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 | 212 +++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 164 insertions(+), 48 deletions(-)
diff --git a/keil/include/src/GPS.c b/keil/include/src/GPS.c
index 9362494..2e42dfa 100644
--- a/keil/include/src/GPS.c
+++ b/keil/include/src/GPS.c
@@ -7,16 +7,21 @@
#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)
+/**************************************************************************************************************************************/
+#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,
@@ -40,7 +45,7 @@
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 :
@@ -478,65 +483,78 @@
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;
+extern uint16_t g_spsum_GSV,g_snum_GSV;
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, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
{
+ gps_error2++;
return HIDO_ERR;
}
- if(*(HIDO_CHAR *)stPosState.m_pData != '0')
- {
-// HIDO_DebugString(_pcData, _u32Len);
- if(l_fnGPSEventCallback != NULL)
- {
- l_fnGPSEventCallback(GPS_TYPE_GGA, _pcData, _u32Len);
- }
- rtkled=BLUE;
- GPS_successful_flag=1;
- _pcData[_u32Len-1]=0;
- _pcData[_u32Len-2]=0;
-// memcpy(GPS_data,_pcData, _u32Len-2);//去掉回车换行
- state_flag = 0;
- state_flag = fangchai_flag;
-
- HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
- _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
- gpsbaoxu++;
- GPS_ParseGGA_changdu=u32Len;
- }
- else
- {
- rtkled=RED;
- GPS_successful_flag=0;
- _pcData[_u32Len-1]=0;
- _pcData[_u32Len-2]=0;
-// memcpy(GPS_data,_pcData, _u32Len-2);
- state_flag = 0;
- state_flag = fangchai_flag;
-
- HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)GPS_ParseGGA_data, sizeof(GPS_ParseGGA_data), "%s,%X,%02x,%x,%d,%d,%d,%d\r\n",
- _pcData, g_com_map[2], bat_percent,0,0,0,state_flag,gpsbaoxu);
- gpsbaoxu++;
- GPS_ParseGGA_changdu=u32Len;
- }
- UDPClient_UploadGPS();
+ l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData);
+ g_spsum_GSV=0;
+ g_snum_GSV=0;
return HIDO_OK;
}
+
+uint16_t g_spsum_GSV,g_snum_GSV;
+static HIDO_INT32 GPS_ParseGSV(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
+{
+ ST_GPS stGPS;
+ HIDO_DataStruct spower[4];
+
+ memset(&stGPS, 0, sizeof(ST_GPS));
+// if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
+// {
+// return HIDO_ERR;
+// }
+
+ if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%*,%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 :
@@ -639,6 +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)
@@ -676,16 +699,72 @@
{
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);
- memset(l_stGPSRecv.m_acRecvBuf,0, l_stGPSRecv.m_u32RecvLen);
+ l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen - 2] = '\0';
+ #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:
+ 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;
+ }
+ if(ceju_leave_flag==1)
+ {
+ fixed_solution_count_minute++;
+ }
}
- else if(strstr(l_stGPSRecv.m_acRecvBuf, "RMC,") != HIDO_NULL)
+ else if(strstr(l_stGPSRecv.m_acRecvBuf, "GSV,") != HIDO_NULL)
{
- GPS_ParseRMC(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
+ 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;
@@ -781,7 +860,7 @@
{
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 +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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