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增加以太网传入RTCM数据

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liumin
2025-11-22 21:45:02 +08:00
parent 2f580d0d3a
commit ef5126e4f4
6 changed files with 252 additions and 128 deletions
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46
ETH/UdpServer/app/app_data_processing.c
View File

@@ -378,12 +378,6 @@ void rs232Process(void)
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
}
@@ -479,29 +473,29 @@ void iim6234Init(void *signal_id)
void nmeaPrintf(void *signal_id)
{
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("[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, // <20><><EFBFBD><EFBFBD><EFBFBD>߶ȵ<DFB6>λΪM(<28><>)
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, // <20><><EFBFBD><EFBFBD><EFBFBD>߶ȵ<DFB6>λΪM(<28><>)
// gga_data1.fix_quality,
// gga_data1.satellites,
// gga_data1.hdop
// );
printf("<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>: (%.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("<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>: (%.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("ŷ<EFBFBD><EFBFBD><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);
// printf("ŷ<EFBFBD><EFBFBD><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);
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>
// 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
}
@@ -517,6 +511,8 @@ void dataProcessingAppInit(void)
timerInit(&rm3100_timer);
timerInit(&data_processing_timer);
timerInit(&rs232_output_timer);
RTCM_Buffer1.type = init;
rm3100Init();//<2F><>ʼ<EFBFBD><CABC>RM3100
// <20><><EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>GNGGA<47><41><EFBFBD><EFBFBD>

4
ETH/UdpServer/app/app_test.c
View File

@@ -18,7 +18,7 @@ Timer test_timer;
void testTimerProcess(void *signal_id)
{
(void)signal_id; // 标记变量为已使用，避免编译器警告
static uint32_t start_time = 0;
// static uint32_t start_time = 0;
// short hx,hy,hz=0;
printf("testAPP\n");
@@ -50,7 +50,7 @@ void testTimerProcess(void *signal_id)
// UdpSendToData(SocketId,arrtest4,&ETHUDPTxLen,IP1,8011);//测试
start_time = getCurrentTime();
// start_time = getCurrentTime();
// 再次启动定时器，实现周期定时
timerStart(&test_timer, 1000,1);