//GPS模块控制应答
static int proto_gps_ctlreply(int seq,const char *data,int len)
{
char ctl_no;
ctl_no=data[4];
switch(ctl_no)
{
case GPS_GET_LATLON://获得经纬度
return gps_latlon(seq,data,len);
break;
case GPS_GET_TIME://获取卫星时间
return gps_time(seq,data,len);
break;
case GPS_GET_ALTITUDE://获取海拔高度
return gps_altitude(seq,data,len);
break;
case GPS_GET_ALL://所有数据
return gps_all(seq,data,len);
break;
}
return 0;
}
void measures_logFormat(char *buf, size_t len)
{
struct tm *t;
time_t tim;
udegree_t lat, lon;
int32_t altitude;
bool fix = gps_fixed();
if (fix)
{
lat = gps_info()->latitude;
lon = gps_info()->longitude;
altitude = gps_info()->altitude;
}
else
{
lat = 0;
lon = 0;
altitude = 0;
}
tim = gps_time();
t = gmtime(&tim);
snprintf(buf, len, "%02d:%02d:%02d;%s;%02ld.%.06ld;%03ld.%.06ld;%ld;%.1f;%.1f;%.0f;%.0f;%.1f;%.2f;%.2f;%.2f;%.0f;%.2f;%.2f;%.2f;%d",
t->tm_hour, t->tm_min, t->tm_sec,
fix ? "FIX" : "NOFIX",
lat/1000000, ABS(lat)%1000000,
lon/1000000, ABS(lon)%1000000,
altitude,
sensor_read(ADC_T1),
sensor_read(ADC_T2),
sensor_read(ADC_PRESS),
sensor_read(ADC_HUMIDITY),
measures_intTemp(),
sensor_read(ADC_VIN),
sensor_read(ADC_5V),
sensor_read(ADC_3V3),
sensor_read(ADC_CURR),
measures_acceleration(MMA_X),
measures_acceleration(MMA_Y),
measures_acceleration(MMA_Z),
hadarp_read()
);
buf[len - 1] = '\0';
}
void measures_logFormat(char *buf, size_t len)
{
struct tm *t;
time_t tim;
udegree_t lat, lon;
bool fix = gps_fixed();
if (fix)
{
lat = gps_info()->latitude;
lon = gps_info()->longitude;
}
else
{
lat = 0;
lon = 0;
}
tim = gps_time();
t = gmtime(&tim);
size_t cnt = snprintf(buf, len, "%02d:%02d:%02d;%s;%02ld.%.06ld;%03ld.%.06ld;",
t->tm_hour, t->tm_min, t->tm_sec,
fix ? "FIX" : "NOFIX",
lat/1000000, ABS(lat)%1000000,
lon/1000000, ABS(lon)%1000000);
if (cnt < len)
{
buf += cnt;
len -= cnt;
measures_printMeasures(buf, len);
}
else
buf[len-1] = '\0';
}
void gps_pool(void) {
int i = 0;
//zapis odczytanego znaku
RxBuffer[RxCounter] = (USART_ReceiveData(GPS_USART) & 0x7F);
//inkrementacja licznika danych
RxCounter++;
//zabezpieczenie przed wprowadzeniem zbyt dlugiego ciagiu znakow
if((RxBuffer[RxCounter - 2] != '\r') &&
(RxBuffer[RxCounter - 1] != '\n') &&
(RxCounter == 255))
{
RxCounter = 253;
}
//zakonczenie transmisji ciagu znakiem nowej linii
else if(
(RxBuffer[RxCounter - 2] == '\r') &&
(RxBuffer[RxCounter - 1] == '\n')
) {
//odebrany ciag jest komunikatem VTG
if(
(RxBuffer[0] == '$') &&
(RxBuffer[1] == 'G') &&
(RxBuffer[2] == 'P') &&
(RxBuffer[3] == 'V') &&
(RxBuffer[4] == 'T') &&
(RxBuffer[5] == 'G')
)
{
//skopiowanie odebranego ciagu do RxBufferVTG
//oraz wyzerowanie RxBuffer
for(i=0; i<256; i++)
{
RxBufferVTG[i] = RxBuffer[i];
// printf("%c", RxBuffer[i]);
RxBuffer[i] = 0;
}
//wyzerowanie licznika
RxCounter = 0;
}
//odebrany ciag jest komunikatem RMC
else if(
(RxBuffer[0] == '$') &&
(RxBuffer[1] == 'G') &&
(RxBuffer[2] == 'P') &&
(RxBuffer[3] == 'R') &&
(RxBuffer[4] == 'M') &&
(RxBuffer[5] == 'C')
)
{
//skopiowanie odebranego ciagu do RxBufferRMC
//oraz wyzerowanie RxBuffer
for(i=0; i<256; i++)
{
RxBufferRMC[i] = RxBuffer[i];
// printf("%c", RxBuffer[i]);
RxBuffer[i] = 0;
}
//wyzerowanie licznika
RxCounter = 0;
}
//odebrany ciag nie nalezy do oczekiwanych komunikatów
else
{
//wyczyszczenie bufora
for(i=0; i<256; i++)
{RxBuffer[i] = 0;}
//wyzerowanie licznika
RxCounter = 0;
}
}
// create output string
sprintf(gps_string, "X:%s,%s,%s,%s,%s", gps_time(), gps_latitude(),
gps_longitude(), gps_speed(),
gps_direction());
}
