#include "stdio.h"
#include "stdarg.h"
#include "stdlib.h"
#include "string.h"
#include "stm32h7xx_hal.h"
#include "math.h"
#include "HIDO_Util.h"
#include "HIDO_Debug.h"
#include "FreeRTOS.h"
#include "task.h"
#include "GPS.h"
#include "GPIO.h"
#include "Uart.h"
#include "geo_utils.h"
#include "UDPClient.h"
// #include "global_param.h"

#define GPS_UART_RX_BUF_SIZE 1024
#define GPS_UART_TX_BUF_SIZE (2048 + 512)

#define IM23A_HEADER_LEN                (4U)
#define IM23A_NAV_FRAME_LEN             (100U)   /* fmin: 包含头、负载、校验和及尾部 */
#define IM23A_IMU_FRAME_LEN             (52U)    /* fmim: IMU数据帧 */
#define IM23A_GIG_FRAME_LEN             (95U)    /* fmig: GPS导航数据帧 */
#define IM23A_MAX_FRAME_LEN             IM23A_NAV_FRAME_LEN
#define IM23A_CHECKSUM_LEN              (2U)
#define IM23A_TAIL_LEN                  (2U)
#define IM23A_NAV_HEADER                "fmin"
#define IM23A_IMU_HEADER                "fmim"
#define IM23A_GIG_HEADER                "fmig"
#define IM23A_GPS_TIME_SCALE            (100.0)  /* hhmmss.ss -> centisecond */
#define IM23A_IMU_TIME_SCALE            (1000.0) /* hhmmss.ss -> millisecond */

typedef struct
{
    HIDO_UINT8 m_au8Buffer[IM23A_MAX_FRAME_LEN];
    HIDO_UINT32 m_u32RecvLen;
    HIDO_UINT32 m_u32ExpectedLen;
} ST_GPSRecv;

static HIDO_UINT8 l_au8GPSUartRxBuf[GPS_UART_RX_BUF_SIZE];
static HIDO_UINT8 l_au8GPSUartTxBuf[GPS_UART_TX_BUF_SIZE];

static ST_GPIO l_astGPSPin[GPS_PIN_LAST];
static ST_GPSRecv l_stGPSRecv;

static HIDO_UINT8 l_u8PosState = 0;
static HIDO_UINT32 l_u32QXTick = 0;
HIDO_UINT32 getRTK_Tick = 0;

/* 存储最新的GPRMI、GPIMU和GPGIG数据 */
static ST_GPRMI l_stGPRMI;
static ST_GPIMU l_stGPIMU;
static ST_GPGIG l_stGPGIG;
static HIDO_UINT32 s_gprmi_log_idx = 0U;

/* ENU坐标系原点（开机后第一个固定解时初始化） */
static ST_GeoOrigin l_stGeoOrigin = {0};
static float l_fCurrentENU[3] = {0.0f, 0.0f, 0.0f};

/* GPS���� */
/*******************************************************************************
 *                          IM23A Helper Declarations                          *
 *******************************************************************************/
static HIDO_VOID IM23A_ResetParser(ST_GPSRecv *parser);
static HIDO_BOOL IM23A_ValidateFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len);
static HIDO_VOID IM23A_HandleFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len);
static HIDO_VOID IM23A_HandleNavFrame(const HIDO_UINT8 *frame);
static HIDO_VOID IM23A_HandleImuFrame(const HIDO_UINT8 *frame);
static HIDO_VOID IM23A_HandleGigFrame(const HIDO_UINT8 *frame);
static HIDO_DOUBLE IM23A_ReadDouble(const HIDO_UINT8 *ptr);
static HIDO_FLOAT IM23A_ReadFloat(const HIDO_UINT8 *ptr);
static HIDO_UINT32 IM23A_ReadU32(const HIDO_UINT8 *ptr);
static HIDO_UINT16 IM23A_ReadU16(const HIDO_UINT8 *ptr);
static HIDO_UINT32 IM23A_ConvertTime(double utc_val, double scale);

/* 旧版NMEA解析函数已移除，以下为IM23A专用解析工具函数 */

static HIDO_DOUBLE IM23A_ReadDouble(const HIDO_UINT8 *ptr)
{
    HIDO_DOUBLE val = 0.0;
    memcpy(&val, ptr, sizeof(val));
    return val;
}

static HIDO_FLOAT IM23A_ReadFloat(const HIDO_UINT8 *ptr)
{
    HIDO_FLOAT val = 0.0f;
    memcpy(&val, ptr, sizeof(val));
    return val;
}

static HIDO_UINT32 IM23A_ReadU32(const HIDO_UINT8 *ptr)
{
    HIDO_UINT32 val = 0U;
    memcpy(&val, ptr, sizeof(val));
    return val;
}

static HIDO_UINT16 IM23A_ReadU16(const HIDO_UINT8 *ptr)
{
    HIDO_UINT16 val = 0U;
    memcpy(&val, ptr, sizeof(val));
    return val;
}

static HIDO_UINT32 IM23A_ConvertTime(double utc_val, double scale)
{
    if (!isfinite(utc_val) || utc_val < 0.0)
    {
        return 0U;
    }
    double scaled = utc_val * scale;
    if (scaled < 0.0)
    {
        scaled = 0.0;
    }
    return (HIDO_UINT32)(scaled + 0.5);
}

static HIDO_VOID IM23A_ResetParser(ST_GPSRecv *parser)
{
    memset(parser->m_au8Buffer, 0, sizeof(parser->m_au8Buffer));
    parser->m_u32RecvLen = 0U;
    parser->m_u32ExpectedLen = 0U;
}

static HIDO_BOOL IM23A_ValidateFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len)
{
    if (frame == HIDO_NULL)
    {
        return HIDO_FALSE;
    }

    if ((len != IM23A_NAV_FRAME_LEN) && (len != IM23A_IMU_FRAME_LEN) && (len != IM23A_GIG_FRAME_LEN))
    {
        return HIDO_FALSE;
    }

    if (frame[len - 2U] != 'e' || frame[len - 1U] != 'd')
    {
        return HIDO_FALSE;
    }

    const HIDO_UINT32 sum_len = len - IM23A_TAIL_LEN - IM23A_CHECKSUM_LEN;
    HIDO_UINT16 calc = 0U;
    for (HIDO_UINT32 i = 0U; i < sum_len; ++i)
    {
        calc = (HIDO_UINT16)(calc + frame[i]);
    }

    const HIDO_UINT16 expect = IM23A_ReadU16(&frame[sum_len]);
    return (calc == expect);
}

static HIDO_VOID IM23A_HandleFrame(const HIDO_UINT8 *frame, HIDO_UINT32 len)
{
    if (len == IM23A_NAV_FRAME_LEN && memcmp(frame, IM23A_NAV_HEADER, IM23A_HEADER_LEN) == 0)
    {
        IM23A_HandleNavFrame(frame);
    }
    else if (len == IM23A_IMU_FRAME_LEN && memcmp(frame, IM23A_IMU_HEADER, IM23A_HEADER_LEN) == 0)
    {
        IM23A_HandleImuFrame(frame);
    }
    else if (len == IM23A_GIG_FRAME_LEN && memcmp(frame, IM23A_GIG_HEADER, IM23A_HEADER_LEN) == 0)
    {
        IM23A_HandleGigFrame(frame);
    }
}

static HIDO_VOID IM23A_HandleNavFrame(const HIDO_UINT8 *frame)
{
    if (IM23A_ValidateFrame(frame, IM23A_NAV_FRAME_LEN) == HIDO_FALSE)
    {
        return;
    }

    const HIDO_UINT8 *p = frame + IM23A_HEADER_LEN;

    double utc = IM23A_ReadDouble(p); p += 8U;
    double latitude = IM23A_ReadDouble(p); p += 8U;
    double longitude = IM23A_ReadDouble(p); p += 8U;
    double altitude = IM23A_ReadDouble(p); p += 8U;
    float vel_n = IM23A_ReadFloat(p); p += 4U;
    float vel_e = IM23A_ReadFloat(p); p += 4U;
    float vel_d = IM23A_ReadFloat(p); p += 4U;
    float roll = IM23A_ReadFloat(p); p += 4U;
    float pitch = IM23A_ReadFloat(p); p += 4U;
    float heading = IM23A_ReadFloat(p); p += 4U;
    float pos_accuracy = IM23A_ReadFloat(p); p += 4U;
    float accel_bias_x = IM23A_ReadFloat(p); p += 4U;
    float accel_bias_y = IM23A_ReadFloat(p); p += 4U;
    float accel_bias_z = IM23A_ReadFloat(p); p += 4U;
    float gyro_bias_x = IM23A_ReadFloat(p); p += 4U;
    float gyro_bias_y = IM23A_ReadFloat(p); p += 4U;
    float gyro_bias_z = IM23A_ReadFloat(p); p += 4U;
    float sensor_temp = IM23A_ReadFloat(p); p += 4U;
    HIDO_UINT32 status = IM23A_ReadU32(p);

    memset(&l_stGPRMI, 0, sizeof(ST_GPRMI));
    l_stGPRMI.m_u32UTCTime = IM23A_ConvertTime(utc, IM23A_GPS_TIME_SCALE);
    l_stGPRMI.m_dLatitude = latitude;
    l_stGPRMI.m_dLongitude = longitude;
    l_stGPRMI.m_fAltitude = (HIDO_FLOAT)altitude;
    l_stGPRMI.m_fNorthVelocity = vel_n;
    l_stGPRMI.m_fEastVelocity = vel_e;
    l_stGPRMI.m_fUpVelocity = (HIDO_FLOAT)(-vel_d);
    /* IM23A协议中 roll/pitch/heading 均为弧度，需转换为角度 */
    l_stGPRMI.m_fRollAngle = roll * 57.29577951308232f;     // RAD2DEG
    l_stGPRMI.m_fPitchAngle = pitch * 57.29577951308232f;   // RAD2DEG
    l_stGPRMI.m_fHeadingAngle = heading * 57.29577951308232f;  // RAD2DEG
    
    /* Heading 转换为 0-360 范围 */
    while (l_stGPRMI.m_fHeadingAngle < 0.0f)
    {
        l_stGPRMI.m_fHeadingAngle += 360.0f;
    }
    while (l_stGPRMI.m_fHeadingAngle >= 360.0f)
    {
        l_stGPRMI.m_fHeadingAngle -= 360.0f;
    }
    l_stGPRMI.m_fHorizontalVelStdDev = pos_accuracy;
    l_stGPRMI.m_fAccelBiasX = accel_bias_x;
    l_stGPRMI.m_fAccelBiasY = accel_bias_y;
    l_stGPRMI.m_fAccelBiasZ = accel_bias_z;
    l_stGPRMI.m_fGyroBiasX = gyro_bias_x;
    l_stGPRMI.m_fGyroBiasY = gyro_bias_y;
    l_stGPRMI.m_fGyroBiasZ = gyro_bias_z;
    l_stGPRMI.m_fImuTemperature = sensor_temp;
    l_stGPRMI.m_u32StatusFlags = status;
    l_stGPRMI.m_u8PositionQuality = (HIDO_UINT8)(status & 0xFFU);
    l_stGPRMI.m_bValid = HIDO_TRUE;

   // l_u8PosState = l_stGPRMI.m_u8PositionQuality;
    
    /* 如果是第一个固定解（解状态=4），初始化ENU原点 */
    if (l_stGeoOrigin.initialized == HIDO_FALSE && l_u8PosState == 4U)
    {
        Geo_OriginInit(&l_stGeoOrigin, l_stGPRMI.m_dLatitude, l_stGPRMI.m_dLongitude, (double)l_stGPRMI.m_fAltitude);
        HIDO_Debug2("[GPS] ENU origin initialized: lat=%.6f, lon=%.6f, alt=%.2f\r\n",
                    l_stGeoOrigin.lat_deg, l_stGeoOrigin.lon_deg, l_stGeoOrigin.alt_m);
    }
    
    /* 计算当前ENU坐标 */
    if (l_stGeoOrigin.initialized == HIDO_TRUE)
    {
        Geo_GprmiToENU(&l_stGPRMI, &l_stGeoOrigin, l_fCurrentENU);
    }
}

static HIDO_VOID IM23A_HandleImuFrame(const HIDO_UINT8 *frame)
{
    if (IM23A_ValidateFrame(frame, IM23A_IMU_FRAME_LEN) == HIDO_FALSE)
    {
        return;
    }

    const HIDO_UINT8 *p = frame + IM23A_HEADER_LEN;

    double utc = IM23A_ReadDouble(p); p += 8U;
    float accel_x = IM23A_ReadFloat(p); p += 4U;
    float accel_y = IM23A_ReadFloat(p); p += 4U;
    float accel_z = IM23A_ReadFloat(p); p += 4U;
    float gyro_x = IM23A_ReadFloat(p); p += 4U;
    float gyro_y = IM23A_ReadFloat(p); p += 4U;
    float gyro_z = IM23A_ReadFloat(p); p += 4U;
    (void)IM23A_ReadFloat(p); p += 4U;
    (void)IM23A_ReadFloat(p); p += 4U;
    (void)IM23A_ReadFloat(p);

    memset(&l_stGPIMU, 0, sizeof(ST_GPIMU));
    l_stGPIMU.m_u32UTCTime = IM23A_ConvertTime(utc, IM23A_IMU_TIME_SCALE);
    l_stGPIMU.m_fAccelX = accel_x;
    l_stGPIMU.m_fAccelY = accel_y;
    l_stGPIMU.m_fAccelZ = accel_z;
    l_stGPIMU.m_fGyroX = gyro_x;
    l_stGPIMU.m_fGyroY = gyro_y;
    l_stGPIMU.m_fGyroZ = gyro_z;
    l_stGPIMU.m_fTemperature = l_stGPRMI.m_fImuTemperature;
    l_stGPIMU.m_bValid = HIDO_TRUE;
}

static HIDO_VOID IM23A_HandleGigFrame(const HIDO_UINT8 *frame)
{
    if (IM23A_ValidateFrame(frame, IM23A_GIG_FRAME_LEN) == HIDO_FALSE)
    {
        return;
    }

    /* fmig协议解析：解析位置信息、解状态和差分龄期信息 */
    const HIDO_UINT8 *base = frame;

    /* 字段1: 时间 hhmmss.ss (double, 位置5) */
    double utc = IM23A_ReadDouble(&base[4]);

    /* 字段2: 纬度 (double, 位置13) */
    double latitude = IM23A_ReadDouble(&base[12]);

    /* 字段3: 经度 (double, 位置21) */
    double longitude = IM23A_ReadDouble(&base[20]);

    /* 字段14: HRMS (float, 位置73) */
    float hrms = IM23A_ReadFloat(&base[72]);

    /* 字段15: VRMS (float, 位置77) */
    float vrms = IM23A_ReadFloat(&base[76]);

    /* 字段16: HDOP (float, 位置81) */
    float hdop = IM23A_ReadFloat(&base[80]);

    /* 字段17: VDOP (float, 位置85) */
    float vdop = IM23A_ReadFloat(&base[84]);

    /* 字段18: 卫星数量 (uint8_t, 位置89) */
    HIDO_UINT8 sat_count = base[88];

    /* 字段19: 解状态 (uint8_t, 位置90) */
    HIDO_UINT8 sol_status = base[89];

    /* 字段20: 差分龄期 (uint8_t, 位置91) */
    HIDO_UINT8 diff_age = base[90];

    /* 更新GPGIG结构体，包含位置信息 */
    memset(&l_stGPGIG, 0, sizeof(ST_GPGIG));
    l_stGPGIG.m_u32UTCTime = IM23A_ConvertTime(utc, IM23A_GPS_TIME_SCALE);
    l_stGPGIG.m_dLatitude = latitude;
    l_stGPGIG.m_dLongitude = longitude;
    l_stGPGIG.m_u8SatelliteCount = sat_count;
    l_stGPGIG.m_u8SolutionStatus = sol_status;
    l_stGPGIG.m_u8DifferentialAge = diff_age;
    l_stGPGIG.m_fHRMS = hrms;
    l_stGPGIG.m_fVRMS = vrms;
    l_stGPGIG.m_fHDOP = hdop;
    l_stGPGIG.m_fVDOP = vdop;
    l_stGPGIG.m_bValid = HIDO_TRUE;

    /* 更新全局解状态（用于兼容旧代码） */
    l_u8PosState = sol_status;
}


static HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    ST_GPSRecv *parser = &l_stGPSRecv;

    if (parser->m_u32ExpectedLen == 0U)
    {
        if (parser->m_u32RecvLen == 0U)
        {
            if (_u8RecvChar == 'f')
            {
                parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;
            }
            return;
        }

        parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;

        if (parser->m_u32RecvLen == 2U && _u8RecvChar != 'm')
        {
            if (_u8RecvChar == 'f')
            {
                parser->m_au8Buffer[0] = 'f';
                parser->m_u32RecvLen = 1U;
            }
            else
            {
                IM23A_ResetParser(parser);
            }
            return;
        }

        if (parser->m_u32RecvLen == 3U && _u8RecvChar != 'i')
        {
            if (_u8RecvChar == 'f')
            {
                parser->m_au8Buffer[0] = 'f';
                parser->m_u32RecvLen = 1U;
            }
            else
            {
                IM23A_ResetParser(parser);
            }
            return;
        }

        if (parser->m_u32RecvLen == IM23A_HEADER_LEN)
        {
            if (memcmp(parser->m_au8Buffer, IM23A_NAV_HEADER, IM23A_HEADER_LEN) == 0)
            {
                parser->m_u32ExpectedLen = IM23A_NAV_FRAME_LEN;
            }
            else if (memcmp(parser->m_au8Buffer, IM23A_IMU_HEADER, IM23A_HEADER_LEN) == 0)
            {
                parser->m_u32ExpectedLen = IM23A_IMU_FRAME_LEN;
            }
            else if (memcmp(parser->m_au8Buffer, IM23A_GIG_HEADER, IM23A_HEADER_LEN) == 0)
            {
                parser->m_u32ExpectedLen = IM23A_GIG_FRAME_LEN;
            }
            else
            {
                HIDO_UINT8 restart = parser->m_au8Buffer[IM23A_HEADER_LEN - 1U];
                IM23A_ResetParser(parser);
                if (restart == 'f')
                {
                    parser->m_au8Buffer[0] = 'f';
                    parser->m_u32RecvLen = 1U;
                }
            }
        }
        return;
    }

    if (parser->m_u32RecvLen >= IM23A_MAX_FRAME_LEN)
    {
        IM23A_ResetParser(parser);
        return;
    }

    parser->m_au8Buffer[parser->m_u32RecvLen++] = _u8RecvChar;

    if (parser->m_u32RecvLen == parser->m_u32ExpectedLen)
    {
        IM23A_HandleFrame(parser->m_au8Buffer, parser->m_u32ExpectedLen);
        IM23A_ResetParser(parser);
    }
}

/*******************************************************************************
 * Function Name     : GPS_Rest
 * Description       : GPS��λ
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
static HIDO_VOID GPS_Rest(void)
{
    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
    vTaskDelay(pdMS_TO_TICKS(10));
    GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
    vTaskDelay(pdMS_TO_TICKS(10));
    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
}

/*******************************************************************************
 * Function Name     : GPS_PowerOn
 * Description       : GPS�ϵ�
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
static HIDO_VOID GPS_PowerOn(void)
{
    GPIO_SET(&l_astGPSPin[GPS_PIN_EN]);
}

/*******************************************************************************
 * Function Name     : GPS_PowerOff
 * Description       : GPS����
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
HIDO_VOID GPS_PowerOff(void)
{
    GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
}

/*******************************************************************************
 *                             Global Function                                 *
 *******************************************************************************/

/*******************************************************************************
 * Function Name     : GPS_GetState
 * Description       : ��ȡGPS��λ״̬
 * Input             : None
 * Output            : None
 * Return            : ��λ״̬ 0 1 2 3
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
HIDO_UINT8 GPS_GetState(HIDO_VOID)
{
    return l_u8PosState;
}

/*******************************************************************************
 * Function Name     : GPS_PinRegister
 * Description       : GPSģ��ܽ�ע��
 * Input             : _ePin �ܽŶ���
 *                   : _pstGPIOx GPIOx
 *                   : _u16GPIOPin GPIO_PIN_x
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
HIDO_VOID GPS_PinRegister(E_GPSPin _ePin, GPIO_TypeDef *_pstGPIOx, HIDO_UINT16 _u16GPIOPin)
{
    l_astGPSPin[_ePin].m_pstGPIOx = _pstGPIOx;
    l_astGPSPin[_ePin].m_u16GPIOPin = _u16GPIOPin;
}

/*******************************************************************************
 * Function Name     : GPS_Poll
 * Description       : GPS轮询，读取UART数据并送入IM23A解析器
 *******************************************************************************/
HIDO_VOID GPS_Poll(void)
{
    HIDO_UINT8 u8RecvChar = 0U;

    while (Uart_GetChar(UART_ID_GPS, &u8RecvChar) == HIDO_OK)
    {
        GPS_RecvFsm(u8RecvChar);
    }
}

/*******************************************************************************
 * Function Name     : GPS_Init
 * Description       : GPSģ���ʼ��
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021��1��8��
 *******************************************************************************/
HIDO_VOID GPS_Init(void)
{
    GPS_PowerOn();
    GPS_Rest();

    ST_UartInit stInit;

    stInit.m_eRxMode = UART_RX_MODE_DMA;
    stInit.m_eTxMode = UART_TX_MODE_DMA;
    stInit.m_pu8RxBuf = l_au8GPSUartRxBuf;
    stInit.m_u32RxBufSize = GPS_UART_RX_BUF_SIZE;
    stInit.m_pu8TxBuf = l_au8GPSUartTxBuf;
    stInit.m_u32TxBufSize = GPS_UART_TX_BUF_SIZE;
    stInit.m_u32TxQueueMemberCnt = 2;
    Uart_Init(UART_ID_GPS, &stInit);

    IM23A_ResetParser(&l_stGPSRecv);
    Uart_ReConfigBaudRate(UART_ID_GPS, 115200);
    
    /* 延时等待GPS模块启动完成 */
    vTaskDelay(pdMS_TO_TICKS(1000));
    
    /* 发送AT命令配置GPS模块输出到UART2 */
    const HIDO_CHAR *at_cmd = "AT+GNSS_OUTPUT=UART2,ON\r\n";
    Uart_Send(UART_ID_GPS, (HIDO_UINT8 *)at_cmd, strlen(at_cmd));
    vTaskDelay(pdMS_TO_TICKS(100));
     const HIDO_CHAR *at_cmd2 = "AT+SAVE_ALL\r\n";
    Uart_Send(UART_ID_GPS, (HIDO_UINT8 *)at_cmd2, strlen(at_cmd2));
    /* 等待GPS模块响应 */
    vTaskDelay(pdMS_TO_TICKS(100));
}

/*******************************************************************************
 * Function Name     : GPS_GetGPRMI
 * Description       : 获取最新的GPRMI数据
 * Input             : _pstGPRMI - 存储GPRMI数据的结构体指针
 * Output            : None
 * Return            : HIDO_OK - 成功, HIDO_ERR - 失败或数据无效
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年11月11日
 *******************************************************************************/
HIDO_INT32 GPS_GetGPRMI(ST_GPRMI *_pstGPRMI)
{
    if (_pstGPRMI == HIDO_NULL)
    {
        return HIDO_ERR;
    }
    
    if (l_stGPRMI.m_bValid == HIDO_FALSE)
    {
        return HIDO_ERR;
    }
    
    memcpy(_pstGPRMI, &l_stGPRMI, sizeof(ST_GPRMI));
    
    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_GetGPIMU
 * Description       : 获取最新的GPIMU数据
 * Input             : _pstGPIMU - 存储GPIMU数据的结构体指针
 * Output            : None
 * Return            : HIDO_OK - 成功, HIDO_ERR - 失败或数据无效
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年11月11日
 *******************************************************************************/
HIDO_INT32 GPS_GetGPIMU(ST_GPIMU *_pstGPIMU)
{
    if (_pstGPIMU == HIDO_NULL)
    {
        return HIDO_ERR;
    }
    
    if (l_stGPIMU.m_bValid == HIDO_FALSE)
    {
        return HIDO_ERR;
    }
    
    memcpy(_pstGPIMU, &l_stGPIMU, sizeof(ST_GPIMU));
    
    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_GetCurrentENU
 * Description       : 获取当前ENU坐标（相对于开机后第一个固定解）
 * Input             : _enu - 存储ENU坐标的数组指针 [东, 北, 天]
 * Output            : None
 * Return            : HIDO_OK - 成功, HIDO_ERR - 失败或原点未初始化
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月3日
 *******************************************************************************/
HIDO_INT32 GPS_GetCurrentENU(float _enu[3])
{
    if (_enu == HIDO_NULL)
    {
        return HIDO_ERR;
    }
    
    if (l_stGeoOrigin.initialized == HIDO_FALSE)
    {
        _enu[0] = 0.0f;
        _enu[1] = 0.0f;
        _enu[2] = 0.0f;
        return HIDO_ERR;
    }
    
    _enu[0] = l_fCurrentENU[0];
    _enu[1] = l_fCurrentENU[1];
    _enu[2] = l_fCurrentENU[2];
    
    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_GetGPGIG
 * Description       : 获取最新的GPGIG数据（fmig报文，解状态和差分龄期）
 * Input             : _pstGPGIG - 存储GPGIG数据的结构体指针
 * Output            : None
 * Return            : HIDO_OK - 成功, HIDO_ERR - 失败或数据无效
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月3日
 *******************************************************************************/
HIDO_INT32 GPS_GetGPGIG(ST_GPGIG *_pstGPGIG)
{
    if (_pstGPGIG == HIDO_NULL)
    {
        return HIDO_ERR;
    }
    
    if (l_stGPGIG.m_bValid == HIDO_FALSE)
    {
        return HIDO_ERR;
    }
    
    memcpy(_pstGPGIG, &l_stGPGIG, sizeof(ST_GPGIG));
    
    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_ConvertLatToDDMM
 * Description       : 将纬度从度数格式转换为度分格式
 * Input             : _dLatDeg - 纬度(度)，正数为北纬，负数为南纬
 *                   : _pcSign - 输出符号字符 'N' 或 'S'
 * Output            : _pcSign
 * Return            : 度分格式值 (ddmm.mmmm)
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月4日
 *******************************************************************************/
static HIDO_DOUBLE GPS_ConvertLatToDDMM(HIDO_DOUBLE _dLatDeg, HIDO_CHAR *_pcSign)
{
    HIDO_DOUBLE absLat = (_dLatDeg < 0.0) ? -_dLatDeg : _dLatDeg;
    *_pcSign = (_dLatDeg >= 0.0) ? 'N' : 'S';
    
    HIDO_INT32 degrees = (HIDO_INT32)absLat;
    HIDO_DOUBLE minutes = (absLat - degrees) * 60.0;
    
    return (HIDO_DOUBLE)degrees * 100.0 + minutes;
}

/*******************************************************************************
 * Function Name     : GPS_ConvertLonToDDDMM
 * Description       : 将经度从度数格式转换为度分格式
 * Input             : _dLonDeg - 经度(度)，正数为东经，负数为西经
 *                   : _pcSign - 输出符号字符 'E' 或 'W'
 * Output            : _pcSign
 * Return            : 度分格式值 (dddmm.mmmm)
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月4日
 *******************************************************************************/
static HIDO_DOUBLE GPS_ConvertLonToDDDMM(HIDO_DOUBLE _dLonDeg, HIDO_CHAR *_pcSign)
{
    HIDO_DOUBLE absLon = (_dLonDeg < 0.0) ? -_dLonDeg : _dLonDeg;
    *_pcSign = (_dLonDeg >= 0.0) ? 'E' : 'W';
    
    HIDO_INT32 degrees = (HIDO_INT32)absLon;
    HIDO_DOUBLE minutes = (absLon - degrees) * 60.0;
    
    return (HIDO_DOUBLE)degrees * 100.0 + minutes;
}

/*******************************************************************************
 * Function Name     : GPS_CalculateNMEAChecksum
 * Description       : 计算NMEA协议校验和（XOR）
 * Input             : _pcData - 数据字符串（不包含$和*）
 *                   : _u32Len - 数据长度
 * Output            : None
 * Return            : 校验和（0-255）
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月4日
 *******************************************************************************/
static HIDO_UINT8 GPS_CalculateNMEAChecksum(const HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    HIDO_UINT8 checksum = 0U;
    for (HIDO_UINT32 i = 0U; i < _u32Len; i++)
    {
        checksum ^= (HIDO_UINT8)_pcData[i];
    }
    return checksum;
}

/*******************************************************************************
 * Function Name     : GPS_FormatGGA
 * Description       : 将fmin和fmig数据格式化为标准GGA报文（经纬度优先使用fmig数据）
 * Input             : _pstGPRMI - fmin数据
 *                   : _pstGPGIG - fmig数据（包含经纬度信息）
 *                   : _pcBuffer - 输出缓冲区
 *                   : _u32BufferSize - 缓冲区大小
 * Output            : _pcBuffer
 * Return            : 实际写入的字符数，失败返回0
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月4日
 *******************************************************************************/
HIDO_UINT32 GPS_FormatGGA(const ST_GPRMI *_pstGPRMI, const ST_GPGIG *_pstGPGIG, 
                                  HIDO_CHAR *_pcBuffer, HIDO_UINT32 _u32BufferSize)
{
    if (_pstGPRMI == HIDO_NULL || _pstGPGIG == HIDO_NULL || _pcBuffer == HIDO_NULL)
    {
        return 0U;
    }
    
    /* 转换UTC时间：厘秒(hhmmss.ss) → 字符串格式 */
    HIDO_UINT32 utc = _pstGPRMI->m_u32UTCTime;
    HIDO_UINT32 hh = utc / 1000000U;
    HIDO_UINT32 mm = (utc / 10000U) % 100U;
    HIDO_UINT32 ss = (utc / 100U) % 100U;
    HIDO_UINT32 cs = utc % 100U;
    
    /* 转换经纬度：优先使用fmig数据，度数 → 度分格式 */
    HIDO_CHAR latSign, lonSign;
    HIDO_DOUBLE latitude, longitude;

    /* 优先使用fmig中的经纬度信息 */
    if (_pstGPGIG->m_bValid && _pstGPGIG->m_dLatitude != 0.0 && _pstGPGIG->m_dLongitude != 0.0)
    {
        latitude = _pstGPGIG->m_dLatitude;
        longitude = _pstGPGIG->m_dLongitude;
    }
    else
    {
        /* fmig无效时回退到fmin数据 */
        latitude = _pstGPRMI->m_dLatitude;
        longitude = _pstGPRMI->m_dLongitude;
    }

    HIDO_DOUBLE latDDMM = GPS_ConvertLatToDDMM(latitude, &latSign);
    HIDO_DOUBLE lonDDDMM = GPS_ConvertLonToDDDMM(longitude, &lonSign);
    
    /* 构建GGA报文主体（不含$和校验和） */
    HIDO_CHAR ggaBody[256];
    HIDO_INT32 bodyLen = snprintf(ggaBody, sizeof(ggaBody),
        "GNGGA,%02u%02u%02u.%02u,%013.8f,%c,%014.8f,%c,%u,%02u,%.1f,%.1f,M,0.0,M,%.1f,",
        hh, mm, ss, cs,                           /* UTC时间 */
        latDDMM, latSign,                         /* 纬度 (8位小数) */
        lonDDDMM, lonSign,                        /* 经度 (8位小数) */
        (HIDO_UINT32)_pstGPGIG->m_u8SolutionStatus,  /* 定位质量 */
        (HIDO_UINT32)_pstGPGIG->m_u8SatelliteCount,  /* 卫星数量 */
        (double)_pstGPGIG->m_fHDOP,               /* HDOP */
        (double)_pstGPRMI->m_fAltitude,           /* 海拔 */
        (double)_pstGPGIG->m_u8DifferentialAge    /* 差分龄期 */
    );
    
    if (bodyLen <= 0 || bodyLen >= (HIDO_INT32)sizeof(ggaBody))
    {
        return 0U;
    }
    
    /* 计算校验和 */
    HIDO_UINT8 checksum = GPS_CalculateNMEAChecksum(ggaBody, (HIDO_UINT32)bodyLen);
    
    /* 组装完整GGA报文：$GPGGA,...*CS */
    HIDO_INT32 totalLen = snprintf(_pcBuffer, _u32BufferSize, "$%s*%02X", ggaBody, checksum);
    
    if (totalLen <= 0 || totalLen >= (HIDO_INT32)_u32BufferSize)
    {
        return 0U;
    }
    
    return (HIDO_UINT32)totalLen;
}

/*******************************************************************************
 * Function Name     : GPS_UploadGGA
 * Description       : 每秒上传一次GGA报文到4G（拼接fmin和fmig数据）
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : www.hido-studio.com
 * Modified Date:    : 2025年12月4日
 *******************************************************************************/
HIDO_VOID GPS_UploadGGA(HIDO_VOID)
{
    static HIDO_CHAR ggaBuffer[256];
    
    /* 检查fmin和fmig数据有效性 */
    if (l_stGPRMI.m_bValid == HIDO_FALSE || l_stGPGIG.m_bValid == HIDO_FALSE)
    {
        return;
    }
    
    /* 格式化GGA报文 */
    HIDO_UINT32 ggaLen = GPS_FormatGGA(&l_stGPRMI, &l_stGPGIG, ggaBuffer, sizeof(ggaBuffer));
    
    if (ggaLen > 0U)
    {
        /* 调用4G上传函数 */
        UDPClient_UploadGPS(ggaBuffer);
    }
}