375 lines
12 KiB
C
375 lines
12 KiB
C
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/********************************************************************
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* Copyright (C), 2022, 中天海洋系统有限公司
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* 文件名：McuBspAdc.c
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* 作者：任家豪(ZT-040157)
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* 日期：2022年5月16日
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* 描述：关于带FIFO的OV7670的驱动程序
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* ******************************************************************/
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#include "McuWH-GN100Drv.h"
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#include "ZthyToolCheck.h"
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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/* 延迟函数 */
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#define WHGN100_DELAY(x) HAL_Delay(x)
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#define WH_GN100_RBUF_LEN 100
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#define RESPONSE_HEADER_STRING "$PGKC001" // 设置信息时，对方回应的应答消息的头
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#define POSITION_HEADER_STRING "$GNRMC" // 定位信息的头
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/* 关键信息ID */
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#define RESTART_ID_STRING "030" // 重启的ID
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#define OUT_FREQ_ID_STRING "101" // 输出频率ID
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#define LOW_POWER_ID_STRING "105" // 低功耗ID
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#define SET_GPS_BD_MODE_ID_STRING "115" // GPS或者北斗的工作模式ID
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#define MESSAGE_EFFECTIVE_ENABLE 1 // 表示当前数据有效
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#define MESSAGE_EFFECTIVE_DISABLE 0 // 表示当前数据无效
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#define WHGN100_LON_AND_LAT_EFFECT 0
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#define WHGN100_RESTART_ACK_EFFECT 1
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#define WHGN100_OUT_FREQ_ACK_EFFECT 2
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#define WHGN100_LOW_POWER_ACK_EFFECT 3
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#define WHGN100_GPS_AND_BD_ACK_EFFECT 4
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#define WHGN100_EFFECT_All 5
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static void McuDrvWHGN100Write(uint8_t *buf, uint32_t BufLen);
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static void McuDrvWHGN100Recv(uint8_t RecvData);
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/* 处理接收的数据 */
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static void McuDrvWHGN100RecvDataHandle(void);
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/* WGS84坐标系 */
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double gMcuDrvWHGN100Time;
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int gMcuDrvWHGN100Time1;
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double gMcuDrvWHGN100Lon; // 精度
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double gMcuDrvWHGN100Lat; // 纬度
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uint8_t gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_E;
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uint8_t gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_N;
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uint8_t gMcuDrvWHGN100LonAndLatUpdata = 0;
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/* 回应信息当前值 */
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uint8_t gMcuDrvWHGN100RestartAck = 0;
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uint8_t gMcuDrvWHGN100OutFreqAck = 0;
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uint8_t gMcuDrvWHGN100LowPowerAck = 0;
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uint8_t gMcuDrvWHGN100GpsAndBdAck = 0;
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MCU_BSP_CLOCK gMcuDrvWHGN100GpsClock;
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static uint8_t gWhgn100Rbuf[WH_GN100_RBUF_LEN] = {0}; // 确保能完成留下一帧数据
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static uint16_t gWhgn100RbufLocal = 0;
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/* 初始化函数 */
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int McuDrvWHGN100Init(void)
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{
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MCU_BSP_UART_CONF UartConfig = {0};
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UartConfig.BaudRate = MCU_DRV_WH_GN100_UART_BAUDRATE;
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UartConfig.WordLength = MCU_DRV_WH_GN100_UART_WORDLEN;
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UartConfig.StopBits = MCU_DRV_WH_GN100_UART_STOPBITS;
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UartConfig.Parity = MCU_DRV_WH_GN100_UART_PARITY;
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UartConfig.Mode = MCU_DRV_WH_GN100_UART_MODE;
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if (McuBspUartInit(MCU_DRV_WH_GN100_UART_ID, &UartConfig, NULL, McuDrvWHGN100Recv) < 0) {
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return -1;
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}
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McuBspUartStartRecv(MCU_DRV_WH_GN100_UART_ID);
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McuBspGpioInit(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT, MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
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MCU_DRV_WH_GN100_WAKEUP_GPIO_MODE, MCU_DRV_WH_GN100_WAKEUP_GPIO_SPEED,
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MCU_DRV_WH_GN100_WAKEUP_GPIO_PULL, 0, NULL);
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McuBspGpioInit(MCU_DRV_WH_GN100_POWER_GPIO_PORT, MCU_DRV_WH_GN100_POWER_GPIO_PIN,
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MCU_DRV_WH_GN100_POWER_GPIO_MODE, MCU_DRV_WH_GN100_POWER_GPIO_SPEED,
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MCU_DRV_WH_GN100_POWER_GPIO_PULL, 0, NULL);
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McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_LOW_POWER_FLAG);
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gWhgn100RbufLocal = 0;
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return 0;
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}
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/* 获取经纬度数据 */
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int McuDrvWHGN100GetLatAndLon(float *Lat, unsigned char *LatFlag, float *Lon, unsigned char *LonFlag, MCU_BSP_CLOCK *Clock)
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{
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uint16_t i = 0;
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gMcuDrvWHGN100LonAndLatUpdata = 0;
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McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_WAKEUP_FLAG);
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while (gMcuDrvWHGN100LonAndLatUpdata == 0) {
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WHGN100_DELAY(20); // 延迟ms
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if (i >= 6000) {
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return -1; //设置失败
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}
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i++;
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}
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McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_LOW_POWER_FLAG);
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*Lat = gMcuDrvWHGN100Lat;
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*LatFlag = gMcuDrvWHGN100LatNorS;
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*Lon = gMcuDrvWHGN100Lon;
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*LonFlag = gMcuDrvWHGN100LonEorW;
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Clock->Year = gMcuDrvWHGN100GpsClock.Year;
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Clock->Month = gMcuDrvWHGN100GpsClock.Month;
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Clock->Date = gMcuDrvWHGN100GpsClock.Date;
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Clock->Hours = gMcuDrvWHGN100GpsClock.Hours;
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Clock->Minutes = gMcuDrvWHGN100GpsClock.Minutes;
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Clock->Seconds = gMcuDrvWHGN100GpsClock.Seconds;
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return 0;
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}
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/* 配置NMEA输出频率 freq单位为ms，范围为200-10000 */
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int McuDrvWHGN100NMEAOutfreq(uint16_t freq)
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{
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char tbuf[50] = {0};
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unsigned char Xor = 0;
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unsigned char i = 0;
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sprintf(tbuf, "$PGKC101,%d", freq);
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i = strlen(tbuf);
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ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
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sprintf(&tbuf[i], "*%02x\r\n", Xor);
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i = 0;
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gMcuDrvWHGN100OutFreqAck = 0;
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McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
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/* 等待是否收到消息回复 */
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while (gMcuDrvWHGN100OutFreqAck == 0) {
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WHGN100_DELAY(10); // 延迟ms
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if (i >= 100) {
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return -1; //设置失败
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}
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i++;
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}
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return 0;
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}
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/* 设置重启指令 */
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int McuDrvWHGN100NMEASetRestart(uint8_t type)
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{
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char tbuf[50] = {0};
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unsigned char Xor = 0;
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unsigned char i = 0;
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if (type != MCU_DRV_WH_GN100_RESTART_TYPE_HOT &&
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type != MCU_DRV_WH_GN100_RESTART_TYPE_WARM &&
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type != MCU_DRV_WH_GN100_RESTART_TYPE_COLD) {
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return -1;
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}
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sprintf(tbuf, "$PGKC030,%d,1", type);
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i = strlen(tbuf);
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ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
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sprintf(&tbuf[i], "*%02x\r\n", Xor);
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i = 0;
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gMcuDrvWHGN100RestartAck = 0;
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McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
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/* 等待是否收到消息回复 */
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while (gMcuDrvWHGN100RestartAck == 0) {
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WHGN100_DELAY(10); // 延迟ms
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if (i >= 100) {
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return -1; //设置失败
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}
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i++;
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}
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return 0;
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}
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/* 设置定位模式 */
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int McuDrvWHGN100NMEASetPositioningMode(uint8_t mode)
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{
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char tbuf[50] = {0};
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unsigned char Xor = 0;
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unsigned char i = 0;
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sprintf(tbuf, "$PGKC115,%d,%d,%d,%d", (mode & MCU_DRV_WH_GN100_POSITION_GPS),
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(mode & MCU_DRV_WH_GN100_POSITION_GNSS) >> 1,
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(mode & MCU_DRV_WH_GN100_POSITION_BD) >> 2,
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(mode & MCU_DRV_WH_GN100_POSITION_Gli) >> 3);
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i = strlen(tbuf);
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ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
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sprintf(&tbuf[i], "*%02x\r\n", Xor);
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i = 0;
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gMcuDrvWHGN100GpsAndBdAck = 0;
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McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
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/* 等待是否收到消息回复 */
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while (gMcuDrvWHGN100GpsAndBdAck == 0) {
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WHGN100_DELAY(10); // 延迟ms
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if (i >= 100) {
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return -1; //设置失败
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}
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i++;
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}
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return 0;
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}
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/* 进入或者唤醒低功耗 */
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void McuDrvWHGN100LowPower(uint8_t flag)
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{
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if (flag == MCU_DRV_WH_GN100_WAKEUP_FLAG) {
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McuBspGpioSetLevel(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT,
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MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
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MCU_BSP_GPIO_OUT_HIGH);
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McuBspGpioSetLevel(MCU_DRV_WH_GN100_POWER_GPIO_PORT,
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MCU_DRV_WH_GN100_POWER_GPIO_PIN,
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MCU_BSP_GPIO_OUT_HIGH);
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} else {
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McuBspGpioSetLevel(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT,
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MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
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MCU_BSP_GPIO_OUT_LOW);
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McuBspGpioSetLevel(MCU_DRV_WH_GN100_POWER_GPIO_PORT,
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MCU_DRV_WH_GN100_POWER_GPIO_PIN,
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MCU_BSP_GPIO_OUT_LOW);
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}
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}
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/* 发送数据给定位模块 */
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static void McuDrvWHGN100Write(uint8_t *buf, uint32_t BufLen)
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{
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McuBspUartSend(MCU_DRV_WH_GN100_UART_ID, buf, BufLen);
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}
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/* 处理接收的数据 */
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static void McuDrvWHGN100RecvDataHandle(void)
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{
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char *p = NULL;
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char *q = NULL;
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/* 判断这一帧数据中是否存在GNRMC */
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if (NULL != strstr((const char *)gWhgn100Rbuf, POSITION_HEADER_STRING)) {
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/* 找到内容中的第二个逗号与第三个逗号之间的值 */
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p = strchr((const char *)gWhgn100Rbuf, ','); // 第一个逗号
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if (p == NULL) {
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return;
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}
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p++;
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q = strchr((const char *)p, ','); // 第二个逗号
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if (q == NULL) {
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return;
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}
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*q = 0;
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if (strlen(p) == 0) {
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return;
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}
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gMcuDrvWHGN100Time = atof(p);
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gMcuDrvWHGN100GpsClock.Hours = ((uint32_t)gMcuDrvWHGN100Time) / 10000;
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gMcuDrvWHGN100GpsClock.Minutes = (((uint32_t)gMcuDrvWHGN100Time) / 100) % 100;
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gMcuDrvWHGN100GpsClock.Seconds = ((uint32_t)gMcuDrvWHGN100Time) % 100;
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q++;
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p = strchr((const char *)q, ','); // 第三个逗号
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if (p == NULL) {
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return;
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}
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*p = 0;
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if (strlen(q) == 0 || *q != 'A') { // 判断数据是否为空或者定位是否已经处于差分定位
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return;
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}
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p++;
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q = strchr((const char *)p, ','); //找到纬度值所在位置
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if (q == NULL) {
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return;
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}
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*q = 0;
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if (strlen(p) == 0) { // 判断数据是否为空
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return;
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}
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gMcuDrvWHGN100Lat = atof(p); // 将纬度值赋值给接收变量
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q++;
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p = strchr((const char *)q, ','); // 找到北纬南纬
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if (p == NULL) {
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return;
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}
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*p = 0;
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if (strlen(q) == 0) { // 判断数据是否为空
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return;
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}
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if (*q == 'N') {
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gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_N;
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} else {
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gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_S;
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}
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p++;
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q = strchr((const char *)p, ','); //找到经度值所在位置
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if (q == NULL) {
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return;
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}
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*q = 0;
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if (strlen(p) == 0) { // 判断数据是否为空
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return;
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}
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gMcuDrvWHGN100Lon = atof(p); // 将经度值赋值给接收变量
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q++;
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p = strchr((const char *)q, ','); // 找到东经西经
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if (p == NULL) {
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return;
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}
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*p = 0;
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if (strlen(q) == 0) { // 判断数据是否为空
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|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if (*q == 'E') {
|
|||
|
|
gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_E;
|
|||
|
|
} else {
|
|||
|
|
gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_W;
|
|||
|
|
}
|
|||
|
|
p++;
|
|||
|
|
q = strchr((const char *)p, ',');
|
|||
|
|
if (q == NULL) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
q++;
|
|||
|
|
p = strchr((const char *)q, ',');
|
|||
|
|
if (p == NULL) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
p++;
|
|||
|
|
q = strchr((const char *)p, ',');
|
|||
|
|
if (q == NULL) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
*q = 0;
|
|||
|
|
if (strlen(p) == 0) {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
gMcuDrvWHGN100Time1 = atoi(p);
|
|||
|
|
gMcuDrvWHGN100GpsClock.Date = gMcuDrvWHGN100Time1 / 10000;
|
|||
|
|
gMcuDrvWHGN100GpsClock.Month = (gMcuDrvWHGN100Time1 / 100) %100;
|
|||
|
|
gMcuDrvWHGN100GpsClock.Year = 2000 + (gMcuDrvWHGN100Time1 % 100);
|
|||
|
|
gMcuDrvWHGN100LonAndLatUpdata = 1;
|
|||
|
|
} else if (NULL != strstr((const char *)gWhgn100Rbuf, RESPONSE_HEADER_STRING)) {
|
|||
|
|
/* 判断这一帧数据中是否存在 */
|
|||
|
|
p = strchr((const char *)gWhgn100Rbuf, ','); // 第一个逗号
|
|||
|
|
if (p == NULL) {
|
|||
|
|
return ;
|
|||
|
|
}
|
|||
|
|
p++;
|
|||
|
|
q = strchr((const char *)p, ','); // 第二个逗号
|
|||
|
|
if (q == NULL) {
|
|||
|
|
return ;
|
|||
|
|
}
|
|||
|
|
*q = 0;
|
|||
|
|
if (NULL != strstr((const char *)p, RESTART_ID_STRING)) {
|
|||
|
|
q++;
|
|||
|
|
if (*q == '3') {
|
|||
|
|
gMcuDrvWHGN100RestartAck = 1;
|
|||
|
|
}
|
|||
|
|
} else if (NULL != strstr((const char *)p, OUT_FREQ_ID_STRING)) {
|
|||
|
|
q++;
|
|||
|
|
if (*q == '3') {
|
|||
|
|
gMcuDrvWHGN100OutFreqAck = 1;
|
|||
|
|
}
|
|||
|
|
} else if (NULL != strstr((const char *)p, LOW_POWER_ID_STRING)) {
|
|||
|
|
q++;
|
|||
|
|
if (*q == '3') {
|
|||
|
|
gMcuDrvWHGN100LowPowerAck = 1;
|
|||
|
|
}
|
|||
|
|
} else if (NULL != strstr((const char *)p, SET_GPS_BD_MODE_ID_STRING)) {
|
|||
|
|
q++;
|
|||
|
|
if (*q == '3') {
|
|||
|
|
gMcuDrvWHGN100GpsAndBdAck = 1;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
static void McuDrvWHGN100Recv(uint8_t RecvData)
|
|||
|
|
{
|
|||
|
|
gWhgn100Rbuf[gWhgn100RbufLocal] = RecvData;
|
|||
|
|
gWhgn100RbufLocal++;
|
|||
|
|
if (RecvData == '\n') {
|
|||
|
|
gWhgn100Rbuf[gWhgn100RbufLocal] = 0; // 给最后一帧
|
|||
|
|
McuDrvWHGN100RecvDataHandle();
|
|||
|
|
gWhgn100RbufLocal = 0;
|
|||
|
|
}
|
|||
|
|
// 取余，容错处理，防止串口数据乱流导致部分逻辑错误
|
|||
|
|
gWhgn100RbufLocal = gWhgn100RbufLocal % WH_GN100_RBUF_LEN;
|
|||
|
|
}
|