205 lines
8.5 KiB
C
205 lines
8.5 KiB
C
|
#ifndef _ATK1218_BD_H_
|
|||
|
|
#define _ATK1218_BD_H_
|
|||
|
|
|
|||
|
|
#include "typedef.h"
|
|||
|
|
#include "os/os_api.h"
|
|||
|
|
|
|||
|
|
#define TCFG_GPS_DEV_ENABLE 1
|
|||
|
|
#if defined(TCFG_GPS_DEV_ENABLE) && TCFG_GPS_DEV_ENABLE
|
|||
|
|
|
|||
|
|
#define GPS_SET_BAUD 6 //设置GPS模块波特率0~8 (目前0,1,5无法初始化)
|
|||
|
|
#define GPS_SET_FREP 5 //设置GPS模块更新速率（1,2,4,5,8,10,20hz）
|
|||
|
|
#define GPS_SET_PPS_WIDTH 100000 //设置GPS模块PPS脉冲宽度1~100000(us)
|
|||
|
|
|
|||
|
|
#define _PACKED __attribute__((packed))
|
|||
|
|
//GPS 北斗 NMEA-0183协议
|
|||
|
|
//卫星信息
|
|||
|
|
typedef struct {
|
|||
|
|
u8 num; //卫星编号
|
|||
|
|
u8 eledeg; //卫星仰角
|
|||
|
|
u16 azideg; //卫星方位角
|
|||
|
|
u8 sn; //信噪比
|
|||
|
|
} _PACKED nmea_slmsg_t;
|
|||
|
|
//UTC时间信息
|
|||
|
|
typedef struct {
|
|||
|
|
u16 year; //年份
|
|||
|
|
u8 month; //月份
|
|||
|
|
u8 date; //日期
|
|||
|
|
u8 hour; //小时
|
|||
|
|
u8 min; //分钟
|
|||
|
|
u8 sec; //秒钟
|
|||
|
|
} _PACKED nmea_utc_time_t;
|
|||
|
|
//NMEA 0183 协议解析后数据存放结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u8 svnum; //可见GPS卫星数
|
|||
|
|
u8 beidou_svnum; //可见GPS卫星数
|
|||
|
|
nmea_slmsg_t slmsg[12]; //最多12颗GPS卫星
|
|||
|
|
nmea_slmsg_t beidou_slmsg[12]; //最多12颗北斗卫星
|
|||
|
|
nmea_utc_time_t utc; //UTC时间
|
|||
|
|
u32 latitude; //纬度 分扩大100000倍,实际要除以100000
|
|||
|
|
u8 nshemi; //北纬/南纬,N:北纬;S:南纬
|
|||
|
|
u32 longitude; //经度 分扩大100000倍,实际要除以100000
|
|||
|
|
u8 ewhemi; //东经/西经,E:东经;W:西经
|
|||
|
|
u8 gpssta; //GPS状态:0,未定位;1,非差分定位;2,差分定位;6,正在估算.
|
|||
|
|
u8 posslnum; //用于定位的GPS卫星数,0~12.
|
|||
|
|
u8 possl[12]; //用于定位的卫星编号
|
|||
|
|
u8 fixmode; //定位类型:1,没有定位;2,2D定位;3,3D定位
|
|||
|
|
u16 pdop; //位置精度因子 0~500,对应实际值0~50.0
|
|||
|
|
u16 hdop; //水平精度因子 0~500,对应实际值0~50.0
|
|||
|
|
u16 vdop; //垂直精度因子 0~500,对应实际值0~50.0
|
|||
|
|
|
|||
|
|
int altitude; //海拔高度,放大了10倍,实际除以10.单位:0.1m
|
|||
|
|
u32 speed; //地面速率,放大了1000倍,实际除以10.单位:0.001公里/小时
|
|||
|
|
} _PACKED nmea_msg_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置波特率结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0004；
|
|||
|
|
u8 id; //ID，固定为0X05
|
|||
|
|
u8 com_port; //COM口，固定为0X00，即COM1
|
|||
|
|
u8 baud_id; //波特率（0~8,4800,9600,19200,38400,57600,115200,230400,460800,921600）
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_baudrate_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置输出信息结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0009；
|
|||
|
|
u8 id; //ID，固定为0X08
|
|||
|
|
u8 gga; //1~255（s）,0:disable
|
|||
|
|
u8 gsa; //1~255（s）,0:disable
|
|||
|
|
u8 gsv; //1~255（s）,0:disable
|
|||
|
|
u8 gll; //1~255（s）,0:disable
|
|||
|
|
u8 rmc; //1~255（s）,0:disable
|
|||
|
|
u8 vtg; //1~255（s）,0:disable
|
|||
|
|
u8 zda; //1~255（s）,0:disable
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_outmsg_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置位置更新率结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0003；
|
|||
|
|
u8 id; //ID，固定为0X0E
|
|||
|
|
u8 rate; //取值范围:1, 2, 4, 5, 8, 10, 20, 25, 40, 50
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_posrate_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置输出脉冲(PPS)宽度结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0007；
|
|||
|
|
u8 id; //ID，固定为0X65
|
|||
|
|
u8 sub_id; //0X01
|
|||
|
|
u32 width; //1~100000(us)
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_pps_width_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 ACK结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0002；
|
|||
|
|
u8 id; //ID，固定为0X83
|
|||
|
|
u8 ack_id; //ACK ID may further consist of message ID and message sub-ID which will become 3 bytes of ACK message
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符
|
|||
|
|
} _PACKED skytra_ack_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 NACK结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0002；
|
|||
|
|
u8 id; //ID，固定为0X84
|
|||
|
|
u8 nack_id; //ACK ID may further consist of message ID and message sub-ID which will become 3 bytes of ACK message
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符
|
|||
|
|
} _PACKED skytra_nack_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 restart结构体
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X000F；
|
|||
|
|
u8 id; //ID，固定为0X01
|
|||
|
|
u8 start_mode; //0~4. 0:no change 1:hot start 2:warm start 3:cold start 4:test mode
|
|||
|
|
u16 utc_year; //年，需大于1980
|
|||
|
|
u8 utc_month; //月，1~12
|
|||
|
|
u8 utc_day; //日，1~31
|
|||
|
|
u8 utc_hour; //时，0~23
|
|||
|
|
u8 utc_minu; //分，0~59
|
|||
|
|
u8 utc_sec; //秒，0~59
|
|||
|
|
u16 gps_latitude; //维度：-9000~9000 >0: North Hemisphere; <0: South Hemisphere
|
|||
|
|
u16 gps_longitude; //经度：-18000~18000 >0: East Hemisphere; <0: West Hemisphere
|
|||
|
|
u16 gps_altitude; //高度：-1000~18300
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_restart_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置NMEA消息输出间隔结构体 (600us ack)
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X000F；
|
|||
|
|
u8 id; //ID，固定为0X64
|
|||
|
|
u8 sub_id; //ID，固定为0X02
|
|||
|
|
u8 gga_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gsa_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gsv_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gll_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 rmc_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 vtg_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 zda_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gns_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gbs_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 grs_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 dtm_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 gst_interval; //0~255. 0:disable 1~255:输出间隔(单位：s)
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_message_interval_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 查询NMEA消息输出间隔结构体 (400us ack)
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0002
|
|||
|
|
u8 id; //ID，固定为0X64
|
|||
|
|
u8 sub_id; //ID，固定为0X03
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_get_message_interval_t;
|
|||
|
|
|
|||
|
|
//SkyTra S1216F8 配置消息类型结构体 (65ms ack)
|
|||
|
|
typedef struct {
|
|||
|
|
u16 sos; //启动序列，固定为0XA0A1
|
|||
|
|
u16 pl; //有效数据长度0X0003
|
|||
|
|
u8 id; //ID，固定为0X09
|
|||
|
|
u8 type; //00:no output; 01:NMEA message; 02:binary message
|
|||
|
|
u8 attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH
|
|||
|
|
u8 cs; //校验值
|
|||
|
|
u16 end; //结束符:0X0D0A
|
|||
|
|
} _PACKED skytra_message_type_t;
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
u8 skytra_cfg_message_interval();//配置NMEA消息输出间隔
|
|||
|
|
u8 skytra_cfg_message_type(u8 type);//配置输出消息类型
|
|||
|
|
|
|||
|
|
void uart_gps_init();
|
|||
|
|
void get_gps_message();
|
|||
|
|
|
|||
|
|
// void uart1_readgps_test();
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif
|