#include "stdio.h"
#include "stdarg.h"
#include "stdlib.h"
#include "string.h"
#include "stm32l0xx_hal.h"
#include "math.h"
#include "HIDO_Util.h"
#include "HIDO_Debug.h"
#include "HIDO_Timer.h"

#include "GPS.h"
//#include "DBG.h"
//#include "GPIO.h"
//#include "Uart.h"
#include "Delay.h"
#include "WS2812.h"

#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
#include "dw_driver.h"
extern uint32_t uwbled,gpsled,loraled,powerled;
extern void Set4LEDColor_Off(void);
uint8_t GPS_final_data[128];
uint8_t GPS_final_changdu;
#define GPS_DBG(level, fmt, ...) HIDO_Debug(fmt, __VA_ARGS__)

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

typedef enum
{
    GPS_RECV_STATE_IDLE = 0,
    GPS_RECV_STATE_HEAD,
    GPS_RECV_STATE_CR,
    GPS_RECV_STATE_LF,
} E_GPSRecvState;

typedef struct
{
    E_GPSRecvState m_eState;
    HIDO_CHAR m_acRecvBuf[256];
    HIDO_UINT32 m_u32RecvLen;
} 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 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;

/* GPSÃüÁî */
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
 * Description       : GPSÊý¾Ý¸ñʽ¼ì²é
 * Input             : _pcData GPSÊý¾Ý
 *                   : _u32Len GPSÊý¾Ý³¤¶È
 * Output            : None
 * Return            : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
 *******************************************************************************/
static HIDO_INT32 GPS_DataCheck(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    HIDO_DataStruct stData;
    HIDO_DataStruct stCheckValue;
    HIDO_UINT8 u8CheckValue = 0;
    HIDO_UINT8 u8CalcValue = 0;
    HIDO_UINT32 i = 0;

    if(HIDO_UtilParseFormat((HIDO_UINT8 *)_pcData, _u32Len, "$%p*%p\r\n", &stData, &stCheckValue) != 2)
    {
        return HIDO_ERR;
    }

    u8CheckValue = HIDO_UtilHexStrBufToInt((HIDO_CHAR *)stCheckValue.m_pData, stCheckValue.m_u32Len);
    u8CalcValue = ((HIDO_UINT8 *)stData.m_pData)[0];
    for(i = 1; i < stData.m_u32Len; i++)
    {
        u8CalcValue ^= ((HIDO_UINT8 *)stData.m_pData)[i];
    }

    if(u8CalcValue != u8CheckValue)
    {
        return HIDO_ERR;
    }

    return HIDO_OK;
}
/*******************************************************************************
 * Function Name     : GPS_ParseTime
 * Description       :
 * Input             : None
 * Output            : None
 * Return            : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 ³É¹¦, HIDO_ERR ʧ°Ü
// * Author            : www.hido-studio.com
// * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
// *******************************************************************************/
//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 ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2022Äê5ÔÂ2ÈÕ
 *******************************************************************************/
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 GGAÊý¾Ý½âÎö(½ö¼ì²éÊý¾ÝÊÇ·ñÓÐЧ)
 * Input             : _pcData GGAÊý¾Ý
 *                   : _u32Len GGAÊý¾Ý³¤¶È
 * Output            : None
 * Return            : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
 *******************************************************************************/
uint32_t uwb_status_reg;
char _pcData_final[256];
extern uint8_t fangchai_flag;
extern uint8_t GPSchangdu;
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 stTime;//ʱ¼ä
    HIDO_DataStruct stLat;//ά¶È
    HIDO_DataStruct stLatSign;//ÄÏ/±±
    HIDO_DataStruct stLon;//¾­¶È
    HIDO_DataStruct stLonSign;//¶«/Î÷
    HIDO_DataStruct stPosState;//gps״̬
    HIDO_DataStruct stAlt;//º£°Î¸ß¶È
    HIDO_DataStruct stAltUnit;//¸ß¶Èµ¥Î»
    HIDO_DataStruct stMsl;//
    HIDO_DataStruct stDiffAge;//
    HIDO_DataStruct stWeixingshuliang;//ÎÀÐÇÊýÁ¿
    HIDO_DataStruct stChafenshijian;//²î·Öʱ¼ä
//    HIDO_DataStruct stPosState;
    static u8 gpsledstate;
    
    memset(&stGPS, 0, sizeof(ST_GPS));
    if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
    {
        return HIDO_ERR;
    }

//    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);//ΪÁËÆ´½ÓºóÃæµÄÊý¾Ý£¬É¾³ý\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);//ÓëÉ豸id£¬µçÁ¿£¬°æ±¾ºÅ£¬µÈ½øÐÐÆ´½Ó¡£
//    memcpy(&GPS_final_data, &_pcData, _u32Len);//gps×îºóÒ»°üµÄÊý¾Ý 
//    GPSchangdu=_u32Len;
//    memset(&GPS_final_data, 0, sizeof(GPS_final_data));
//    GPS_final_changdu=lora_u32Len;//gps×îºóÒ»°üµÄ³¤¶È
    if(*(char *)stPosState.m_pData != '0')//Èç¹ûÊdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
    {
    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//Èç¹û²»Êdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
    {      
        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;
}

/*******************************************************************************
 * Function Name     : GPS_RecvFsm
 * Description       : GPS Êý¾Ý½ÓÊÕ״̬»ú
 * Input             : _u8RecvChar Ò»¸ö½ÓÊÕ×Ö·û
 * Output            : None
 * Return            : one
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
// *******************************************************************************/
HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    switch (l_stGPSRecv.m_eState)
    {
        case GPS_RECV_STATE_IDLE:
        {
            if ('$' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
                l_stGPSRecv.m_u32RecvLen = 0;
                l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            }
            break;
        }
        case GPS_RECV_STATE_CR:
        {
            l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;

            if (l_stGPSRecv.m_u32RecvLen >= (sizeof(l_stGPSRecv.m_acRecvBuf) - 2))
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
                break;
            }

            if ('\r' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_LF;
            }

            break;
        }
        case GPS_RECV_STATE_LF:
        {
            if ('\n' == _u8RecvChar)
            {
            	l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            	l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen] = '\0';

            	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;
            	}
            }

            l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
            break;
        }
        default:
        {
            break;
        }
    }
}

///*******************************************************************************
// * Function Name     : GPS_Rest
// * Description       : GPS¸´Î»
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
// *******************************************************************************/
////static HIDO_VOID GPS_Rest(void)
////{
////    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
////    HAL_Delay(10);
////    GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
////    HAL_Delay(10);
////    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
////}

///*******************************************************************************
// * Function Name     : GPS_PowerOn
// * Description       : GPSÉϵç
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
// *******************************************************************************/
//HIDO_VOID GPS_PowerOn(void)
//{
//    l_bIsPowerOn = HIDO_TRUE;
////    GPIO_SET(&l_astGPSPin[GPS_PIN_EN]);
//}

///*******************************************************************************
// * Function Name     : GPS_PowerOff
// * Description       : GPSµôµç
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
// *******************************************************************************/
//HIDO_VOID GPS_PowerOff(void)
//{
//    l_bIsPowerOn = HIDO_FALSE;
////    GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
//}

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

///*******************************************************************************
// * Function Name     : GPS_PinRegister
// * Description       : GPSÄ£¿é¹Ü½Å×¢²á
// * Input             : _ePin ¹Ü½Å¶¨Òå
// *                   : _pstGPIOx GPIOx
// *                   : _u16GPIOPin GPIO_PIN_x
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
// *******************************************************************************/
//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       : GPSÂÖѯ´¦Àí
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// *******************************************************************************/
//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       : GPSÉèÖÃGPSʼþ»Øµ÷
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// *******************************************************************************/
//HIDO_VOID GPS_SetEventCallback(FN_GPSEventCallback _fnEventCallback)
//{
//    l_fnGPSEventCallback = _fnEventCallback;
//}

///*******************************************************************************
// * Function Name     : GPS_IsIdle
// * Description       : GPSÂÖѯ´¦Àí
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// *******************************************************************************/
////HIDO_BOOL GPS_IsIdle(void)
////{
////    if(l_bIsPowerOn)
////    {
////        return HIDO_FALSE;
////    }

////    return HIDO_TRUE;
////}

///*******************************************************************************
// * Function Name     : GPS_Init
// * Description       : GPSÄ£¿é³õʼ»¯
// * Input             : None
// * Output            : None
// * Return            : None
// * Author            : hido.ltd
// *******************************************************************************/
////HIDO_VOID GPS_Init(void)
////{
//////    GPS_PowerOn();
//////    GPS_Rest();

////    ST_UartInit stInit;

////    stInit.m_eRxMode = UART_RX_MODE_INT;
////    stInit.m_eTxMode = UART_TX_MODE_POLL;
////    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);

////    HIDO_UtilBzero(&l_stGPSRecv, sizeof(ST_GPSRecv));
////      HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);//À­g gps¸´Î»½Å
////}