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@ -899,12 +899,10 @@ extern int rtksvrstart_mini(rtksvr_t *svr, int cycle, int buffsize, int *formats
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LOG_E("rtksvrstart: buff malloc error");
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return 0;
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}
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memset(&svr->nmsg,0,sizeof(svr->nmsg));
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memset(&svr->obs,0,sizeof(svr->obs));
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// for (j = 0; j < 10; j++)
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// svr->nmsg[i][j] = 0;
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// for (j = 0; j < MAXOBSBUF; j++)
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// svr->obs[i][j].n = 0;
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for (j = 0; j < 10; j++)
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svr->nmsg[i][j] = 0;
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for (j = 0; j < MAXOBSBUF; j++)
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svr->obs[i][j].n = 0;
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init_rtcm(&svr->rtcm[i]);
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}
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10
RTK/pntpos.c
10
RTK/pntpos.c
@ -1211,10 +1211,10 @@ extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
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ssat[obs[i].sat - 1].resp[0] = resp[i]; /* residuals of pseudorange (m) */
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}
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}
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free(rs);
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free(dts);
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free(var);
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free(azel_);
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free(resp);
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rt_free(rs);
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rt_free(dts);
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rt_free(var);
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rt_free(azel_);
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rt_free(resp);
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return stat;
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}
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@ -1195,7 +1195,7 @@ extern double *mat(int n, int m)
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if (n <= 0 || m <= 0)
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return NULL;
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if (!(p = (double *)malloc(sizeof(double) * n * m)))
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if (!(p = (double *)rt_malloc(sizeof(double) * n * m)))
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{
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fatalerr("matrix memory allocation error: n=%d,m=%d\n", n, m);
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}
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@ -1212,7 +1212,7 @@ extern int *imat(int n, int m)
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if (n <= 0 || m <= 0)
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return NULL;
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if (!(p = (int *)malloc(sizeof(int) * n * m)))
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if (!(p = (int *)rt_malloc(sizeof(int) * n * m)))
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{
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fatalerr("integer matrix memory allocation error: n=%d,m=%d\n", n, m);
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}
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@ -1234,7 +1234,7 @@ extern double *zeros(int n, int m)
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#else
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if (n <= 0 || m <= 0)
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return NULL;
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if (!(p = (double *)calloc(sizeof(double), n * m)))
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if (!(p = (double *)rt_calloc( n * m,sizeof(double))))
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{
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fatalerr("matrix memory allocation error: n=%d,m=%d\n", n, m);
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}
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@ -4,4 +4,4 @@ clean2:
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-@echo ' '
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*.elf: $(wildcard ../board/linker_scripts/link.lds)
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*.elf: $(wildcard ..D:/Dev/GitHome/rt_thread_workspace/RTK_base/board/linker_scripts/link.lds)
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@ -21,7 +21,7 @@
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#define thread_rtk_proces_priority 9
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#define get_rtcm_user_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
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#define get_rtcm_ref_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE * 4
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#define get_rtcm_ref_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
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#define rtk_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE
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//rtcm_t rtcm_data;
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@ -33,8 +33,6 @@ static struct rt_thread get_user_rtcm_data;
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static char thread_user_rtcm_data_stack[get_rtcm_user_data_stack_size];
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static struct rt_thread get_ref_rtcm_data;
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static char thread_ref_rtcm_data_stack[get_rtcm_ref_data_stack_size];
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static struct rt_thread rtk_proces;
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static char thread_rtk_proces_stack[rtk_proces_stack_size];
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struct rt_mutex userf_svrlock;
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@ -50,7 +48,7 @@ static void thread_get_ref_rtcm_data(void *parameter)
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//to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
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//rt thread could not get uart status when it receiving data.
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//it may cross frame lost if the system runs slow.
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if (rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
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if (rt_sem_take(&uart6_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
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{
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READ_SERIAL6(svr->buff[1]);
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svr->nb[1] = uart6_simpack.rx_num;
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@ -65,15 +63,12 @@ static void thread_get_user_rtcm_data(void *parameter)
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while (1)
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{
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rt_completion_wait(&rtcm_user_data_process_completion, RT_WAITING_FOREVER);
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//to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
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//rt thread could not get uart status when it receiving data.
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//it may cross frame lost if the system runs slow.
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if (rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
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{
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READ_SERIAL3(svr->buff[0]);
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// char test[2048];
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// READ_SERIAL3(test);
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svr->nb[0] = uart3_simpack.rx_num;
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rt_event_send(&uart_event, EVENT_UAER_RTCM_DATA_FLAG);
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}
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@ -89,6 +84,7 @@ static int nmeacycle = 5000; /* nmea request cycle (ms) */
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static int nmeareq = 0; /* nmea request type (0:off,1:lat/lon,2:single) */
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extern prcopt_t prcopt_;
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extern solopt_t solopt_;
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static obsd_t data[MAXOBS * 2]; /* 7616 B */
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static void thread_rtk_proces(void *parameter)
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{
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double pos[3] = { 0.0, 0.0, 0.0 }, npos[3] = { 0.0, 0.0, 0.0 };
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@ -117,7 +113,7 @@ static void thread_rtk_proces(void *parameter)
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rtksvrstart_mini(svr, svrcycle, buffsize, strfmt, nmeacycle, nmeareq, nmeapos, &prcopt_, &solopt_);
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obs_t obs; /* 28 B */
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// obsd_t data[MAXOBS * 2]; /* 7616 B */
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sol_t sol = { { 0 } }; /* 199 B */
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double tt;
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uint32_t tick, ticknmea, tick1hz, tickreset;
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@ -126,7 +122,8 @@ static void thread_rtk_proces(void *parameter)
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uint8_t nr, nu;
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svr->state = 1;
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obs.data = (obsd_t *)rt_malloc(sizeof(obsd_t)*MAXOBS*2);
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obs.data = data;
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// obs.data = (obsd_t *)rt_malloc(sizeof(obsd_t)*MAXOBS*2);
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svr->tick = tickget();
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ticknmea = tick1hz = svr->tick - 1000;
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tickreset = svr->tick - 30000;
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@ -138,7 +135,7 @@ static void thread_rtk_proces(void *parameter)
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{
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if (!svr->state)
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{
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rt_thread_yield();
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rt_thread_sleep(1);
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}
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else
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{
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@ -149,15 +146,13 @@ static void thread_rtk_proces(void *parameter)
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(RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR), RT_WAITING_FOREVER, &recevd_event);
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if (recevd_event & EVENT_UAER_RTCM_DATA_FLAG)
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{
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rtcm_user_data_process_completion.flag = RT_UNCOMPLETED;
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fobs[0] = decoderaw(svr, 0);
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rt_completion_done(&rtcm_user_data_process_completion);
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}
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else if (recevd_event & EVENT_REF_RTCM_DATA_FLAG)
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{
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rtcm_ref_data_process_completion.flag = RT_UNCOMPLETED;
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fobs[1] = decoderaw(svr, 1);
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rt_completion_done(&rtcm_ref_data_process_completion);
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}
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else {
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continue;
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@ -174,15 +169,15 @@ static void thread_rtk_proces(void *parameter)
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nu++;
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}
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for (j = 0; j < svr->obs[1][0].n && obs.n < MAXOBS * 2; j++)
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for (j = 0; j < svr->obs[1][i].n && obs.n < MAXOBS * 2; j++)
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{
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obs.data[obs.n++] = svr->obs[1][0].data[j];
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nr++;
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}
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/* rtk positioning */
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// rtksvrlock(svr);
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//// rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
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// rtksvrunlock(svr);
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rtksvrlock(svr);
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rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
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rtksvrunlock(svr);
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/* 如果解算结果有效, 设置解算时间点 */
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if (svr->rtk.sol.stat != SOLQ_NONE)
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@ -221,11 +216,6 @@ static void thread_rtk_proces(void *parameter)
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sleepms(15);
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}
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}
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while (1)
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{
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}
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}
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static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
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