From 56d6a907e12484053abb432e664d6a8466133161 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 02 三月 2022 18:15:44 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/application/dw_app.c | 197 ++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 187 insertions(+), 10 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 6c4193c..24b6c1a 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -808,12 +808,13 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 frame_len;
+u8 frame_len,jumptime;
u8 rec_gpsdata[1000];
extern u8 RTCMdata[2000];
u16 recgpsdata_i,recdata_len;
void UWBSendOnePackData(u8* data_addr,u8 len)
{
+ delay_ms(jumptime);
g_Resttimer = 0;
LED0_BLINK;
g_start_sync_flag=1;
@@ -861,13 +862,167 @@
USART_puts(rec_gpsdata,recgpsdata_i);
break;
}
+ }else{
+ jumptime=time32_incr%20;
}
+ }else{
+ jumptime=time32_incr%20;
}
}
}
+
+char *HIDO_UtilStrnchr(const char *_pcStr, char _cChr, HIDO_UINT32 u32N)
+{
+ int32_t i = 0;
+ for (i = 0; i < u32N; i++)
+ {
+ if (_pcStr[i] == _cChr)
+ {
+ return (char *) (_pcStr + i);
+ }
+ }
+
+ return NULL;
+}
+
+HIDO_UINT8 HIDO_UtilCharToHex(HIDO_CHAR _cCh)
+{
+ return (_cCh >= '0' && _cCh <= '9') ?
+ (_cCh - '0') :
+ (_cCh >= 'A' && _cCh <= 'F' ?
+ (_cCh - 'A' + 0x0A) :
+ (_cCh >= 'a' && _cCh <= 'f' ? _cCh - 'a' + 0x0A : 0));
+}
+
+HIDO_UINT32 HIDO_UtilStrBufToInt(HIDO_CHAR *_pcStringBuf, HIDO_UINT32 _u32BufLen)
+ {
+ HIDO_UINT32 u32Temp = 0;
+
+ while (_u32BufLen != 0)
+ {
+ u32Temp = u32Temp * 10 + HIDO_UtilCharToHex(*_pcStringBuf);
+ _pcStringBuf++;
+ _u32BufLen--;
+ }
+
+ return u32Temp;
+}
+
+/******************************************************************************
+ Description : Get gps latitude from gps data
+ parameter : data: gps data pointer, len: gps data length, gps: ST_GPS pointer
+ Return : TRUE on success, FALSE on fail
+ author : DuJian
+ history : 2012-7-27 new
+ ******************************************************************************/
+static int32_t GPS_ParseLat(HIDO_DataStruct *_pstLatData, double *lat)
+{
+ uint32_t u32Len = _pstLatData->m_u32Len;
+ char *pcStart = (char *) _pstLatData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double dd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 9)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 4)
+ {
+ return HIDO_ERR;
+ }
+
+ dd = HIDO_UtilStrBufToInt(pcStart, 2);
+ mm = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ *lat = dd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+static int32_t GPS_ParseHeight(HIDO_DataStruct *_pstLatData, double *height)
+{
+ uint32_t u32Len = _pstLatData->m_u32Len;
+ char *pcStart = (char *) _pstLatData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double dd;
+ double mmmm;
+ double mm;
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ u32TempLen = pcDot - pcStart;
+ mm = HIDO_UtilStrBufToInt(pcStart, u32TempLen);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+ *height = mm + mmmm;
+ return HIDO_OK;
+}
+/******************************************************************************
+ Description : Get gps longitude from gps data
+ parameter : data: gps data pointer, len: gps data length, gps: ST_GPS pointer
+ Return : TRUE on success, FALSE on fail
+ author : DuJian
+ history : 2012-7-27 new
+ ******************************************************************************/
+static int32_t GPS_ParseLon(HIDO_DataStruct *_pstLonData, double *lon)
+{
+ uint32_t u32Len = _pstLonData->m_u32Len;
+ char *pcStart = (char *) _pstLonData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double ddd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 10)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 5)
+ {
+ return HIDO_ERR;
+ }
+
+ ddd = HIDO_UtilStrBufToInt(pcStart, 3);
+ mm = HIDO_UtilStrBufToInt(pcStart + 3, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ *lon = ddd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
extern u8 gpsdataready_flag;
extern u16 gps_packlen;
u8 totalpack_num,currentpack_num;
+u16 sendtimes;
+u32 rec_urtid;
void RecOnePackData(void)
{
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -895,7 +1050,7 @@
{
recdata_len = frame_len-14;
memcpy(rec_gpsdata,&rx_buffer[DATA_IDX],recdata_len);
- if(gpsdataready_flag)
+ // if(gpsdataready_flag)
{
gpsdataready_flag = 0;
tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_RESPONSE;
@@ -907,25 +1062,47 @@
if(remain_i>=110)
{
tx_sync_msg[CURENTPACKNUM_IDX] = 0;
- memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],110);
- send_i+=110;
- remain_i-=110;
- dwt_writetxdata(110+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(110+14, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],110);
+ send_i+=110;
+ remain_i-=110;
+ dwt_writetxdata(110+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(110+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ sendtimes++;
}else{
tx_sync_msg[CURENTPACKNUM_IDX] = 1;
memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],remain_i);
dwt_writetxdata(remain_i+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(remain_i+14, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
- remain_i = 0;
+ remain_i = 0;
+ sendtimes++;
}
delay_us(1000);
}
}
LED0_BLINK;
- USART_puts(rec_gpsdata,recdata_len);
+
+ extern HIDO_DataStruct stPosState[4];
+
+ GPS_ParseGGA(rec_gpsdata,recdata_len);
+
+ const char *fmt = "{\"battery\":4.2,\"dev_type\":\"11\",\"device_sn\":\"%d\",\"gps_type\":%d,\"high\":%.8lf,\"lat\":%.8lf,\"lng\":%.8lf}";
+
+ double lat = 0;
+ double lon = 0;
+ double high = 0;
+ uint8_t gps_type;
+ gps_type = HIDO_UtilStrBufToInt(stPosState[2].m_pData,1);
+ if(gps_type!=0)
+ {
+ GPS_ParseLon(&stPosState[1], &lon);
+ GPS_ParseLat(&stPosState[0], &lat);
+ GPS_ParseHeight(&stPosState[3], &high);
+ }
+ memcpy(&rec_urtid,&rx_buffer[ANCHOR_ID_IDX],4);
+ printf(fmt,rec_urtid,gps_type, high, lat, lon);
+ //USART_puts(rec_gpsdata,recdata_len);
}
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
--
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