20230731_XiaoFuZi_emb/ZheDaXiaoFuZi/Src/Usr/Task/McuTaskPosition.c

#include "McuTaskPosition.h"
#include "McuWH-GN100Drv.h"
#include "McuTaskBlueTooth.h"
#include "BeiDouHtyDrv.h"
#include "ZthyToolDataTypeSwitch.h"
#include "McuTaskFlash.h"
#include "Usr_4GCatDtuDrv.h"

#include <string.h>
#include <stdio.h>

#define MCU_TASK_POSITION_SYNC_COUNT    14  // 表示14个北斗定位数据同步一次

/* 时间同步的计数 */
static unsigned char gMcuTaskPositionSyncCount = 0; 
/* 蓝牙发送标志位 */
static int gMcuTaskPositionBlueToothSendFlag = 0;
static unsigned short gMcuTaskPositionBlueToothSerial = 0;
static unsigned char gMcuTaskPositionBlueToothSendBuf[9] = {0};

static unsigned short gMcuTaskPosition4gSerial = 0;

static float gLat;
static unsigned char gLatFlag;
static float gLon;
static unsigned char gLonFlag;
static MCU_BSP_CLOCK gClock;

static uint32_t gLat32;
static uint32_t gLon32;

/* 北斗发送标志位 */
static int gMcuTaskPositionBeiDouSendFlag = 0;
static unsigned char gMcuTaskPositionBeiDouSerial = 0;

int McuTaskPositionInit(void)
{
    return McuDrvWHGN100Init();
}

/* 获取北斗定位数据 */
int McuTaskPosition(void)
{
    if (gMcuTaskPositionBlueToothSendFlag == 1 || gMcuTaskPositionBeiDouSendFlag == 1) {
        McuTaskFlashWriteOpt("Position Join\r\n", strlen("Position Join\r\n"));
        /* 获取北斗数据 */
        if (0 == McuDrvWHGN100GetLatAndLon(&gLat, &gLatFlag, &gLon, &gLonFlag, &gClock)) {
            gMcuTaskPositionSyncCount++;
        } else {
            McuTaskFlashWriteOpt("Position Get Data Err\r\n", strlen("Position Get Data Err\r\n"));
            gMcuTaskPositionBlueToothSendFlag = 0;
            gMcuTaskPositionBeiDouSendFlag = 0;
            return -1;
        }
        if (gMcuTaskPositionSyncCount >= 1) { 
            McuBspRtcSetTime(&gClock);
            gMcuTaskPositionSyncCount = 0;
        }
        if (gMcuTaskPositionBlueToothSendFlag == 1) {
            gMcuTaskPositionBlueToothSendBuf[0] = 1;
            if (gLatFlag != 0) {
                gLat = 0.0f - gLat;
            }
            if (gLonFlag != 0) {
                gLon = 0.0f - gLon;
            }
            ZthyToolFloatToUint32(gLat, &gLat32);
            ZthyToolFloatToUint32(gLon, &gLon32);
            gMcuTaskPositionBlueToothSendBuf[1] = (uint8_t)((gLat32 & 0xff000000) >> 24);
            gMcuTaskPositionBlueToothSendBuf[2] = (uint8_t)((gLat32 & 0x00ff0000) >> 16);
            gMcuTaskPositionBlueToothSendBuf[3] = (uint8_t)((gLat32 & 0x0000ff00) >> 8);
            gMcuTaskPositionBlueToothSendBuf[4] = (uint8_t)(gLat32 & 0x000000ff);
            gMcuTaskPositionBlueToothSendBuf[5] = (uint8_t)((gLon32 & 0xff000000) >> 24);
            gMcuTaskPositionBlueToothSendBuf[6] = (uint8_t)((gLon32 & 0x00ff0000) >> 16);
            gMcuTaskPositionBlueToothSendBuf[7] = (uint8_t)((gLon32 & 0x0000ff00) >> 8);
            gMcuTaskPositionBlueToothSendBuf[8] = (uint8_t)(gLon32 & 0x000000ff);
            McuTaskFlashWriteOpt("Position BlueTh Send\r\n", strlen("Position BlueTh Send\r\n"));
            TaskBlueToothSendMessage(MCU_TASK_POSITION_SEND_MESSAGE_ID, &gMcuTaskPositionBlueToothSerial, gMcuTaskPositionBlueToothSendBuf, sizeof(gMcuTaskPositionBlueToothSendBuf));
            gMcuTaskPositionBlueToothSerial++;
            gMcuTaskPositionBlueToothSendFlag = 0;
        }
        if (gMcuTaskPositionBeiDouSendFlag == 1) {
            gMcuTaskPositionBeiDouSendFlag = 0;
            if (1 != McuDrv4GCatDtuPowerSta()) {
                unsigned char crc = 0;
                int i = 0;
                unsigned char BeiDouSend[70] = {0};
                gMcuTaskPositionBeiDouSendFlag = 0;
                
                /* 发送位置信号 */
                crc = 0;
                sprintf((char *)BeiDouSend, "Position 01 %03d %0.2f %0.2f", gMcuTaskPositionBeiDouSerial, gLat, gLon);
                for (i = 0; i < strlen((char *)BeiDouSend); i++) {
                    crc ^= BeiDouSend[i];
                }
                sprintf((char *)&BeiDouSend[strlen((char *)BeiDouSend)], "%x", crc);
                McuDrvBeiDouHtySendPacket(BeiDouSend, strlen((char *)BeiDouSend));
                
                gMcuTaskPositionBeiDouSerial++;
                gMcuTaskPositionBeiDouSerial = gMcuTaskPositionBeiDouSerial % 1000;
                McuTaskFlashWriteOpt("Position BeiDou Send\r\n", strlen("Position BeiDou Send\r\n"));
            } else {
                gMcuTaskPositionBlueToothSendBuf[0] = 1;
                if (gLatFlag != 0) {
                    gLat = 0.0f - gLat;
                }
                if (gLonFlag != 0) {
                    gLon = 0.0f - gLon;
                }
                ZthyToolFloatToUint32(gLat, &gLat32);
                ZthyToolFloatToUint32(gLon, &gLon32);
                gMcuTaskPositionBlueToothSendBuf[1] = (uint8_t)((gLat32 & 0xff000000) >> 24);
                gMcuTaskPositionBlueToothSendBuf[2] = (uint8_t)((gLat32 & 0x00ff0000) >> 16);
                gMcuTaskPositionBlueToothSendBuf[3] = (uint8_t)((gLat32 & 0x0000ff00) >> 8);
                gMcuTaskPositionBlueToothSendBuf[4] = (uint8_t)(gLat32 & 0x000000ff);
                gMcuTaskPositionBlueToothSendBuf[5] = (uint8_t)((gLon32 & 0xff000000) >> 24);
                gMcuTaskPositionBlueToothSendBuf[6] = (uint8_t)((gLon32 & 0x00ff0000) >> 16);
                gMcuTaskPositionBlueToothSendBuf[7] = (uint8_t)((gLon32 & 0x0000ff00) >> 8);
                gMcuTaskPositionBlueToothSendBuf[8] = (uint8_t)(gLon32 & 0x000000ff);
                McuTaskFlashWriteOpt("Position BlueTh Send\r\n", strlen("Position BlueTh Send\r\n"));
                McuDrv4GSendMessage(MCU_TASK_POSITION_SEND_MESSAGE_ID, &gMcuTaskPosition4gSerial, gMcuTaskPositionBlueToothSendBuf, sizeof(gMcuTaskPositionBlueToothSendBuf));
                gMcuTaskPosition4gSerial++;
                HAL_Delay(2000);
            }
        }
        /* 保存数据到Flash */
        McuTaskFlashWritePosition(gLat, gLon);
    }
    return 0;
}

/* 蓝牙请求数据 */
void McuTaskPositionBlueToothAsk(void)
{
    gMcuTaskPositionBlueToothSendFlag = 1;
}

/* 北斗请求数据 */
void McuTaskPositionBeiDouAsk(void)
{
    gMcuTaskPositionBeiDouSendFlag = 1;
}

/* 获取数据请求状态 */
int McuTaskPositionAskStatus(void)
{
    return ((gMcuTaskPositionBlueToothSendFlag * 2) | gMcuTaskPositionBeiDouSendFlag);
}