GPS的组件加入

components/gps_ATGM336H/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "gps.c"
+                    INCLUDE_DIRS ".")

components/gps_ATGM336H/README.md

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+# ATGM336H
+
+
+## Origin output data form 
+
+
+```c
+char *test_data = "\
+$GNGGA,132506.000,2233.87430,N,11407.13740,E,1,13,1.0,103.3,M,-2.8,M,,*5E\n\ 
+$GNGLL,2233.87430,N,11407.13740,E,132506.000,A,A*4E\n\
+$GNGSA,A,3,02,05,15,23,24,29,195,,,,,,1.6,1.0,1.3,1*07\n\
+$GNGSA,A,3,07,10,16,21,34,42,,,,,,,1.6,1.0,1.3,4*33\n\
+$GPGSV,3,1,09,02,34,134,15,05,40,044,14,15,71,308,25,18,32,326,26,0*68\n\
+$GPGSV,3,2,09,20,25,074,,23,13,293,37,24,32,174,31,29,45,251,37,0*6B\n\
+$GPGSV,3,3,09,195,50,158,31,0*6A\n\
+$BDGSV,3,1,11,03,,,28,07,13,193,27,10,14,207,32,12,,,35,0*71\n\
+$BDGSV,3,2,11,16,66,191,29,21,47,308,41,22,41,027,,34,33,309,25,0*74\n\
+$BDGSV,3,3,11,40,,,33,42,12,265,36,44,,,28,0*4B\n\
+$GNRMC,132506.000,A,2233.87430,N,11407.13740,E,0.00,244.71,080522,,,A,V*0A\n\
+$GNVTG,244.71,T,,M,0.00,N,0.00,K,A*27\n\
+$GNZDA,132506.000,08,05,2022,00,00*44\n\
+$GPTXT,01,01,01,ANTENNA OPEN*25\n\
+";
+```
+GNRMC：Global Navigation Satellite System Recommended Minimum Specific GNSS Data 
+
+典型GNRMC数据  
+$GNRMC,132506.000,A,2233.87430,N,11407.13740,E,0.00,244.71,080522,,,A,V*0A\n\
+
+
+GNRMC解读  
+字段 1：UTC时间，hhmmss.sss格式  
+字段 2：状态，A=定位，V=未定位   
+字段 3：纬度ddmm.mmmm，度分格式（前导位数不足则补0）  
+字段 4：纬度N（北纬）或S（南纬）  
+字段 5：经度dddmm.mmmm，度分格式（前导位数不足则补0）  
+字段 6：经度E（东经）或W（西经）  
+字段 7：速度，节，Knots（一节也是1.852千米／小时）  
+字段 8：方位角，度（二维方向指向，相当于二维罗盘）  
+字段 9：UTC日期，DDMMYY格式  
+字段10：磁偏角，（000 - 180）度（前导位数不足则补0）  
+字段11：磁偏角方向，E=东，W=西  
+字段12：模式，A=自动，D=差分，E=估测，N=数据无效（3.0协议内容）  
+字段13：校验值
+## Usage
+
+### modify the macros 
+
+```c
+#define UART_GPS UART_NUM_2 //串口号
+#define UART_GPS_TXD GPIO_NUM_16 //主控的TX引脚
+#define UART_GPS_RXD GPIO_NUM_18 //主控的RX引脚
+```
+
+### use the API
+
+#### esp_err_t GPS_init( )   
+initialize related uart configuration
+
+#### GPS_data get_gps_value( )
+return GPS information with a GPS_data structure
+
+
+```c
+typedef struct
+{
+    double latitude;
+    double longitude;
+    double speed_kmh; // 单位：千米每小时
+    double speed_ms;  // 单位：米每秒
+} GPS_data;
+```
+
+
+## Example 
+
+```c
+#include gps.h  
+
+void gps_task(void *arg)
+{
+    const char *TAG = "GPS";
+    while (1)
+    {
+        GPS_data gps_data = get_gps_value();
+        ESP_LOGI(TAG, "lat: %f,   lon: %f   \n", gps_data.latitude, gps_data.longitude); 
+        ESP_LOGE(TAG, "speed: %f\n", gps_data,speed_ms); 
+        ESP_LOGI(TAG, "======================================================\n");
+        vTaskDelay(1000 / portTICK_RATE_MS);
+    }
+}  
+
+void app_main(void)
+{
+    GPS_init();
+    xTaskCreate(&gps_task, "gps_task", 1024 * 2, NULL, 5, NULL);
+}
+```
+
+or you can use other device like a SSD1306 OLED 
+
+```c
+#include gps.h 
+#include fonts.h 
+#include ssd1306.h  
+
+void SSD1306_task(void *arg)
+{
+    const char *TAG = "SSD1306";
+    while (1)
+    {
+        SSD1306_Clear();
+        //输出GPS数据
+        GPS_data gps_data = get_gps_value();
+        char str[16];
+        SSD1306_GotoXY(0, 0);
+        sprintf(str, "lat: %f", gps_data.latitude);
+        SSD1306_Puts(str, &Font_7x10, 1);
+        SSD1306_GotoXY(0, 10);
+        sprintf(str, "lon: %f", gps_data.longitude);
+        SSD1306_Puts(str, &Font_7x10, 1);
+        SSD1306_GotoXY(0, 20);
+        sprintf(str, "speed: %f", gps_data.speed_ms);
+        SSD1306_Puts(str, &Font_7x10, 1);
+        SSD1306_UpdateScreen();
+        vTaskDelay(1000 / portTICK_RATE_MS);
+    }
+}
+
+void app_main(void)
+{
+    GPS_init();
+    SSD1306_Init();
+    xTaskCreate(&SSD1306_task, "SSD1306_task", 1024 * 2, NULL, 5, NULL);
+}
+```

components/gps_ATGM336H/gps.c

@@ -0,0 +1,84 @@
+/**
+ * @file gps.c
+ * @brief GPS driver source file
+ */
+#include "gps.h"
+
+char *GPS_temp_data = NULL; // GPS模块输出数据缓冲区
+static const int GPS_RX_BUF_SIZE = 1024;
+static const char *TAG = "GPS";
+
+/// @brief 读取GPS模块的串口数据
+GPS_data get_gps_value()
+{
+    esp_log_level_set(TAG, ESP_LOG_INFO);
+    GPS_data gps_data;
+    // bzero(&gps_data, sizeof(gps_data)); // 清空
+    const int rxBytes = uart_read_bytes(UART_GPS, GPS_temp_data, GPS_RX_BUF_SIZE, 1000 / portTICK_RATE_MS);
+    ESP_LOGE(TAG, "rxBytes: %d\n", rxBytes);
+    if (rxBytes > 0)
+    {
+        // ESP_LOGI(GPS_TAG, "GPS_temp_data: %s\n", GPS_temp_data);//打印数据，测试用
+        GPS_temp_data[rxBytes] = 0;
+        char *row = strstr(GPS_temp_data, "$GNRMC"); // 截取GNRMC数据
+        if (row == NULL)
+        {
+            ESP_LOGI(TAG, "row is NULL\n");
+        }
+        else
+        {
+            char *token = strtok(row, ",");
+            int count = 0;
+            while (token != NULL)
+            {
+                count++;
+                switch (count)
+                {
+                case 4: // 纬度
+                    gps_data.latitude = atof(token) / 100;
+                    break;
+                case 6: // 经度
+                    gps_data.longitude = atof(token) / 100;
+                    break;
+                case 8:                                           // 速度
+                    gps_data.speed_kmh = atof(token);             // 默认为节
+                        gps_data.speed_kmh *= 1.852;                  // 节转换为千米每小时
+                    gps_data.speed_ms = gps_data.speed_kmh / 3.6; // 千米每小时转换为米每秒
+                    break;
+                }
+                token = strtok(NULL, ",");
+            }
+            // ESP_LOGI(TAG, "lat: %f,   lon: %f   \n", gps_data.latitude, gps_data.longitude); // 输出经纬度，测试用
+            //     ESP_LOGE(TAG, "speed: %f\n", gps_data.speed_ms); // 输出速度，测试用
+            // ESP_LOGI(TAG, "======================================================\n");
+        }
+    }
+    return gps_data;
+}
+
+
+
+/// @brief 初始化GPS模块
+esp_err_t GPS_init()
+{
+    ESP_LOGI(TAG, "GPS ATGM336H Initializing...\n");
+    esp_err_t esp_err;
+    // 8位数据位，无校验，1位停止位，无硬件流控制，模块默认波特率9600（可修改）
+    const uart_config_t uart_config_GPS = {
+        .baud_rate = 9600,
+        .data_bits = UART_DATA_8_BITS,
+        .parity = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+        .source_clk = UART_SCLK_APB,
+    };
+    esp_err = uart_param_config(UART_GPS, &uart_config_GPS);
+    ESP_LOGI(TAG, "uart_param_config: %d\n", esp_err);
+    esp_err = uart_driver_install(UART_GPS, GPS_RX_BUF_SIZE * 2, 0, 0, NULL, 0);
+    ESP_LOGI(TAG, "uart_driver_install: %d\n", esp_err);
+    esp_err = uart_set_pin(UART_GPS, UART_GPS_TXD, UART_GPS_RXD, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+    ESP_LOGI(TAG, "uart_set_pin: %d\n", esp_err);
+    GPS_temp_data = (char *)malloc(GPS_RX_BUF_SIZE + 1);
+    ESP_LOGI(TAG, "GPS init success!\n");
+    return esp_err;
+}

components/gps_ATGM336H/gps.h

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+/**
+ * @file gps.h
+ * @brief GPS driver header file
+*/
+
+#ifndef __GPS_H__
+#define __GPS_H__
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_system.h"
+#include "driver/uart.h"
+#include "driver/gpio.h"
+#include "sdkconfig.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+//GPS模块的串口号、引脚号和相关计算数据
+#define UART_GPS UART_NUM_2
+#define UART_GPS_TXD GPIO_NUM_16
+#define UART_GPS_RXD GPIO_NUM_18
+
+/// @brief GPS数据结构体
+typedef struct
+{
+    double latitude;
+    double longitude;
+    double speed_kmh; // 单位：千米每小时
+    double speed_ms;  // 单位：米每秒
+} GPS_data;
+
+/// @brief 初始化 GPS模块
+esp_err_t GPS_init();
+
+/// @brief 从 GPS模块读取数据
+GPS_data get_gps_value();
+
+#endif

main/app_main.c

@@ -7,5 +7,5 @@
 /// @brief Main application entry point
 void app_main(void)
 {
-
+    printf("Hello world!\n");
 }

main/include/app_main.h

@@ -9,4 +9,4 @@
 #include <stdlib.h>
 #include <string.h>
 
-#endif // _APP_MAIN_H_
+#endif  //_APP_MAIN_H_

main/src/README.md

@@ -5,4 +5,5 @@ This directory contains all the source files for the project.
 ## List of source files
 
 - [hal](./hal)：Hardware Abstraction Layer，硬件抽象层，所有与硬件相关的源代码。
+- 
 - ...