From f88f3da8f132cd1dd321dfc584a1fe68b6eb2138 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 04 十二月 2025 21:49:01 +0800
Subject: [PATCH] 在跑校准了，还是有些问题,GPS坐标有时候不更新
---
STM32H743/FML/GPS.h | 70 ++++++++++++++++++++++++++++++++++
1 files changed, 69 insertions(+), 1 deletions(-)
diff --git a/STM32H743/FML/GPS.h b/STM32H743/FML/GPS.h
index 5c3077d..c9ef58f 100644
--- a/STM32H743/FML/GPS.h
+++ b/STM32H743/FML/GPS.h
@@ -16,6 +16,25 @@
/*******************************************************************************
* Macro *
*******************************************************************************/
+/* IM23A NAVI 鏁版嵁 STATUS 鐘舵�佸瓧瀹氫箟 */
+#define IM23A_STATUS_FINIT (0x00000001U) // 1 婊ゆ尝鍣ㄦ湭鍒濆鍖栨爣蹇�
+#define IM23A_STATUS_READY (0x00000002U) // 2 婊ゆ尝鍣ㄦ敹鏁涘畬鎴愭爣蹇�
+#define IM23A_STATUS_INACCURATE (0x00000004U) // 3 婊ゆ尝鍣ㄦ敹鏁涜繃绋嬩腑
+#define IM23A_STATUS_TILT_REJECT (0x00000008U) // 4 鍊捐杩囧ぇ鏍囧織浣�
+#define IM23A_STATUS_GNSS_REJECT (0x00000010U) // 5 GNSS 瀹氫綅鏁版嵁宸爣蹇椾綅
+#define IM23A_STATUS_FRESET (0x00000020U) // 6 婊ゆ尝鍣ㄩ噸缃爣蹇椾綅
+#define IM23A_STATUS_FIX_RLS1 (0x00000040U) // 7 鍊炬枩娴嬮噺瀹夎瑙掍及璁￠樁娈� 1
+#define IM23A_STATUS_FIX_RLS2 (0x00000080U) // 8 鍊炬枩娴嬮噺瀹夎瑙掍及璁￠樁娈� 2
+#define IM23A_STATUS_FIX_RLS3 (0x00000100U) // 9 鍊炬枩娴嬮噺瀹夎瑙掍及璁￠樁娈� 3
+#define IM23A_STATUS_FIX_RLS4 (0x00000200U) // 10 鍊炬枩娴嬮噺瀹夎瑙掍及璁￠樁娈� 4
+#define IM23A_STATUS_FIX_RLS_OK (0x00000400U) // 11 鍊炬枩娴嬮噺瀹夎瑙掍及璁″畬鎴�
+#define IM23A_STATUS_DIR1 (0x00002000U) // 12 鍒濆鍖栨檭鍔ㄦ柟鍚� 1
+#define IM23A_STATUS_DIR2 (0x00004000U) // 13 鍒濆鍖栨檭鍔ㄦ柟鍚� 2
+#define IM23A_STATUS_GNSS_LOST (0x00010000U) // 14 婊ゆ尝鍣ㄥ垽瀹� GNSS 鏁版嵁鏃犳晥
+#define IM23A_STATUS_FINIT_OK (0x00020000U) // 15 鍒濆鍖栧畬鎴愭爣蹇�
+#define IM23A_STATUS_PPS_READY (0x00040000U) // 16 鏀跺埌 PPS 淇″彿
+#define IM23A_STATUS_SYNC_READY (0x00080000U) // 17 妯″潡鏃堕棿鍚屾鎴愬姛
+#define IM23A_STATUS_GNSS_CONNECT (0x00100000U) // 18 妯″潡瑙ｆ瀽鍒� RTK 鏁版嵁
/*******************************************************************************
* Type Definition *
@@ -97,7 +116,7 @@
HIDO_FLOAT m_fGyroBiasY; // 闄�铻轰华 Y 闆跺亸
HIDO_FLOAT m_fGyroBiasZ; // 闄�铻轰华 Z 闆跺亸
HIDO_FLOAT m_fImuTemperature; // 浼犳劅鍣ㄦ俯搴�(掳C)
- HIDO_UINT32 m_u32StatusFlags; // 鐘舵�佸瓧娈�(鍘熷崗璁瓧娈�19)
+ HIDO_UINT32 m_u32StatusFlags; // 鐘舵�佸瓧娈�(鍙傝IM23A_STATUS_xxx瀹忓畾涔�)
}ST_GPRMI;
/* GPIMU鏁版嵁鍖呯粨鏋� */
@@ -115,6 +134,22 @@
HIDO_BOOL m_bValid; // 鏁版嵁鏈夋晥鏍囧織
}ST_GPIMU;
+/* GPGIG鏁版嵁鍖呯粨鏋� (fmig鎶ユ枃锛屽寘鍚綅缃俊鎭�佽В鐘舵�佸拰宸垎榫勬湡) */
+typedef struct
+{
+ HIDO_UINT32 m_u32UTCTime; // UTC鏃堕棿
+ HIDO_DOUBLE m_dLatitude; // 绾害(掳), 姝ｆ暟涓哄寳绾�
+ HIDO_DOUBLE m_dLongitude; // 缁忓害(掳), 姝ｆ暟涓轰笢缁�
+ HIDO_UINT8 m_u8SatelliteCount; // 鍗槦鏁伴噺
+ HIDO_UINT8 m_u8SolutionStatus; // 瑙ｇ姸鎬� (0=鏃犳晥, 1=鍗曠偣, 2=浼窛宸垎, 4=RTK鍥哄畾瑙�, 5=RTK娴偣瑙�)
+ HIDO_UINT8 m_u8DifferentialAge; // 宸垎榫勬湡(绉�)
+ HIDO_FLOAT m_fHRMS; // 姘村钩绮惧害HRMS
+ HIDO_FLOAT m_fVRMS; // 鍨傜洿绮惧害VRMS
+ HIDO_FLOAT m_fHDOP; // 姘村钩绮惧害鍥犲瓙
+ HIDO_FLOAT m_fVDOP; // 鍨傜洿绮惧害鍥犲瓙
+ HIDO_BOOL m_bValid; // 鏁版嵁鏈夋晥鏍囧織
+}ST_GPGIG;
+
/*******************************************************************************
* Global Function *
*******************************************************************************/
@@ -187,4 +222,37 @@
*******************************************************************************/
HIDO_INT32 GPS_GetGPIMU(ST_GPIMU *_pstGPIMU);
+/*******************************************************************************
+ * Function Name : GPS_GetCurrentENU
+ * Description : 鑾峰彇褰撳墠ENU鍧愭爣锛堢浉瀵逛簬寮�鏈哄悗绗竴涓浐瀹氳В锛�
+ * Input : _enu - 瀛樺偍ENU鍧愭爣鐨勬暟缁勬寚閽� [涓�, 鍖�, 澶
+ * Output : None
+ * Return : HIDO_OK - 鎴愬姛, HIDO_ERR - 澶辫触鎴栧師鐐规湭鍒濆鍖�
+ * Author : www.hido-studio.com
+ * Modified Date: : 2025骞�12鏈�3鏃�
+ *******************************************************************************/
+HIDO_INT32 GPS_GetCurrentENU(float _enu[3]);
+
+/*******************************************************************************
+ * Function Name : GPS_GetGPGIG
+ * Description : 鑾峰彇鏈�鏂扮殑GPGIG鏁版嵁锛坒mig鎶ユ枃锛屽寘鍚綅缃俊鎭�佽В鐘舵�佸拰宸垎榫勬湡锛�
+ * Input : _pstGPGIG - 瀛樺偍GPGIG鏁版嵁鐨勭粨鏋勪綋鎸囬拡
+ * Output : None
+ * Return : HIDO_OK - 鎴愬姛, HIDO_ERR - 澶辫触鎴栨暟鎹棤鏁�
+ * Author : www.hido-studio.com
+ * Modified Date: : 2025骞�12鏈�4鏃�
+ *******************************************************************************/
+HIDO_INT32 GPS_GetGPGIG(ST_GPGIG *_pstGPGIG);
+
+/*******************************************************************************
+ * Function Name : GPS_UploadGGA
+ * Description : 姣忕涓婁紶涓�娆GA鎶ユ枃鍒�4G锛堟嫾鎺min鍜宖mig鏁版嵁锛岀粡绾害鏉ヨ嚜fmig锛�
+ * Input : None
+ * Output : None
+ * Return : None
+ * Author : www.hido-studio.com
+ * Modified Date: : 2025骞�12鏈�4鏃�
+ *******************************************************************************/
+HIDO_VOID GPS_UploadGGA(HIDO_VOID);
+
#endif /* _GPS_H_ */
--
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