ShipCentralControl/Anjiehui7_DTU/User/drv_gps.c

/*
*********************************************************************************************************
*                                       IAR Development Kits
*                                              on the
*
*                                    M451
*
* Filename      : uart_dtu.c
* Version       : V1.00
* Programmer(s) : Qian Xianghong
*********************************************************************************************************
*/

#include  "includes.h"

#include "drv_dtu.h"
#include "drv_gps.h"

// GPS<50><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ
volatile uint32_t DTU_gpsTime = 0;

// <20>Ƿ<EFBFBD><C7B7><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>鲢<EFBFBD><E9B2A2><EFBFBD><EFBFBD>GPS
uint8_t DTU_needCheckGPS = 0;

// **************** <20>ϴ<EFBFBD>GPS<50><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ ********************
// GPS<50><53><EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD>ȡֵΪ0~599ѭ<39><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t GPS_BOD_COUNT = 0;
// *****************************************************

// <20><><EFBFBD><EFBFBD>GPS<50><53><EFBFBD><EFBFBD>
uint32_t DTU_EnableGPS()
{
	char cmd[50], buff[50];
	uint8_t try_count = 2;
	static uint8_t first = 1;
	
	// <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>GPS
	DTU_needCheckGPS = 0;
	
	if(!IS_VCC_GPS_ON())
	{
		VCC_GPS_ON();
		delay_ms(2500);
	}
	
//	DTU_ExecuteCmd("AT+QGPSDEL=3", "OK", "ERROR", buff, DTU_tmrQPendShort);
//	DTU_ExecuteCmd("AT+QGPSXTRA=0", "OK", "ERROR", buff, DTU_tmrQPendShort);
//	return FALSE;
	
#if 0
	// <20><><EFBFBD><EFBFBD>QGPSXTRA
	if(!DTU_ExecuteCmd("AT+QGPSXTRA?", "+QGPSXTRA: 1", "+QGPSXTRA: 0", buff, DTU_tmrQPendShort))
	{
		// <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>
		if(DTU_ExecuteCmd("AT+QGPSXTRA=1", "OK", "ERROR", buff, DTU_tmrQPendShort))
		{
			DTU_PowerOff();
			delay_ms(200);
			NVIC_SystemReset();
		}
	}
		
	// <20><><EFBFBD><EFBFBD>QGPSXTRADATA
	if(DTU_ExecuteCmd("AT+QGPSXTRADATA?", "+QGPSXTRADATA: ", "ERROR", buff, DTU_tmrQPendShort)
		&& strstr(buff, "+QGPSXTRADATA: 0,"))
	{
		// <20><>ɾ<EFBFBD><C9BE><EFBFBD>ڴ<EFBFBD><DAB4>ļ<EFBFBD>
		DTU_ExecuteCmd("AT+QFDEL=\"RAM:xtra2.bin\"", "OK", "ERROR", buff, DTU_tmrQPendShort);
		// <20><><EFBFBD><EFBFBD>XTRADATA
		if(Sim808_GPRSDial()
			&& DTU_ExecuteCmd("AT+QHTTPCFG=\"contextid\",1", "OK", "ERROR", buff, DTU_tmrQPendShort)
			&& DTU_ExecuteCmd("AT+QHTTPCFG=\"responseheader\",0", "OK", "ERROR", buff, DTU_tmrQPendShort)
			&& DTU_ExecuteCmd("AT+QHTTPURL=40,10", "CONNECT", "ERROR", buff, DTU_tmrQPendShort)
		)
		{
			strcpy(cmd, "http://xtrapath1.izatcloud.net/xtra2.bin");
			UART_Transmit(&huart1, (uint8_t *) cmd, strlen(cmd));
			if(DTU_ParseResult("OK", "ERROR", buff, DTU_tmrQPendShort)
				&& DTU_ExecuteCmd("AT+QHTTPGET=80", "+QHTTPGET: 0,", "ERROR", buff, DTU_tmrQPendSpec)
				&& DTU_ExecuteCmd("AT+QHTTPREADFILE=\"RAM:xtra2.bin\",80", "+QHTTPREADFILE: 0", "ERROR", buff, DTU_tmrQPendSpec)
				&& DTU_ExecuteCmd("AT+QLTS=2", "+QLTS: ", "ERROR", buff, DTU_tmrQPendShort) // Get UTC time
			)
			{
				// <20><>ȡʱ<C8A1><CAB1>
				memset(cmd, 0, sizeof(cmd));
				strncpy(cmd, strstr(buff, "+QLTS: \"") + 8, 19);
				// ע<><D7A2>ʱ<EFBFBD>䡢XTRADATA
				sprintf(buff, "AT+QGPSXTRATIME=0,\"%s\",1,1,3500", cmd);	// Inject UTC time
				strcpy(cmd, buff);
				if(DTU_ExecuteCmd(cmd, "OK", "ERROR", buff, DTU_tmrQPendShort)
					&& DTU_ExecuteCmd("AT+QGPSXTRADATA=\"RAM:xtra2.bin\"", "OK", "ERROR", buff, DTU_tmrQPendShort)
				)
				{
					printf("\nGPS XTRADATA Injected.\n");
				}
			}
		}
	}
#endif
	
	while(try_count--)
	{
		delay_ms(200);

		// <20><>ֹͣGPS<50><53>λ
		if(DTU_ExecuteCmd("AT+QGPSEND", "OK", "ERROR", buff, DTU_tmrQPendShort))
		{
			printf("\nGPS disabled.\n");
			delay_ms(200);
		}

		// <20><>ѯ<EFBFBD><D1AF>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>˿<EFBFBD><CBBF>Ƿ<EFBFBD>Ϊuartdebug
		if(first || !DTU_ExecuteCmd("AT+QGPSCFG=\"outport\"", "+QGPSCFG:", "ERROR", buff, DTU_tmrQPendShort)
			|| strstr(buff, "uartdebug") == 0)
		{
			// <20><><EFBFBD>õ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>˿<EFBFBD>Ϊuartdebug
			if(!DTU_ExecuteCmd("AT+QGPSCFG=\"outport\",\"uartdebug\"", "OK", "ERROR", buff, DTU_tmrQPendShort))
			{
				printf("\nSet GPS outport failed.\n");
				continue;
			}
			first = 0;
		}
		if(DTU_ExecuteCmd("AT+QGPS=1,255,50,0,4", "OK", "ERROR", buff, DTU_tmrQPendShort))
		{
			printf("\nGPS enabled.\n");
			// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS
			DTU_needCheckGPS = 1;
			return TRUE;
		}
	}

	printf("\nGPS enable failed.\n");
	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS
	DTU_needCheckGPS = 1;
	return FALSE;
}

// <20>ر<EFBFBD>GPS<50><53><EFBFBD><EFBFBD>
void DTU_DisableGPS()
{
	char buff[50];
	
	if(IS_VCC_GPS_ON())
	{
		VCC_GPS_OFF();
		if(DTU_ExecuteCmd("AT+QGPSEND", "OK", "ERROR", buff, DTU_tmrQPendShort))
			printf("\nGPS disabled.\n");
		else
			printf("\nGPS disable failed.\n");
	}
}

// <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EEBAAF>
void GPS_ProcessTimeLag(date_time_t *sysTime, int8_t timeLag)
{
	// <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EEA3BA>ʱ<EFBFBD><CAB1>
	if(timeLag > 0)
	{
		sysTime->hour += timeLag;
		if(sysTime->hour >= 24)
		{
			sysTime->hour %= 24;
			if(sysTime->day < get_month_days(sysTime->year + 2000, sysTime->month))
				sysTime->day++;
			else
			{
				sysTime->day = 1;
				if(sysTime->month < 12)
					sysTime->month++;
				else
				{
					sysTime->month = 1;
					sysTime->year++;
				}
			}
		}
	}
	// <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EEA3BA>ʱ<EFBFBD><CAB1>
	else if(timeLag < 0)
	{
		// hour<75><72><EFBFBD>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
		if(sysTime->hour >= (-timeLag))
			sysTime->hour += timeLag;
		else
		{
			sysTime->hour += (24 + timeLag);
			if(sysTime->day > 1)
				sysTime->day--;
			else
			{
				if(sysTime->month > 1)
				{
					sysTime->month--;
					sysTime->day = get_month_days(sysTime->year + 2000, sysTime->month);
				}
				else
				{
					sysTime->month = 12;
					sysTime->day = 31;
					sysTime->year--;
				}
			}
		}
	}
}

// ASCII<49><49><EFBFBD><EFBFBD>
void ASCII2Hex(char hchar, char lchar, uint8_t* hex)
{
    uint8_t h = 0, l = 0;

    if(hchar >= '0' && hchar <= '9')
    {
        h = hchar - '0';
    }
    else if(hchar >= 'A' && hchar <= 'F')
    {
        h = hchar - 'A' + 10;
    }
    else if(hchar >= 'a' && hchar <= 'f')
    {
        h = hchar - 'a' + 10;
    }

    if(lchar >= '0' && lchar <= '9')
    {
        l = lchar - '0';
    }
    else if(lchar >= 'A' && lchar <= 'F')
    {
        l = lchar - 'A' + 10;
    }
    else if(lchar >= 'a' && lchar <= 'f')
    {
        l = lchar - 'a' + 10;
    }

    *hex = (h << 4) | l;
}

uint8_t check_sum(char *message)
{
    int16_t i, len = strlen(message);
    uint8_t cs0, cs1 = 0;

    if(len < 4 || message[0] != '$' || message[len - 3] != '*')
        return 0;

    for(i = 1; i < len - 3; i++)
    {
        cs1 ^= message[i];
    }

    ASCII2Hex(message[len - 2], message[len - 1], &cs0);

    if(cs1 == cs0)
        return 1;

	printf("\nCheck sum error: %s<>%02X", message, cs1);
    return 0;
}

uint32_t parse_vtg(char *message, data_dtu_t *sample)
{
    char *p = message, *pe = p + strlen(message), *p1 = NULL;
	char buff[20];

    // $GNVTG,293.56,T,,M,1.13,N,2.10,K,A*28

    // <20>˶<EFBFBD><CBB6>Ƕ<EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // T=<3D>汱<EFBFBD><E6B1B1><EFBFBD><EFBFBD>ϵ
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // <20>˶<EFBFBD><CBB6>Ƕ<EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // M=<3D>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>ϵ
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // ˮƽ<CBAE>˶<EFBFBD><CBB6>ٶȣ<D9B6><C8A3>ڣ<EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // N=<3D><>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // ˮƽ<CBAE>˶<EFBFBD><CBB6>ٶȣ<D9B6>ǧ<EFBFBD>ף<EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
    p1 = strstr(p, ",");
	if(!p1)
		return 0;
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, p1 - p);
    sample->speed = atof(buff);

    return 1;
}

uint32_t parse_gga(char *message, data_dtu_t *sample)
{
    char *p = message, *pe = p + strlen(message), *p1 = NULL;
	char buff[20];

    // $GNGGA,014600.000,3029.3359,N,10357.9168,E,1,4,4.16,200.1,M,-32.0,M,,*6B

	if(!check_sum(message))
		return 0;
	
    // UTC ʱ<><CAB1>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // γ<><CEB3>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // N/S
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // <20><><EFBFBD><EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // E/W
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // GPS״̬
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // <20><><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
    p1 = strstr(p, ",");
	if(!p1)
		return 0;	
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, p1 - p);
    sample->sateCount = atoi(buff);

    return 1;
}

uint32_t parse_rmc(char *message, data_dtu_t *sample)
{
    char *p = message, *pe = p + strlen(message), *p1 = NULL;
	char buff[20];
	uint16_t deg;
	float fen;

    // $GNRMC,014600.000,A,3029.3359,N,10357.9168,E,1.13,293.56,070417,,,A*7C

	if(!check_sum(message))
		return 0;
	
    // UTCʱ<43><CAB1>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	p1 = strstr(p, ",");
	if(!p1 || p1 < p + 6)
		return 0;
    // 2λСʱ
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.hour = atoi(buff);
	// 2λ<32><CEBB><EFBFBD><EFBFBD>
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.minute = atoi(buff);
    // 2λ<32><CEBB>
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.second = atoi(buff);
	if(sample->sysTime.hour > 23 || sample->sysTime.minute > 59 || sample->sysTime.second > 59)
		return 0;	

    // <20><>λ״̬
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
    sample->posState = (*p == 'A');

    // γ<><CEB3>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	p1 = strstr(p, ",");
	if(!p1 || p1 < p + 11)
		return 0;
	memset(buff, 0, sizeof(buff));
	strncpy(buff, p, 2);
	deg = atoi(buff);
	p += 2;
	strncpy(buff, p, 9);
	fen = atof(buff);
	if(deg > 90 || fen >= 60 || (deg == 90 && fen  > 0))
		return 0;
	sample->latitude = (deg + fen / 60) * 1000000ul;

    // N/S
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	if(*p == 'S')
		sample->latitude = -sample->latitude;

    // <20><><EFBFBD><EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	p1 = strstr(p, ",");
	if(!p1 || p1 < p + 12)
		return 0;
	memset(buff, 0, sizeof(buff));
	strncpy(buff, p, 3);
	deg = atoi(buff);
	p += 3;
	strncpy(buff, p, 9);
	fen = atof(buff);
	if(deg > 180 || fen >= 60 || (deg == 180 && fen  > 0))
		return 0;
	sample->longitude = (deg + fen / 60) * 1000000ul;

    // E/W
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	if(*p == 'W')
		sample->longitude = -sample->longitude;

    // <20>ٶȣ<D9B6><C8A3>ڣ<EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
    p1 = strstr(p, ",");
	if(!p1)
		return 0;
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, p1 - p);
    sample->speed = atof(buff) * 1.852;

    // <20><>λ<EFBFBD><CEBB>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;

    // UTC<54><43><EFBFBD><EFBFBD>
    p = strstr(p, ",");
	if(!p || ++p >= pe)
		return 0;
	p1 = strstr(p, ",");
	if(!p1 || p1 < p + 6)
		return 0;
    // 2λ<32><CEBB><EFBFBD><EFBFBD>
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.day = atoi(buff);
    // 2λ<32>·<EFBFBD>
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.month = atoi(buff);
    // 2λ<32><CEBB><EFBFBD><EFBFBD>
    memset(buff, 0, sizeof(buff));
    strncpy(buff, p, 2);
    p += 2;
    sample->sysTime.year = atoi(buff);
	if(sample->sysTime.month < 1 || sample->sysTime.month > 12 || sample->sysTime.day < 1 || sample->sysTime.day > 31)
		return 0;	

    // <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
    GPS_ProcessTimeLag(&sample->sysTime, dcBuff.configData.timeLag);

    return 1;
}

uint8_t parse_frame(uint8_t *bufIdx, char *message, data_dtu_t *sample)
{
	uint8_t ret = 0;
    S_RTC_TIME_DATA_T sRTC;
	
    if(strncmp(message, "$GPGGA", 6) == 0)
	{
//		printf("\n%s\n", message);
		*bufIdx = 1 - *bufIdx;
	}
    else if(strncmp(message, "$GPRMC", 6) == 0)
	{
		printf("\n%s\n", message);

		// <20><>ȡ<EFBFBD><C8A1>ǰʱ<C7B0><CAB1>
		RTC_GetDateAndTime(&sRTC);
		// <20><>¼GPS<50>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
		DTU_gpsTime = Calc_SecondsFromYear(INITIAL_YEAR, sRTC.u32Year, sRTC.u32Month, sRTC.u32Day,
				sRTC.u32Hour, sRTC.u32Minute, sRTC.u32Second);

		parse_gga(DTU_gpsData[1 - *bufIdx], sample);
        ret = parse_rmc(message, sample);
		if(!ret)
			sample->posState = 0;
	}

	return ret;
}

void DTU_CheckGPS()
{
	uint32_t time;
    S_RTC_TIME_DATA_T sRTC;

	if(IS_VCC_GPS_ON())
	{
		// <20><>ȡ<EFBFBD><C8A1>ǰʱ<C7B0><CAB1>
		RTC_GetDateAndTime(&sRTC);
		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>gps<70><73>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
		time = Calc_SecondsFromYear(INITIAL_YEAR, sRTC.u32Year, sRTC.u32Month, sRTC.u32Day,
				sRTC.u32Hour, sRTC.u32Minute, sRTC.u32Second);
		if(time > DTU_gpsTime + 30)
		{
			// <20><><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>һ<EFBFBD>Σ<EFBFBD><CEA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><CFBC><EFBFBD>
			if(GPS_BOD_COUNT == 599)
				GPS_BOD_COUNT = 0;
			else
				GPS_BOD_COUNT++;			
			printf("\nGPS_BOD_COUNT: %d\n", GPS_BOD_COUNT);
			
			printf("\n*** Restart GPS module ***\n");
			DTU_EnableGPS();
			DTU_gpsTime = time;
		}
	}
}