坐标

yy1717

2021-02-03 ba3f7dd5b51728e8f88d1b1e645bc1a36ecb837e

 lib/src/main/cpp/rtk_platform/platform.cpp

@@ -84,6 +84,8 @@
static sem_t sem_status_changed;

static bool requestPlatformSendRtk = false;
static bool rtcmLength = 0;

static CTcpPort *ctp = NULL;

static pthread_mutex_t events_mutex = PTHREAD_MUTEX_INITIALIZER;
@@ -413,6 +415,7 @@
                rbf.altitude = gbf.altitude;
                rbf.speed = gbf.speed;
                rbf.trackTure = gbf.trackTure;

                MA_SendRtkBrief(&rbf);
            }
//        MA_SendGpsBrief(&brief);
@@ -433,6 +436,8 @@
            rbf.roll = rtk->roll;
            rbf.coord_x_dir = 'N';
            rbf.coord_y_dir = 'E';
            rbf.rtcm_length = rtcmLength;

            sprintf(rbf.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + rtk->YY, rtk->MM, rtk->DD,
                    rtk->hh, rtk->mm, rtk->ss, rtk->dss);
            if (!strcmp(rbf.utc, gbf.utc)) {
@@ -442,6 +447,7 @@
                rbf.altitude = gbf.altitude;
                rbf.speed = gbf.speed;
                rbf.trackTure = gbf.trackTure;

                MA_SendRtkBrief(&rbf);
            }

@@ -516,7 +522,6 @@
            break;
        }
        case CAR_SENSOR_UPDATE_EVT: {
            DEBUG("CAR_SENSOR_UPDATE_EVT");
            struct carSensorBrief brief;
            int x = 20;

@@ -585,8 +590,6 @@

            if (sensor.clutch == 1)
                sensor.gear = 0;

            DEBUG("电池电压 %f", sensor.cellVolt);

            UpdateSensor(&sensor);
            break;
@@ -799,18 +802,20 @@
void ReceivedRtk(const uint8_t *data, int length)
{
    DEBUG("ReceivedRtk length %d", length);

    AppTimer_delete(RequestRtkNoResp);
    rtcmLength = length;
    // 汇报给单片机
    if (length > 0) {
        SendRtkToMcu(data, length);
    }
    AppTimer_add(RequestRtkNoResp, D_SEC(7));           // 应该每秒收到一次
}

static void RequestRtkNoResp(union sigval sig)
{
    AppTimer_delete(RequestRtkNoResp);
    requestPlatformSendRtk = true;
    rtcmLength = 0;
}

void RequestRtkDownload(const gpsStatus_t *gps, uint16_t rtk_pkt_interval)