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libraries/zf_device/zf_device_gnss.h
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libraries/zf_device/zf_device_gnss.h
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/*********************************************************************************************************************
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* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
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* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
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*
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* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
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*
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* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD><DEB8><EFBFBD>
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*
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* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
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* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
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* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
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*
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* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
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* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
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*
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* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
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* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
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* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
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* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
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* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*
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* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_gnss
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* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD><EFBFBD>˾
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* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
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* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
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* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
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* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
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*
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* <20>ļ<DEB8>¼
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* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
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* 2023-12-28 pudding first version
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********************************************************************************************************************/
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/*********************************************************************************************************************
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* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
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* ------------------------------------
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* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
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* RX <20>鿴 zf_device_gnss.h <20><> GNSS_RX <20>궨<EFBFBD><EAB6A8>
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* TX <20>鿴 zf_device_gnss.h <20><> GNSS_TX <20>궨<EFBFBD><EAB6A8>
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* VCC 3.3V<EFBFBD><EFBFBD>Դ
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* GND <20><>Դ<EFBFBD><D4B4>
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* ------------------------------------
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********************************************************************************************************************/
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#ifndef _zf_device_gnss_h_
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#define _zf_device_gnss_h_
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#include "zf_common_typedef.h"
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//--------------------------------------------------------------------------------------------------
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//--------------------------------------------------------------------------------------------------
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#define GNSS_UART (UART_3)
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#define GNSS_RX (UART3_TX_P15_6) // GPS RX<52><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD><D3B5><EFBFBD>Ƭ<EFBFBD><C6AC><EFBFBD><EFBFBD>
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#define GNSS_TX (UART3_RX_P15_7) // GPS TX<54><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define ANGLE_TO_RAD(x) ( (x) * PI / 180.0 ) // <20>Ƕ<EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
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#define RAD_TO_ANGLE(x) ( (x) * 180.0 / PI ) // <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>Ƕ<EFBFBD>
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#define PI ( 3.1415926535898 )
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typedef enum
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{
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TAU1201 = 1, // <20><><EFBFBD>ɿƼ<C9BF>˫ƵGPSģ<53><C4A3>
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GN42A = 1, // <20><><EFBFBD>ɿƼ<C9BF>˫ƵGPSģ<53><C4A3> <20><>TAU1201<30><31>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
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GN43RFA = 2, // <20><><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD>ƵRTKģ<4B><C4A3>
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}gps_device_enum;
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typedef struct
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{
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uint16 year;
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uint8 month;
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uint8 day;
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uint8 hour;
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uint8 minute;
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uint8 second;
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}gps_time_struct;
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typedef struct
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{
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gps_time_struct time; // ʱ<><CAB1>
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uint8 state; // <20><>Ч״̬ 1<><31><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>Ч 0<><30><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>Ч
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uint16 latitude_degree; // <20><>
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uint16 latitude_cent; // <20><>
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uint16 latitude_second; // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><C7B1>Ŵ<EFBFBD><C5B4><EFBFBD>100<30><30><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD>Ҫ<EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>ʹ<EFBFBD>ø<EFBFBD><C3B8><EFBFBD><EFBFBD><EFBFBD>
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uint16 longitude_degree; // <20><>
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uint16 longitude_cent; // <20><>
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uint16 longitude_second; // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><C7B1>Ŵ<EFBFBD><C5B4><EFBFBD>100<30><30><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD>Ҫ<EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>ʹ<EFBFBD>ø<EFBFBD><C3B8><EFBFBD><EFBFBD><EFBFBD>
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double latitude; // γ<><CEB3>
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double longitude; // <20><><EFBFBD><EFBFBD>
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int8 ns; // γ<>Ȱ<EFBFBD><C8B0><EFBFBD> N<><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> S<><53><EFBFBD>ϰ<EFBFBD><CFB0><EFBFBD><EFBFBD><EFBFBD>
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int8 ew; // <20><><EFBFBD>Ȱ<EFBFBD><C8B0><EFBFBD> E<><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> W<><57><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float speed; // <20>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD><EFBFBD>/ÿСʱ<D0A1><CAB1>
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float direction; // <20><><EFBFBD>溽<EFBFBD><E6BABD><EFBFBD><EFBFBD>000.0~359.9 <20>ȣ<EFBFBD><C8A3><EFBFBD><EFBFBD>汱<EFBFBD><E6B1B1>Ϊ<EFBFBD>ο<EFBFBD><CEBF><EFBFBD><EFBFBD><D7BC>+
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uint8 antenna_direction_state; // ˫<><CBAB><EFBFBD>߲<EFBFBD><DFB2><EFBFBD><EFBFBD><EFBFBD>Ч״̬ 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>Чʱantenna_direction<6F><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>
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float antenna_direction; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>汱<EFBFBD><E6B1B1><EFBFBD>ɵļнǣ<D0BD>000.0~359.9 <20>ȣ<EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>GNGGA<47><41><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>ȡ
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uint8 satellite_used; // <20><><EFBFBD>ڶ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float height; // <20>߶<EFBFBD>
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}gnss_info_struct;
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typedef enum
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{
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GPS_STATE_RECEIVING, // <20><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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GPS_STATE_RECEIVED, // <20><><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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GPS_STATE_PARSING, // <20><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>
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}gps_state_enum;
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extern gnss_info_struct gnss;
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extern uint8 gnss_flag;
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double get_two_points_distance (double lat1, double lng1, double lat2, double lng2);
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double get_two_points_azimuth (double lat1, double lon1, double lat2, double lon2);
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uint8 gnss_data_parse (void);
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void gnss_uart_callback (void);
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void gnss_init (gps_device_enum gps_device);
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#endif
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