731 lines
26 KiB
C
731 lines
26 KiB
C
|
#include <ctype.h>
|
||
|
|
#include <stdio.h>
|
||
|
|
#include <string.h>
|
||
|
|
|
||
|
|
#include "ql_uart.h"
|
||
|
|
#include "ql_gpio.h"
|
||
|
|
#include "ql_api_osi.h"
|
||
|
|
#include "osi_api.h"
|
||
|
|
|
||
|
|
#include "minmea.h"
|
||
|
|
|
||
|
|
#include "../EC600U_t2n/include/t2n.h"
|
||
|
|
#include "../EC600U_t2n/include/ModbusS.h"
|
||
|
|
#include "rtk_gps.h"
|
||
|
|
|
||
|
|
#include "ql_log.h"
|
||
|
|
|
||
|
|
#define LOGD(msg, ...) QL_LOG(QL_LOG_LEVEL_DEBUG, "um982", msg, ##__VA_ARGS__)
|
||
|
|
#define LOGI(msg, ...) QL_LOG(QL_LOG_LEVEL_INFO, "um982", msg, ##__VA_ARGS__)
|
||
|
|
#define LOGW(msg, ...) QL_LOG(QL_LOG_LEVEL_WARN, "um982", msg, ##__VA_ARGS__)
|
||
|
|
#define LOGE(msg, ...) QL_LOG(QL_LOG_LEVEL_ERROR, "um982", msg, ##__VA_ARGS__)
|
||
|
|
|
||
|
|
osiThread_t *rtk_thread = NULL;
|
||
|
|
// LSAPI_Device_t *rtk_uart = NULL;
|
||
|
|
// extern LSAPI_Device_t *GPS_REST;
|
||
|
|
const char *um482_config[] = {
|
||
|
|
"version\r\n",
|
||
|
|
"mode rover\r\n",
|
||
|
|
// "gprmc com1 0.2\r\n",
|
||
|
|
// "gpgga com1 0.2\r\n",
|
||
|
|
// "LOG HEADINGA ONTIME 0.2\r\n",
|
||
|
|
// "LOG BESTPOSA ONTIME 0.2\r\n",
|
||
|
|
"gprmc com1 1\r\n",
|
||
|
|
"gpgga com1 1\r\n",
|
||
|
|
"LOG HEADINGA ONTIME 1\r\n",
|
||
|
|
"LOG BESTPOSA ONTIME 1\r\n",
|
||
|
|
"gpgsv com1 1\r\n",
|
||
|
|
"gpgsa com1 1\r\n",
|
||
|
|
// "saveconfig\r\n"
|
||
|
|
};
|
||
|
|
extern void NmeaTcp_init(void);
|
||
|
|
|
||
|
|
// static void uart_event_cb(void *param, uint32_t evt)
|
||
|
|
// {
|
||
|
|
// // log_printf(LDEBUG, LOG_TAG "uart2 event=%d", evt);
|
||
|
|
// if (evt & LS_UART_EVENT_TX_COMPLETE)
|
||
|
|
// {
|
||
|
|
// }
|
||
|
|
// if (evt & LS_UART_EVENT_RX_ARRIVED)
|
||
|
|
// {
|
||
|
|
// LSAPI_OSI_Event_t event;
|
||
|
|
// event.id = 9; // 串口2-gps1接收事件id
|
||
|
|
// if (rtk_thread != NULL)
|
||
|
|
// {
|
||
|
|
// LSAPI_OSI_EvnetSend(rtk_thread, &event);
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
|
||
|
|
void config_timer_cb(void *param)
|
||
|
|
{
|
||
|
|
if (rtk_thread != NULL)
|
||
|
|
{
|
||
|
|
osiEvent_t event;
|
||
|
|
event.id = 12; // timer1事件id
|
||
|
|
osiEventSend(rtk_thread, &event);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static uint32_t date_time2utc(struct minmea_date *date, struct minmea_time *time)
|
||
|
|
{
|
||
|
|
struct tm gps_time;
|
||
|
|
uint32_t gps_utc;
|
||
|
|
gps_time.tm_hour = time->hours;
|
||
|
|
gps_time.tm_min = time->minutes;
|
||
|
|
gps_time.tm_sec = time->seconds;
|
||
|
|
gps_time.tm_year = date->year + 2000 - 1900;
|
||
|
|
gps_time.tm_mon = date->month - 1;
|
||
|
|
gps_time.tm_mday = date->day;
|
||
|
|
gps_utc = mktime(&gps_time);
|
||
|
|
return gps_utc;
|
||
|
|
}
|
||
|
|
|
||
|
|
extern int NmeaTcp_send(uint8_t gps_id, char input_line[]);
|
||
|
|
extern int drp_write(uint8_t endpoint, uint8_t flag, uint16_t tran_id, void *data, int length);
|
||
|
|
int8_t gps_gga_req = 0; // 当前以gps1的数据为基础上传
|
||
|
|
int32_t gps_rtcm_age = 210; // 移植
|
||
|
|
int32_t gps_rtcm_timeout = 10; // 移植
|
||
|
|
// static uint16_t tran_id = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief nmea协议解析处理
|
||
|
|
*
|
||
|
|
* @param gps_parse
|
||
|
|
* @param input_line 输入的一行数据
|
||
|
|
* @return int
|
||
|
|
*/
|
||
|
|
static int parse_nmea_0183(gps_t *gps_parse, char input_line[])
|
||
|
|
{
|
||
|
|
if (input_line == NULL)
|
||
|
|
{
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
int id = minmea_sentence_id(input_line, false);
|
||
|
|
LOGD("parse_nmea0183 = [%s],id=%d", input_line, id);
|
||
|
|
switch (id)
|
||
|
|
{
|
||
|
|
case MINMEA_SENTENCE_RMC: {
|
||
|
|
struct minmea_sentence_rmc frame;
|
||
|
|
NmeaTcp_send(gps_parse->id, input_line);
|
||
|
|
// gWordVar[REG_VIEW_STAS] = gps_parse->total_gsv;
|
||
|
|
gps_parse->total_gsv = 0;
|
||
|
|
if (minmea_parse_rmc(&frame, input_line))
|
||
|
|
{
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "$xxRMC: raw coordinates and speed: (%lld/%d,%lld/%d) %d/%d\n",
|
||
|
|
// frame.latitude.value, frame.latitude.scale, frame.longitude.value,
|
||
|
|
// frame.longitude.scale, frame.speed.value, frame.speed.scale);
|
||
|
|
// log_printf(
|
||
|
|
// LDEBUG,
|
||
|
|
// LOG_TAG
|
||
|
|
// "$xxRMC fixed-point coordinates LAT:(%lld),LOG:(%lld)SPEED:(%d) %d\n",
|
||
|
|
// minmea_coord_scale(&frame.latitude, 1000000000), minmea_coord_scale(&frame.longitude, 1000000000),
|
||
|
|
// minmea_rescale(&frame.speed, 1000));
|
||
|
|
// gWordVar[REG_SPEED] = frame.speed.value * 1852 / 1000;
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "$xxRMC floating point degree coordinates and speed: (%f,%f) %f\n",
|
||
|
|
// minmea_tocoord(&frame.latitude), minmea_tocoord(&frame.longitude),
|
||
|
|
// minmea_tofloat(&frame.speed));
|
||
|
|
LOGD("$xxRMC gps date=%d-%02d-%02d time=%02d:%02d:%02d \n",
|
||
|
|
frame.date.year, frame.date.month, frame.date.day, frame.time.hours, frame.time.minutes, frame.time.seconds);
|
||
|
|
gps_parse->UTC = date_time2utc(&frame.date, &frame.time);
|
||
|
|
// gps_parse->date = frame.date;
|
||
|
|
// gps_parse->time = frame.time;
|
||
|
|
// gps_parse->speed = minmea_rescale(&frame.speed, 1852);
|
||
|
|
// gWordVar[REG_SPEED] = gps_parse->speed;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxRMC sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_GGA: {
|
||
|
|
struct minmea_sentence_gga frame;
|
||
|
|
NmeaTcp_send(gps_parse->id, input_line);
|
||
|
|
if (minmea_parse_gga(&frame, input_line))
|
||
|
|
{
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "$xxGGA: fix quality: %d\n", frame.fix_quality);
|
||
|
|
// gWordVar[REG_GPS_STATUS] = frame.fix_quality;
|
||
|
|
// gWordVar[REG_USE_STAS] = frame.satellites_tracked;
|
||
|
|
gps_parse->fix_quality = frame.fix_quality;
|
||
|
|
gps_parse->LAT = minmea_coord_scale(&frame.latitude, 1000000000);
|
||
|
|
gps_parse->LNG = minmea_coord_scale(&frame.longitude, 1000000000);
|
||
|
|
gps_parse->ALT = minmea_rescale(&frame.altitude, 1000);
|
||
|
|
gps_parse->Q = frame.fix_quality;
|
||
|
|
LOGD("$xxGGA fixed-point Q:(%d),LAT:(%lld),LOG:(%lld)ALT:(%d)Speed:(%d)\n",
|
||
|
|
gps_parse->Q, gps_parse->LAT, gps_parse->LNG, gps_parse->ALT, gps_parse->speed);
|
||
|
|
|
||
|
|
/* 移植Lua部分代码
|
||
|
|
if string.find(line,"$GPGGA",1,7) == 1 and self.gps_data.lat ~= 0 and self.gps_data.lng ~= 0
|
||
|
|
then --last gps out
|
||
|
|
self.gps_timeout = 0
|
||
|
|
self.rtcm_age = self.rtcm_age + 1
|
||
|
|
-- p("self.rtcm_age",self.rtcm_age)
|
||
|
|
if self.gga_req ~= 0 or self.rtcm_age >= self.rtcm_timeout then
|
||
|
|
p("rtcm_timeout",self.rtcm_age,line)
|
||
|
|
t2n:drp_write(10,0,line,#line)
|
||
|
|
-- p(self.rtcm_timeout)
|
||
|
|
self.rtcm_timeout = self.rtcm_timeout * 2
|
||
|
|
if self.rtcm_timeout > 240 then
|
||
|
|
self.rtcm_timeout = 240
|
||
|
|
self.rtcm_age = 120
|
||
|
|
end
|
||
|
|
self.gga_req = 0
|
||
|
|
end
|
||
|
|
|
||
|
|
-- p("data", self.gps_data)
|
||
|
|
-- self:emit("data", self.gps_data)
|
||
|
|
--p(string.format("lon=%.9f,lat=%.9f,alt=%.4f
|
||
|
|
time=%d",lon_sum/k,lat_sum/k,alt_sum/(sum_cnt*1000),sum_cnt)) end
|
||
|
|
*/
|
||
|
|
// int32_t lat = minmea_tocoord(&frame.latitude) * 10000000;
|
||
|
|
// int32_t lng = minmea_tocoord(&frame.longitude) * 10000000;
|
||
|
|
if (gps_parse->LAT != 0 && gps_parse->LNG != 0)
|
||
|
|
{ // 经纬度都不等于0的时候
|
||
|
|
// cp_road_t cp_report;
|
||
|
|
gps_rtcm_age++;
|
||
|
|
LOGD("$GPGGA sentence gps_gga_req:%d, gps_rtcm_age:%d, gps_rtcm_timeout:%d, id:%d\n",
|
||
|
|
gps_gga_req, gps_rtcm_age, gps_rtcm_timeout, gps_parse->id);
|
||
|
|
if (gps_gga_req != 0 || gps_rtcm_age >= gps_rtcm_timeout)
|
||
|
|
{ // t2n recv "GGA_REQ" gps1
|
||
|
|
|
||
|
|
int len = strlen(input_line);
|
||
|
|
input_line[len] = '\r';
|
||
|
|
input_line[len + 1] = '\n';
|
||
|
|
static int gps_gga_req_cnt = 0;
|
||
|
|
drp_write(10, 0, gps_gga_req_cnt++, input_line, len + 2);
|
||
|
|
LOGD("gps_gga_req:%s\n", input_line);
|
||
|
|
gps_rtcm_timeout = gps_rtcm_timeout * 2;
|
||
|
|
if (gps_rtcm_timeout > 240)
|
||
|
|
{
|
||
|
|
gps_rtcm_timeout = 240;
|
||
|
|
gps_rtcm_age = 120;
|
||
|
|
}
|
||
|
|
gps_gga_req = 0;
|
||
|
|
}
|
||
|
|
// LSAPI_Log_Debug("cp_report");
|
||
|
|
// cp_report.UTC = date_time2utc(&gps_parse->date, &gps_parse->time);
|
||
|
|
// cp_report.LNG = gps_parse->LNG % 0x100000000ul;
|
||
|
|
// cp_report.LNG_H = gps_parse->LNG / 0x100000000ul;
|
||
|
|
// cp_report.LAT = gps_parse->LAT % 0x100000000ul;
|
||
|
|
// cp_report.LAT_H = gps_parse->LAT / 0x100000000ul;
|
||
|
|
// cp_report.ALT = gps_parse->ALT % 0x10000;
|
||
|
|
// cp_report.ALT_H = gps_parse->ALT / 0x10000;
|
||
|
|
// cp_report.speed = gps_parse->speed < 65536 ? gps_parse->speed : 65535;
|
||
|
|
// cp_report.HDG = gps_parse->azimuth;
|
||
|
|
// cp_report.status = gps_parse->fix_quality;
|
||
|
|
// cp_report.TP[0] = gWordVar[REG_TEMPS];
|
||
|
|
// cp_report.TP[1] = gWordVar[REG_TEMPS + 1];
|
||
|
|
// cp_report.TP[2] = gWordVar[REG_TEMPS + 2];
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "drp_write start");
|
||
|
|
// if (drp_write(11, 2, tran_id++, &cp_report, sizeof(cp_report)-4) == 0)
|
||
|
|
// { // 成功则显示推送信息
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "t2n report message - UTC:[%d], TP:[%d], flow2[%d]\n",
|
||
|
|
// cp_report.UTC, cp_report.TP);
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("lat lng err LAT:(%lld),LNG:(%lld)\n",
|
||
|
|
gps_parse->LAT, gps_parse->LNG);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxGGA sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
gps_parse->ALT = minmea_rescale(&frame.altitude, 10);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_GST: {
|
||
|
|
struct minmea_sentence_gst frame;
|
||
|
|
if (minmea_parse_gst(&frame, input_line))
|
||
|
|
{
|
||
|
|
LOGD(
|
||
|
|
"$xxGST: raw latitude,longitude and altitude error deviation: (%d/%d,%d/%d,%d/%d)\n",
|
||
|
|
frame.latitude_error_deviation.value, frame.latitude_error_deviation.scale,
|
||
|
|
frame.longitude_error_deviation.value, frame.longitude_error_deviation.scale,
|
||
|
|
frame.altitude_error_deviation.value, frame.altitude_error_deviation.scale);
|
||
|
|
LOGD(
|
||
|
|
"$xxGST fixed point latitude,longitude and altitude error deviation"
|
||
|
|
" scaled to one decimal place: (%d,%d,%d)\n",
|
||
|
|
minmea_rescale(&frame.latitude_error_deviation, 10),
|
||
|
|
minmea_rescale(&frame.longitude_error_deviation, 10),
|
||
|
|
minmea_rescale(&frame.altitude_error_deviation, 10));
|
||
|
|
LOGD(
|
||
|
|
"$xxGST floating point degree latitude, longitude and altitude error deviation: "
|
||
|
|
"(%f,%f,%f)",
|
||
|
|
minmea_tofloat(&frame.latitude_error_deviation),
|
||
|
|
minmea_tofloat(&frame.longitude_error_deviation),
|
||
|
|
minmea_tofloat(&frame.altitude_error_deviation));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxGST sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_GSV: {
|
||
|
|
struct minmea_sentence_gsv frame;
|
||
|
|
if (minmea_parse_gsv(&frame, input_line))
|
||
|
|
{
|
||
|
|
|
||
|
|
LOGD("$xxGSV: message %d of %d\n", frame.msg_nr, frame.total_msgs);
|
||
|
|
LOGD("$xxGSV: sattelites in view: %d\n", frame.total_sats);
|
||
|
|
gps_parse->azimuth = frame.sats[0].azimuth;
|
||
|
|
for (int i = 0; i < 4; i++)
|
||
|
|
{
|
||
|
|
if (frame.sats[i].nr > 0)
|
||
|
|
{
|
||
|
|
gps_parse->total_gsv++;
|
||
|
|
}
|
||
|
|
LOGD("$xxGSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n",
|
||
|
|
frame.sats[i].nr, frame.sats[i].elevation, frame.sats[i].azimuth,
|
||
|
|
frame.sats[i].snr);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxGSV sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_VTG: {
|
||
|
|
struct minmea_sentence_vtg frame;
|
||
|
|
if (minmea_parse_vtg(&frame, input_line))
|
||
|
|
{
|
||
|
|
LOGD("$xxVTG: true track degrees = %f\n",
|
||
|
|
minmea_tofloat(&frame.true_track_degrees));
|
||
|
|
LOGD(" magnetic track degrees = %f\n",
|
||
|
|
minmea_tofloat(&frame.magnetic_track_degrees));
|
||
|
|
LOGD(" speed knots = %f\n", minmea_tofloat(&frame.speed_knots));
|
||
|
|
LOGD(" speed kph = %f\n", minmea_tofloat(&frame.speed_kph));
|
||
|
|
gps_parse->speed = minmea_rescale(&frame.speed_kph, 1000);
|
||
|
|
// gWordVar[REG_SPEED] = gps_parse->speed;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxVTG sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_ZDA: {
|
||
|
|
struct minmea_sentence_zda frame;
|
||
|
|
if (minmea_parse_zda(&frame, input_line))
|
||
|
|
{
|
||
|
|
LOGD("$xxZDA: %d:%d:%d %02d.%02d.%d UTC%+03d:%02d\n", frame.time.hours,
|
||
|
|
frame.time.minutes, frame.time.seconds, frame.date.day, frame.date.month,
|
||
|
|
frame.date.year, frame.hour_offset, frame.minute_offset);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxZDA sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_GSA: {
|
||
|
|
struct minmea_sentence_gsa frame;
|
||
|
|
if (minmea_parse_gsa(&frame, input_line))
|
||
|
|
{
|
||
|
|
LOGD(
|
||
|
|
"$xxGSA: "
|
||
|
|
"mode:%d\nfix_type:%d\nsats[0]:%d\nsats[1]:%d\nsats[2]:%d\nsats[3]:%d\nsats[4]:%"
|
||
|
|
"d\nsats[5]:%d\nsats[6]:%d\nsats[7]:%d\nsats[8]:%d\nsats[9]:%d\nsats[10]:%d\nsats["
|
||
|
|
"11]:%d\npdop:%f\nhdop:%f\nvdop:%f\n",
|
||
|
|
frame.mode, frame.fix_type, frame.sats[0], frame.sats[1], frame.sats[2],
|
||
|
|
frame.sats[3], frame.sats[4], frame.sats[5], frame.sats[6], frame.sats[7],
|
||
|
|
frame.sats[8], frame.sats[9], frame.sats[10], frame.sats[11],
|
||
|
|
minmea_tofloat(&frame.pdop), minmea_tofloat(&frame.hdop),
|
||
|
|
minmea_tofloat(&frame.vdop));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxGSA sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_SENTENCE_GLL: {
|
||
|
|
struct minmea_sentence_gll frame;
|
||
|
|
if (minmea_parse_gll(&frame, input_line))
|
||
|
|
{
|
||
|
|
gps_parse->Q = frame.status;
|
||
|
|
LOGD("$xxGLL: latitude:%f\nlongitude:%f\nstatus:%d\nmode:%d\n",
|
||
|
|
minmea_tofloat(&frame.latitude), minmea_tofloat(&frame.longitude), frame.status,
|
||
|
|
frame.mode);
|
||
|
|
LOGD(
|
||
|
|
"$xxGLL: time.hours:%d\ntime.minutes:%d\ntime.seconds:%d\ntime.microseconds:%d\n",
|
||
|
|
frame.time.hours, frame.time.minutes, frame.time.seconds, frame.time.microseconds);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGD("$xxGLL sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MINMEA_INVALID: {
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "$xxxxx sentence is not valid\n");
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
default: {
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "$xxxxx sentence is not parsed\n");
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
// static int get_line(int pos, char *buf, int end_pos)
|
||
|
|
// {
|
||
|
|
// int idx = 0;
|
||
|
|
// int offset = pos;
|
||
|
|
// while (pos < end_pos)
|
||
|
|
// {
|
||
|
|
// if (buf[pos] != 0x0a)
|
||
|
|
// {
|
||
|
|
// pos = pos + 1;
|
||
|
|
// }
|
||
|
|
// else
|
||
|
|
// {
|
||
|
|
// buf[pos] = '\0';
|
||
|
|
// return (pos - offset);
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
// return 0;
|
||
|
|
// }
|
||
|
|
void ql_uart_notify_cb(unsigned int ind_type, ql_uart_port_number_e port, unsigned int size)
|
||
|
|
{
|
||
|
|
// unsigned char *recv_buff = calloc(1, QL_UART_RX_BUFF_SIZE + 1);
|
||
|
|
// unsigned int real_size = 0;
|
||
|
|
// int read_len = 0;
|
||
|
|
|
||
|
|
LOGI("UART port %d receive ind type:0x%x, receive data size:%d", port, ind_type, size);
|
||
|
|
switch (ind_type)
|
||
|
|
{
|
||
|
|
case QUEC_UART_RX_OVERFLOW_IND: // rx buffer overflow
|
||
|
|
case QUEC_UART_RX_RECV_DATA_IND: {
|
||
|
|
osiEvent_t event;
|
||
|
|
if (port == QL_UART_PORT_2)
|
||
|
|
{
|
||
|
|
event.id = 9;
|
||
|
|
}
|
||
|
|
else if (port == QL_UART_PORT_3)
|
||
|
|
{
|
||
|
|
event.id = 10;
|
||
|
|
}
|
||
|
|
if (rtk_thread)
|
||
|
|
{
|
||
|
|
osiEventSend(rtk_thread, &event);
|
||
|
|
}
|
||
|
|
// while (size > 0)
|
||
|
|
// {
|
||
|
|
// memset(recv_buff, 0, QL_UART_RX_BUFF_SIZE + 1);
|
||
|
|
// real_size = MIN(size, QL_UART_RX_BUFF_SIZE);
|
||
|
|
|
||
|
|
// read_len = ql_uart_read(port, recv_buff, real_size);
|
||
|
|
// QL_UART_DEMO_LOG("read_len=%d, recv_data=%s", read_len, recv_buff);
|
||
|
|
// if ((read_len > 0) && (size >= read_len))
|
||
|
|
// {
|
||
|
|
// size -= read_len;
|
||
|
|
// }
|
||
|
|
// else
|
||
|
|
// {
|
||
|
|
// break;
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case QUEC_UART_TX_FIFO_COMPLETE_IND: {
|
||
|
|
LOGI("tx fifo complete");
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// free(recv_buff);
|
||
|
|
// recv_buff = NULL;
|
||
|
|
}
|
||
|
|
|
||
|
|
gps_t gps1_parse; // gps1解析后的结果
|
||
|
|
gps_t gps2_parse; // gps2解析后的结果
|
||
|
|
#define GPS1_BUFF_SIZE 2048 // gps1串口接收缓冲区大小
|
||
|
|
#define GPS2_BUFF_SIZE 2048 // gps2串口接收缓冲区大小
|
||
|
|
static char gps1_buff[GPS1_BUFF_SIZE]; // gps1串口接收缓冲区
|
||
|
|
static char gps2_buff[GPS2_BUFF_SIZE]; // gps2串口接收缓冲区
|
||
|
|
int uart2_rtcm_enable = 0; // uart2是否需要 rtcm
|
||
|
|
int uart3_rtcm_enable = 0; // uart3是否需要 rtcm
|
||
|
|
// static char gps_buf2[1024]; // gps2串口接收缓冲区
|
||
|
|
/**
|
||
|
|
* @brief gps任务处理线程
|
||
|
|
*
|
||
|
|
* @param param
|
||
|
|
*/
|
||
|
|
void rtk_task(void *param)
|
||
|
|
{
|
||
|
|
|
||
|
|
LOGD("rtk_gps_task start...\n");
|
||
|
|
int ret = 0;
|
||
|
|
osiTimer_t *ptimer_t = NULL;
|
||
|
|
ql_gpio_set_level(GPIO_23, LVL_HIGH);
|
||
|
|
ql_rtos_task_sleep_ms(100);
|
||
|
|
ql_gpio_set_level(GPIO_23, LVL_LOW);
|
||
|
|
ql_uart_config_s uart_cfg = {
|
||
|
|
.baudrate = QL_UART_BAUD_115200,
|
||
|
|
.flow_ctrl = QL_FC_NONE,
|
||
|
|
.data_bit = QL_UART_DATABIT_8,
|
||
|
|
.stop_bit = QL_UART_STOP_1,
|
||
|
|
.parity_bit = QL_UART_PARITY_NONE};
|
||
|
|
ret = ql_uart_set_dcbconfig(QL_UART_PORT_2, &uart_cfg);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_set_dcbconfig ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
ret = ql_uart_open(QL_UART_PORT_2);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_open ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
LOGD("uart2 init success\n");
|
||
|
|
ql_uart_set_event_mask(QL_UART_PORT_2, QL_UART_EVENT_RX_ARRIVED | QL_UART_EVENT_RX_OVERFLOW);
|
||
|
|
ret = ql_uart_register_cb(QL_UART_PORT_2, ql_uart_notify_cb);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_register_cb ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
uart2_rtcm_enable = 1;
|
||
|
|
|
||
|
|
ret = ql_uart_set_dcbconfig(QL_UART_PORT_3, &uart_cfg);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_set_dcbconfig ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
ret = ql_uart_open(QL_UART_PORT_3);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_open ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
ql_uart_set_event_mask(QL_UART_PORT_3, QL_UART_EVENT_RX_ARRIVED | QL_UART_EVENT_RX_OVERFLOW);
|
||
|
|
ret = ql_uart_register_cb(QL_UART_PORT_3, ql_uart_notify_cb);
|
||
|
|
if (ret != 0)
|
||
|
|
{
|
||
|
|
LOGE("ql_uart_register_cb ret: 0x%x", ret);
|
||
|
|
}
|
||
|
|
uart3_rtcm_enable = 1;
|
||
|
|
LOGD("uart3 init success\n");
|
||
|
|
|
||
|
|
rtk_thread = osiThreadCurrent();
|
||
|
|
LOGD("uart2 init success\n");
|
||
|
|
NmeaTcp_init();
|
||
|
|
ptimer_t = osiTimerCreate(rtk_thread, config_timer_cb, NULL);
|
||
|
|
osiTimerStart(ptimer_t, 100);
|
||
|
|
int sync_timeout = 0;
|
||
|
|
int reset_times = 0;
|
||
|
|
int config_index = 0;
|
||
|
|
while (1)
|
||
|
|
{
|
||
|
|
osiEvent_t waitevent;
|
||
|
|
bool ret = osiEventWait(rtk_thread, &waitevent);
|
||
|
|
if (ret)
|
||
|
|
{ // 响应到事件发生
|
||
|
|
switch (waitevent.id)
|
||
|
|
{
|
||
|
|
|
||
|
|
case 9: { // uart1-gps1接收事件处理函数
|
||
|
|
static int pos = 0;
|
||
|
|
static int end_pos = 0;
|
||
|
|
LOGI("uart2 read event pos=%d,end_pos=%d\n", pos, end_pos);
|
||
|
|
int len = ql_uart_read(QL_UART_PORT_2, (uint8_t *)&gps1_buff[end_pos], GPS1_BUFF_SIZE - end_pos);
|
||
|
|
if (len > 0)
|
||
|
|
{
|
||
|
|
reset_times = 0;
|
||
|
|
end_pos += len;
|
||
|
|
pos = 0;
|
||
|
|
gps1_buff[end_pos] = '\0';
|
||
|
|
LOGD("uart2 len=%d,msg=%s\n", len, gps1_buff);
|
||
|
|
while (pos < end_pos - 1)
|
||
|
|
{
|
||
|
|
if ((gps1_buff[pos] == '$') && (gps1_buff[pos + 1] == 'G')) //-- $G || $B nema ??
|
||
|
|
{
|
||
|
|
// itn len = get_line(pos,gps1_buff,end_pos)
|
||
|
|
char *start = &gps1_buff[pos];
|
||
|
|
char *end = strchr(start, '\n');
|
||
|
|
sync_timeout = 0;
|
||
|
|
if (end != NULL)
|
||
|
|
{
|
||
|
|
*end = '\0';
|
||
|
|
if (*(end - 1) == '\r')
|
||
|
|
{
|
||
|
|
*(end - 1) = '\0';
|
||
|
|
}
|
||
|
|
LOGD("gps1 nmea = [%s]", start);
|
||
|
|
gps1_parse.id = GPS_ID_1;
|
||
|
|
parse_nmea_0183(&gps1_parse, start);
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "uart LAT=%d, LNG=%d, ALT=%d, Status=%d\n",
|
||
|
|
// gps_parse_1.LAT, gps_parse_1.LNG, gps_parse_1.ALT, gps_parse_1.Q);
|
||
|
|
pos += (end - start) + 1;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pos++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (pos < end_pos)
|
||
|
|
{
|
||
|
|
int len = strlen((char *)&gps1_buff[pos]);
|
||
|
|
memmove(gps1_buff, (char *)&gps1_buff[pos], len);
|
||
|
|
end_pos = end_pos - pos;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// memset(gps1_buff, 0, end_pos);
|
||
|
|
end_pos = 0;
|
||
|
|
}
|
||
|
|
// if (sync_timeout++ > 60)
|
||
|
|
// {
|
||
|
|
// gWordVar[REG_UBLOX_CFG_REQ] = 0x4321;
|
||
|
|
// sync_timeout = 0;
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case 10: { // uart2-gps1接收事件处理函数
|
||
|
|
static int pos = 0;
|
||
|
|
static int end_pos = 0;
|
||
|
|
LOGI("uart3 read event pos=%d,end_pos=%d\n", pos, end_pos);
|
||
|
|
int len = ql_uart_read(QL_UART_PORT_3, (uint8_t *)&gps2_buff[end_pos], GPS2_BUFF_SIZE - end_pos);
|
||
|
|
if (len > 0)
|
||
|
|
{
|
||
|
|
reset_times = 0;
|
||
|
|
end_pos += len;
|
||
|
|
pos = 0;
|
||
|
|
gps2_buff[end_pos] = '\0';
|
||
|
|
LOGD("uart3 len=%d,msg=%s\n", len, gps2_buff);
|
||
|
|
while (pos < end_pos - 1)
|
||
|
|
{
|
||
|
|
if ((gps2_buff[pos] == '$') && (gps2_buff[pos + 1] == 'G')) //-- $G || $B nema ??
|
||
|
|
{
|
||
|
|
// itn len = get_line(pos,gps2_buff,end_pos)
|
||
|
|
char *start = &gps2_buff[pos];
|
||
|
|
char *end = strchr(start, '\n');
|
||
|
|
sync_timeout = 0;
|
||
|
|
if (end != NULL)
|
||
|
|
{
|
||
|
|
*end = '\0';
|
||
|
|
if (*(end - 1) == '\r')
|
||
|
|
{
|
||
|
|
*(end - 1) = '\0';
|
||
|
|
}
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "nmea = [%s]", start);
|
||
|
|
LOGD("gps2 nmea = [%s]", start);
|
||
|
|
gps2_parse.id = GPS_ID_2;
|
||
|
|
parse_nmea_0183(&gps2_parse, start);
|
||
|
|
// log_printf(LDEBUG, LOG_TAG "uart LAT=%d, LNG=%d, ALT=%d, Status=%d\n",
|
||
|
|
// gps_parse_1.LAT, gps_parse_1.LNG, gps_parse_1.ALT, gps_parse_1.Q);
|
||
|
|
pos += (end - start) + 1;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pos++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (pos < end_pos)
|
||
|
|
{
|
||
|
|
int len = strlen((char *)&gps2_buff[pos]);
|
||
|
|
memmove(gps2_buff, (char *)&gps2_buff[pos], len);
|
||
|
|
end_pos = end_pos - pos;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// memset(gps1_buff, 0, end_pos);
|
||
|
|
end_pos = 0;
|
||
|
|
}
|
||
|
|
// if (sync_timeout++ > 60)
|
||
|
|
// {
|
||
|
|
// gWordVar[REG_UBLOX_CFG_REQ] = 0x4321;
|
||
|
|
// sync_timeout = 0;
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case 12:
|
||
|
|
if (config_index < sizeof(um482_config) / sizeof(um482_config[0]))
|
||
|
|
{
|
||
|
|
ql_uart_write(QL_UART_PORT_2, um482_config[config_index], strlen(um482_config[config_index]));
|
||
|
|
LOGD("cmd=%s\n", um482_config[config_index]);
|
||
|
|
config_index++;
|
||
|
|
osiTimerStart(ptimer_t, 100);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
config_index = -1;
|
||
|
|
uart2_rtcm_enable = 1;
|
||
|
|
uart3_rtcm_enable = 1;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case 9999:
|
||
|
|
config_index = 0;
|
||
|
|
uart2_rtcm_enable = 0;
|
||
|
|
uart3_rtcm_enable = 0;
|
||
|
|
if (ptimer_t == NULL)
|
||
|
|
{
|
||
|
|
ptimer_t = osiTimerCreate(rtk_thread, config_timer_cb, NULL);
|
||
|
|
}
|
||
|
|
LOGD("start config\n");
|
||
|
|
osiTimerStart(ptimer_t, 100);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
waitevent.id = 0;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LOGW("gps timeout\n");
|
||
|
|
// if (++reset_times > 10)
|
||
|
|
// {
|
||
|
|
// int value = 1;
|
||
|
|
// LSAPI_Device_Write(GPS_REST, &value, 1);
|
||
|
|
// LSAPI_OSI_ThreadSleep(50);
|
||
|
|
// value = 0;
|
||
|
|
// LSAPI_Device_Write(GPS_REST, &value, 1);
|
||
|
|
// reset_times = 0;
|
||
|
|
// }
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// err1:
|
||
|
|
// LOGI("gps_app_thread end...\n");
|
||
|
|
// osiThreadExit();
|
||
|
|
}
|
||
|
|
|
||
|
|
void rtk_rtcm_intput(uint8_t *data, int length)
|
||
|
|
{
|
||
|
|
if (length <= 0)
|
||
|
|
{
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
if (uart2_rtcm_enable)
|
||
|
|
{
|
||
|
|
ql_uart_write(QL_UART_PORT_2, data, length);
|
||
|
|
}
|
||
|
|
if (uart3_rtcm_enable)
|
||
|
|
{
|
||
|
|
ql_uart_write(QL_UART_PORT_3, data, length);
|
||
|
|
}
|
||
|
|
gps_rtcm_age = 0;
|
||
|
|
}
|