Initial commit: TC264 smart car project with IPS200 menu system
- IPS200 display menu with real-time status and parameter settings - Camera image processing and line tracking - IMU attitude solution and PID control - WiFi SPI oscilloscope data transmission
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/*********************************************************************************************************************
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* TC264 Opensourec Library 即（TC264 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是 TC264 开源库的一部分
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*
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* TC264 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
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* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 zf_device_gnss
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 ADS v1.10.2
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* 适用平台 TC264D
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2023-12-28 pudding first version
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* 2024-01-30 pudding 新增RTK "D" 报头协议
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********************************************************************************************************************/
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/*********************************************************************************************************************
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* 接线定义：
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* ------------------------------------
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* 模块管脚 单片机管脚
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* RX 查看 zf_device_gnss.h 中 GNSS_RX 宏定义
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* TX 查看 zf_device_gnss.h 中 GNSS_TX 宏定义
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* VCC 3.3V电源
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* GND 电源地
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* ------------------------------------
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********************************************************************************************************************/
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#include "math.h"
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#include "zf_common_function.h"
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#include "zf_common_fifo.h"
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#include "zf_driver_delay.h"
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#include "zf_driver_uart.h"
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#include "zf_device_gnss.h"
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#define GNSS_BUFFER_SIZE ( 128 )
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uint8 gnss_flag = 0; // 1：采集完成等待处理数据 0：没有采集完成
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gnss_info_struct gnss; // GPS解析之后的数据
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static uint8 gnss_state = 0; // 1：GPS初始化完成
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static fifo_struct gnss_receiver_fifo; //
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static uint8 gnss_receiver_buffer[GNSS_BUFFER_SIZE]; // 数据存放数组
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static gps_state_enum gnss_gga_state = GPS_STATE_RECEIVING; // gga 语句状态
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static gps_state_enum gnss_rmc_state = GPS_STATE_RECEIVING; // rmc 语句状态
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static gps_state_enum gnss_ths_state = GPS_STATE_RECEIVING; // rmc 语句状态
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static uint8 gps_gga_buffer[GNSS_BUFFER_SIZE];
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static uint8 gps_rmc_buffer[GNSS_BUFFER_SIZE];
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static uint8 gps_ths_buffer[GNSS_BUFFER_SIZE];
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 获取指定 ',' 后面的索引
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// 参数说明 num 第几个逗号
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// 参数说明 *str 字符串
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// 返回参数 uint8 返回索引
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// 使用示例 get_parameter_index(1, s);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 get_parameter_index (uint8 num, char *str)
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{
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uint8 i = 0, j = 0;
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char *temp = strchr(str, '\n');
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uint8 len = 0, len1 = 0;
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if(NULL != temp)
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{
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len = (uint8)((uint32)temp - (uint32)str + 1);
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}
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for(i = 0; i < len; i ++)
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{
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if(',' == str[i])
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{
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j ++;
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}
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if(j == num)
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{
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len1 = i + 1;
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break;
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}
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}
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return len1;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 给定字符串第一个 ',' 之前的数据转换为int
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// 参数说明 *s 字符串
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// 返回参数 float 返回数值
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// 使用示例 get_int_number(&buf[get_parameter_index(7, buf)]);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static int get_int_number (char *s)
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{
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char buf[10];
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uint8 i = 0;
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int return_value = 0;
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i = get_parameter_index(1, s);
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i = i - 1;
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strncpy(buf, s, i);
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buf[i] = 0;
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return_value = func_str_to_int(buf);
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return return_value;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 给定字符串第一个 ',' 之前的数据转换为float
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// 参数说明 *s 字符串
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// 返回参数 float 返回数值
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// 使用示例 get_float_number(&buf[get_parameter_index(8, buf)]);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static float get_float_number (char *s)
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{
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uint8 i = 0;
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char buf[15];
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float return_value = 0;
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i = get_parameter_index(1, s);
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i = i - 1;
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strncpy(buf, s, i);
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buf[i] = 0;
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return_value = (float)func_str_to_double(buf);
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return return_value;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 给定字符串第一个 ',' 之前的数据转换为double
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// 参数说明 *s 字符串
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// 返回参数 double 返回数值
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// 使用示例 get_double_number(&buf[get_parameter_index(3, buf)]);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static double get_double_number (char *s)
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{
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uint8 i = 0;
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char buf[15];
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double return_value = 0;
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i = get_parameter_index(1, s);
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i = i - 1;
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strncpy(buf, s, i);
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buf[i] = 0;
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return_value = func_str_to_double(buf);
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return return_value;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 世界时间转换为北京时间
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// 参数说明 *time 保存的时间
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// 返回参数 void
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// 使用示例 utc_to_btc(&gnss->time);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static void utc_to_btc (gps_time_struct *time)
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{
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uint8 day_num = 0;
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time->hour = time->hour + 8;
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if(23 < time->hour)
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{
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time->hour -= 24;
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time->day += 1;
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if(2 == time->month)
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{
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day_num = 28;
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if((0 == time->year % 4 && 0 != time->year % 100) || 0 == time->year % 400) // 判断是否为闰年
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{
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day_num ++; // 闰月 2月为29天
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}
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}
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else
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{
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day_num = 31; // 1 3 5 7 8 10 12这些月份为31天
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if(4 == time->month || 6 == time->month || 9 == time->month || 11 == time->month )
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{
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day_num = 30;
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}
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}
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if(time->day > day_num)
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{
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time->day = 1;
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time->month ++;
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if(12 < time->month)
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{
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time->month -= 12;
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time->year ++;
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}
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}
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 RMC语句解析
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// 参数说明 *line 接收到的语句信息
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// 参数说明 *gnss 保存解析后的数据
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// 返回参数 uint8 1：解析成功 0：数据有问题不能解析
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// 使用示例 gps_gnrmc_parse((char *)data_buffer, &gnss);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 gps_gnrmc_parse (char *line, gnss_info_struct *gnss)
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{
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uint8 state = 0, temp = 0;
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double latitude = 0; // 纬度
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double longitude = 0; // 经度
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double lati_cent_tmp = 0, lati_second_tmp = 0;
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double long_cent_tmp = 0, long_second_tmp = 0;
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float speed_tmp = 0;
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char *buf = line;
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uint8 return_state = 0;
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state = buf[get_parameter_index(2, buf)];
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if('A' == state || 'D' == state) // 如果数据有效 则解析数据
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{
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return_state = 1;
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gnss->state = 1;
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gnss -> ns = buf[get_parameter_index(4, buf)];
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gnss -> ew = buf[get_parameter_index(6, buf)];
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latitude = get_double_number(&buf[get_parameter_index(3, buf)]);
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longitude = get_double_number(&buf[get_parameter_index(5, buf)]);
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gnss->latitude_degree = (int)latitude / 100; // 纬度转换为度分秒
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lati_cent_tmp = (latitude - gnss->latitude_degree * 100);
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gnss->latitude_cent = (int)lati_cent_tmp;
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lati_second_tmp = (lati_cent_tmp - gnss->latitude_cent) * 6000;
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gnss->latitude_second = (int)lati_second_tmp;
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gnss->longitude_degree = (int)longitude / 100; // 经度转换为度分秒
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long_cent_tmp = (longitude - gnss->longitude_degree * 100);
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gnss->longitude_cent = (int)long_cent_tmp;
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long_second_tmp = (long_cent_tmp - gnss->longitude_cent) * 6000;
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gnss->longitude_second = (int)long_second_tmp;
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gnss->latitude = gnss->latitude_degree + lati_cent_tmp / 60;
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gnss->longitude = gnss->longitude_degree + long_cent_tmp / 60;
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speed_tmp = get_float_number(&buf[get_parameter_index(7, buf)]); // 速度(海里/小时)
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gnss->speed = speed_tmp * 1.85f; // 转换为公里/小时
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gnss->direction = get_float_number(&buf[get_parameter_index(8, buf)]); // 角度
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}
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else
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{
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gnss->state = 0;
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}
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// 在定位没有生效前也是有时间数据的，可以直接解析
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gnss->time.hour = (buf[7] - '0') * 10 + (buf[8] - '0'); // 时间
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gnss->time.minute = (buf[9] - '0') * 10 + (buf[10] - '0');
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gnss->time.second = (buf[11] - '0') * 10 + (buf[12] - '0');
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temp = get_parameter_index(9, buf);
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gnss->time.day = (buf[temp + 0] - '0') * 10 + (buf[temp + 1] - '0'); // 日期
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gnss->time.month = (buf[temp + 2] - '0') * 10 + (buf[temp + 3] - '0');
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gnss->time.year = (buf[temp + 4] - '0') * 10 + (buf[temp + 5] - '0') + 2000;
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utc_to_btc(&gnss->time);
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return return_state;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 GGA语句解析
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// 参数说明 *line 接收到的语句信息
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// 参数说明 *gnss 保存解析后的数据
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// 返回参数 uint8 1：解析成功 0：数据有问题不能解析
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// 使用示例 gps_gngga_parse((char *)data_buffer, &gnss);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 gps_gngga_parse (char *line, gnss_info_struct *gnss)
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{
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uint8 state = 0;
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char *buf = line;
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uint8 return_state = 0;
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state = buf[get_parameter_index(2, buf)];
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if(',' != state)
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{
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gnss->satellite_used = (uint8)get_int_number(&buf[get_parameter_index(7, buf)]);
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gnss->height = get_float_number(&buf[get_parameter_index(9, buf)]) + get_float_number(&buf[get_parameter_index(11, buf)]); // 高度 = 海拔高度 + 地球椭球面相对大地水准面的高度
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return_state = 1;
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}
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return return_state;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 THS语句解析
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// 参数说明 *line 接收到的语句信息
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// 参数说明 *gnss 保存解析后的数据
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// 返回参数 uint8 1：解析成功 0：数据有问题不能解析
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// 使用示例 gps_gnths_parse((char *)data_buffer, &gnss);
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// 备注信息 内部使用
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 gps_gnths_parse (char *line, gnss_info_struct *gnss)
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{
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uint8 state = 0;
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char *buf = line;
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uint8 return_state = 0;
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state = buf[get_parameter_index(2, buf)];
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if('A' == state)
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{
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gnss->antenna_direction_state = 1;
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gnss->antenna_direction = get_float_number(&buf[get_parameter_index(1, buf)]);
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return_state = 1;
|
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}
|
||||
else
|
||||
{
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gnss->antenna_direction_state = 0;
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}
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||||
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return return_state;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 计算从第一个点到第二个点的距离
|
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// 参数说明 latitude1 第一个点的纬度
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// 参数说明 longitude1 第一个点的经度
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||||
// 参数说明 latitude2 第二个点的纬度
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||||
// 参数说明 longitude2 第二个点的经度
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// 返回参数 double 返回两点距离
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||||
// 使用示例 get_two_points_distance(latitude1_1, longitude1, latitude2, longitude2);
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||||
// 备注信息
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||||
//-------------------------------------------------------------------------------------------------------------------
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||||
double get_two_points_distance (double latitude1, double longitude1, double latitude2, double longitude2)
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||||
{
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const double EARTH_RADIUS = 6378137; // 地球半径(单位：m)
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double rad_latitude1 = 0;
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double rad_latitude2 = 0;
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double rad_longitude1 = 0;
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double rad_longitude2 = 0;
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double distance = 0;
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double a = 0;
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double b = 0;
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rad_latitude1 = ANGLE_TO_RAD(latitude1); // 根据角度计算弧度
|
||||
rad_latitude2 = ANGLE_TO_RAD(latitude2);
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rad_longitude1 = ANGLE_TO_RAD(longitude1);
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rad_longitude2 = ANGLE_TO_RAD(longitude2);
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a = rad_latitude1 - rad_latitude2;
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b = rad_longitude1 - rad_longitude2;
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||||
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distance = 2 * asin(sqrt(pow(sin(a / 2), 2) + cos(rad_latitude1) * cos(rad_latitude2) * pow(sin(b / 2), 2))); // google maps 里面实现的算法
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||||
distance = distance * EARTH_RADIUS;
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||||
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||||
return distance;
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 计算从第一个点到第二个点的方位角
|
||||
// 参数说明 latitude1 第一个点的纬度
|
||||
// 参数说明 longitude1 第一个点的经度
|
||||
// 参数说明 latitude2 第二个点的纬度
|
||||
// 参数说明 longitude2 第二个点的经度
|
||||
// 返回参数 double 返回方位角（0至360）
|
||||
// 使用示例 get_two_points_azimuth(latitude1_1, longitude1, latitude2, longitude2);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
double get_two_points_azimuth (double latitude1, double longitude1, double latitude2, double longitude2)
|
||||
{
|
||||
latitude1 = ANGLE_TO_RAD(latitude1);
|
||||
latitude2 = ANGLE_TO_RAD(latitude2);
|
||||
longitude1 = ANGLE_TO_RAD(longitude1);
|
||||
longitude2 = ANGLE_TO_RAD(longitude2);
|
||||
|
||||
double x = sin(longitude2 - longitude1) * cos(latitude2);
|
||||
double y = cos(latitude1) * sin(latitude2) - sin(latitude1) * cos(latitude2) * cos(longitude2 - longitude1);
|
||||
double angle = RAD_TO_ANGLE(atan2(x, y));
|
||||
return ((0 < angle) ? angle : (angle + 360));
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 解析GPS数据
|
||||
// 参数说明 void
|
||||
// 返回参数 uint8 0-解析成功 1-解析失败 可能数据包错误
|
||||
// 使用示例 gps_data_parse();
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint8 gnss_data_parse (void)
|
||||
{
|
||||
uint8 return_state = 0;
|
||||
uint8 check_buffer[5] = {'0', 'x', 0x00, 0x00, 0x00};
|
||||
uint8 bbc_xor_origin = 0;
|
||||
uint8 bbc_xor_calculation = 0;
|
||||
uint32 data_len = 0;
|
||||
|
||||
do
|
||||
{
|
||||
if(GPS_STATE_RECEIVED == gnss_rmc_state)
|
||||
{
|
||||
gnss_rmc_state = GPS_STATE_PARSING;
|
||||
strncpy((char *)&check_buffer[2], strchr((const char *)gps_rmc_buffer, '*') + 1, 2);
|
||||
bbc_xor_origin = (uint8)func_str_to_hex((char *)check_buffer);
|
||||
for(bbc_xor_calculation = gps_rmc_buffer[1], data_len = 2; '*' != gps_rmc_buffer[data_len]; data_len ++)
|
||||
{
|
||||
bbc_xor_calculation ^= gps_rmc_buffer[data_len];
|
||||
}
|
||||
if(bbc_xor_calculation != bbc_xor_origin)
|
||||
{
|
||||
// 数据校验失败
|
||||
return_state = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
gps_gnrmc_parse((char *)gps_rmc_buffer, &gnss);
|
||||
}
|
||||
gnss_rmc_state = GPS_STATE_RECEIVING;
|
||||
|
||||
if(GPS_STATE_RECEIVED == gnss_gga_state)
|
||||
{
|
||||
gnss_gga_state = GPS_STATE_PARSING;
|
||||
strncpy((char *)&check_buffer[2], strchr((const char *)gps_gga_buffer, '*') + 1, 2);
|
||||
bbc_xor_origin = (uint8)func_str_to_hex((char *)check_buffer);
|
||||
|
||||
for(bbc_xor_calculation = gps_gga_buffer[1], data_len = 2; '*' != gps_gga_buffer[data_len]; data_len ++)
|
||||
{
|
||||
bbc_xor_calculation ^= gps_gga_buffer[data_len];
|
||||
}
|
||||
if(bbc_xor_calculation != bbc_xor_origin)
|
||||
{
|
||||
// 数据校验失败
|
||||
return_state = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
gps_gngga_parse((char *)gps_gga_buffer, &gnss);
|
||||
}
|
||||
gnss_gga_state = GPS_STATE_RECEIVING;
|
||||
|
||||
if(GPS_STATE_RECEIVED == gnss_ths_state)
|
||||
{
|
||||
gnss_ths_state = GPS_STATE_PARSING;
|
||||
strncpy((char *)&check_buffer[2], strchr((const char *)gps_ths_buffer, '*') + 1, 2);
|
||||
bbc_xor_origin = (uint8)func_str_to_hex((char *)check_buffer);
|
||||
|
||||
for(bbc_xor_calculation = gps_ths_buffer[1], data_len = 2; '*' != gps_ths_buffer[data_len]; data_len ++)
|
||||
{
|
||||
bbc_xor_calculation ^= gps_ths_buffer[data_len];
|
||||
}
|
||||
if(bbc_xor_calculation != bbc_xor_origin)
|
||||
{
|
||||
// 数据校验失败
|
||||
return_state = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
gps_gnths_parse((char *)gps_ths_buffer, &gnss);
|
||||
}
|
||||
gnss_ths_state = GPS_STATE_RECEIVING;
|
||||
|
||||
}while(0);
|
||||
return return_state;
|
||||
}
|
||||
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 GPS串口回调函数
|
||||
// 参数说明 void
|
||||
// 返回参数 void
|
||||
// 使用示例 gps_uart_callback();
|
||||
// 备注信息 此函数需要在串口接收中断内进行调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void gnss_uart_callback (void)
|
||||
{
|
||||
uint8 temp_gps[6];
|
||||
uint32 temp_length = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
if(gnss_state)
|
||||
{
|
||||
uint8 dat;
|
||||
while(uart_query_byte(GNSS_UART, &dat))
|
||||
{
|
||||
fifo_write_buffer(&gnss_receiver_fifo, &dat, 1);
|
||||
}
|
||||
|
||||
if('\n' == dat)
|
||||
{
|
||||
// 读取前6个数据 用于判断语句类型
|
||||
temp_length = 6;
|
||||
fifo_read_buffer(&gnss_receiver_fifo, temp_gps, &temp_length, FIFO_READ_ONLY);
|
||||
|
||||
// 根据不同类型将数据拷贝到不同的缓冲区
|
||||
if(0 == strncmp((char *)&temp_gps[3], "RMC", 3))
|
||||
{
|
||||
// 如果没有在解析数据则更新缓冲区的数据
|
||||
if(GPS_STATE_PARSING != gnss_rmc_state)
|
||||
{
|
||||
gnss_rmc_state = GPS_STATE_RECEIVED;
|
||||
temp_length = fifo_used(&gnss_receiver_fifo);
|
||||
fifo_read_buffer(&gnss_receiver_fifo, gps_rmc_buffer, &temp_length, FIFO_READ_AND_CLEAN);
|
||||
}
|
||||
}
|
||||
else if(0 == strncmp((char *)&temp_gps[3], "GGA", 3))
|
||||
{
|
||||
// 如果没有在解析数据则更新缓冲区的数据
|
||||
if(GPS_STATE_PARSING != gnss_gga_state)
|
||||
{
|
||||
gnss_gga_state = GPS_STATE_RECEIVED;
|
||||
temp_length = fifo_used(&gnss_receiver_fifo);
|
||||
fifo_read_buffer(&gnss_receiver_fifo, gps_gga_buffer, &temp_length, FIFO_READ_AND_CLEAN);
|
||||
}
|
||||
}
|
||||
else if(0 == strncmp((char *)&temp_gps[3], "THS", 3))
|
||||
{
|
||||
// 如果没有在解析数据则更新缓冲区的数据
|
||||
if(GPS_STATE_PARSING != gnss_ths_state)
|
||||
{
|
||||
gnss_ths_state = GPS_STATE_RECEIVED;
|
||||
temp_length = fifo_used(&gnss_receiver_fifo);
|
||||
fifo_read_buffer(&gnss_receiver_fifo, gps_ths_buffer, &temp_length, FIFO_READ_AND_CLEAN);
|
||||
}
|
||||
}
|
||||
|
||||
// 统一将FIFO清空
|
||||
fifo_clear(&gnss_receiver_fifo);
|
||||
|
||||
gnss_flag = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 GPS初始化
|
||||
// 参数说明 void
|
||||
// 返回参数 void
|
||||
// 使用示例 gps_init();
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void gnss_init (gps_device_enum gps_device)
|
||||
{
|
||||
const uint8 set_rate[] = {0xF1, 0xD9, 0x06, 0x42, 0x14, 0x00, 0x00, 0x0A, 0x05, 0x00, 0x64, 0x00, 0x00, 0x00, 0x60, 0xEA, 0x00, 0x00, 0xD0, 0x07, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x00, 0xB8, 0xED};
|
||||
const uint8 open_gga[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x00, 0x01, 0xFB, 0x10};
|
||||
const uint8 open_rmc[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x1A};
|
||||
|
||||
const uint8 close_gll[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x01, 0x00, 0xFB, 0x11};
|
||||
const uint8 close_gsa[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x02, 0x00, 0xFC, 0x13};
|
||||
const uint8 close_grs[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x03, 0x00, 0xFD, 0x15};
|
||||
const uint8 close_gsv[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x04, 0x00, 0xFE, 0x17};
|
||||
const uint8 close_vtg[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x06, 0x00, 0x00, 0x1B};
|
||||
const uint8 close_zda[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x07, 0x00, 0x01, 0x1D};
|
||||
const uint8 close_gst[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x08, 0x00, 0x02, 0x1F};
|
||||
const uint8 close_txt[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x40, 0x00, 0x3A, 0x8F};
|
||||
const uint8 close_txt_ant[] = {0xF1, 0xD9, 0x06, 0x01, 0x03, 0x00, 0xF0, 0x20, 0x00, 0x1A, 0x4F};
|
||||
|
||||
if((TAU1201 == gps_device) || (GN42A == gps_device))
|
||||
{
|
||||
fifo_init(&gnss_receiver_fifo, FIFO_DATA_8BIT, gnss_receiver_buffer, GNSS_BUFFER_SIZE);
|
||||
system_delay_ms(500); // 等待GPS启动后开始初始化
|
||||
uart_init(GNSS_UART, 115200, GNSS_RX, GNSS_TX);
|
||||
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)set_rate, sizeof(set_rate)); // 设置GPS更新速率为10hz 如果不调用此语句则默认为1hz
|
||||
system_delay_ms(200);
|
||||
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)open_rmc, sizeof(open_rmc)); // 开启rmc语句
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)open_gga, sizeof(open_gga)); // 开启gga语句
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_gll, sizeof(close_gll));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_gsa, sizeof(close_gsa));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_grs, sizeof(close_grs));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_gsv, sizeof(close_gsv));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_vtg, sizeof(close_vtg));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_zda, sizeof(close_zda));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_gst, sizeof(close_gst));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_txt, sizeof(close_txt));
|
||||
system_delay_ms(50);
|
||||
uart_write_buffer(GNSS_UART, (uint8 *)close_txt_ant, sizeof(close_txt_ant));
|
||||
system_delay_ms(50);
|
||||
|
||||
gnss_state = 1;
|
||||
uart_rx_interrupt(GNSS_UART, 1);
|
||||
}
|
||||
else if(GN43RFA == gps_device)
|
||||
{
|
||||
// GN43RFA RTK模块不需要进行参数设置，如果需要修改参数应该使用专用的上位机修改参数
|
||||
fifo_init(&gnss_receiver_fifo, FIFO_DATA_8BIT, gnss_receiver_buffer, GNSS_BUFFER_SIZE);
|
||||
uart_init(GNSS_UART, 115200, GNSS_RX, GNSS_TX);
|
||||
gnss_state = 1;
|
||||
uart_rx_interrupt(GNSS_UART, 1);
|
||||
}
|
||||
|
||||
}
|
||||
Reference in new issue
Block a user