20260324
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353
IAPV1.1/Driver/L76X/L76X.c
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353
IAPV1.1/Driver/L76X/L76X.c
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#include "L76X.h"
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#include "usart.h"
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#include <math.h>
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_SaveData Save_Data;
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static const double pi = 3.14159265358979324;
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static const double a = 6378245.0;
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static const double ee = 0.00669342162296594323;
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static const double x_pi = 3.14159265358979324 * 3000.0 / 180.0;
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static double Lat_f,Lon_f;
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void L76X_POWER_ON(void)
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{
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PWR_CTRLL76C_H;
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}
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void L76X_POWER_OFF(void)
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{
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PWR_CTRLL76C_L;
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}
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/******************************************************************************
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function:
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Latitude conversion
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******************************************************************************/
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static double transformLat(double x,double y)
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{
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double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 *sqrt(abs(x));
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ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
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ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0;
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ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0;
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return ret;
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}
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/******************************************************************************
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function:
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Longitude conversion
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******************************************************************************/
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static double transformLon(double x,double y)
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{
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double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x));
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ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
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ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0;
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ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0;
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return ret;
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}
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/******************************************************************************
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function:
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GCJ-02 international standard converted to Baidu map BD-09 standard
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******************************************************************************/
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static Coordinates bd_encrypt(Coordinates gg)
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{
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Coordinates bd;
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double x = gg.Lon, y = gg.Lat;
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double z = sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi);
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double theta = atan2(y, x) + 0.000003 * cos(x * x_pi);
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bd.Lon = z * cos(theta) + 0.0065;
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bd.Lat = z * sin(theta) + 0.006;
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return bd;
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}
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/******************************************************************************
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function:
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GPS's WGS-84 standard is converted into GCJ-02 international standard
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******************************************************************************/
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static Coordinates transform(Coordinates gps)
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{
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Coordinates gg;
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double sqrtMagic;
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double dLat = transformLat(gps.Lon - 105.0, gps.Lat - 35.0);
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double dLon = transformLon(gps.Lon - 105.0, gps.Lat - 35.0);
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double radLat = gps.Lat / 180.0 * pi;
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double magic = sin(radLat);
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magic = 1 - ee * magic * magic;
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sqrtMagic = sqrt(magic);
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dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
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dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi);
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gg.Lat = gps.Lat + dLat;
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gg.Lon = gps.Lon + dLon;
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return gg;
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}
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/******************************************************************************
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function:
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Convert GPS latitude and longitude into GPS84 coordinates
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******************************************************************************/
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Coordinates L76X_GPS84_Coordinates()
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{
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Coordinates temp;
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temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
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temp.Lon =((int)(Lon_f)) + (Lon_f - ((int)(Lon_f)))*100 / 60;
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// temp = transform(temp);
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return temp;
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}
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/******************************************************************************
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function:
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Convert GPS latitude and longitude into Google Maps coordinates
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******************************************************************************/
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Coordinates L76X_Google_Coordinates()
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{
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Coordinates temp;
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temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
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temp.Lon =((int)(Lon_f)) + (Lon_f - ((int)(Lon_f)))*100 / 60;
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temp = transform(temp);
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return temp;
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}
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/******************************************************************************
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function:
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Convert GPS latitude and longitude into Baidu map coordinates
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******************************************************************************/
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Coordinates L76X_Baidu_Coordinates()
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{
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Coordinates temp;
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temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
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temp.Lon =(int)(Lon_f) + (Lon_f - ((int)(Lon_f)))*100 / 60;
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temp = transform(temp);
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temp = bd_encrypt(temp);
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return temp;
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}
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/******************************************************************************
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function:
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Send a command to the L76X，Automatic calculation of the code
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parameter:
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data ：The end of the command ends with ‘\0’ or it will go wrong,
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no need to increase the validation code.
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******************************************************************************/
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void L76X_Send_Command(char *data)
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{
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// char Check = data[1], Check_char[3]={0};
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// u8 i = 0;
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// //printf(" 1i = %d Check =%x \n", i, Check);
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// for(i=2; data[i] != '\0'; i++){
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// Check ^= data[i]; //Calculate the check value
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// }
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//printf(" i = %d Check =%x \n", i, Check);
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// Check_char[0] = Temp[Check/16%16];
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// Check_char[1] = Temp[Check%16];
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// Check_char[2] = '\0';
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// DEV_Uart_SendString(data);
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// DEV_Uart_SendByte('*');
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// DEV_Uart_SendString(Check_char);
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// DEV_Uart_SendByte('\r');
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// DEV_Uart_SendByte('\n');
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}
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/**************清除GPS数据***********************/
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void L76X_Sturct_Clear(void)
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{
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memset(Save_Data.GPS_Buffer,0,GPS_Buffer_Length-1) ;
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Save_Data.isGetData=0;
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Save_Data.isParseData=0;
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memset(Save_Data.UTCTime,0,UTCTime_Length) ;
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memset(Save_Data.latitude,0,latitude_Length) ;
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memset(Save_Data.N_S,0,N_S_Length) ;
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memset(Save_Data.longitude,0,longitude_Length) ;
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memset(Save_Data.E_W,0,E_W_Length) ;
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Save_Data.isUsefull=0;
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}
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void parseGpsBuffer(void)
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{
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char *subString;
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char *subStringNext;
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char i = 0;
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char TempBuffer[10];
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char temp_time;
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if (Save_Data.isGetData)
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{
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Save_Data.isGetData = false;
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for (i = 0 ; i <= 9 ; i++)
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{
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if (i == 0)
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{
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if ((subString = strstr(Save_Data.GPS_Buffer, ",")) == NULL)
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;//解析错误
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}
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else
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{
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subString++;
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if ((subStringNext = strstr(subString, ",")) != NULL)
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{
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char usefullBuffer[2];
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char spdBuffer[10];
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char cogBuffer[10];
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switch(i)
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{
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case 1:memcpy(Save_Data.UTCTime, subString, subStringNext - subString);break; //获取UTC时间
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case 2:memcpy(usefullBuffer, subString, subStringNext - subString);break; //获取UTC时间
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case 3:memcpy(Save_Data.latitude, subString, subStringNext - subString);break; //获取纬度信息
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case 4:memcpy(Save_Data.N_S, subString, subStringNext - subString);break; //获取N/S
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case 5:memcpy(Save_Data.longitude, subString, subStringNext - subString);break; //获取经度信息
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case 6:memcpy(Save_Data.E_W, subString, subStringNext - subString);break; //获取E/W
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case 7:memcpy(spdBuffer, subString, subStringNext - subString);break; //获取E/W
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case 8:memcpy(cogBuffer, subString, subStringNext - subString);break; //获取E/W
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case 9:memcpy(Save_Data.UTCData, subString, subStringNext - subString);break; //获取E/W
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default:break;
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}
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subString = subStringNext;
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Save_Data.isParseData = true;
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if((usefullBuffer[0] == 'A')&(Save_Data.UTCData[0]!=0))
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{
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Save_Data.isUsefull = true;
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}
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else if(usefullBuffer[0] == 'V')
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Save_Data.isUsefull = false;
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}
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else
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{
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//解析错误
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}
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Lat_f=(Save_Data.latitude[0]-'0')*10000000.0+(Save_Data.latitude[1]-'0')*1000000.0+(Save_Data.latitude[2]-'0')*100000.0+(Save_Data.latitude[3]-'0')*10000.0+(Save_Data.latitude[5]-'0')*1000.0
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+(Save_Data.latitude[6]-'0')*100.0+(Save_Data.latitude[7]-'0')*10.0+(Save_Data.latitude[8]-'0')*1.0;
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Lon_f=(Save_Data.longitude[0]-'0')*100000000.0+(Save_Data.longitude[1]-'0')*10000000.0+(Save_Data.longitude[2]-'0')*1000000.0+(Save_Data.longitude[3]-'0')*100000.0+(Save_Data.longitude[4]-'0')*10000.0
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+(Save_Data.longitude[6]-'0')*1000.0+(Save_Data.longitude[7]-'0')*100.0+(Save_Data.longitude[8]-'0')*10.0+(Save_Data.longitude[9]-'0')*1.0;
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Lat_f=Lat_f/1000000.0;
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Lon_f=Lon_f/1000000.0;
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}
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}
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}
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//转换日期
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memset(TempBuffer,0,10);
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TempBuffer[0] = Save_Data.UTCData[4];
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TempBuffer[1] = Save_Data.UTCData[5];
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TempBuffer[2] = '-';
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TempBuffer[3] = Save_Data.UTCData[2];
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TempBuffer[4] = Save_Data.UTCData[3];
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TempBuffer[5] = '-';
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TempBuffer[6] = Save_Data.UTCData[0];
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TempBuffer[7] = Save_Data.UTCData[1];
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memcpy(Save_Data.UTCData,TempBuffer,strlen(TempBuffer));
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memset(TempBuffer,0,10);
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//转换时间
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temp_time=(Save_Data.UTCTime[0]-'0')*10+(Save_Data.UTCTime[1]-'0')+8;
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Save_Data.UTCTime[0]=(char)((temp_time/10)+'0');
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Save_Data.UTCTime[1]=(char)((temp_time%10)+'0');
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TempBuffer[0] = Save_Data.UTCTime[0];
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TempBuffer[1] = Save_Data.UTCTime[1];
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TempBuffer[2] = ':';
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TempBuffer[3] = Save_Data.UTCTime[2];
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TempBuffer[4] = Save_Data.UTCTime[3];
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TempBuffer[5] = ':';
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TempBuffer[6] = Save_Data.UTCTime[4];
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TempBuffer[7] = Save_Data.UTCTime[5];
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memset(Save_Data.UTCTime,0,UTCTime_Length);
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memcpy(Save_Data.UTCTime,TempBuffer,strlen(TempBuffer));
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memset(TempBuffer,0,10);
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}
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void printGpsBuffer(void)
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{
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int i=0;
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//输出UTC时间
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if (Save_Data.isParseData)
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{
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i=0;
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Save_Data.isParseData = false;
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printf("Save_Data.UTCTime = ");
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while(Save_Data.UTCTime[i] != 0)
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{
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printf("%c",Save_Data.UTCTime[i]);
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i++;
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}
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printf("\r\n");
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//如果定位可用，输出定位信息
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if(Save_Data.isUsefull)
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{
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Save_Data.isUsefull = false;
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i=0;
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printf("Save_Data.latitude = ");
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while(Save_Data.latitude[i] != 0)
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{
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printf("%c",Save_Data.latitude[i]);
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i++;
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}
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printf("\r\n");
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i=0;
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printf("Save_Data.N_S = ");
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printf("%c",Save_Data.N_S[0]);
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printf("%c",Save_Data.N_S[1]);
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printf("\r\n");
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i=0;
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printf("Save_Data.longitude = ");
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while(Save_Data.longitude[i]!=0)
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{
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printf("%c",Save_Data.longitude[i]);
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i++;
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}
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printf("\r\n");
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printf("Save_Data.E_W = ");
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printf("%c",Save_Data.E_W[0]);
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printf("%c",Save_Data.E_W[1]);
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printf("\r\n");
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}
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else
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{
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printf("GPS DATA is not usefull!\r\n");
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}
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}
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}
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void L76C_Process(void)
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{
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u8 times=0;
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Coordinates GPS;
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Save_Data.Flag_finish_gnss=0;
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while(times<35)
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{
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//等待GPS信号
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delay_ms(1000);
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if(Save_Data.isGetData)
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parseGpsBuffer();
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times++;
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if(Save_Data.isUsefull)
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{
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GPS=L76X_GPS84_Coordinates();
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times=61;
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}
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else
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{
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GPS.Lat=0.0;
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GPS.Lon=0.0;
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}
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// Set_GNSSTIME_Rtc();//RTC校准
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}
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//GPS=L76X_GPS84_Coordinates();
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sprintf(data_common1.GPS_DATA,"%.7f%c%s%c%.7f%c%s%c",GPS.Lat,',',Save_Data.N_S,',', GPS.Lon,',',Save_Data.E_W,',');//经纬度
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L76X_Sturct_Clear();
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USART_DeInit(USART1);
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Save_Data.Flag_finish_gnss=1;
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}
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