关闭TDK IMU的解算

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="652618004242900453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="652618004242900453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

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]);
 		}

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