535 lines
19 KiB
C
535 lines
19 KiB
C
#include "interface_config.h"
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#include <stdint.h>
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#include <ctype.h>
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// 定时器结构体
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Timer data_processing_timer;
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Timer iim6234_timer;
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Timer rm3100_timer;
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Timer rs232_output_timer;
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StrInfNavigationOutput nav_data = {0}; // 初始化为全0
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UnInfProtocolFrame yis321_data = {0};
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GGA_Data gga_data1 = {0};
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VTG_Data vtg_data1 = {0};
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THS_Data ths_data1 = {0};
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// 定义按钮结构体
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uint8_t remote_tcp_ip[4] = {192,168,10,7};
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/* 将度分格式转换为十进制度数 */
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double nmea_to_decimal(double dm, char direction)
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{
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double degrees = (int)(dm / 100);
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double minutes = dm - degrees * 100;
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double decimal = degrees + minutes / 60.0;
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return (direction == 'S' || direction == 'W') ? -decimal : decimal;
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}
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// 解析GNGGA函数
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uint8_t parse_GGA(const char* data, GGA_Data* gga)
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{
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char buffer[256];
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strncpy(buffer, data, sizeof(buffer));
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char* token = strtok(buffer, ",");
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int field_index = 0;
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while (token != NULL) {
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switch (field_index) {
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case 1: gga->utc_time = atof(token); break;
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case 2: gga->latitude = atof(token); break;
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case 3: gga->lat_dir = token[0]; break;
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case 4: gga->longitude = atof(token); break;
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case 5: gga->lon_dir = token[0]; break;
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case 6: gga->fix_quality = atoi(token); break;
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case 7: gga->satellites = atoi(token); break;
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case 8: gga->hdop = atof(token); break;
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case 9: gga->altitude = atof(token); break;
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}
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token = strtok(NULL, ",");
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field_index++;
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}
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// 度分转十进制（在解析完成后统一处理）
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if (field_index > 5) { // 确保已解析到经度字段
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gga->latitude = nmea_to_decimal(gga->latitude, gga->lat_dir);
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gga->longitude = nmea_to_decimal(gga->longitude, gga->lon_dir);
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}
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return 0;
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}
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// 解析GNVTG语句
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uint8_t parse_VTG(const char* data, VTG_Data* vtg)
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{
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char buffer[256];
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strncpy(buffer, data, sizeof(buffer));
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buffer[sizeof(buffer)-1] = '\0'; // 确保字符串终止
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char* token = strtok(buffer, ",");
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int field_index = 0;
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while (token != NULL) {
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switch (field_index) {
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case 1: vtg->course_true = atof(token); break; // 真北航向
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case 3: vtg->course_magnetic = atof(token); break; // 磁北航向
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case 5: vtg->speed_knots = atof(token); break; // 速度（节）
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case 7: vtg->speed_kmh = atof(token); break; // 速度（km/h）
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case 9: vtg->mode = token[0]; break; // 模式指示
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}
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token = strtok(NULL, ",");
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field_index++;
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}
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return 0;
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}
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// 解析GNTHS语句
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uint8_t parse_THS(const char* data, THS_Data* ths)
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{
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char buffer[128];
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strncpy(buffer, data, sizeof(buffer));
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buffer[sizeof(buffer)-1] = '\0';
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char* token = strtok(buffer, ",");
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int field_index = 0;
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while (token != NULL) {
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switch (field_index) {
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case 1: // 航向字段（示例值：341.3344）
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ths->heading = atof(token);
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break;
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case 2: // 模式字段（示例值：A）
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ths->mode = token[0];
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break;
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// 其他字段（校验和等）根据需求扩展
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}
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token = strtok(NULL, ",");
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field_index++;
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}
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return 0;
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}
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void nmeaProcess(void *signal_id)
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{
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(void)signal_id; // 标记变量为已使用，避免编译器警告
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// printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
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// printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//使用串口打印加速度，角速度数据
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// if (!nmea_validate_checksum(&nema_output1.buffer[nema_output1.active_buf^1][0])) //校验代码
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// {
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// printf("NMEA CRC Failed");
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// return;
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// }
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// 判断后3个字符是否为"GGA"/"VTG"/"THS"
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if(strncmp(&nema_output1.buffer[3], "GGA", 3) == 0) {
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nema_output1.frame_ready = 1;
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}
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else if(strncmp(&nema_output1.buffer[3], "VTG", 3) == 0) {
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nema_output1.frame_ready = 2;
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}
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else if(strncmp(&nema_output1.buffer[3], "THS", 3) == 0) {
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nema_output1.frame_ready = 3;
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}
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else
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{ // 非目标协议则重置
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nema_output1.frame_ready = 0;
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}
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// 修改后的switch语句
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switch(nema_output1.frame_ready)
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{
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case NMEA_TYPE_GGA:
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if (0 == parse_GGA(&nema_output1.buffer[0], &gga_data1))
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{
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navigation_output1.bit_data.lon = (int32_t) (gga_data1.longitude * 10000000); //20250426度分转换为度10进制
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navigation_output1.bit_data.lat = (int32_t) (gga_data1.latitude * 10000000);
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navigation_output1.bit_data.high = (int32_t)(gga_data1.altitude * 1000);//扩大1000
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navigation_output1.bit_data.rtk_state = gga_data1.fix_quality;//
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// printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c rtk_state:%d\n",
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// gga_data1.utc_time, gga_data1.latitude, gga_data1.lat_dir,
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// gga_data1.longitude, gga_data1.lon_dir,gga_data1.fix_quality);
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}
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else
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{
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printf("gga parsing failed" );
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}
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break;
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case NMEA_TYPE_VTG:
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if (0 == parse_VTG(&nema_output1.buffer[0], &vtg_data1))
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{
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navigation_output1.bit_data.gps_speed = (int16_t)(vtg_data1.speed_kmh*1000/3600*100);//转换为m/s 扩大100倍
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// printf("[VTG] Course:%.1f° Speed:%.1fkm/h\n",
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// vtg_data1.course_true, vtg_data1.speed_kmh);
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}
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else
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{
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printf("vtg parsing failed" );
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}
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break;
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case NMEA_TYPE_THS:
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if (0 == parse_THS(&nema_output1.buffer[0], &ths_data1))
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{
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navigation_output1.bit_data.dual_antenna_heading = (int16_t)(ths_data1.heading*100);// 扩大100倍
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// printf("[THS] Heading:%.1f° Mode:%c\n",
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// ths_data1.heading, ths_data1.mode);
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}
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else
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{
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printf("ths parsing failed" );
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}
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break;
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default: // 处理未知类型
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// printf("Unknown NMEA frame type\n");
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break;
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}
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}
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unsigned short NumCheak(unsigned char *data,unsigned char len)//和校验计算
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{
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unsigned short NUM=0;
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unsigned char i;
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for(i = 0;i < len ; i++)
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{
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NUM += data[i];
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}
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return NUM;
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}
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// 计算异或校验（字节0-56）
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uint8_t calculate_checksum(const uint8_t* data, uint8_t len) {
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uint8_t checksum = 0;
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for (size_t i = 0; i < len; ++i) {
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checksum ^= data[i];
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}
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return checksum;
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}
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uint16_t yis321Cheak(unsigned char *data,unsigned char len)//和校验计算
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{
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uint8_t CK1 = 0;
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uint8_t CK2 = 0;
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uint16_t num;
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for(uint8_t i=0; i<len; i++)
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{
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CK1 = (uint8_t) (CK1 + data[i]);
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CK2 = (uint8_t) (CK2 + CK1);
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}
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num = CK2 << 8 | CK1;
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return num;
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}
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float Acc[3],Gyro[3];
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void iim6234Process()
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{
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int lAcc[3],lGyro[3];
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float fAcc[3],fGyro[3];
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if((imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][38]<< 8 | imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][39]) == NumCheak(&imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][3],35))
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{
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lAcc[0]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][14]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][15]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][16]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][17]);
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lAcc[1]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][18]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][19]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][20]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][21]);
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lAcc[2]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][22]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][23]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][24]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][25]);
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lGyro[0]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][26]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][27]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][28]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][29]);
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lGyro[1]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][30]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][31]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][32]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][33]);
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lGyro[2]=(( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][34]<<24 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][35]<<16 |( int)imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][36]<<8 |imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][37]);
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memcpy(fAcc,lAcc,12);
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memcpy(fGyro,lGyro,12);
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navigation_output1.bit_data.gyroscope_x_axis = (int16_t) (fGyro[0]*32768/300.0f);
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navigation_output1.bit_data.gyroscope_y_axis = (int16_t) (fGyro[1]*32768/300.0f);
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navigation_output1.bit_data.gyroscope_z_axis = (int16_t) (fGyro[2]*32768/300.0f);
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navigation_output1.bit_data.acceleration_x_axis = (int16_t) (fAcc[0]*32768/12.0f);
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navigation_output1.bit_data.acceleration_y_axis = (int16_t) (fAcc[1]*32768/12.0f);
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navigation_output1.bit_data.acceleration_z_axis = (int16_t) (fAcc[2]*32768/12.0f);
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publishMessage(&navigation_output1, 1);
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Acc[0]=fAcc[0];
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Acc[1]=fAcc[1];
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Acc[2]=fAcc[2];
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Gyro[0]=fGyro[0];
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Gyro[1]=fGyro[1];
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Gyro[2]=fGyro[2];
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}
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}
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void rm3100Process(void *signal_id)
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{
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short hx,hy,hz=0;
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RM3100_GetData(&hx,&hy,&hz);
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navigation_output1.bit_data.magnetic_x_axis = (int16_t)(hx/75);
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navigation_output1.bit_data.magnetic_y_axis = (int16_t)(hy/75);
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navigation_output1.bit_data.magnetic_z_axis = (int16_t)(hz/75);
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timerStart(&rm3100_timer, RM3100_TIME,1);//10ms
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}
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/**
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* @brief 将GGA时间（HHMMSS.SSS格式的double）转换为协议时间（U32，放大4000倍）
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* @param utc_time GGA时间（如75049.00表示07:50:49.00）
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* @return uint32_t 协议时间（实际秒数 = 返回值 / 4000）
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*/
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uint32_t GgaTimeToProtocol(double utc_time)
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{
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// 1. 提取整数部分和小数部分（避免浮点运算）
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uint32_t time_int = (uint32_t)utc_time; // HHMMSS
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uint32_t time_frac = (uint32_t)((utc_time - time_int) * 1000 + 0.5); // .SSS → 毫秒（四舍五入）
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// 2. 分解HH、MM、SS
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uint32_t hh = time_int / 10000; // 小时
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uint32_t mm = (time_int % 10000) / 100; // 分钟
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uint32_t ss = time_int % 100; // 秒
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// 3. 计算总毫秒数（HH*3600 + MM*60 + SS）* 1000 + SSS
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uint32_t total_ms = hh * 3600000 + mm * 60000 + ss * 1000 + time_frac;
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// 4. 转换为协议时间（放大4000倍，等价于 total_ms * 4）
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return total_ms * 4;
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}
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void rs232Process(void)
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{
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float float_temp = 0.0f;
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// navigation_rs232_output.bit_data.header[0] = 0xBD;//BD
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// navigation_rs232_output.bit_data.header[1] = 0xDB;//DB
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// navigation_rs232_output.bit_data.header[2] = 0x0B;//0B
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navigation_rs232_output.bit_data.header1 = 0xBD;//BD
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navigation_rs232_output.bit_data.header2 = 0xDB;//DB
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navigation_rs232_output.bit_data.header3 = 0x0B;//0B
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//欧拉角
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float_temp = (float) (yis321_data.bit_data.roll)*0.000001;
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navigation_rs232_output.bit_data.roll = (int16_t) (float_temp*32768/360.0f);
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float_temp = (float) (yis321_data.bit_data.pitch)*0.000001;
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navigation_rs232_output.bit_data.pitch = (int16_t) (float_temp*32768/360.0f);
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float_temp = (float) (yis321_data.bit_data.yaw)*0.000001;
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navigation_rs232_output.bit_data.yaw = (int16_t) (float_temp*32768/360.0f);
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//陀螺
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float_temp = (float) (yis321_data.bit_data.gyro_x)*0.000001;
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navigation_rs232_output.bit_data.gyro_x = (int16_t) (float_temp*32768/300.0f);
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float_temp = (float) (yis321_data.bit_data.gyro_y)*0.000001;
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navigation_rs232_output.bit_data.gyro_y = (int16_t) (float_temp*32768/300.0f);
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float_temp = (float) (yis321_data.bit_data.gyro_z)*0.000001f;
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navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
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//加速度
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float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;//修改单位为g
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navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
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float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f;//修改单位为g
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navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
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float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;//修改单位为g
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navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
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//gps信息
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navigation_rs232_output.bit_data.latitude = (int32_t) (gga_data1.latitude * 10000000);
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navigation_rs232_output.bit_data.longitude = (int32_t) (gga_data1.longitude * 10000000);
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navigation_rs232_output.bit_data.altitude = (int32_t) (gga_data1.altitude * 1000);
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navigation_rs232_output.bit_data.init_status = 0xF;
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navigation_rs232_output.bit_data.rtk_status = gga_data1.fix_quality;
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float_temp = (float)vtg_data1.speed_kmh/3.6f*100.0f;//系数100
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navigation_rs232_output.bit_data.gps_speed = (int16_t)float_temp;
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navigation_rs232_output.bit_data.dual_heading = (int16_t)(ths_data1.heading*100);// 扩大100倍;
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navigation_rs232_output.bit_data.nav_status = 0x32;
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navigation_rs232_output.bit_data.timestamp = GgaTimeToProtocol(gga_data1.utc_time);
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navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57);
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publishMessage(&navigation_rs232_output, 1);
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// timerStart(&rs232_output_timer, 20,1);//10ms
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}
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void imuInput(void *signal_id)
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{
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static uint8_t navigationProcessCnt = 0;
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switch(imu_buffer1.type)
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{
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case IIM46234:
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iim6234Process();
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break;
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case YIS321:
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if((imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][82]<< 8 | imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][81]) == yis321Cheak(&imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][2],79))
|
||
{
|
||
memcpy(&yis321_data.arr[0],&imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][0],sizeof(UnInfProtocolFrame));
|
||
|
||
//精度转换
|
||
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;
|
||
Gyro[0] = (float)((int32_t)yis321_data.bit_data.gyro_x)*0.000001f;
|
||
Gyro[1] = (float)((int32_t)yis321_data.bit_data.gyro_y)*0.000001f;
|
||
Gyro[2] = (float)((int32_t)yis321_data.bit_data.gyro_z)*0.000001f;
|
||
|
||
navigation_output1.bit_data.gyroscope_x_axis = (int16_t) (Gyro[0]*32768/300.0f);
|
||
navigation_output1.bit_data.gyroscope_y_axis = (int16_t) (Gyro[1]*32768/300.0f);
|
||
navigation_output1.bit_data.gyroscope_z_axis = (int16_t) (Gyro[2]*32768/300.0f);
|
||
navigation_output1.bit_data.acceleration_x_axis = (int16_t) (Acc[0]*32768/12.0f);
|
||
navigation_output1.bit_data.acceleration_y_axis = (int16_t) (Acc[1]*32768/12.0f);
|
||
navigation_output1.bit_data.acceleration_z_axis = (int16_t) (Acc[2]*32768/12.0f);
|
||
|
||
navigation_outputC1.bit_data.q0 = SWAP_ENDIAN_32(yis321_data.bit_data.q0);
|
||
navigation_outputC1.bit_data.q1 = SWAP_ENDIAN_32(yis321_data.bit_data.q1);
|
||
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 ++;//避免定时不准导致发送频率降低的问题
|
||
if(navigationProcessCnt >= 5)
|
||
{
|
||
navigationProcessCnt = 0;
|
||
rs232Process();
|
||
|
||
}
|
||
|
||
publishMessage(&navigation_output1, 1);
|
||
}
|
||
break;
|
||
default:;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
void iim6234Init(void *signal_id)
|
||
{
|
||
static uint8_t iim6234_state = 0;
|
||
switch (iim6234_state)
|
||
{
|
||
case 0:
|
||
publishMessage(set_output_data, 1);
|
||
iim6234_state = 1;
|
||
timerStart(&iim6234_timer, 100,1);
|
||
break;
|
||
case 1:
|
||
publishMessage(set_rate, 1);
|
||
iim6234_state = 2;
|
||
timerStart(&iim6234_timer, 100,1);
|
||
break;
|
||
case 2:
|
||
publishMessage(save_cmd, 1);
|
||
iim6234_state = 3;
|
||
timerStart(&iim6234_timer, 100,1);
|
||
break;
|
||
case 3:
|
||
publishMessage(stream_cmd, 1);
|
||
iim6234_state = 4;
|
||
break;
|
||
case 4:
|
||
iim6234_state = 4;
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
void nmeaPrintf(void *signal_id)
|
||
{
|
||
// printf("[THS] Heading:%.1f° Mode:%c\n",
|
||
// ths_data1.heading, ths_data1.mode);
|
||
// printf("[VTG] Course:%.1f° 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, // 假设高度单位为M(米)
|
||
// gga_data1.fix_quality,
|
||
// gga_data1.satellites,
|
||
// gga_data1.hdop
|
||
// );
|
||
|
||
// printf("四元数: (%.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("欧拉角: (%.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]);//使用串口打印加速度，角速度数据
|
||
|
||
timerStart(&data_processing_timer, 1000,1);//100ms
|
||
}
|
||
|
||
|
||
|
||
|
||
// APP模块的初始化
|
||
void dataProcessingAppInit(void)
|
||
{
|
||
// 初始化定时器
|
||
timerInit(&iim6234_timer);
|
||
timerInit(&rm3100_timer);
|
||
timerInit(&data_processing_timer);
|
||
timerInit(&rs232_output_timer);
|
||
|
||
RTCM_Buffer1.type = init;
|
||
|
||
rm3100Init();//初始化RM3100
|
||
// 订阅定时器信号，用于解析GNGGA数据
|
||
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);
|
||
|
||
|
||
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
|
||
|
||
printf("APP: initial OK %d\n",getCurrentTime());
|
||
}
|
||
|