From e0a196fc7dcb47d200ab81a933dde2b18d169ed5 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期二, 13 五月 2025 16:23:21 +0800
Subject: [PATCH] 移植开关GPS代码
---
keil/include/src/GPS.c | 120 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 118 insertions(+), 2 deletions(-)
diff --git a/keil/include/src/GPS.c b/keil/include/src/GPS.c
index 5f5fefb..2e42dfa 100644
--- a/keil/include/src/GPS.c
+++ b/keil/include/src/GPS.c
@@ -17,6 +17,11 @@
#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,
@@ -488,6 +493,7 @@
//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)
{
ST_GPS stGPS;
@@ -507,11 +513,48 @@
}
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 :
@@ -614,7 +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)
@@ -658,7 +705,30 @@
{
GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
- UDPClient_UploadGPS(l_stGPSRecv.m_acRecvBuf);
+ #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:
@@ -680,12 +750,21 @@
rtkled = WHITE;
break;
}
+ if(ceju_leave_flag==1)
+ {
+ fixed_solution_count_minute++;
+ }
}
+ else if(strstr(l_stGPSRecv.m_acRecvBuf, "GSV,") != HIDO_NULL)
+ {
+ 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;
@@ -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;
+ }
+}
\ No newline at end of file
--
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