From 427d0b6ee0966fcf19a75914a47360969e00e456 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 25 十一月 2025 11:06:02 +0800
Subject: [PATCH] 路径跟随初步调通
---
STM32H743/FML/GPS.c | 14 +++++---------
1 files changed, 5 insertions(+), 9 deletions(-)
diff --git a/STM32H743/FML/GPS.c b/STM32H743/FML/GPS.c
index 843e10b..bde14bb 100644
--- a/STM32H743/FML/GPS.c
+++ b/STM32H743/FML/GPS.c
@@ -57,6 +57,7 @@
/* 瀛樺偍鏈�鏂扮殑GPRMI鍜孏PIMU鏁版嵁 */
static ST_GPRMI l_stGPRMI;
static ST_GPIMU l_stGPIMU;
+static HIDO_UINT32 s_gprmi_log_idx = 0U;
/* GPS锟斤拷锟斤拷 */
static HIDO_UINT8 l_au8CmdSave[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF};
static HIDO_UINT8 l_au8CmdRate1Hz[] = {0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00, 0x01, 0x39};
@@ -242,9 +243,9 @@
l_stGPRMI.m_u8PositionQuality = (HIDO_UINT8)atoi((HIDO_CHAR *)astFields[22].m_pData);
l_stGPRMI.m_bValid = HIDO_TRUE;
-
+
// 绔嬪嵆鍙戦�丟PS鏁版嵁鍒癙ython (10Hz鏇存柊)
- PythonLink_SendGPSData(&l_stGPRMI);
+ // PythonLink_SendGPSData(&l_stGPRMI);
return HIDO_OK;
}
@@ -314,7 +315,7 @@
l_stGPIMU.m_bValid = HIDO_TRUE;
// 绔嬪嵆鍙戦�両MU鏁版嵁鍒癙ython (100Hz鏇存柊)
- PythonLink_SendIMUData(&l_stGPIMU);
+ // PythonLink_SendIMUData(&l_stGPIMU);
return HIDO_OK;
}
@@ -667,12 +668,7 @@
l_stGPSRecv.m_u32Header4Len = HIDO_UtilSnprintf(l_stGPSRecv.m_acHeader4, sizeof(l_stGPSRecv.m_acHeader4), "$GPFMI");
l_stGPSRecv.m_u32Header5Len = HIDO_UtilSnprintf(l_stGPSRecv.m_acHeader5, sizeof(l_stGPSRecv.m_acHeader5), "$GPIMU");
l_bGPSConfig = HIDO_TRUE;
- //gpsbaudrate = (g_com_map[GPSBAUDRATE1_INDEX] << 8) | g_com_map[GPSBAUDRATE2_INDEX];
- if (gpsbaudrate > 921600 || gpsbaudrate < 9600)
- {
- gpsbaudrate = 115200;
- }
- Uart_ReConfigBaudRate(UART_ID_GPS, gpsbaudrate);
+ Uart_ReConfigBaudRate(UART_ID_GPS, 115200);
}
/*******************************************************************************
--
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