gps.c

GPS卫星定位模块的驱动程序

				}
				PPi++;
		    	if (j++ > 20)
		    		return FALSE;
			}while (*Pi != ',');						//角度
			*PPi = 0;
			f= atof((char *)(&buf[0]));

			tmp = (INT8U)(f/2);
	        TzGpsData.Cog = tmp;
	        if (TzGpsData.Speed < 5)
	        {
	        	TzGpsData.Cog = 0;
	        }
		}
		j=0;
		do{
	    	if (j++ > 20)
	    		return FALSE;
		}while (GPSData[i++] != ',');
	}
    else
    {
		j=0;
	    do
	    {
	    	if (j++ > 20)
	    		return FALSE;
	    }while (GPSData[i++] != ',');
    }

	Pi = &GPSData[i];
	PPi = &buf[0];
	if (GPSData[i] != ',')
	{
		j = 0;
		do{
			*PPi = *Pi++;
			if ((*PPi < 0x30) || (*PPi > 0x39))
			{
				return FALSE;
			}
			PPi++;
	    	if (j++ > 12)
	    		return FALSE;
		}while (*Pi != ',');			//日期
	}
	memcpy (&GPSRecData.GPSTime[6],&buf[0],6);

   	if (0 == TzGpsData.State.GpsState)
   	{
   	    TzGpsData.State.GpsState = 1;
   	    WriteGPS ();
   	}
   	return TRUE;
}

//分析GPGGA数据
INT8U anlyGPSGGA (INT8U *GPSData)
{
	INT16U  i,j;
    INT8U   buf[6];
//	INT8U   GPSData[]= "$GPGGA,084008.00,3201.83882,N,11849.57003,E,1,05,2.52,31.7,M,5.3,M,,*56";
//    
    i=0;
	j=0;
    while (GPSData[i++] != ',')
    {
    	if (j++ > 20)
    		return FALSE;
    }

	j=0;
    while (GPSData[i++] != ',')     //时间
    {
    	if (j++ > 20)
    		return FALSE;
    }
	
	j=0;
    while (GPSData[i++] != ',')     //纬度
    {
    	if (j++ > 20)
    		return FALSE;
    }

	j=0;
    while (GPSData[i++] != ',')     //南北纬
    {
    	if (j++ > 20)
    		return FALSE;
    }

	j=0;
    while (GPSData[i++] != ',')     //经度
    {
    	if (j++ > 20)
    		return FALSE;
    }

	j=0;
    while (GPSData[i++] != ',')     //东西经
    {
    	if (j++ > 20)
    		return FALSE;
    }

    j=0;
    while (GPSData[i++] != ',')     //定位
    {
    	if (j++ > 20)
    		return FALSE;
    }

    if (GPSData[i] != ',')
    {
    	buf[0] = GPSData[i++];
    	buf[1] = GPSData[i++];
    	buf[2] = 0;
    	SateNum = atoi((char *)&buf[0]);     //卫星个数
	    j=0;
	    do
	    {
	    	if (j++ > 2)
	    		return FALSE;
	    		
	    }while (GPSData[i++] != ',');
   		return TRUE;
    }
/*
    j=0;
    while (GPSData[i++] != ',')     //HTOP
    {
    	if (j++ > 20)
    		return FALSE;
    }
    
    j=0;
    while (GPSData[i++] != ',')     //海拔高度
    {
	    	buf[0] = GPSData[i++];
	    	buf[1] = GPSData[i++];
	    	buf[2] = GPSData[i++];
	    	buf[3] = GPSData[i++];
	    	buf[4] = GPSData[i++];
	    	buf[5] = 0;
	    	altitude = atoi((char *)&buf[0]);
	    j=0;
	    do
	    {
	    	if (j++ > 2)
	    		return FALSE;
	    		
	    }while (GPSData[i++] != ',');     //卫星个数
   		return TRUE;
    }
*/
   	return FALSE;
}

//查找GPS数据包
//       cmpbuf     需要查找的字符串
//       buf        包含要查找的数据包的数据帧
//       len        数据帧长度
INT8U FindGPS (INT8U *cmpbuf,INT8U *buf,INT8U *SrcBuf,INT16U len)
{
	INT8U 	GPSData[100];        //GPRMC数据
	INT8U 	arr[6];
	INT8U 	CRCarr[2];
	INT8U   *pGPSbuf;
	INT8U   *pGPSData;
	INT8U   CRCGPS;
	INT16U  i;

	memset(&GPSData[0],0,100);
	pGPSbuf = SrcBuf;

	//接收数据
	i = 0;
	while (1){
		while(*pGPSbuf++ != '$')            //查找GPS报头
		{
			if(i++ > (len - 60))			//
			{
	//			TestSendStr("NO GPS Data!\r\n");
				GPSErrFlg++;
				return FALSE;
			}
		}
	
		GPSErrFlg = 0;                  //找到数据报头，即认为GPS模块工作正常
		TzGpsDataB.State.GpsMoudleEr = 0;
		if((*pGPSbuf++ == cmpbuf[0])&&(*pGPSbuf++ == cmpbuf[1])&&(*pGPSbuf++ == cmpbuf[2])
			&&(*pGPSbuf++ == cmpbuf[3])&&(*pGPSbuf++ == cmpbuf[4]))
		{
  			i += 6;
  			pGPSData = &GPSData[0];
  			*pGPSData++ = '$';
  			*pGPSData++ = cmpbuf[0];
  			*pGPSData++ = cmpbuf[1];
  			*pGPSData++ = cmpbuf[2];
  			*pGPSData++ = cmpbuf[3];
  			*pGPSData++ = cmpbuf[4];
  			
  			do{
  				if (i > len)                //长度错误
  				{
					if (!(memcmp (&cmpbuf[0],"GPRMC",5)))
					{
						if (1 == TzGpsDataB.State.GpsState)
						{
						    WriteGPS ();
						}
						TzGpsDataB.State.GpsState = 0;
					}
  					return FALSE;
  				}
  				*pGPSData++ = *pGPSbuf++;
  				i++;
  			}while(*pGPSbuf != '*');
  			
  			*pGPSData++ = *pGPSbuf++;		// 读取‘*’
  		
  			if (i < (len-1))               //读取校验
  			{
  				CRCarr[0] = *pGPSbuf++;
  				CRCarr[1] = *pGPSbuf++;
  				break;
  			}
			if (!(memcmp (&cmpbuf[0],"GPRMC",5)))
			{
				if (1 == TzGpsDataB.State.GpsState)
				{
				    WriteGPS ();
				}
				TzGpsDataB.State.GpsState = 0;
			}
			return FALSE;
		}
	}
	
	//判断校验和
	i = 0;
	CRCGPS = 0;
	CRCGPS ^= cmpbuf[0];
	CRCGPS ^= cmpbuf[1];
	CRCGPS ^= cmpbuf[2]; 
	CRCGPS ^= cmpbuf[3];
	CRCGPS ^= cmpbuf[4];
	pGPSData = &GPSData[6];
	while(*pGPSData != '*')
	{
		CRCGPS ^= *pGPSData++;
		if(i++ > 80)
		{
			if (!(memcmp (&cmpbuf[0],"GPRMC",5)))
			{
				if (1 == TzGpsDataB.State.GpsState)
				{
				    WriteGPS ();
				}
				TzGpsDataB.State.GpsState = 0;
			}
			TestSendStr("GPS_LEN_Er\r\n");
			return FALSE;
		}
	}
	
    BcdToAsc(arr,&CRCGPS,1);
    
	if ((arr[0] != CRCarr[0]) && (arr[1] != CRCarr[1]))
	{
		if (!(memcmp (&cmpbuf[0],"GPRMC",5)))
		{
			if (1 == TzGpsDataB.State.GpsState)
			{
			    WriteGPS ();
			}
			TzGpsDataB.State.GpsState = 0;
		}
		TestSendStr("GPS_CRC_Er\r\n");
		return FALSE;
	}
	memcpy(&buf[0],&GPSData[0],100);

	return TRUE;
}

//$GPRMC,,V,,,,,,,,,,N*53
//GPRMC ,080515.000 ,V    ,3201.8318   ,N   ,11849.5894   ,E   ,0.00   ,0.00   ,151204   ,,*19
//      1           2      3            4   5             6     7       8       9  
//gps_buf[18];//经度 4 + 纬度 4 + 速度 2 + 时间 6 + 设备状态 1 + IO状态 1
/*****************************************************
功能：
    将接收缓冲区的数据转化为系统规定的格式
	校验并获取定位数据，返回1表示收到定位数据
入参：
    无
    
返回：
    0：未定位
    1：定位数据    
****************************************************/
INT8U VeriGpsData(void)
{
	INT8U 	GPSData[100];        //GPRMC数据
	INT8U 	RMC[6] = "GPRMC";
	INT8U 	GGA[6] = "GPGGA";
//	INT8U   GPSSrcData[1000];
	INT8U   cc;
	INT16U  len;
//	double  StartLat,StartLong,EndLat,EndLong;
//	INT32U  DistancTemp;

//---  检测GPS天线
	cc = GetPin(ANTGPS);
	if(0 == cc)
	{
		TzGpsDataB.State.GpsAnti = 0;
	}
	else
	{
	    TzGpsDataB.State.GpsAnti = 1;
		TzGpsDataB.State.GpsState = 0;
	}
	
	if (UARTBUFDATA[GPSCOMM].COMRcvNum > 1000)
	{
		len = 1000;
	}
	else
		len = UARTBUFDATA[GPSCOMM].COMRcvNum;

	if (GPSBuFlag)
	{
		GPSPOSNum++;
	}
	
//	memset(&GPSSrcData[0],0,600);
//	memcpy (&GPSSrcData[0],&UARTBUFDATA[GPSCOMM].COMBUF[0],len);

	if ((FindGPS (&RMC[0],&GPSData[0],&UARTBUFDATA[GPSCOMM].COMBUF[0],len)))
	{
//		if (1 == BaseTestFlg)
//		{
//			TestSendStr(" GPS OK!\r\n");
//		}
//		TestSendStr("/");
		//分析GPS-GPRMC数据
		if (anlyGPS (&GPSData[0]))
		{
			if (TzGpsDataB.State.GpsState)
			{
				OS_ENTER_CRITICAL();
				memcpy(&TzGpsDataB.Lanti[0],&TzGpsData.Lanti[0],10);
				OS_EXIT_CRITICAL();
				OSSemPost (GPSsem);
			}
		}
	}
	else
	{
		TestSendStr("/");
//		TestSend (&UARTBUFDATA[GPSCOMM].COMBUF[0],UARTBUFDATA[GPSCOMM].COMRcvNum);
	}

	if ((FindGPS (&GGA[0],&GPSData[0],&UARTBUFDATA[GPSCOMM].COMBUF[0],len)))
	{
		//分析GPS-GPGGA数据
		anlyGPSGGA (&GPSData[0]);
	    return TRUE;
	}
	return FALSE;
}

void GetGpsTime(INT8U *buf)
{
	INT8U cc;
	
	AscToBcd(buf,&GPSRecData.GPSTime[6],6);//ddmmyy
	cc = buf[0];
	buf[0] = buf[2];
	buf[2] = cc;			//yymmdd

	AscToBcd(buf+3,&GPSRecData.GPSTime[0],6);//hhmmss
}

//检测GPS模块是否正常工作
//检测方法：连续40次没有接收到GPS数据帧的报头'$'，则GPS模块损坏
void checkGPS (void)
{
	if (GPSErrFlg > 40)
	{
		TzGpsDataB.State.GpsMoudleEr = 1;
		GPSErrFlg = 0;
		ClrPin(RSTGPS);
		TzGpsDataB.State.GpsState = 0;
		OSTimeDly(OS_TICKS_PER_SEC);
		SetPin(RSTGPS);
	}
}