cubemx+hal stm32 atgm336h GPS 北斗 定位 模块 驱动代码

usart2.c

gps 的串口 2 设置

void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 9600;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

atgm336h.c

#include "atgm336h.h"
#include "stdio.h"
#include "string.h"

char rxdatabufer;
u16 point1 = 0;

_SaveData Save_Data;
LatitudeAndLongitude_s g_LatAndLongData =
{
	.E_W = 0,
	.N_S = 0,
	.latitude = 0.0,
	.longitude = 0.0
};

// 串口1中断服务程序
// 注意,读取USARTx->SR能避免莫名其妙的错误
char USART_RX_BUF[USART_REC_LEN];	// 接收缓冲,最大USART_REC_LEN个字节.
uint8_t uart_A_RX_Buff;

// 接收状态
// bit15，	接收完成标志
// bit14，	接收到0x0d
// bit13~0，	接收到的有效字节数目
u16 USART_RX_STA=0;	// 接收状态标记

void atgm336h_init(void)
{
	clrStruct();
	HAL_UART_Receive_IT(&huart2, &uart_A_RX_Buff, 1);
}

void atgm336h_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart->Instance == USART2)
	{
//		printf("%c", uart_A_RX_Buff);
		if(uart_A_RX_Buff == '$')
		{
			point1 = 0;
		}
		USART_RX_BUF[point1++] = uart_A_RX_Buff;

		if(USART_RX_BUF[0] == '$' && USART_RX_BUF[4] == 'M' && USART_RX_BUF[5] == 'C')	//确定是否收到"GPRMC/GNRMC"这一帧数据
		{
			if(uart_A_RX_Buff == '\n')
			{
				memset(Save_Data.GPS_Buffer, 0, GPS_Buffer_Length);      //清空
				memcpy(Save_Data.GPS_Buffer, USART_RX_BUF, point1); 	//保存数据
				Save_Data.isGetData = true;
				point1 = 0;
				memset(USART_RX_BUF, 0, USART_REC_LEN);      //清空
			}
		}
		if(point1 >= USART_REC_LEN)
		{
			point1 = USART_REC_LEN;
		}

		HAL_UART_Receive_IT(&huart2, &uart_A_RX_Buff, 1);
	}
}

u8 Hand(char *a)	// 串口命令识别函数
{
    if(strstr(USART_RX_BUF, a)!=NULL)
	    return 1;
	else
		return 0;
}

void CLR_Buf(void)	// 串口缓存清理
{
	memset(USART_RX_BUF, 0, USART_REC_LEN);	//清空
  point1 = 0;
}

void clrStruct(void)
{
	Save_Data.isGetData = false;
	Save_Data.isParseData = false;
	Save_Data.isUsefull = false;
	memset(Save_Data.GPS_Buffer, 0, GPS_Buffer_Length);	//清空
	memset(Save_Data.UTCTime, 0, UTCTime_Length);
	memset(Save_Data.latitude, 0, latitude_Length);
	memset(Save_Data.N_S, 0, N_S_Length);
	memset(Save_Data.longitude, 0, longitude_Length);
	memset(Save_Data.E_W, 0, E_W_Length);
}

void errorLog(int num)
{

	while (1)
	{
	  	printf("ERROR%d\r\n",num);
	}
}

void parseGpsBuffer(void)
{
	char *subString;
	char *subStringNext;
	char i = 0;

	uint16_t Number=0, Integer=0, Decimal=0;


	if (Save_Data.isGetData)
	{
		Save_Data.isGetData = false;
		printf("**************\r\n");
		printf("%s\r\n", Save_Data.GPS_Buffer);

		for (i = 0 ; i <= 6 ; i++)
		{
			if (i == 0)
			{
				if ((subString = strstr(Save_Data.GPS_Buffer, ",")) == NULL)
					errorLog(1);	//解析错误
			}
			else
			{
				subString++;
				if ((subStringNext = strstr(subString, ",")) != NULL)
				{
					char usefullBuffer[2];
					switch(i)
					{
						case 1:memcpy(Save_Data.UTCTime, subString, subStringNext - subString);break;	//获取UTC时间
						case 2:memcpy(usefullBuffer, subString, subStringNext - subString);break;	//获取UTC时间
						case 3:memcpy(Save_Data.latitude, subString, subStringNext - subString);break;	//获取纬度信息
						case 4:memcpy(Save_Data.N_S, subString, subStringNext - subString);break;	//获取N/S
						case 5:memcpy(Save_Data.longitude, subString, subStringNext - subString);break;	//获取经度信息
						case 6:memcpy(Save_Data.E_W, subString, subStringNext - subString);break;	//获取E/W

						default:break;
					}
					subString = subStringNext;
					Save_Data.isParseData = true;
					if(usefullBuffer[0] == 'A')
						Save_Data.isUsefull = true;
					else if(usefullBuffer[0] == 'V')
						Save_Data.isUsefull = false;
				}
				else
				{
					errorLog(2);	//解析错误
				}
			}
		}

		if (Save_Data.isParseData)
		{
			if(Save_Data.isUsefull)
			{
				// 获取 N/S 和 E/W
				g_LatAndLongData.N_S = Save_Data.N_S[0];
				g_LatAndLongData.E_W = Save_Data.E_W[0];

				// 获取纬度
				for(uint8_t i=0; i<9; i++)
				{
					if(i<2)
					{
						Number *= 10;
						Number += Save_Data.latitude[i]-'0';
					}
					else if(i<4)
					{
						Integer *= 10;
						Integer += Save_Data.latitude[i]-'0';
					}
					else if(i==4);
					else if(i<9)
					{
						Decimal *= 10;
						Decimal += Save_Data.latitude[i]-'0';
					}
				}
				g_LatAndLongData.latitude = 1.0*Number + (1.0*Integer+1.0*Decimal/10000)/60;

				Number = 0;
				Integer = 0;
				Decimal = 0;

				// 获取经度
				for(uint8_t i=0; i<10; i++)
				{
					if(i<3)
					{
						Number *= 10;
						Number += Save_Data.longitude[i]-'0';
					}
					else if(i<5)
					{
						Integer *= 10;
						Integer += Save_Data.longitude[i]-'0';
					}
					else if(i==5);
					else if(i<10)
					{
						Decimal *= 10;
						Decimal += Save_Data.longitude[i]-'0';
					}
				}
				g_LatAndLongData.longitude = 1.0*Number + (1.0*Integer+1.0*Decimal/10000)/60;
			}
		}
	}
}

void printGpsBuffer(void)
{
	if (Save_Data.isParseData)
	{
		Save_Data.isParseData = false;

		printf("Save_Data.UTCTime = %s\r\n", Save_Data.UTCTime);

		if(Save_Data.isUsefull)
		{
			Save_Data.isUsefull = false;
			printf("Save_Data.latitude = %s\r\n", Save_Data.latitude);
			printf("Save_Data.N_S = %s", Save_Data.N_S);
			printf("Save_Data.longitude = %s", Save_Data.longitude);
			printf("Save_Data.E_W = %s\r\n", Save_Data.E_W);

			printf("latitude: %c,%.4f\r\n", g_LatAndLongData.N_S, g_LatAndLongData.latitude);
			printf("longitude: %c,%.4f\r\n", g_LatAndLongData.E_W, g_LatAndLongData.longitude);
		}
		else
		{
			printf("GPS DATA is not usefull!\r\n");
		}
	}
}

atgm336h.h

#ifndef __ATGM336H_H
#define __ATGM336H_H

#include "usart.h"
#include "sys.h"
#include "stdbool.h"

#define USART_REC_LEN  		200	//定义最大接收字节数 200
#define EN_USART1_RX 			1		//使能（1）/禁止（0）串口1接收

//#define false 0
//#define true 1

//定义数组长度
#define GPS_Buffer_Length 80
#define UTCTime_Length 11
#define latitude_Length 11
#define N_S_Length 2
#define longitude_Length 12
#define E_W_Length 2



typedef struct SaveData
{
	char GPS_Buffer[GPS_Buffer_Length];
	char isGetData;		//是否获取到GPS数据
	char isParseData;	//是否解析完成
	char UTCTime[UTCTime_Length];		//UTC时间
	char latitude[latitude_Length];		//纬度
	char N_S[N_S_Length];		//N/S
	char longitude[longitude_Length];		//经度
	char E_W[E_W_Length];		//E/W
	char isUsefull;		//定位信息是否有效
} _SaveData;

// 经纬度数据
typedef struct _LatitudeAndLongitude_s
{
	float latitude;			// 纬度
	float longitude;		// 经度

	char N_S;	// 北南
	char E_W;	// 东西
}LatitudeAndLongitude_s;


extern char rxdatabufer;
extern u16 point1;
extern _SaveData Save_Data;
extern LatitudeAndLongitude_s g_LatAndLongData;

// 放入串口接收中断中
void atgm336h_UART_RxCpltCallback(UART_HandleTypeDef *huart);

// 初始化
void atgm336h_init(void);

// 清除结构体数据
void clrStruct(void);

// 解包函数
void parseGpsBuffer(void);

// 打印函数
void printGpsBuffer(void);

#endif	// __ATGM336H_H

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