diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 3531210..3e3e7cd 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 89250a0..c23aabb 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -109,7 +109,7 @@ int main(void)
memcpy(IMU_mng_ST.name, "STM\0", 4);
/* enable IMU */
IMU_mng_ST.enable = 1;
- IMU_mng_TDK.enable = 1;
+ IMU_mng_TDK.enable = 0;
/* USER CODE END 2 */
/* Infinite loop */
@@ -130,10 +130,6 @@ int main(void)
IMU_mng_ST.IMU_acc[2] = asm330.z_acc;
IMU_mng_ST.lock = 1;
};
-// printf("{ GPS_week: %d week_sec: %.3lf \r\n", GPS_week, GPS_sec + time_ms * 0.001);
-// printf("x_a=%.3fm/s2 y_a=%.3fm/s2 z_a=%.3fm/s2\r\n", iam20680.x_acc, iam20680.y_acc, iam20680.z_acc);
-// printf("x_g=%.3fdeg/s y_g=%.3fdeg/s z_g=%.3fdeg/s }\r\n\r\n\r\n", iam20680.x_gyro, iam20680.y_gyro,
-// iam20680.z_gyro);
}
if (1 == TDK_IMU_INT && 1 == IMU_mng_TDK.enable)
{
@@ -201,13 +197,12 @@ void SystemClock_Config(void)
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
{
-
if (1 == imu_msg->lock && 1 == imu_msg->ready && 0 == U1_DMA_BUSY)
{
memset(U1_TX_buf, 0, UART_BF_SIZE);
if (imu_msg->gpstime.time == 0)
{
- sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf\r\n", imu_msg->name,
+ sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf\r\n", imu_msg->name,
imu_msg->IMU_acc[0], imu_msg->IMU_acc[1], imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0],
imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
}
diff --git a/nmea/rtkcmn.c b/nmea/rtkcmn.c
index 5081aa7..36e4235 100644
--- a/nmea/rtkcmn.c
+++ b/nmea/rtkcmn.c
@@ -24,37 +24,7 @@ static double leaps[MAXLEAPS + 1][7] = {/* leap seconds (y,m,d,h,m,s,utc-gpst) *
{1982, 7, 1, 0, 0, 0, -2},
{1981, 7, 1, 0, 0, 0, -1},
{0}};
-/* time to calendar day/time ---------------------------------------------------
- * convert gtime_t struct to calendar day/time
- * args : gtime_t t I gtime_t struct
- * double *ep O day/time {year,month,day,hour,min,sec}
- * return : none
- * notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
- *-----------------------------------------------------------------------------*/
-//extern void time2epoch(gtime_t t, double *ep)
-//{
-// const int mday[] = {/* # of days in a month */
-// 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31,
-// 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
-// int days, sec, mon, day;
-//
-// /* leap year if year%4==0 in 1901-2099 */
-// days = (int)(t.time / 86400);
-// sec = (int)(t.time - (time_t)days * 86400);
-// for (day = days % 1461, mon = 0; mon < 48; mon++)
-// {
-// if (day >= mday[mon])
-// day -= mday[mon];
-// else
-// break;
-// }
-// ep[0] = 1970 + days / 1461 * 4 + mon / 12;
-// ep[1] = mon % 12 + 1;
-// ep[2] = day + 1;
-// ep[3] = sec / 3600;
-// ep[4] = sec % 3600 / 60;
-// ep[5] = sec % 60 + t.sec;
-//}
+
/* time to gps time ------------------------------------------------------------
* convert gtime_t struct to week and tow in gps time
* args : gtime_t t I gtime_t struct