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解决无符号处理以及定时问题

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liumin
2025-10-24 21:56:55 +08:00
parent 0346a5e662
commit 84221794b6
3 changed files with 178 additions and 151 deletions
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2
ETH/UdpServer/User/main.c
View File

@@ -133,7 +133,7 @@ int main(void)
bootInterfaceInit();
appMonitorInit();
testAppInit();
// testAppInit();
feedWatchdog();
dataProcessingAppInit();
ethernetInterfaceInit();

315
ETH/UdpServer/app/app_data_processing.c
View File

@@ -2,27 +2,27 @@
#include <stdint.h>
#include <ctype.h>
// ??????
// <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
Timer data_processing_timer;
Timer iim6234_timer;
Timer rm3100_timer;
Timer rs232_output_timer;
StrInfNavigationOutput nav_data = {0}; // ?????0
StrInfNavigationOutput nav_data = {0}; // <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊȫ0
UnInfProtocolFrame yis321_data = {0};
GGA_Data gga_data1 = {0};
VTG_Data vtg_data1 = {0};
THS_Data ths_data1 = {0};
// ???????
// <EFBFBD><EFBFBD><EFBFBD>尴ť<EFBFBD>ṹ<EFBFBD><EFBFBD>
uint8_t remote_tcp_ip[4] = {192,168,10,7};
/* ????????????? */
/* <EFBFBD><EFBFBD><EFBFBD>ȷָ<EFBFBD>ʽת<EFBFBD><EFBFBD>Ϊʮ<EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><EFBFBD><EFBFBD> */
double nmea_to_decimal(double dm, char direction)
{
double degrees = (int)(dm / 100);
@@ -31,7 +31,7 @@ double nmea_to_decimal(double dm, char direction)
return (direction == 'S' || direction == 'W') ? -decimal : decimal;
}
// ??GNGGA??
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GNGGA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint8_t parse_GGA(const char* data, GGA_Data* gga)
{
char buffer[256];
@@ -55,8 +55,8 @@ uint8_t parse_GGA(const char* data, GGA_Data* gga)
field_index++;
}
// ??????????????????
if (field_index > 5) { // ??????????
// <EFBFBD>ȷ<EFBFBD>תʮ<EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD>ͳһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (field_index > 5) { // ȷ<EFBFBD><EFBFBD><EFBFBD>ѽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>
gga->latitude = nmea_to_decimal(gga->latitude, gga->lat_dir);
gga->longitude = nmea_to_decimal(gga->longitude, gga->lon_dir);
}
@@ -64,22 +64,22 @@ uint8_t parse_GGA(const char* data, GGA_Data* gga)
return 0;
}
// ??GNVTG??
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GNVTG<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint8_t parse_VTG(const char* data, VTG_Data* vtg)
{
char buffer[256];
strncpy(buffer, data, sizeof(buffer));
buffer[sizeof(buffer)-1] = '\0'; // ???????
buffer[sizeof(buffer)-1] = '\0'; // ȷ<EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ
char* token = strtok(buffer, ",");
int field_index = 0;
while (token != NULL) {
switch (field_index) {
case 1: vtg->course_true = atof(token); break; // ????
case 3: vtg->course_magnetic = atof(token); break; // ????
case 5: vtg->speed_knots = atof(token); break; // ?????
case 7: vtg->speed_kmh = atof(token); break; // ???km/h?
case 9: vtg->mode = token[0]; break; // ????
case 1: vtg->course_true = atof(token); break; // <EFBFBD>汱<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
case 3: vtg->course_magnetic = atof(token); break; // <EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
case 5: vtg->speed_knots = atof(token); break; // <EFBFBD>ٶȣ<EFBFBD><EFBFBD>ڣ<EFBFBD>
case 7: vtg->speed_kmh = atof(token); break; // <EFBFBD>ٶȣ<EFBFBD>km/h<EFBFBD><EFBFBD>
case 9: vtg->mode = token[0]; break; // ģʽָʾ
}
token = strtok(NULL, ",");
field_index++;
@@ -87,7 +87,7 @@ uint8_t parse_VTG(const char* data, VTG_Data* vtg)
return 0;
}
// ??GNTHS??
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GNTHS<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint8_t parse_THS(const char* data, THS_Data* ths)
{
char buffer[128];
@@ -98,13 +98,13 @@ uint8_t parse_THS(const char* data, THS_Data* ths)
while (token != NULL) {
switch (field_index) {
case 1: // ?????????341.3344?
case 1: // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶΣ<EFBFBD>ʾ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>341.3344<EFBFBD><EFBFBD>
ths->heading = atof(token);
break;
case 2: // ?????????A?
case 2: // ģʽ<EFBFBD>ֶΣ<EFBFBD>ʾ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>A<EFBFBD><EFBFBD>
ths->mode = token[0];
break;
// ????????????????
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶΣ<EFBFBD>У<EFBFBD><EFBFBD><EFBFBD>͵ȣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ
}
token = strtok(NULL, ",");
field_index++;
@@ -118,18 +118,18 @@ uint8_t parse_THS(const char* data, THS_Data* ths)
void nmeaProcess(void *signal_id)
{
(void)signal_id; // ????????????????
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
// printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//???????????????
// printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹ<EFBFBD>ô<EFBFBD><EFBFBD>ڴ<EFBFBD>ӡ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// if (!nmea_validate_checksum(&nema_output1.buffer[nema_output1.active_buf^1][0])) //????
// if (!nmea_validate_checksum(&nema_output1.buffer[nema_output1.active_buf^1][0])) //У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// {
// printf("NMEA CRC Failed");
// return;
// }
// ???3??????"GGA"/"VTG"/"THS"
// <EFBFBD>жϺ<EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>Ƿ<EFBFBD>Ϊ"GGA"/"VTG"/"THS"
if(strncmp(&nema_output1.buffer[3], "GGA", 3) == 0) {
nema_output1.frame_ready = 1;
}
@@ -140,11 +140,11 @@ void nmeaProcess(void *signal_id)
nema_output1.frame_ready = 3;
}
else
{ // ????????
{ // <EFBFBD><EFBFBD>Ŀ<EFBFBD><EFBFBD>Э<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
nema_output1.frame_ready = 0;
}
// ????switch??
// <EFBFBD>޸ĺ<EFBFBD><EFBFBD><EFBFBD>switch<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
switch(nema_output1.frame_ready)
{
case NMEA_TYPE_GGA:
@@ -152,9 +152,9 @@ void nmeaProcess(void *signal_id)
if (0 == parse_GGA(&nema_output1.buffer[0], &gga_data1))
{
navigation_output1.bit_data.lon = (int32_t) (gga_data1.longitude * 10000000); //20250426??????10??
navigation_output1.bit_data.lon = (int32_t) (gga_data1.longitude * 10000000); //20250426<EFBFBD>ȷ<EFBFBD>ת<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
navigation_output1.bit_data.lat = (int32_t) (gga_data1.latitude * 10000000);
navigation_output1.bit_data.high = (int32_t)(gga_data1.altitude * 1000);//??1000
navigation_output1.bit_data.high = (int32_t)(gga_data1.altitude * 1000);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1000
navigation_output1.bit_data.rtk_state = gga_data1.fix_quality;//
@@ -173,8 +173,8 @@ void nmeaProcess(void *signal_id)
if (0 == parse_VTG(&nema_output1.buffer[0], &vtg_data1))
{
navigation_output1.bit_data.gps_speed = (int16_t)(vtg_data1.speed_kmh*1000/3600*100);//???m/s ??100?
// printf("[VTG] Course:%.1f<EFBFBD> Speed:%.1fkm/h\n",
navigation_output1.bit_data.gps_speed = (int16_t)(vtg_data1.speed_kmh*1000/3600*100);//ת<EFBFBD><EFBFBD>Ϊm/s <20><><EFBFBD><EFBFBD>100<EFBFBD><EFBFBD>
// printf("[VTG] Course:%.1f<EFBFBD><EFBFBD> Speed:%.1fkm/h\n",
// vtg_data1.course_true, vtg_data1.speed_kmh);
}
else
@@ -187,8 +187,8 @@ void nmeaProcess(void *signal_id)
if (0 == parse_THS(&nema_output1.buffer[0], &ths_data1))
{
navigation_output1.bit_data.dual_antenna_heading = (int16_t)(ths_data1.heading*100);// ??100?
// printf("[THS] Heading:%.1f<EFBFBD> Mode:%c\n",
navigation_output1.bit_data.dual_antenna_heading = (int16_t)(ths_data1.heading*100);// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>100<EFBFBD><EFBFBD>
// printf("[THS] Heading:%.1f<EFBFBD><EFBFBD> Mode:%c\n",
// ths_data1.heading, ths_data1.mode);
}
else
@@ -197,13 +197,13 @@ void nmeaProcess(void *signal_id)
}
break;
default: // ??????
default: // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ֪<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// printf("Unknown NMEA frame type\n");
break;
}
}
unsigned short NumCheak(unsigned char *data,unsigned char len)//?????
unsigned short NumCheak(unsigned char *data,unsigned char len)//<EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
unsigned short NUM=0;
unsigned char i;
@@ -214,7 +214,7 @@ unsigned short NumCheak(unsigned char *data,unsigned char len)//?????
return NUM;
}
// ?????????0-56?
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>飨<EFBFBD>ֽ<EFBFBD>0-56<EFBFBD><EFBFBD>
uint8_t calculate_checksum(const uint8_t* data, uint8_t len) {
uint8_t checksum = 0;
for (size_t i = 0; i < len; ++i) {
@@ -223,7 +223,7 @@ uint8_t calculate_checksum(const uint8_t* data, uint8_t len) {
return checksum;
}
uint16_t yis321Cheak(unsigned char *data,unsigned char len)//?????
uint16_t yis321Cheak(unsigned char *data,unsigned char len)//<EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
uint8_t CK1 = 0;
uint8_t CK2 = 0;
@@ -294,8 +294,104 @@ void rm3100Process(void *signal_id)
timerStart(&rm3100_timer, RM3100_TIME,1);//10ms
}
/**
* @brief <20><>GGAʱ<41>䣨HHMMSS.SSS<53><53>ʽ<EFBFBD><CABD>double<6C><65>ת<EFBFBD><D7AA>ΪЭ<CEAA><D0AD>ʱ<EFBFBD>䣨U32<33><32><EFBFBD>Ŵ<EFBFBD>4000<30><30><EFBFBD><EFBFBD>
* @param utc_time GGAʱ<41>䣨<EFBFBD><E4A3A8>75049.00<EFBFBD><EFBFBD>ʾ07:50:49.00<EFBFBD><EFBFBD>
* @return uint32_t Э<><D0AD>ʱ<EFBFBD>䣨ʵ<E4A3A8><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = <20><><EFBFBD><EFBFBD>ֵ / 4000<30><30>
*/
uint32_t GgaTimeToProtocol(double utc_time)
{
// 1. <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֺ<EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>֣<EFBFBD><D6A3><EFBFBD><EFBFBD>⸡<EFBFBD><E2B8A1><EFBFBD><EFBFBD><EFBFBD>㣩
uint32_t time_int = (uint32_t)utc_time; // HHMMSS
uint32_t time_frac = (uint32_t)((utc_time - time_int) * 1000 + 0.5); // .SSS <20><> <20><><EFBFBD>루<EFBFBD><EBA3A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>룩
// 2. <20>ֽ<EFBFBD>HH<48><48>MM<4D><4D>SS
uint32_t hh = time_int / 10000; // Сʱ
uint32_t mm = (time_int % 10000) / 100; // <20><><EFBFBD><EFBFBD>
uint32_t ss = time_int % 100; // <20><>
// 3. <20><><EFBFBD><EFBFBD><EFBFBD>ܺ<EFBFBD><DCBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>HH*3600 + MM*60 + SS<53><53>* 1000 + SSS
uint32_t total_ms = hh * 3600000 + mm * 60000 + ss * 1000 + time_frac;
// 4. ת<><D7AA>ΪЭ<CEAA><D0AD>ʱ<EFBFBD>䣨<EFBFBD>Ŵ<EFBFBD>4000<30><30><EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD> total_ms * 4<><34>
return total_ms * 4;
}
void rs232Process(void)
{
float float_temp = 0.0f;
// navigation_rs232_output.bit_data.header[0] = 0xBD;//BD
// navigation_rs232_output.bit_data.header[1] = 0xDB;//DB
// navigation_rs232_output.bit_data.header[2] = 0x0B;//0B
navigation_rs232_output.bit_data.header1 = 0xBD;//BD
navigation_rs232_output.bit_data.header2 = 0xDB;//DB
navigation_rs232_output.bit_data.header3 = 0x0B;//0B
//ŷ<><C5B7><EFBFBD><EFBFBD>
float_temp = (float) (yis321_data.bit_data.roll)*0.000001;
navigation_rs232_output.bit_data.roll = (int16_t) (float_temp*32768/360.0f);
float_temp = (float) (yis321_data.bit_data.pitch)*0.000001;
navigation_rs232_output.bit_data.pitch = (int16_t) (float_temp*32768/360.0f);
float_temp = (float) (yis321_data.bit_data.yaw)*0.000001;
navigation_rs232_output.bit_data.yaw = (int16_t) (float_temp*32768/360.0f);
//<2F><><EFBFBD><EFBFBD>
float_temp = (float) (yis321_data.bit_data.gyro_x)*0.000001;
navigation_rs232_output.bit_data.gyro_x = (int16_t) (float_temp*32768/300.0f);
float_temp = (float) (yis321_data.bit_data.gyro_y)*0.000001;
navigation_rs232_output.bit_data.gyro_y = (int16_t) (float_temp*32768/300.0f);
float_temp = (float) (yis321_data.bit_data.gyro_z)*0.000001f;
navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
//<2F><><EFBFBD>ٶ<EFBFBD>
float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
//gps<70><73>Ϣ
navigation_rs232_output.bit_data.latitude = (int32_t) (gga_data1.latitude * 10000000);
navigation_rs232_output.bit_data.longitude = (int32_t) (gga_data1.longitude * 10000000);
navigation_rs232_output.bit_data.altitude = (int32_t) (gga_data1.altitude * 1000);
navigation_rs232_output.bit_data.init_status = 0xF;
navigation_rs232_output.bit_data.rtk_status = gga_data1.fix_quality;
float_temp = (float)vtg_data1.speed_kmh/3.6f*100.0f;//ϵ<><CFB5>100
navigation_rs232_output.bit_data.gps_speed = (int16_t)float_temp;
navigation_rs232_output.bit_data.dual_heading = (int16_t)(ths_data1.heading*100);// <20><><EFBFBD><EFBFBD>100<30><30>;
navigation_rs232_output.bit_data.nav_status = 0x32;
navigation_rs232_output.bit_data.timestamp = GgaTimeToProtocol(gga_data1.utc_time);
navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57);
publishMessage(&navigation_rs232_output, 1);
// uint32_t debubg_len = 58;
// uint8_t debug_ip[4] = {192,168,17,77};
// UdpSendToData(SocketId2, (uint8_t *)&navigation_output2, &debubg_len,debug_ip,8011);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// timerStart(&rs232_output_timer, 20,1);//10ms
}
void imuInput(void *signal_id)
{
static uint8_t navigationProcessCnt = 0;
switch(imu_buffer1.type)
{
case IIM46234:
@@ -308,7 +404,7 @@ void imuInput(void *signal_id)
{
memcpy(&yis321_data.arr[0],&imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][0],sizeof(UnInfProtocolFrame));
//????
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
Acc[0] = (float)((int32_t)yis321_data.bit_data.acc_x)*0.000001f;
Acc[1] = (float)((int32_t)yis321_data.bit_data.acc_y)*0.000001f;
Acc[2] = (float)((int32_t)yis321_data.bit_data.acc_z)*0.000001f;
@@ -328,6 +424,17 @@ void imuInput(void *signal_id)
navigation_outputC1.bit_data.q2 = SWAP_ENDIAN_32(yis321_data.bit_data.q2);
navigation_outputC1.bit_data.q3 = SWAP_ENDIAN_32(yis321_data.bit_data.q3);
navigationProcessCnt ++;//<2F><><EFBFBD>ⶨʱ<E2B6A8><CAB1>׼<EFBFBD><D7BC><EFBFBD>·<EFBFBD><C2B7><EFBFBD>Ƶ<EFBFBD>ʽ<EFBFBD><CABD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>
if(navigationProcessCnt >= 5)
{
navigationProcessCnt = 0;
rs232Process();
}
publishMessage(&navigation_output1, 1);
}
break;
@@ -375,141 +482,61 @@ void iim6234Init(void *signal_id)
void nmeaPrintf(void *signal_id)
{
printf("[THS] Heading:%.1f<EFBFBD> Mode:%c\n",
ths_data1.heading, ths_data1.mode);
printf("[VTG] Course:%.1f<EFBFBD> Speed:%.1fkm/h\n",
vtg_data1.course_true, vtg_data1.speed_kmh);
// printf("[THS] Heading:%.1f<EFBFBD><EFBFBD> Mode:%c\n",
// ths_data1.heading, ths_data1.mode);
// printf("[VTG] Course:%.1f<EFBFBD><EFBFBD> Speed:%.1fkm/h\n",
// vtg_data1.course_true, vtg_data1.speed_kmh);
printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c Alt:%.2f rtk_state:%d satellite:%d hdop:%2f\n",
gga_data1.utc_time,
gga_data1.latitude, gga_data1.lat_dir,
gga_data1.longitude, gga_data1.lon_dir,
gga_data1.altitude, // ???????M(?)
gga_data1.fix_quality,
gga_data1.satellites,
gga_data1.hdop
);
// printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c Alt:%.2f rtk_state:%d satellite:%d hdop:%2f\n",
// gga_data1.utc_time,
// gga_data1.latitude, gga_data1.lat_dir,
// gga_data1.longitude, gga_data1.lon_dir,
// gga_data1.altitude, // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߶ȵ<EFBFBD>λΪM(<28><>)
// gga_data1.fix_quality,
// gga_data1.satellites,
// gga_data1.hdop
// );
printf("???: (%.6f, %.6f, %.6f, %.6f)\n",
yis321_data.bit_data.q0*0.000001, yis321_data.bit_data.q1*0.000001, yis321_data.bit_data.q2*0.000001, (int32_t)yis321_data.bit_data.q3*0.000001);
// printf("<22><>Ԫ<EFBFBD><D4AA>: (%.6f, %.6f, %.6f, %.6f)\n",
// yis321_data.bit_data.q0*0.000001, yis321_data.bit_data.q1*0.000001, yis321_data.bit_data.q2*0.000001, (int32_t)yis321_data.bit_data.q3*0.000001);
printf("???: (%.6f, %.6f, %.6f)\n",
yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001);
// printf("ŷ<><C5B7><EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f)\n",
// yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001);
timerStart(&data_processing_timer, 1000,1);//100ms
printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹ<>ô<EFBFBD><C3B4>ڴ<EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
timerStart(&data_processing_timer, 1000,1);//100ms
}
/**
* @brief ?GGA???HHMMSS.SSS???double?????????U32???4000??
* @param utc_time GGA????75049.00??07:50:49.00?
* @return uint32_t ????????? = ??? / 4000?
*/
uint32_t GgaTimeToProtocol(double utc_time)
{
// 1. ???????????????????
uint32_t time_int = (uint32_t)utc_time; // HHMMSS
uint32_t time_frac = (uint32_t)((utc_time - time_int) * 1000 + 0.5); // .SSS ? ????????
// 2. ??HH?MM?SS
uint32_t hh = time_int / 10000; // ??
uint32_t mm = (time_int % 10000) / 100; // ??
uint32_t ss = time_int % 100; // ?
// 3. ???????HH*3600 + MM*60 + SS?* 1000 + SSS
uint32_t total_ms = hh * 3600000 + mm * 60000 + ss * 1000 + time_frac;
// 4. ??????????4000????? total_ms * 4?
return total_ms * 4;
}
void rs232Process(void *signal_id)
{
float float_temp = 0.0f;
// navigation_rs232_output.bit_data.header[0] = 0xBD;//BD
// navigation_rs232_output.bit_data.header[1] = 0xDB;//DB
// navigation_rs232_output.bit_data.header[2] = 0x0B;//0B
navigation_rs232_output.bit_data.header1 = 0xBD;//BD
navigation_rs232_output.bit_data.header2 = 0xDB;//DB
navigation_rs232_output.bit_data.header3 = 0x0B;//0B
//???
float_temp = (float) (yis321_data.bit_data.roll)*0.000001;
navigation_rs232_output.bit_data.roll = (int16_t) (float_temp*32768/360.0f);
float_temp = (float) (yis321_data.bit_data.pitch)*0.000001;
navigation_rs232_output.bit_data.pitch = (int16_t) (float_temp*32768/360.0f);
float_temp = (float) (yis321_data.bit_data.yaw)*0.000001;
navigation_rs232_output.bit_data.yaw = (int16_t) (float_temp*32768/360.0f);
//??
float_temp = (float) (yis321_data.bit_data.gyro_x)*0.000001;
navigation_rs232_output.bit_data.gyro_x = (int16_t) (float_temp*32768/300.0f);
float_temp = (float) (yis321_data.bit_data.gyro_x)*0.000001;
navigation_rs232_output.bit_data.gyro_x = (int16_t) (float_temp*32768/300.0f);
float_temp = (float) (yis321_data.bit_data.gyro_z)*0.000001f;
navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
//???
float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;
navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f;
navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;
navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
//gps??
navigation_rs232_output.bit_data.latitude = (int32_t) (gga_data1.latitude * 10000000);
navigation_rs232_output.bit_data.longitude = (int32_t) (gga_data1.longitude * 10000000);
navigation_rs232_output.bit_data.altitude = (int32_t) (gga_data1.altitude * 1000);
navigation_rs232_output.bit_data.init_status = 0xF;
navigation_rs232_output.bit_data.rtk_status = gga_data1.fix_quality;
float_temp = (float)vtg_data1.speed_kmh/3.6f*100.0f;//??100
navigation_rs232_output.bit_data.gps_speed = (int16_t)float_temp;
navigation_rs232_output.bit_data.dual_heading = (int16_t)(ths_data1.heading*100);// ??100?;
navigation_rs232_output.bit_data.timestamp = GgaTimeToProtocol(gga_data1.utc_time);
navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57);
publishMessage(&navigation_rs232_output, 1);
timerStart(&rs232_output_timer, 10,1);//10ms
}
// APP??????
// APPģ<50><C4A3><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><CABC>
void dataProcessingAppInit(void)
{
// ??????
// <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
timerInit(&iim6234_timer);
timerInit(&rm3100_timer);
timerInit(&data_processing_timer);
timerInit(&rs232_output_timer);
rm3100Init();//???RM3100
// ????????????GNGGA??
rm3100Init();//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>RM3100
// <EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD>GNGGA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
subscribe(&iim6234_timer, iim6234Init);
subscribe(&rm3100_timer, rm3100Process);
subscribe(&nema_output1, nmeaProcess);
subscribe(&data_processing_timer, nmeaPrintf);
subscribe(&imu_buffer1, imuInput);
subscribe(&rs232_output_timer,rs232Process);
// subscribe(&rs232_output_timer,rs232Process);
timerStart(&rm3100_timer, RM3100_TIME,1);//
timerStart(&iim6234_timer, 100,1);//100ms
timerStart(&data_processing_timer, 1000,1);//100ms
timerStart(&rs232_output_timer, 50,1);//50ms
// timerStart(&rs232_output_timer, 50,1);//50ms
printf("APP: initial OK %d\n",getCurrentTime());
}

12
ETH/UdpServer/app/app_data_processing.h
View File

@@ -47,16 +47,16 @@ typedef struct {
// <20><><EFBFBD>ٶȼƣ<C8BC><C6A3><EFBFBD><EFBFBD><EFBFBD>ID 0x10<31><30>
uint8_t acc_id; ///< <20><>ʶ<EFBFBD><CAB6>0x10<31><30>Э<EFBFBD>鸽¼A.1<EFBFBD><EFBFBD>
uint8_t acc_len; ///< <20><><EFBFBD>ݳ<EFBFBD><DDB3>ȣ<EFBFBD>12<31>ֽ<EFBFBD>
uint32_t acc_x; ///< X<><58><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
uint32_t acc_y; ///< Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
uint32_t acc_z; ///< Z<><5A><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
int32_t acc_x; ///< X<><58><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
int32_t acc_y; ///< Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
int32_t acc_z; ///< Z<><5A><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ m/s2
// <20><><EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD><EFBFBD><EFBFBD>ID 0x20<32><30>
uint8_t gyro_id; ///< <20><>ʶ<EFBFBD><CAB6>0x20
uint8_t gyro_len; ///< <20><><EFBFBD>ݳ<EFBFBD><DDB3>ȣ<EFBFBD>12<31>ֽ<EFBFBD>
uint32_t gyro_x; ///< X<><58><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
uint32_t gyro_y; ///< Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
uint32_t gyro_z; ///< Z<><5A><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
int32_t gyro_x; ///< X<><58><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
int32_t gyro_y; ///< Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
int32_t gyro_z; ///< Z<><5A><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> <20><><EFBFBD><EFBFBD> 0.000001 <20><>λ deg/s
// ŷ<><C5B7><EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD><EFBFBD><EFBFBD>ID 0x40<34><30>[1,2](@ref)
uint8_t euler_id; ///< <20><>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD>ֵ0x40<34><30>Э<EFBFBD>鸽¼A.4<EFBFBD><EFBFBD>Tait-Bryan<61><6E>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD>