generated from Template/H563ZI-HAL-CMake-Template
369 lines
9.9 KiB
C
369 lines
9.9 KiB
C
#include "gps.h"
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//#define TEST 1 //测试使用,去除的时候可以接触代码的调用
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#define parse 1 // 测试使用
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/**
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提示: 虽然 BLE 以及 GPS都是DMA+ UART接收，但是它们都有所不同
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BLE --- DMA + IDLE 中断 循环 DMA + 空闲中断触发处理 UART IDLE
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GPS --- DMA +固定长度 + TC中断 设置固定长度 DMA DMA传输完成中断
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**/
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//外部引入
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extern UART_HandleTypeDef huart2;
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extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
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//全局数据变量定义
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uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN]; //用于DMA接收缓冲
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_GPSData GPS;
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void GPS_Init(void)
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{
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HAL_UARTEx_ReceiveToIdle_IT(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
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// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
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}
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#ifdef parse
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// GPS数据解析
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//void parseGpsBuffer()
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//{
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// char *subString;
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// char *subStringNext;
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// char i = 0;
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//
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// if(GPS.isGetData)
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// {
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// GPS.isGetData = 0; // 把标志位置为1
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//
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// char usefullBuffer[2] = {0};
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// for(i = 0; i <= 6; i++)
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// {
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// if(i == 0)
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// {
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//
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// subString = strstr(GPS.GPS_Buffer,",");
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// if(!subString)return;
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// }
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// else
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// {
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// subString++;
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// subStringNext = strstr(subString,",");
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// if(!subStringNext)return;
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//
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// switch(i)
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// {
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// case 1:
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// memcpy(GPS.UTCTime,subString,subStringNext - subString);
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// break;
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// case 2:
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// memcpy(usefullBuffer,subString,subStringNext - subString);
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// break;
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// case 3:
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// memcpy(GPS.latitude,subString,subStringNext - subString);
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// break;
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// case 4:
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// memcpy(GPS.N_S,subString,subStringNext - subString);
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// break;
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// case 5:
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// memcpy(GPS.longitude,subString,subStringNext - subString);
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// break;
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// case 6:
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// memcpy(GPS.E_W,subString,subStringNext - subString);
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// break;
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// default:break;
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// }
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//
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// subString = subStringNext;
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// }
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//
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// }
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// GPS.isParseData = 1;
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// GPS.isUsefull = (usefullBuffer[0] == 'A') ? 1 : 0;
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// }
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//
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//}
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//void parseGpsBuffer(void)
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//{
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// if (!GPS.isGetData) return;
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// GPS.isGetData = 0;
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// /* ----------- 句型判别 ------------ */
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// const char *p = GPS.GPS_Buffer;
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// /* ★ RMC ----------------------------------------------------- */
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// if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6))
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// {
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// char status, lat[16], ns[3], lon[16], ew[3];
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// if (sscanf(p,
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// "$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
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// &status, lat, ns, lon, ew) == 5)
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// {
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// if (status == 'A') /* 定位有效 */
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// {
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// strcpy(GPS.latitude, lat);
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// strcpy(GPS.N_S, ns);
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// strcpy(GPS.longitude, lon);
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// strcpy(GPS.E_W, ew);
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// GPS.isParseData = 1;
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// GPS.isUsefull = 1;
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// }
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// }
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// return;
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// }
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// /* ★ GGA ----------------------------------------------------- */
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// if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6))
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// {
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// int q; char lat[16], ns[3], lon[16], ew[3];
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// if (sscanf(p,
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// "$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
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// lat, ns, lon, ew, &q) == 5)
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// {
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// if (q > 0) /* q=0 无定位 */
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// {
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// strcpy(GPS.latitude, lat);
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// strcpy(GPS.N_S, ns);
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// strcpy(GPS.longitude, lon);
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// strcpy(GPS.E_W, ew);
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// GPS.isParseData = 1;
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// GPS.isUsefull = 1;
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// }
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// }
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// return;
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// }
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// /* ★ GLL ----------------------------------------------------- */
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// if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6))
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// {
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// char status, lat[16], ns[3], lon[16], ew[3];
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// if (sscanf(p,
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// "$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
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// lat, ns, lon, ew, &status) == 5)
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// {
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// if (status == 'A')
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// {
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// strcpy(GPS.latitude, lat);
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// strcpy(GPS.N_S, ns);
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// strcpy(GPS.longitude, lon);
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// strcpy(GPS.E_W, ew);
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// GPS.isParseData = 1;
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// GPS.isUsefull = 1;
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// }
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// }
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// }
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//}
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/* === ① 行缓存区 & 推送函数 === */
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static char line_buf[GPS_Buffer_Length];
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static uint16_t line_w = 0;
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void GPS_LinePush(uint8_t ch)
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{
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if (ch == '\n') { /* 正常行结束 */
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line_buf[line_w] = '\0';
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/* A. 如果不是 '$' 开头，说明它只是上一句的后半截 → 直接拼接 */
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if (line_buf[0] != '$' && GPS.isGetData == 0 && GPS.GPS_Buffer[0] == '$')
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{
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strncat(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length - strlen(GPS.GPS_Buffer) - 1);
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}
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else /* B. 正常完整新句 */
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{
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strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
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}
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line_w = 0;
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GPS.isGetData = 1;
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tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
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return;
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}
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}
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/* === ② 新解析器：只要经纬度 === */
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void parseGpsBuffer(void)
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{
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if (!GPS.isGetData) return;
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GPS.isGetData = 0;
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GPS.isParseData = 0;
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GPS.isUsefull = 0;
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const char *p = GPS.GPS_Buffer;
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/* ---- $GxRMC ---- */
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if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6)) {
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char s, lat[16], ns[3], lon[16], ew[3];
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if (sscanf(p,
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"$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
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&s, lat, ns, lon, ew) == 5 && s == 'A') {
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strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
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strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
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GPS.isParseData = GPS.isUsefull = 1;
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}
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return;
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}
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/* ---- $GxGGA ---- */
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if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6)) {
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int q; char lat[16], ns[3], lon[16], ew[3];
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if (sscanf(p,
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"$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
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lat, ns, lon, ew, &q) == 5 && q > 0) {
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strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
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strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
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GPS.isParseData = GPS.isUsefull = 1;
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}
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return;
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}
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/* ---- $GxGLL ---- */
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if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6)) {
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char s, lat[16], ns[3], lon[16], ew[3];
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if (sscanf(p,
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"$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
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lat, ns, lon, ew, &s) == 5 && s == 'A') {
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strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
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strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
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GPS.isParseData = GPS.isUsefull = 1;
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}
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}
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}
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#else // 这里是对于改进后的parse 解析 两个都需要进行测试
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void parseGpsBuffer()
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{
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char *fields[7];
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char *token;
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int fieldIndex = 0;
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if (GPS.isGetData)
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{
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GPS.isGetData = 0; // 把标志位置为0
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token = strtok(GPS.GPS_Buffer, ",");
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while (token != NULL && fieldIndex < 7)
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{
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fields[fieldIndex++] = token;
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token = strtok(NULL, ",");
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}
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if (fieldIndex == 7)
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{
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memcpy(GPS.UTCTime, fields[1], sizeof(GPS.UTCTime) - 1);
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GPS.UTCTime[sizeof(GPS.UTCTime) - 1] = '\0';
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memcpy(GPS.latitude, fields[3], sizeof(GPS.latitude) - 1);
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GPS.latitude[sizeof(GPS.latitude) - 1] = '\0';
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memcpy(GPS.N_S, fields[4], sizeof(GPS.N_S) - 1);
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GPS.N_S[sizeof(GPS.N_S) - 1] = '\0';
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memcpy(GPS.longitude, fields[5], sizeof(GPS.longitude) - 1);
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GPS.longitude[sizeof(GPS.longitude) - 1] = '\0';
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memcpy(GPS.E_W, fields[6], sizeof(GPS.E_W) - 1);
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GPS.E_W[sizeof(GPS.E_W) - 1] = '\0';
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GPS.isParseData = 1;
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GPS.isUsefull = (fields[2][0] == 'A') ? 1 : 0;
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}
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}
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}
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/*
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改进点总结
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使用 strtok 进行分隔：
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更加简洁地分割字符串。
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数组存储字段：
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使用数组存储每个字段的指针，减少重复代码。
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边界检查：
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确保字段数量足够，避免数组越界。
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字符串截断：
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确保复制的字符串以 null 结尾，避免潜在的字符串处理问题。
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*/
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#endif
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// 转换角度
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double Convert_to_degrees(char *data)
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{
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double temp = atof(data);
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int deg = (int)(temp / 100);
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double min = temp - deg * 100;
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return deg + (min / 60.0);
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}
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// 串口数据清除
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void GPS_Data_CLR(void)
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{
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memset(GPS_DMA_RX_BUF,0,GPS_DMA_RX_BUF_LEN);
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}
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//void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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//{
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// if(huart->Instance == USART2)
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// {
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// // 根据 Size 拷贝接收到的数据
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// memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
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// GPS.GPS_Buffer[Size] = '\0';
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// GPS.isGetData = 1; //数据接收标志位置为1
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//
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// tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
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// //重新开启接收
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// HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
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// }
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//
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//}
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// 如果需要使用到ThreadX 就把gps.h中的 TEST 宏定义加入
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#ifdef TEST
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void gps_thread_entry(ULONG thread_input)
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{
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GPS_Init();
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static int gps_first_fix_sent = 0;
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BleMessage msg;
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while (1)
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{
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ULONG events;
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tx_event_flags_get(&system_events, EVENT_GPS_DATA_READY, TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
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parseGpsBuffer();
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// HCBle_SendData("[GPS] isGetData=%d, isParseData=%d, isUsefull=%d, Buffer=%s\r\n",
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// GPS.isGetData, GPS.isParseData, GPS.isUsefull, GPS.GPS_Buffer);
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if (GPS.isParseData && GPS.isUsefull)
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{
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current_location.lat = Convert_to_degrees(GPS.latitude);
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current_location.lon = Convert_to_degrees(GPS.longitude);
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tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR);
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// msg.lat = current_location.lat;
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// msg.lon = current_location.lon;
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// snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
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// current_location.lat,
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// current_location.lon,
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// current_location.angle);
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BleMessage msg = current_location;
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tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
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}
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}
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}
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#endif
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