From 7c93e39f66f75e445ddb224de1ce70ce6e0b0902 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 三月 2024 17:51:12 +0800
Subject: [PATCH] V1.13
---
Src/application/GPS.c | 476 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 460 insertions(+), 16 deletions(-)
diff --git a/Src/application/GPS.c b/Src/application/GPS.c
index d9a3e75..3f8b4e5 100644
--- a/Src/application/GPS.c
+++ b/Src/application/GPS.c
@@ -39,7 +39,7 @@
typedef struct
{
E_GPSRecvState m_eState;
- HIDO_CHAR m_acRecvBuf[128];
+ HIDO_CHAR m_acRecvBuf[256];
HIDO_UINT32 m_u32RecvLen;
} ST_GPSRecv;
@@ -50,6 +50,25 @@
static HIDO_BOOL l_bIsPowerOn = HIDO_FALSE;
static ST_GPSRecv l_stGPSRecv;
static FN_GPSEventCallback l_fnGPSEventCallback;
+
+static HIDO_UINT8 l_u8PosState = 0;
+static HIDO_UINT8 l_u8GPS_HZ = 0;
+static HIDO_BOOL l_bGPSConfig = HIDO_FALSE;
+static HIDO_BOOL l_bATLocationConfig = HIDO_FALSE;
+static HIDO_CHAR l_acConfigGGA[128];
+static HIDO_CHAR l_acCmdBuff[256];
+static HIDO_UINT32 l_u32QXTick = 0;
+HIDO_UINT32 getRTK_Tick = 0;
+
+static HIDO_UINT32 l_u32SetupStep = 0;
+static HIDO_UINT32 l_u32SetupTimerID = 0;
+
+/* GPS命令 */
+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 };
+static HIDO_UINT8 l_au8CmdRate2Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xF4, 0x01, 0x01, 0x00, 0x01, 0x00, 0x0B, 0x77 };
+static HIDO_UINT8 l_au8CmdRate5Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A };
+static HIDO_UINT8 l_au8CmdRate10Hz[] = { 0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01, 0x00, 0x7A, 0x12 };
/*******************************************************************************
* Function Name : GPS_DataCheck
@@ -88,7 +107,330 @@
return HIDO_OK;
}
+/*******************************************************************************
+ * Function Name : GPS_ParseTime
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseTime(HIDO_DataStruct *_pstTimeData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstTimeData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstTimeData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot)
+ {
+ return HIDO_ERR;
+ }
+
+ if ((pcDot - pcStart) != 6)
+ {
+ return HIDO_ERR;
+ }
+
+ _pstGPS->m_u8Hour = HIDO_UtilStrBufToInt(pcStart, 2);
+ _pstGPS->m_u8Min = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ _pstGPS->m_u8Sec = HIDO_UtilStrBufToInt(pcStart + 4, 2);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLat
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLat(HIDO_DataStruct *_pstLatData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLatData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLatData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+ HIDO_UINT32 u32TempLen = 0;
+ HIDO_DOUBLE dd;
+ HIDO_DOUBLE mmmm;
+ HIDO_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;
+ _pstGPS->m_dLat = dd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLon
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLon(HIDO_DataStruct *_pstLonData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLonData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLonData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+ HIDO_UINT32 u32TempLen = 0;
+ HIDO_DOUBLE ddd;
+ HIDO_DOUBLE mmmm;
+ HIDO_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;
+ _pstGPS->m_dLon = ddd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
+#if 0
+/*******************************************************************************
+ * Function Name : GPS_ParseDir
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseDir(HIDO_DataStruct *_pstDirData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstDirData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstDirData->m_pData;
+ HIDO_CHAR *pcDot = NULL;
+
+ if (u32Len >= 1)
+ {
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (pcDot)
+ {
+ _pstGPS->m_u16Dir = HIDO_UtilStrBufToInt(pcStart, pcDot - pcStart);
+ }
+ else
+ {
+ _pstGPS->m_u16Dir = HIDO_UtilStrBufToInt(pcStart, u32Len);
+ }
+ }
+ else
+ {
+ _pstGPS->m_u16Dir = 0;
+ }
+
+ return HIDO_OK;
+}
+#endif
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLatSign
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLatSign(HIDO_DataStruct *_pstLatSignData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLatSignData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLatSignData->m_pData;
+
+ if (u32Len > 1)
+ {
+ return HIDO_ERR;
+ }
+
+ if (0 == u32Len)
+ {
+ return HIDO_OK;
+ }
+ else
+ {
+ if (pcStart[0] == 'S')
+ {
+ _pstGPS->m_dLat = -_pstGPS->m_dLat;
+ }
+ }
+
+ return HIDO_OK;
+}
+
+/*******************************************************************************
+ * Function Name : GPS_ParseLonSign
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseLonSign(HIDO_DataStruct *_pstLonSignData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstLonSignData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstLonSignData->m_pData;
+
+ if (u32Len > 1)
+ {
+ return HIDO_ERR;
+ }
+
+ if (0 == u32Len)
+ {
+ return HIDO_OK;
+ }
+ else
+ {
+ if (pcStart[0] == 'W')
+ {
+ _pstGPS->m_dLon = -_pstGPS->m_dLon;
+ }
+ }
+
+ return HIDO_OK;
+}
+
+//#if 0
+///*******************************************************************************
+// * Function Name : GPS_ParseSpeed
+// * Description :
+// * Input : None
+// * Output : None
+// * Return : HIDO_OK 成功, HIDO_ERR 失败
+// * Author : www.hido-studio.com
+// * Modified Date: : 2022年5月2日
+// *******************************************************************************/
+//static HIDO_INT32 GPS_ParseSpeed(HIDO_DataStruct *_pstSpeedData, ST_GPS *_pstGPS)
+//{
+// HIDO_UINT32 u32Len = _pstSpeedData->m_u32Len;
+// HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstSpeedData->m_pData;
+// HIDO_CHAR acSpeed[10];
+
+// if (u32Len >= 10)
+// {
+// return HIDO_ERR;
+// }
+
+// if (u32Len >= 1)
+// {
+// memcpy(acSpeed, pcStart, u32Len);
+// acSpeed[u32Len] = 0;
+// _pstGPS->m_u16Speed = atof(acSpeed) * 1.852;
+// }
+// else
+// {
+// _pstGPS->m_u16Speed = 0;
+// }
+
+// return HIDO_OK;
+//}
+//#endif
+
+/*******************************************************************************
+ * Function Name : GPS_ParseSpeed
+ * Description :
+ * Input : None
+ * Output : None
+ * Return : HIDO_OK 成功, HIDO_ERR 失败
+ * Author : www.hido-studio.com
+ * Modified Date: : 2022年5月2日
+ *******************************************************************************/
+static HIDO_INT32 GPS_ParseAlt(HIDO_DataStruct *_pstSpeedData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstSpeedData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstSpeedData->m_pData;
+ HIDO_CHAR acAlt[10];
+
+ if (u32Len >= 10)
+ {
+ return HIDO_ERR;
+ }
+
+ if (u32Len >= 1)
+ {
+ memcpy(acAlt, pcStart, u32Len);
+ acAlt[u32Len] = 0;
+ _pstGPS->m_fAlt = atof(acAlt);
+ }
+ else
+ {
+ _pstGPS->m_fAlt = 0;
+ }
+
+ return HIDO_OK;
+}
+
+static HIDO_INT32 GPS_ParseMsl(HIDO_DataStruct *_pstSpeedData, ST_GPS *_pstGPS)
+{
+ HIDO_UINT32 u32Len = _pstSpeedData->m_u32Len;
+ HIDO_CHAR *pcStart = (HIDO_CHAR *) _pstSpeedData->m_pData;
+ HIDO_CHAR acAlt[10];
+
+ if (u32Len >= 10)
+ {
+ return HIDO_ERR;
+ }
+
+ if (u32Len >= 1)
+ {
+ memcpy(acAlt, pcStart, u32Len);
+ acAlt[u32Len] = 0;
+ _pstGPS->m_fMsl = atof(acAlt);
+ }
+ else
+ {
+ _pstGPS->m_fMsl = 0;
+ }
+
+ return HIDO_OK;
+}
/*******************************************************************************
* Function Name : GPS_ParseGGA
* Description : GPS GGA数据解析(仅检查数据是否有效)
@@ -103,11 +445,27 @@
char _pcData_final[256];
extern uint8_t fangchai_flag;
extern uint8_t GPSchangdu;
-extern uint8_t GPS_GGAdate[200];
-static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
+extern uint8_t GPS_GGAdate[400];
+extern u8 gps_state,gps_chafenlingqi,gps_satel_num,gps_signalpower;
+extern double gps_jingdu,gps_weidu;
+extern float gps_height;
+extern uint8_t fangzhijinrushuimian_flag;
+HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
ST_GPS stGPS;
- HIDO_DataStruct stPosState;
+ HIDO_DataStruct stTime;//时间
+ HIDO_DataStruct stLat;//维度
+ HIDO_DataStruct stLatSign;//南/北
+ HIDO_DataStruct stLon;//经度
+ HIDO_DataStruct stLonSign;//东/西
+ HIDO_DataStruct stPosState;//gps状态
+ HIDO_DataStruct stAlt;//海拔高度
+ HIDO_DataStruct stAltUnit;//高度单位
+ HIDO_DataStruct stMsl;//
+ HIDO_DataStruct stDiffAge;//
+ HIDO_DataStruct stWeixingshuliang;//卫星数量
+ HIDO_DataStruct stChafenshijian;//差分时间
+// HIDO_DataStruct stPosState;
static u8 gpsledstate;
memset(&stGPS, 0, sizeof(ST_GPS));
@@ -116,24 +474,104 @@
return HIDO_ERR;
}
- if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
+// if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
+// {
+// return HIDO_ERR;
+// }
+ if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%p,%p,%p,%p,%p,%p,%p,%*,%p,%p,%p,%p,%p,%**",
+ &stTime, &stLat, &stLatSign, &stLon, &stLonSign, &stPosState,&stWeixingshuliang, &stAlt, &stAltUnit, &stMsl,&stChafenshijian, &stDiffAge) != 15)
{
return HIDO_ERR;
}
+ l_u8PosState = HIDO_UtilStrBufToInt((HIDO_CHAR *) stPosState.m_pData, stPosState.m_u32Len);
+
+ if(l_u8PosState!=0)
+ {static uint8_t wait_pos_stable_times = 6;
+// if(HIDO_FALSE == l_bATLocationConfig)
+// {
+// if(wait_pos_stable_times--==0)
+// {
+// l_bATLocationConfig = HIDO_TRUE;
+// if(_u32Len < (sizeof(l_acConfigGGA) - 1))
+// {
+// memcpy(l_acConfigGGA, _pcData, _u32Len);
+// l_acConfigGGA[_u32Len-2] = '\0';
+// l_acConfigGGA[1] = 'J';
+// l_acConfigGGA[2] = 'Z';
+// }
+
+ if (GPS_ParseLat(&stLat, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+
+ if (GPS_ParseLon(&stLon, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+
+ if (GPS_ParseLatSign(&stLatSign, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+
+ if (GPS_ParseLonSign(&stLonSign, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+
+ if (GPS_ParseAlt(&stAlt, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+ if (GPS_ParseMsl(&stMsl, &stGPS) != HIDO_OK)
+ {
+ //return HIDO_ERR;
+ }
+// }
+// }
+
+ }
+
+
// memset(&_pcData[_u32Len-2],0,2);//为了拼接后面的数据，删除\r\n。
// HIDO_UINT32 lora_u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)_pcData_final, sizeof(_pcData_final), "%s,%X,%02x,%x,%d,%x,%d%\r\n",
// _pcData, g_com_map[DEV_ID], bat_percent,g_com_map[VERSION],0,0,0);//与设备id，电量，版本号，等进行拼接。
- memcpy(&GPS_final_data, &_pcData, _u32Len);//gps最后一包的数据
- GPSchangdu=_u32Len;
- memset(&GPS_final_data, 0, sizeof(GPS_final_data));
+// memcpy(&GPS_final_data, &_pcData, _u32Len);//gps最后一包的数据
+// GPSchangdu=_u32Len;
+// memset(&GPS_final_data, 0, sizeof(GPS_final_data));
// GPS_final_changdu=lora_u32Len;//gps最后一包的长度
if(*(char *)stPosState.m_pData != '0')//如果是成功获取位置的那一包
{
- gpsled=BLUE;
+ gpsled=BLUE;
+// memcpy(&gps_state,&stPosState.m_pData,stPosState.m_u32Len);
+// memcpy(&gps_chafenlingqi,&stChafenshijian.m_pData,stChafenshijian.m_u32Len);
+// memcpy(&gps_satel_num,&stWeixingshuliang.m_pData,stWeixingshuliang.m_u32Len);
+// gps_state=*(uint8_t *)stPosState.m_pData;
+// gps_chafenlingqi=*(uint8_t *)stChafenshijian.m_pData;
+ gps_state=HIDO_UtilStrBufToInt(stPosState.m_pData, stPosState.m_u32Len);
+ gps_chafenlingqi=HIDO_UtilStrBufToInt(stChafenshijian.m_pData, stChafenshijian.m_u32Len);
+ gps_satel_num=HIDO_UtilStrBufToInt(stWeixingshuliang.m_pData, stWeixingshuliang.m_u32Len);
+// *(uint8_t *);
+ // gps_chafenlingqi=
+ // gps_satel_num=
+ gps_signalpower=0;
+ gps_jingdu=stGPS.m_dLat;
+ gps_weidu=stGPS.m_dLon;
+ gps_height=stGPS.m_fAlt+stGPS.m_fMsl;
+ fangzhijinrushuimian_flag=0;
}
else//如果不是成功获取位置的那一包
{
gpsled=RED;
+ gps_state=0;
+ gps_chafenlingqi=0;
+ gps_satel_num=0;
+ gps_signalpower=0;
+ gps_jingdu=0;
+ gps_weidu=0;
+ gps_height=0;
+ fangzhijinrushuimian_flag=0;
}
return HIDO_OK;
@@ -147,8 +585,8 @@
* Return : one
* Author : hido.ltd
* Modified Date: : 2021年5月07日
- *******************************************************************************/
-static HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
+// *******************************************************************************/
+HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
switch (l_stGPSRecv.m_eState)
{
@@ -188,7 +626,10 @@
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);
+// fangzhijinrushuimian_flag=0;
}
}
@@ -279,11 +720,14 @@
// * Return : None
// * Author : hido.ltd
// *******************************************************************************/
-HIDO_VOID GPS_Recv_Poll(uint8_t u8RecvChar)
-{
- GPS_RecvFsm(u8RecvChar);
-}
-
+//HIDO_VOID GPS_Recv_Poll(uint8_t u8RecvChar)
+//{
+// GPS_RecvFsm(u8RecvChar);
+//}
+//HIDO_VOID GPS_ParseGGAPoll(HIDO_UINT8 data,HIDO_UINT8 datanum)
+//{
+// GPS_ParseGGA(&data, datanum);
+//}
///*******************************************************************************
// * Function Name : GPS_SetEventCallback
// * Description : GPS设置GPS事件回调
--
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