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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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7
ETH/UdpServer/User/interface.h
View File

@@ -256,6 +256,11 @@ typedef struct _StrRequestMessage
// uint8_t data[4];
// }YisDateFrame;
typedef enum{
init = 0,
uart,
ethernet,
}rtcm_type;
typedef struct
@@ -263,6 +268,8 @@ typedef struct
uint8_t dma_buffer[2][RX_BUFFER_LEN]; // 双缓冲
volatile uint8_t active_buf; // 当前活跃缓冲区索引
volatile uint16_t buf_len; // 当前活跃缓冲区索引
volatile rtcm_type type; // 串口或者以太网
volatile uint8_t eth_cnt; // 当前活跃缓冲区索引
} rtcmBuffer;

186
ETH/UdpServer/User/interface_etherent.c
View File

@@ -28,6 +28,9 @@ u16 Desport = 7900;
u8 pc_ipAddr[4] = { 192, 168, 17, 2 }; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IP address
u8 remote_base_ip[4] = { 192, 168, 10, 8 }; //Զ<>̻<EFBFBD>վIP address
u16 remote_port = 1008; //Զ<>̻<EFBFBD>վ<EFBFBD>˿<EFBFBD>
u8 tcp_socket[WCHNET_NUM_TCP]; //Save the currently connected socket
@@ -50,6 +53,8 @@ uint8_t portableOcuOnline = 0;
uint8_t remoteOcuOnline = 0;
Timer ethernet_timer_interface;
Timer ethernet_timer_interface1;
/*********************************************************************
* @fn mStopIfError
*
@@ -277,6 +282,33 @@ void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *b
}
}
/*********************************************************************
* @fn WCHNET_CreateTcpSocket
*
* @brief Create TCP Socket
*
* @return none
*/
void WCHNET_CreateTcpSocket(void)
{
u8 i;
SOCK_INF TmpSocketInf;
memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
memcpy((void *) TmpSocketInf.IPAddr, remote_base_ip, 4);
TmpSocketInf.DesPort = remote_port;
TmpSocketInf.SourPort = 1008;
TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
printf("SocketId %d\r\n", SocketId3);
mStopIfError(i);
i = WCHNET_SocketConnect(SocketId3); //make a TCP connection
mStopIfError(i);
}
/*********************************************************************
* @fn WCHNET_CreateUdpSocket
*
@@ -286,7 +318,7 @@ void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *b
*/
void WCHNET_CreateUdpSocket(void)
{
u8 i;
// u8 i;
SOCK_INF TmpSocketInf;
// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
@@ -310,14 +342,15 @@ void WCHNET_CreateUdpSocket(void)
#endif
memset(tcp_socket, 0xff, WCHNET_NUM_TCP);
memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
TmpSocketInf.SourPort = srcport;
TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf);
printf("SocketIdForListen %d\r\n", SocketId);
mStopIfError(i);
i = WCHNET_SocketListen(SocketId); //listen for connections
mStopIfError(i);
WCHNET_CreateTcpSocket();
// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
// TmpSocketInf.SourPort = srcport;
// TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
// i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf);
// printf("SocketIdForListen %d\r\n", SocketId);
// mStopIfError(i);
// i = WCHNET_SocketListen(SocketId); //listen for connections
// mStopIfError(i);
//
memset((void *)&TmpSocketInf, 0, sizeof(SOCK_INF));
@@ -336,21 +369,77 @@ void WCHNET_CreateUdpSocket(void)
TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf2;
TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv2;
i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
printf("WCHNET_SocketCreat %d\r\n", SocketId3);
// mStopIfError(i);
// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
// memcpy((void *) TmpSocketInf.IPAddr, DESIP, 4);
// TmpSocketInf.DesPort = desport;
// TmpSocketInf.SourPort = srcport++;
// TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
// TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
// i = WCHNET_SocketCreat(&SocketId4, &TmpSocketInf);
// printf("SocketId4 %d\r\n", SocketId4);
// mStopIfError(i);
// i = WCHNET_SocketConnect(SocketId4); //make a TCP connection
// mStopIfError(i);
}
/*********************************************************************
* @fn WCHNET_DataLoopback
*
* @brief Data loopback function.
*
* @param id - socket id.
*
* @return none
*/
void WCHNET_DataLoopback(u8 id)
{
#if 1
u8 i;
u32 len;
u32 endAddr = SocketInf[id].RecvStartPoint + SocketInf[id].RecvBufLen; //Receive buffer end address
if ((SocketInf[id].RecvReadPoint + SocketInf[id].RecvRemLen) > endAddr)
{ //Calculate the length of the received data
len = endAddr - SocketInf[id].RecvReadPoint;
}
else
{
len = SocketInf[id].RecvRemLen;
}
if(remote_port == SocketInf[id].DesPort)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Դ<EFBFBD>˿<EFBFBD><CBBF><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>̫<EFBFBD><CCAB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>RTCM<43><4D><EFBFBD><EFBFBD>
{
memcpy(&RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf][0],(u8 *) SocketInf[id].RecvReadPoint,len);
RTCM_Buffer1.type = ethernet;
RTCM_Buffer1.buf_len = (uint16_t)len;
RTCM_Buffer1.active_buf ^= 1;
RTCM_Buffer1.eth_cnt ++;//<2F>ۼ<EFBFBD><DBBC>ж<EFBFBD>
publishMessage(&RTCM_Buffer1, 1);
}
// printf("Դ<>˿<EFBFBD>: %u, Ŀ<><C4BF><EFBFBD>˿<EFBFBD>: %u\n",
// SocketInf[id].SourPort, SocketInf[id].DesPort);
// i = WCHNET_SocketSend(id, (u8 *) SocketInf[id].RecvReadPoint, &len); //send data
if (i == WCHNET_ERR_SUCCESS) {
WCHNET_SocketRecv(id, NULL, &len); //Clear sent data
}
#else
u32 len, totallen;
u8 *p = MyBuf, TransCnt = 255;
len = WCHNET_SocketRecvLen(id, NULL); //query length
printf("Receive Len = %d\r\n", len);
totallen = len;
WCHNET_SocketRecv(id, MyBuf, &len); //Read the data of the receive buffer into MyBuf
while(1){
len = totallen;
WCHNET_SocketSend(id, p, &len); //Send the data
totallen -= len; //Subtract the sent length from the total length
p += len; //offset buffer pointer
if( !--TransCnt ) break; //Timeout exit
if(totallen) continue; //If the data is not sent, continue to send
break; //After sending, exit
}
#endif
}
/*********************************************************************
@@ -368,6 +457,7 @@ void WCHNET_HandleSockInt(u8 socketid, u8 intstat)
u8 i;
if (intstat & SINT_STAT_RECV) //receive data
{
WCHNET_DataLoopback(socketid);
}
if (intstat & SINT_STAT_CONNECT) //connect successfully
{
@@ -403,6 +493,7 @@ void WCHNET_HandleSockInt(u8 socketid, u8 intstat)
}
}
printf("TCP Timeout\r\n");
WCHNET_CreateTcpSocket();
}
}
@@ -498,7 +589,7 @@ uint8_t CalculateChecksum(const uint8_t* data, size_t len)
static void ethernetInterfaceTimerProcess(void *signal_id)
{
static u_int32_t navigation_output_len = 0;
static u_int32_t navigation_output_len1 = 0;
// static u_int32_t navigation_output_len1 = 0;
//----------------------------------------------------------------------
if (signal_id == &navigation_output1)
{
@@ -536,21 +627,21 @@ static void ethernetInterfaceTimerProcess(void *signal_id)
navigation_outputC1.bit_data.crc1 = CalculateChecksum(&navigation_outputC1.arr[0],sizeof(UnInfNavigationOutputC)-1);
for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++)
{
if(tcp_socket[i] != 0xFF)
{
if(0 == navigation_output_len1)
{
navigation_output_len1 = sizeof(navigation_outputC1);
}
// for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++)
// {
// if(tcp_socket[i] != 0xFF)
// {
// if(0 == navigation_output_len1)
// {
// navigation_output_len1 = sizeof(navigation_outputC1);
// }
i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data
if (i == WCHNET_ERR_SUCCESS) {
WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data
}
}
}
// i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data
// if (i == WCHNET_ERR_SUCCESS) {
// WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data
// }
// }
// }
}
else if (signal_id == &navigation_output2)
{
@@ -614,6 +705,22 @@ void ethInterruptProcess(void *signal_id)
timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
}
void ethernetFaultProcess(void *signal_id)//<2F><>̫<EFBFBD><CCAB>RTCM<43><4D><EFBFBD><EFBFBD><EFBFBD>жϡ<D0B6>
{
static uint8_t eth_cnt_last = 0;
if( (RTCM_Buffer1.eth_cnt == eth_cnt_last) && (ethernet == RTCM_Buffer1.type) )//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5s<35><73><EFBFBD>ǶϿ<C7B6><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˡ<EFBFBD>
{
RTCM_Buffer1.type = init;
}
else
{
eth_cnt_last = RTCM_Buffer1.eth_cnt;
}
timerStart(&ethernet_timer_interface1, 8000,1); //8s<38><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
}
void ethernetInterfaceInit(void)
{
@@ -622,8 +729,15 @@ void ethernetInterfaceInit(void)
subscribe(&navigation_output1, ethernetInterfaceTimerProcess);
subscribe(&navigation_output2, ethernetInterfaceTimerProcess);
subscribe(&ethernet_timer_interface, ethInterruptProcess);
subscribe(&ethernet_timer_interface1, ethernetFaultProcess); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
timerStart(&ethernet_timer_interface1, 5000,1); //5s<35><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
printf( "ethernetInterface: initial OK %d\n",getCurrentTime());
}

109
ETH/UdpServer/User/interface_uart.c
View File

@@ -1,7 +1,7 @@
/*
* eth_drive.c
*
* Created on: 2023<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
* Created on: 2023??1??5??
* Author: Administrator
*/
@@ -18,7 +18,7 @@ static RingBuffer nmea_rx_buf;
#define DMA_BUF_SIZE 1400
uint8_t dma_rx_buffer[DMA_BUF_SIZE] __attribute__((aligned(4)));
//__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC<EFBFBD>﷨
//__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC??
//void USART2_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
@@ -48,7 +48,7 @@ void USART3_IRQHandler(void)
{
imu_buffer1.buf_len = IMU_LEN - DMA_GetCurrDataCounter(IMU_RX_CH);
if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //??????????????
(imu_buffer1.dma_buffer[imu_buffer1.active_buf][1] == IMU_IIM46234_HEADER2) )
{
imu_buffer1.type = IIM46234;
@@ -80,6 +80,9 @@ void UART4_IRQHandler(void)
enter_critical_section();
if(USART_GetITStatus(UART4, USART_IT_IDLE) != RESET)
{
if(ethernet != RTCM_Buffer1.type)//ֻҪ<D6BB><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̫<EFBFBD><CCAB>״̬
{
RTCM_Buffer1.type = uart;//<2F><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>ģʽ
RTCM_Buffer1.buf_len = RX_BUFFER_LEN - DMA_GetCurrDataCounter(RTCM_RX_CH);
RTCM_Buffer1.active_buf ^= 1;
@@ -91,9 +94,11 @@ void UART4_IRQHandler(void)
printf("rtcm receive\n");
USART_ReceiveData(UART4); // clear IDLE flag
publishMessage(&RTCM_Buffer1, 1);
}
}
exit_critical_section(0);
}
@@ -103,9 +108,8 @@ void UART8_IRQHandler(void)
enter_critical_section();
if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET)
{
uint8_t UART_temp = 0;
UART_temp = USART_ReceiveData(UART8);
// printf("USART8:%d\n", UART_temp); // <20><><EFBFBD><EFBFBD>
USART_ReceiveData(UART8);
// printf("USART8:%d\n", UART_temp); // ????
}
exit_critical_section(0);
}
@@ -118,7 +122,7 @@ void UART6_IRQHandler(void)
enter_critical_section();
if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET)
{
char ch = USART_ReceiveData(UART6);
USART_ReceiveData(UART6);
}
exit_critical_section(0);
}
@@ -131,7 +135,7 @@ void UART7_IRQHandler(void)
DMA_Cmd(UM982_RX_CH, DISABLE);
uint16_t received_len = DMA_BUF_SIZE - DMA_GetCurrDataCounter(UM982_RX_CH);
// 3. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// 3. ??????????????<3F><>?????
for(uint16_t i = 0; i < received_len; i++)
{
uint16_t next_head = (nmea_rx_buf.head + 1) % RING_BUF_SIZE;
@@ -166,7 +170,7 @@ void DMA1_Channel3_IRQHandler(void)
enter_critical_section();
imu_buffer1.buf_len = RX_BUFFER_LEN;
DMA_ClearITPendingBit(DMA1_IT_TC3);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
DMA_ClearITPendingBit(DMA1_IT_TC3);//?????<3F><>?
exit_critical_section(0);
}
@@ -184,7 +188,7 @@ void DMA2_Channel3_IRQHandler(void)
enter_critical_section();
RTCM_Buffer1.buf_len = RX_BUFFER_LEN;
DMA_ClearITPendingBit(DMA2_IT_TC3);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
DMA_ClearITPendingBit(DMA2_IT_TC3);//?????<3F><>?
exit_critical_section(0);
}
@@ -198,7 +202,7 @@ void DMA2_Channel3_IRQHandler(void)
void DMA2_Channel9_IRQHandler(void)
{
enter_critical_section();
DMA_ClearITPendingBit(DMA2_IT_TC9);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
DMA_ClearITPendingBit(DMA2_IT_TC9);//?????<3F><>?
exit_critical_section(0);
}
@@ -242,7 +246,7 @@ void dmaInit(void)
DMA_Cmd(RTCM_RX_CH, ENABLE);
USART_DMACmd(RTCM_UART, USART_DMAReq_Rx, ENABLE);
//IMU DMA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//IMU DMA????
DMA_DeInit(IMU_RX_CH);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
@@ -270,7 +274,7 @@ void dmaInit(void)
USART_DMACmd(IMU_UART, USART_DMAReq_Rx, ENABLE);
//982 DMA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//982 DMA????
DMA_DeInit(UM982_RX_CH);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
@@ -363,7 +367,7 @@ void initUart(void)
NVIC_Init(&NVIC_InitStructure);
USART_Cmd(UART4, ENABLE);
/* UART6 TX-->C.0 RX-->C.1 */ //<EFBFBD>ӵ<EFBFBD>982<EFBFBD><EFBFBD>com1
/* UART6 TX-->C.0 RX-->C.1 */ //???982??com1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -389,7 +393,7 @@ void initUart(void)
NVIC_Init(&NVIC_InitStructure);
USART_Cmd(UART6, ENABLE);
/* UART7 TX-->C.2 RX-->C.3 *///<EFBFBD>ӵ<EFBFBD>982<EFBFBD><EFBFBD>com2
/* UART7 TX-->C.2 RX-->C.3 *///???982??com2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -443,7 +447,7 @@ void initUart(void)
void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD>
void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//????2???????
{
for(uint16_t i = 0; i<len; i++)
{
@@ -457,9 +461,9 @@ void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//<2F><>
void rtcmProcess(void *signal_id)
{
(void)signal_id; // <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>
(void)signal_id; // ??????????????????????????
uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//ֱ<EFBFBD>ӷ<EFBFBD><EFBFBD>ͷǼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>
uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//?????????????
printf("rtcm forwarding\n");
}
@@ -468,25 +472,25 @@ void rtcmProcess(void *signal_id)
void setDataProcess(void *signal_id)
{
(void)signal_id; // <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>
(void)signal_id; // ??????????????????????????
uartSendto(USART3, set_output_data, 20);
}
void setRateProcess(void *signal_id)
{
(void)signal_id; // <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>
(void)signal_id; // ??????????????????????????
uartSendto(USART3, set_rate, 20);
}
void setSaveProcess(void *signal_id)
{
(void)signal_id; // <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>
(void)signal_id; // ??????????????????????????
uartSendto(USART3, save_cmd, 20);
}
void setSteamProcess(void *signal_id)
{
(void)signal_id; // <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>
(void)signal_id; // ??????????????????????????
uartSendto(USART3, stream_cmd, 20);
}
@@ -494,18 +498,18 @@ void setSteamProcess(void *signal_id)
/* /?**?
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD>ͣ<EFBFBD>XOR<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>飩
* @param nmea_str <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD>䣨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>$<24><>*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>β<EFBFBD><CEB2>CRLF<EFBFBD><EFBFBD>
* @return <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λУ<EFBFBD><EFBFBD>ͣ<EFBFBD>0x00~0xFF<EFBFBD><EFBFBD>
* @brief ????NMEA????<3F><>????XOR???<3F><>?<3F><>
* @param nmea_str ??????NMEA???????$??*??????????<3F><>??CRLF??
* @return ???????8<>˧<EFBFBD>????0x00~0xFF??
*/
uint8_t nmea_checksum(const char *nmea_str)
{
uint8_t checksum = 0;
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>'$'<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD>
// ?????????'$'??????????
if (*nmea_str == '$') nmea_str++;
// <EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>'*'<27><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// ???????????????'*'???????????
while (*nmea_str && *nmea_str != '*') {
checksum ^= (uint8_t)*nmea_str++;
}
@@ -514,24 +518,24 @@ uint8_t nmea_checksum(const char *nmea_str)
/*
* @brief <EFBFBD><EFBFBD>֤NMEA<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD>
* @param nmea_str <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD>䣨<EFBFBD><EFBFBD>"$GPGGA,...*2A\r\n"<EFBFBD><EFBFBD>
* @return У<EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD>0
* @brief ???NMEA????<3F><>???
* @param nmea_str ??????NMEA?????"$GPGGA,...*2A\r\n"??
* @return <EFBFBD><EFBFBD>????????1????????0
*/
bool nmea_validate_checksum(const char *nmea_str)
{
const char *p = nmea_str;
uint8_t computed_cs, received_cs;
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼλ<EFBFBD><EFBFBD>'*'
// ????<3F><>??????<3F><>??'*'
while (*p && *p != '*') p++;
if (*p != '*') return 0; // <EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>
if (*p != '*') return 0; // ??<3F><>??????
// <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD>ͣ<EFBFBD>2λʮ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD>
// ??????????<3F><>????2<><32>????????
if (!isxdigit(p[1]) || !isxdigit(p[2])) return 0;
received_cs = (uint8_t)strtol(p+1, NULL, 16);
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD>
// ???????<3F><>???
computed_cs = nmea_checksum(nmea_str);
return (computed_cs == received_cs);
@@ -542,7 +546,6 @@ void ProcessNMEAFrames(void *signal_id)
static uint8_t parsing_buf[1024];
static uint16_t parse_idx = 0;
bool frame_complete = false;
static uint8_t debug1s_cnt = 0;
// debug1s_cnt ++;
// if(debug1s_cnt >= 20)
@@ -555,82 +558,86 @@ void ProcessNMEAFrames(void *signal_id)
while(nmea_rx_buf.tail != nmea_rx_buf.head && !frame_complete)
{ // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǿ<EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD>һ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{ // ???????????<3F><>?????????
uint8_t ch = nmea_rx_buf.buffer[nmea_rx_buf.tail];
nmea_rx_buf.tail = (nmea_rx_buf.tail + 1) % RING_BUF_SIZE;
if(nmea_rx_buf.overflow) {
nmea_rx_buf.tail = nmea_rx_buf.head;
// 3. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
// 3. ??????????
nmea_rx_buf.overflow = 0;
// 4. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// 4. ????????????????????????
printf("Overflow recovery\n");
}
// ֡ͷ<EFBFBD><EFBFBD><EFBFBD>
// ?????
if(ch == '$') {
if(parse_idx > 0 && parsing_buf[parse_idx-1] == '\n')
{
if (nmea_validate_checksum((char *)parsing_buf)) //У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (nmea_validate_checksum((char *)parsing_buf)) //<2F><>?????
{
memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
publishMessage(&nema_output1, 1);
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
frame_complete = true; // ???????????
}
else
{
printf("nmea crc error");
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
frame_complete = true; // ???????????
}
}
parse_idx = 0;
}
// <EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// ?<3F><>????
if(parse_idx < RING_BUF_SIZE-1 && !frame_complete)
{
parsing_buf[parse_idx++] = ch;
// ֡β<EFBFBD><EFBFBD><EFBFBD>
// ?<3F><>???
if(parse_idx >= 2 &&
parsing_buf[parse_idx-2] == '\r' &&
parsing_buf[parse_idx-1] == '\n')
{
if (nmea_validate_checksum((char *)parsing_buf)) //У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (nmea_validate_checksum((char *)parsing_buf)) //<2F><>?????
{
memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
publishMessage(&nema_output1, 1);
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
frame_complete = true; // ???????????
}
else
{
printf("nmea buf error");
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
frame_complete = true; // ???????????
}
parse_idx = 0;
}
}
else if(!frame_complete)
{
parse_idx = 0; // <EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD>
parse_idx = 0; // ??????
}
}
timerStart(&nmea_timer, 10, 1); // 100ms<EFBFBD><EFBFBD><EFBFBD>ٴδ<EFBFBD><EFBFBD><EFBFBD>
timerStart(&nmea_timer, 10, 1); // 100ms????<3F><>???
}
void navigationRs232Process(void *signal_id)
{
uartSendto(UART8, (uint8_t *)&navigation_rs232_output, sizeof(navigation_rs232_output));
// uint32_t debubg_len = sizeof(navigation_rs232_output);
// uint8_t debug_ip[4] = {192,168,17,8};
// UdpSendToData(SocketId2, (uint8_t *)&navigation_rs232_output, &debubg_len,debug_ip,8011);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
// APPģ<EFBFBD><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><EFBFBD>
// APP????????
void interfaceUartInit(void)
{
subscribe(&set_output_data, setDataProcess);

2
ETH/UdpServer/User/net_config.h
View File

@@ -26,7 +26,7 @@ extern "C" {
#define WCHNET_NUM_TCP 1 /* Number of TCP connections */
#define WCHNET_NUM_TCP_LISTEN 1 /* Number of TCP listening */
#define WCHNET_NUM_TCP_LISTEN 0 /* Number of TCP listening */
/* The number of sockets, the maximum is 31 */
#define WCHNET_MAX_SOCKET_NUM (WCHNET_NUM_IPRAW+WCHNET_NUM_UDP+WCHNET_NUM_TCP+WCHNET_NUM_TCP_LISTEN)

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
}
@@ -518,6 +512,8 @@ void dataProcessingAppInit(void)
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>
subscribe(&iim6234_timer, iim6234Init);

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);