From 27c78b3431a38878b8c8b1b81c79694cea4a2bcf Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期四, 23 七月 2020 10:07:51 +0800
Subject: [PATCH] 20200723
---
lib/src/main/cpp/rtk_module/rtk.cpp | 112 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 70 insertions(+), 42 deletions(-)
diff --git a/lib/src/main/cpp/rtk_module/rtk.cpp b/lib/src/main/cpp/rtk_module/rtk.cpp
index 5fc26f8..9c766f8 100644
--- a/lib/src/main/cpp/rtk_module/rtk.cpp
+++ b/lib/src/main/cpp/rtk_module/rtk.cpp
@@ -38,7 +38,7 @@
static gpsStatus_t gpsStatus;
static rtk_info CurrRTKInfo;
-
+static bool needSetPjk = false;
static void CheckPjkParam(void);
static void CheckPjkParamTimeout(union sigval sig);
@@ -84,55 +84,58 @@
void handleRTKRebootComp(const struct nmea *s)
{
DEBUG("RTK Reboot complete!!");
- SetAYFactoryParam(5);
+ CheckPjkParam();
}
void handlePJKParam(const struct nmea *s) {
//PJK Parameter: A:6378137.000, 1/F:298.257223563, B0:0.000000deg, L0:120.000000, N0:0.000, E0:500000.000.
//PJK Parameter: A:6378137.000, 1/F:298.257223563, B0:29.512453deg, L0:106.455336, N0:0.000, E0:0.000.
- bool setparam = true;
-
- const char DP1[] = "A:6378137.000";
- const char DP2[] = "1/F:298.257223563";
- const char DP3[] = "B0:29.512453deg";
- const char DP4[] = "L0:106.455336";
- const char DP5[] = "N0:0.000";
- const char DP6[] = "E0:0.000";
+// bool setparam = true;
+//
+// const char DP1[] = "A:6378137.000";
+// const char DP2[] = "1/F:298.257223563";
+// const char DP3[] = "B0:29.512453deg";
+// const char DP4[] = "L0:106.455336";
+// const char DP5[] = "N0:0.000";
+// const char DP6[] = "E0:0.000";
AppTimer_delete(CheckPjkParamTimeout);
- for (int i = 0; i < s->nmea_num; ++i) {
- char out[64] = {0};
+// for (int i = 0; i < s->nmea_num; ++i) {
+// char out[64] = {0};
+//
+// memcpy(out, s->nmea_value[i].data, s->nmea_value[i].length);
+//
+// DEBUG("handlePJKParam = %s", out);
+// }
+//
+// if (s->nmea_num != 6) return;
+//
+// if (memcmp(s->nmea_value[0].data, DP1, strlen(DP1))) {
+// setparam = true;
+// }
+// if (memcmp(s->nmea_value[1].data, DP2, strlen(DP2))) {
+// setparam = true;
+// }
+// if (memcmp(s->nmea_value[2].data, DP3, strlen(DP3))) {
+// setparam = true;
+// }
+// if (memcmp(s->nmea_value[3].data, DP4, strlen(DP4))) {
+// setparam = true;
+// }
+// if (memcmp(s->nmea_value[4].data, DP5, strlen(DP5))) {
+// setparam = true;
+// }
+// if (memcmp(s->nmea_value[5].data, DP6, strlen(DP6))) {
+// setparam = true;
+// }
+//
+// if (setparam) {
+// SetAYFactoryParam(5);
+// }
- memcpy(out, s->nmea_value[i].data, s->nmea_value[i].length);
-
- DEBUG("handlePJKParam = %s", out);
- }
-
- if (s->nmea_num != 6) return;
-
- if (memcmp(s->nmea_value[0].data, DP1, strlen(DP1))) {
- setparam = true;
- }
- if (memcmp(s->nmea_value[1].data, DP2, strlen(DP2))) {
- setparam = true;
- }
- if (memcmp(s->nmea_value[2].data, DP3, strlen(DP3))) {
- setparam = true;
- }
- if (memcmp(s->nmea_value[3].data, DP4, strlen(DP4))) {
- setparam = true;
- }
- if (memcmp(s->nmea_value[4].data, DP5, strlen(DP5))) {
- setparam = true;
- }
- if (memcmp(s->nmea_value[5].data, DP6, strlen(DP6))) {
- setparam = true;
- }
-
- if (setparam) {
- SetAYFactoryParam(5);
- }
+ SetAYFactoryParam(5);
+ needSetPjk = true;
}
void SetAYFactoryParam(int freq)
@@ -155,8 +158,19 @@
WriteSerialPort(RTK_MODULE_UART, cmd, strlen(cmd));
}
- WriteSerialPort(RTK_MODULE_UART, AY_PJKPARAM, strlen(AY_PJKPARAM));
+// WriteSerialPort(RTK_MODULE_UART, AY_PJKPARAM, strlen(AY_PJKPARAM));
// WriteSerialPort(RTK_MODULE_UART, SAVECONFIG, strlen(SAVECONFIG));
+}
+
+void SetPjkPara(int centLon)
+{
+ char buff[64];
+
+ sprintf(buff, "set pjkpara 6378137 298.257223563 0 %d 0 500000\r\n", centLon);
+
+ WriteSerialPort(RTK_MODULE_UART, buff, strlen(buff));
+
+ DEBUG("%s", buff);
}
void GetGpsStatus(gpsStatus_t &data)
@@ -229,6 +243,8 @@
void handleGPGGA(const struct nmea *s)
{
+ static uint32_t qfCnt = 0;
+
DEBUG("handleGPGGA num = %d", s->nmea_num);
if (s->nmea_num >= 10) {
gpsStatus.gps_status = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
@@ -263,6 +279,18 @@
gpsStatus.mm = mm;
gpsStatus.ss = ss;
gpsStatus.mss = mss;
+
+ // 璁＄畻涓ぎ瀛愬崍绾�
+ int qf = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
+ if (qf > 0) {
+ qfCnt++;
+ if (needSetPjk && qfCnt >= 3) {
+ needSetPjk = false;
+ SetPjkPara(((int) (lon1 / 3.0 + 0.5)) * 3);
+ }
+ } else {
+ qfCnt = 0;
+ }
}
}
--
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