单片机串口中断解析GPS数据NMEA_GPRMC

#include "gps.h" #include "stm32f10x_usart.h" #include "lcd.h" #include "global.h" #include "config.h" #include "led.h" #include "myfun.h" #include "include.h" //采集串口数据，并且读取得到GPS数据 u8 gps_buf[120] = {0}; //用来接收串口数据 u8 gps_i = 0; u8 comma = 0; u8 check_count = 0; enum gps_rece_state gps_state; //串口接收gps的状态 void get_gps(void); //{ // f_start, //帧开始 // f_segment, //字段接收完 // f_end, // f_out //} void USART3_IRQHandler(void) //串口1中断服务程序 { u8 rec = 0,i; if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) { rec =USART_ReceiveData(USART3); if(rec == '$') //如果是美元符，为起始 { gps_state = f_start; gps_i = 0; comma = 0; check_count = 0; for(i=0;i<120;i++) gps_buf[i] = 0; } else if(gps_state == f_start) //开始接收 { gps_buf[gps_i] = rec; gps_i++; if(rec == ',') comma++; if(comma == 12) gps_state = f_segment;//还剩下四个字节校验值 } else if(gps_state == f_segment) //开始接收 { gps_buf[gps_i] = rec; gps_i++; //此时的数组这个位置刚好没写 check_count++; if(check_count == 4) gps_state = f_end; } else if(gps_state == f_end) //接收完成 { #ifdef SHOW_GPS LCD_Fill(0,0,239,50,WHITE); LCD_ShowString(0,0,gps_buf); #endif get_gps(); } } } //从串口中得到GPS的数据和显示数据 //使用数组存逗号位置 u8 pos[13] = {0}; void get_gps(void) { u8 i,j = 0; if((gps_buf[0]=='G')&&(gps_buf[1]=='P')&&(gps_buf[2]=='R')\ &&(gps_buf[3]=='M')&&(gps_buf[4]=='C')) { for(i = 5;i < gps_i;i++) { if(gps_buf[i] == ',') pos[++j] = i;//第j个逗号在第i个位置 } ori_data.status = gps_buf[pos[2]+1]; screen.status = gps_buf[pos[2]+1]; if(ori_data.status == 'A') { LED0 = 0; for(i = pos[3]+1;i < pos[4];i++) //纬度 { screen.lat[i-pos[3]-1] = gps_buf[i]; // } ori_data.lat = asc2f(screen.lat)/100; screen.ns = gps_buf[pos[4]+1]; ori_data.ns = gps_buf[pos[4]+1]; for(i = pos[5]+1;i < pos[6];i++) //经度 screen.lon[i-pos[5]-1] = gps_buf[i]; ori_data.lon = asc2f(screen.lon)/100; screen.ew = gps_buf[pos[6]+1]; ori_data.ew = gps_buf[pos[6]+1]; for(i = pos[7]+1;i < pos[8];i++) //地面速度 screen.speed[i-pos[7]-1] = gps_buf[i]; ori_data.speed = 0.5144 * asc2f(screen.speed); for(i = pos[8]+1;i < pos[9];i++) //地面航向 screen.azimuth[i-pos[8]-1] = gps_buf[i]; ori_data.azimuth = asc2f(screen.azimuth); for(i = pos[10]+1;i < pos[11];i++) //磁偏角 磁偏角方向 screen.declination[i-pos[10]-1] = gps_buf[i]; ori_data.declination = asc2f(screen.declination); // for(i = pos[11]+1;i < pos[12];i++) // if((pos[12] - pos[11]-1)!=0) screen.dir_declination = gps_buf[pos[11]+1]; ori_data.dir_declination = screen.dir_declination; } else { LED0 = 1; } } } //发送GPS数据原始帧格式 void send_gps(void) { /* uint64_t time_now_us = time_nowUs(); int time_s = (int)time_now_us* (1.0f/1e6f); if(ori_data.status == 'A') { u8 i; while(SCI_SendChar('I')); for(i = pos[3]+1;i < pos[4];i++) //纬度 USART_SendChar(USART1,gps_buf[i]); while(SCI_SendChar('|')); for(i = pos[5]+1;i < pos[6];i++) //经度 USART_SendChar(USART1,gps_buf[i]); while(SCI_SendChar('|')); for(i = pos[7]+1;i < pos[8];i++) //地面速度 USART_SendChar(USART1,gps_buf[i]); while(SCI_SendChar('|')); if(pos[9] - pos[8] == 1) USART_SendChar(USART1,'0'); //没有地面航向 else for(i = pos[8]+1;i < pos[9];i++) //地面航向 USART_SendChar(USART1,gps_buf[i]); while(SCI_SendChar('|')); SCISendInt(time_s); while(SCI_SendChar('\r')); while(SCI_SendChar('\n')); } */ uint64_t time_now_us = time_nowUs(); float time_s = time_now_us* (1.0f/1e6f); while(SCI_SendChar('I')); SCISendInt(speed_east*100); while(SCI_SendChar('|')); SCISendInt(speed_north*100); while(SCI_SendChar('|')); SCISendInt(speed_hor*100); while(SCI_SendChar('|')); SCISendInt(0); while(SCI_SendChar('|')); SCISendInt(time_s*10); while(SCI_SendChar('|')); SCISendInt(0); while(SCI_SendChar('\r')); while(SCI_SendChar('\n')); } //发送数据，经纬度，速度等等 void send_speed(void) { uint64_t time_now_us = time_nowUs(); float time_s = time_now_us* (1.0f/1e6f); u8 i; while(SCI_SendChar('I')); // double2asc(g_lat); double2asc(ori_data.speed); for(i = 1;asc_d[i]!=0;i++) //GPS USART_SendChar(USART1,asc_d[i]); while(SCI_SendChar('|')); // double2asc(g_lon); double2asc(speed_imu); for(i = 1;asc_d[i]!=0;i++) //IMU USART_SendChar(USART1,asc_d[i]); while(SCI_SendChar('|')); float2asc(speed_hor); for(i = 1;((asc_f[i]!=0)&&(i<6));i++) //组合 USART_SendChar(USART1,asc_f[i]); while(SCI_SendChar('|')); float2asc(yaw_north); for(i = 1;((asc_f[i]!=0)&&(i<6));i++) //航向 USART_SendChar(USART1,asc_f[i]); while(SCI_SendChar('|')); SCISendInt(time_s*10); while(SCI_SendChar('|')); //定位状态 //if(ori_data.status == 'A') if(pos_mode == 3) USART_SendChar(USART1,'1'); else USART_SendChar(USART1,'0'); while(SCI_SendChar('\r')); while(SCI_SendChar('\n')); } //发送数据，经纬度，速度等等 void send_route(void) { uint64_t time_now_us = time_nowUs(); int time_s = (int)time_now_us* (1.0f/1e6f); u8 i; while(SCI_SendChar('I')); double2asc(g_lat); for(i = 1;asc_d[i]!=0;i++) //纬度 USART_SendChar(USART1,asc_d[i]); while(SCI_SendChar('|')); double2asc(g_lon); for(i = 1;asc_d[i]!=0;i++) //经度 USART_SendChar(USART1,asc_d[i]); while(SCI_SendChar('|')); float2asc(speed_hor); for(i = 1;((asc_f[i]!=0)&&(i<6));i++) //速度 USART_SendChar(USART1,asc_f[i]); while(SCI_SendChar('|')); float2asc(course); for(i = 1;((asc_f[i]!=0)&&(i<6));i++) //航向 USART_SendChar(USART1,asc_f[i]); while(SCI_SendChar('|')); SCISendInt(time_s*10); while(SCI_SendChar('|')); //定位状态 if(pos_mode == 3) USART_SendChar(USART1,'1'); else USART_SendChar(USART1,'0'); // if(ori_data.status == 'A') // USART_SendChar(USART1,'1'); // else // USART_SendChar(USART1,'0'); while(SCI_SendChar('\r')); while(SCI_SendChar('\n')); }