_4G,115200);
-
-//}
+// uart_send(UART_ID0, str,17, NULL);
+// Uart_ReConfigBaudRate(UART_ID_4G,9600);
+}
+void AIR780E_Reset_usart(void)
+{
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G
+ delay_ms(1500);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);//打开4G
+ delay_ms(3000);
+ Uart_ReConfigBaudRate(UART_ID_4G,9600);
+ uart_send(UART_ID0, str,19, NULL);
+ Uart_ReConfigBaudRate(UART_ID_4G,115200);
+ delay_ms(200);
+ rtkled=GREEN;
+ uwbled=GREEN;
+ led4g=GREEN;
+ powerled=GREEN;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ delay_ms(1500);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
+ NVIC_SystemReset();
+}
+#else
char str[17]= {"AT+IPR=9600;&W\r\n"};
void AIR780E_Reset(void)
{
@@ -698,14 +805,25 @@
}
void AIR780E_Reset_usart(void)
{
- PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);//关闭4G
delay_ms(1500);
PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);//打开4G
delay_ms(3000);
Uart_ReConfigBaudRate(UART_ID_4G,115200);
uart_send(UART_ID0, str,17, NULL);
Uart_ReConfigBaudRate(UART_ID_4G,9600);
+ delay_ms(200);
+ rtkled=GREEN;
+ uwbled=GREEN;
+ led4g=GREEN;
+ powerled=GREEN;
+ Set4LEDColor(uwbled,rtkled,led4g,powerled);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,0);
+ delay_ms(1500);
+ PCA9555_Set_One_Value_Output(AIR780E_ENBALE,1);
+ NVIC_SystemReset();
}
+#endif
uint8_t IfTCPConnected(void)
{
if(TCP_CLIENT_STATE_CONNECTED == l_eTCPClientState)
--
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