cubemx+hal stm32 atgm336h GPS 北斗 定位 模块 驱动代码
usart2.c
gps 的串口 2 设置
void MX_USART2_UART_Init(void)
{
/* USER CODE BEGIN USART2_Init 0 */
/* USER CODE END USART2_Init 0 */
/* USER CODE BEGIN USART2_Init 1 */
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
huart2.Init.BaudRate = 9600;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
}
atgm336h.c
#include "atgm336h.h"
#include "stdio.h"
#include "string.h"
char rxdatabufer;
u16 point1 = 0;
_SaveData Save_Data;
LatitudeAndLongitude_s g_LatAndLongData =
{
.E_W = 0,
.N_S = 0,
.latitude = 0.0,
.longitude = 0.0
};
// 串口1中断服务程序
// 注意,读取USARTx->SR能避免莫名其妙的错误
char USART_RX_BUF[USART_REC_LEN]; // 接收缓冲,最大USART_REC_LEN个字节.
uint8_t uart_A_RX_Buff;
// 接收状态
// bit15， 接收完成标志
// bit14， 接收到0x0d
// bit13~0， 接收到的有效字节数目
u16 USART_RX_STA=0; // 接收状态标记
void atgm336h_init(void)
{
clrStruct();
HAL_UART_Receive_IT(&huart2, &uart_A_RX_Buff, 1);
}
void atgm336h_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART2)
{
// printf("%c", uart_A_RX_Buff);
if(uart_A_RX_Buff == '$')
{
point1 = 0;
}
USART_RX_BUF[point1++] = uart_A_RX_Buff;
if(USART_RX_BUF[0] == '$' && USART_RX_BUF[4] == 'M' && USART_RX_BUF[5] == 'C') //确定是否收到"GPRMC/GNRMC"这一帧数据
{
if(uart_A_RX_Buff == '\n')
{
memset(Save_Data.GPS_Buffer, 0, GPS_Buffer_Length); //清空
memcpy(Save_Data.GPS_Buffer, USART_RX_BUF, point1); //保存数据
Save_Data.isGetData = true;
point1 = 0;
memset(USART_RX_BUF, 0, USART_REC_LEN); //清空
}
}
if(point1 >= USART_REC_LEN)
{
point1 = USART_REC_LEN;
}
HAL_UART_Receive_IT(&huart2, &uart_A_RX_Buff, 1);
}
}
u8 Hand(char *a) // 串口命令识别函数
{
if(strstr(USART_RX_BUF, a)!=NULL)
return 1;
else
return 0;
}
void CLR_Buf(void) // 串口缓存清理
{
memset(USART_RX_BUF, 0, USART_REC_LEN); //清空
point1 = 0;
}
void clrStruct(void)
{
Save_Data.isGetData = false;
Save_Data.isParseData = false;
Save_Data.isUsefull = false;
memset(Save_Data.GPS_Buffer, 0, GPS_Buffer_Length); //清空
memset(Save_Data.UTCTime, 0, UTCTime_Length);
memset(Save_Data.latitude, 0, latitude_Length);
memset(Save_Data.N_S, 0, N_S_Length);
memset(Save_Data.longitude, 0, longitude_Length);
memset(Save_Data.E_W, 0, E_W_Length);
}
void errorLog(int num)
{
while (1)
{
printf("ERROR%d\r\n",num);
}
}
void parseGpsBuffer(void)
{
char *subString;
char *subStringNext;
char i = 0;
uint16_t Number=0, Integer=0, Decimal=0;
if (Save_Data.isGetData)
{
Save_Data.isGetData = false;
printf("**************\r\n");
printf("%s\r\n", Save_Data.GPS_Buffer);
for (i = 0 ; i <= 6 ; i++)
{
if (i == 0)
{
if ((subString = strstr(Save_Data.GPS_Buffer, ",")) == NULL)
errorLog(1); //解析错误
}
else
{
subString++;
if ((subStringNext = strstr(subString, ",")) != NULL)
{
char usefullBuffer[2];
switch(i)
{
case 1:memcpy(Save_Data.UTCTime, subString, subStringNext - subString);break; //获取UTC时间
case 2:memcpy(usefullBuffer, subString, subStringNext - subString);break; //获取UTC时间
case 3:memcpy(Save_Data.latitude, subString, subStringNext - subString);break; //获取纬度信息
case 4:memcpy(Save_Data.N_S, subString, subStringNext - subString);break; //获取N/S
case 5:memcpy(Save_Data.longitude, subString, subStringNext - subString);break; //获取经度信息
case 6:memcpy(Save_Data.E_W, subString, subStringNext - subString);break; //获取E/W
default:break;
}
subString = subStringNext;
Save_Data.isParseData = true;
if(usefullBuffer[0] == 'A')
Save_Data.isUsefull = true;
else if(usefullBuffer[0] == 'V')
Save_Data.isUsefull = false;
}
else
{
errorLog(2); //解析错误
}
}
}
if (Save_Data.isParseData)
{
if(Save_Data.isUsefull)
{
// 获取 N/S 和 E/W
g_LatAndLongData.N_S = Save_Data.N_S[0];
g_LatAndLongData.E_W = Save_Data.E_W[0];
// 获取纬度
for(uint8_t i=0; i<9; i++)
{
if(i<2)
{
Number *= 10;
Number += Save_Data.latitude[i]-'0';
}
else if(i<4)
{
Integer *= 10;
Integer += Save_Data.latitude[i]-'0';
}
else if(i==4);
else if(i<9)
{
Decimal *= 10;
Decimal += Save_Data.latitude[i]-'0';
}
}
g_LatAndLongData.latitude = 1.0*Number + (1.0*Integer+1.0*Decimal/10000)/60;
Number = 0;
Integer = 0;
Decimal = 0;
// 获取经度
for(uint8_t i=0; i<10; i++)
{
if(i<3)
{
Number *= 10;
Number += Save_Data.longitude[i]-'0';
}
else if(i<5)
{
Integer *= 10;
Integer += Save_Data.longitude[i]-'0';
}
else if(i==5);
else if(i<10)
{
Decimal *= 10;
Decimal += Save_Data.longitude[i]-'0';
}
}
g_LatAndLongData.longitude = 1.0*Number + (1.0*Integer+1.0*Decimal/10000)/60;
}
}
}
}
void printGpsBuffer(void)
{
if (Save_Data.isParseData)
{
Save_Data.isParseData = false;
printf("Save_Data.UTCTime = %s\r\n", Save_Data.UTCTime);
if(Save_Data.isUsefull)
{
Save_Data.isUsefull = false;
printf("Save_Data.latitude = %s\r\n", Save_Data.latitude);
printf("Save_Data.N_S = %s", Save_Data.N_S);
printf("Save_Data.longitude = %s", Save_Data.longitude);
printf("Save_Data.E_W = %s\r\n", Save_Data.E_W);
printf("latitude: %c,%.4f\r\n", g_LatAndLongData.N_S, g_LatAndLongData.latitude);
printf("longitude: %c,%.4f\r\n", g_LatAndLongData.E_W, g_LatAndLongData.longitude);
}
else
{
printf("GPS DATA is not usefull!\r\n");
}
}
}
atgm336h.h
#ifndef __ATGM336H_H
#define __ATGM336H_H
#include "usart.h"
#include "sys.h"
#include "stdbool.h"
#define USART_REC_LEN 200 //定义最大接收字节数 200
#define EN_USART1_RX 1 //使能（1）/禁止（0）串口1接收
//#define false 0
//#define true 1
//定义数组长度
#define GPS_Buffer_Length 80
#define UTCTime_Length 11
#define latitude_Length 11
#define N_S_Length 2
#define longitude_Length 12
#define E_W_Length 2
typedef struct SaveData
{
char GPS_Buffer[GPS_Buffer_Length];
char isGetData; //是否获取到GPS数据
char isParseData; //是否解析完成
char UTCTime[UTCTime_Length]; //UTC时间
char latitude[latitude_Length]; //纬度
char N_S[N_S_Length]; //N/S
char longitude[longitude_Length]; //经度
char E_W[E_W_Length]; //E/W
char isUsefull; //定位信息是否有效
} _SaveData;
// 经纬度数据
typedef struct _LatitudeAndLongitude_s
{
float latitude; // 纬度
float longitude; // 经度
char N_S; // 北南
char E_W; // 东西
}LatitudeAndLongitude_s;
extern char rxdatabufer;
extern u16 point1;
extern _SaveData Save_Data;
extern LatitudeAndLongitude_s g_LatAndLongData;
// 放入串口接收中断中
void atgm336h_UART_RxCpltCallback(UART_HandleTypeDef *huart);
// 初始化
void atgm336h_init(void);
// 清除结构体数据
void clrStruct(void);
// 解包函数
void parseGpsBuffer(void);
// 打印函数
void printGpsBuffer(void);
#endif // __ATGM336H_H
