完成RTCM解析移植和任务创建

.config

@@ -3,7 +3,7 @@
 #
 # RT-Thread Kernel
 #
-CONFIG_RT_NAME_MAX=8
+CONFIG_RT_NAME_MAX=18
 # CONFIG_RT_USING_ARCH_DATA_TYPE is not set
 # CONFIG_RT_USING_SMP is not set
 CONFIG_RT_ALIGN_SIZE=4
@@ -91,7 +91,7 @@ CONFIG_ARCH_ARM_CORTEX_M4=y
 CONFIG_RT_USING_COMPONENTS_INIT=y
 CONFIG_RT_USING_USER_MAIN=y
 CONFIG_RT_MAIN_THREAD_STACK_SIZE=2048
-CONFIG_RT_MAIN_THREAD_PRIORITY=10
+CONFIG_RT_MAIN_THREAD_PRIORITY=20
 
 #
 # C++ features
@@ -168,7 +168,7 @@ CONFIG_RT_USING_SERIAL=y
 CONFIG_RT_USING_SERIAL_V1=y
 # CONFIG_RT_USING_SERIAL_V2 is not set
 CONFIG_RT_SERIAL_USING_DMA=y
-CONFIG_RT_SERIAL_RB_BUFSZ=64
+CONFIG_RT_SERIAL_RB_BUFSZ=2048
 # CONFIG_RT_USING_CAN is not set
 # CONFIG_RT_USING_HWTIMER is not set
 # CONFIG_RT_USING_CPUTIME is not set

.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="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="37529093409571594" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="39115038496290056" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

RTK/rtkcmn.c

@@ -3755,30 +3755,8 @@ extern void traceb(int level, const uint8_t *p, int n) {}
  *-----------------------------------------------------------------------------*/
 extern int execcmd(const char *cmd)
 {
-#ifdef WIN32
-    PROCESS_INFORMATION info;
-    STARTUPINFO si = {0};
-    DWORD stat;
-    char cmds[1024];
-
     trace(3, "execcmd: cmd=%s\n", cmd);
-
-    si.cb = sizeof(si);
-    sprintf(cmds, "cmd /c %s", cmd);
-    if (!CreateProcess(NULL, (LPTSTR)cmds, NULL, NULL, FALSE, CREATE_NO_WINDOW, NULL,
-                       NULL, &si, &info))
-        return -1;
-    WaitForSingleObject(info.hProcess, INFINITE);
-    if (!GetExitCodeProcess(info.hProcess, &stat))
-        stat = -1;
-    CloseHandle(info.hProcess);
-    CloseHandle(info.hThread);
-    return (int)stat;
-#else
-    trace(3, "execcmd: cmd=%s\n", cmd);
-
     return system(cmd);
-#endif
 }
 
 /* replace string ------------------------------------------------------------*/

RTK/rtklib.h

@@ -53,14 +53,9 @@
 #include <time.h>
 #include <ctype.h>
 #include <stdint.h>
-#ifdef WIN32
+
-#include <winsock2.h>
-#include <windows.h>
-#else
 #include <rtthread.h>
 #include <rtdevice.h>
-#endif
-
 
 /* constants -----------------------------------------------------------------*/
 

applications/main.c

@@ -21,10 +21,12 @@
 /* defined the LED0 pin: PF9 */
 #define LED0_PIN    GET_PIN(F, 9)
 
+
 int main(void)
 {
-    uart3_init();
 
+    uart3_init();
+    task_init();
 
     rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
     while (1)
@@ -38,8 +40,8 @@ int main(void)
 }
 void test_entry()
 {
-//    const char testbuff[] = "test massage!!!";
+    const char testbuff[] = {0xD3,0x00,0x13,0x3E,0xD7,0xD3,0x02,0x02,0x98,0x0E,0xDE,0xEF,0x34,0xB4,0xBD,0x62,0xAC,0x09,0x41,0x98,0x6F,0x33,0x36,0x0B,0x98};
-//    rt_device_write(serial3,0,testbuff,strlen(testbuff));
+    rt_device_write(serial3,0,testbuff,sizeof(testbuff));
 }
 MSH_CMD_EXPORT(test_entry,test_entry);
 

rtconfig.h

@@ -5,7 +5,7 @@
 
 /* RT-Thread Kernel */
 
-#define RT_NAME_MAX 8
+#define RT_NAME_MAX 18
 #define RT_ALIGN_SIZE 4
 #define RT_THREAD_PRIORITY_32
 #define RT_THREAD_PRIORITY_MAX 32
@@ -59,7 +59,7 @@
 #define RT_USING_COMPONENTS_INIT
 #define RT_USING_USER_MAIN
 #define RT_MAIN_THREAD_STACK_SIZE 2048
-#define RT_MAIN_THREAD_PRIORITY 10
+#define RT_MAIN_THREAD_PRIORITY 20
 
 /* C++ features */
 
@@ -116,7 +116,7 @@
 #define RT_USING_SERIAL
 #define RT_USING_SERIAL_V1
 #define RT_SERIAL_USING_DMA
-#define RT_SERIAL_RB_BUFSZ 64
+#define RT_SERIAL_RB_BUFSZ 2048
 #define RT_USING_PIN
 #define RT_USING_RTC
 #define RT_USING_SDIO

task/rtk_task.c

@@ -0,0 +1,96 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-06-15     fize       the first version
+ */
+
+#include <rtk_task.h>
+
+#define LOG_TAG "USER_TASK"
+
+#define THREAD_get_rtcm_data_priority 10
+#define THREAD_rtcm_data_proces_priority 9
+
+#define get_rtcm_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
+#define rtcm_data_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE
+
+rtcm_t rtcm_data;
+struct rt_completion get_rtcm_data_completion;
+struct rt_completion rtcm_data_process_completion;
+
+static struct rt_thread get_rtcm_data;
+static char thread_get_rtcm_data_stack[get_rtcm_data_stack_size];
+static struct rt_thread rtcm_data_proces;
+static char thread_rtcm_data_proces_stack[DEFAULT_USER_THREAD_STACK_SIZE];
+
+
+static char rtcm_buff[2048];
+
+static void thread_get_rtcm_data(void *parameter)
+{
+
+    init_rtcm(&rtcm_data);
+    rt_completion_init(&get_rtcm_data_completion);
+    while (1)
+    {
+        rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER);
+        //to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
+        //rt thread could not get uart status when it receiving data.
+        //it may cross frame lost if the system runs slow.
+        if (rt_completion_wait(&rtcm_data_process_completion, RT_WAITING_FOREVER)==RT_EOK) //need a completion sem connect to rtcm data processing thread.
+        {
+            get_rtcm_data_completion.flag = RT_UNCOMPLETED;
+            length = uart3_simpack.rx_num;
+            READ_SERIAL3(rtcm_buff);
+            rt_completion_done(&get_rtcm_data_completion);
+        }
+    }
+}
+
+static void thread_rtcm_data_proces(void *parameter)
+{
+    rt_completion_init(&rtcm_data_process_completion);
+    rt_completion_done(&rtcm_data_process_completion);
+    while (1)
+    {
+        rt_completion_wait(&get_rtcm_data_completion, RT_WAITING_FOREVER);
+        rtcm_data_process_completion.flag = RT_UNCOMPLETED;
+        for (int var = 0; var < uart3_simpack.rx_num; var++)
+        {
+            input_rtcm3(&rtcm_data, rtcm_buff[var]);
+        }
+        rt_completion_done(&rtcm_data_process_completion);
+    }
+
+}
+
+static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
+        rt_uint32_t stack_size, rt_uint8_t priority, rt_uint32_t tick, rt_uint32_t start)
+{
+    rt_err_t result = RT_EOK;
+    result = rt_thread_init(thread, name, entry, RT_NULL, stack_start, stack_size, priority, tick);
+    if (start)
+    {
+        if (result == RT_EOK)
+        {
+            rt_thread_startup(thread);
+        }
+        else
+        {
+            LOG_E("task init failed :%s", name);
+        }
+    }
+}
+
+/*===========================================================================================================*/
+void task_init(void)
+{
+    user_init_task(&get_rtcm_data, "get_rtcm_data", thread_get_rtcm_data, thread_get_rtcm_data_stack,
+            get_rtcm_data_stack_size, THREAD_get_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
+    user_init_task(&rtcm_data_proces, "rtcm_data_proces", thread_rtcm_data_proces, thread_rtcm_data_proces_stack, rtcm_data_proces_stack_size, THREAD_rtcm_data_proces_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
+}
+

task/rtk_task.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-06-15     ¸µÐ¡¶þ       the first version
+ */
+#ifndef TASK_RTK_TASK_H_
+#define TASK_RTK_TASK_H_
+
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <user_uart.h>
+#include <rtklib.h>
+
+
+#define RT_COMPLETED    1
+#define RT_UNCOMPLETED  0
+
+#define DEFAULT_USER_THREAD_STACK_SIZE 1024
+#define DEFAULT_USER_THREA_TICK 5
+
+extern uart_simpack  uart3_simpack;  //from user_uart.h
+extern rtcm_t rtcm_data;  //from  rtklib.h
+void task_init(void);
+#endif /* TASK_RTK_TASK_H_ */

user_uart/user_uart.c

@@ -24,12 +24,9 @@ static rt_err_t uart3_tx_complete(rt_device_t dev, void *buffer)
 //still in ISR func,so can only use ulog at asynchronous mode.
 static rt_err_t uart3_rx_complete(rt_device_t dev, rt_size_t size)
 {
-    char testbuff[20];
+
     uart3_simpack.rx_num=size;
     rt_sem_release(&uart3_simpack.rx_sem);
-    rt_device_read(serial3,0,testbuff, size);
-    // can only use ulog at asynchronous mode.
-    LOG_I("massage received : %s",testbuff);
     return RT_EOK;
 }
 

user_uart/user_uart.h

@@ -17,7 +17,7 @@
 
 #define USER_UART_NAME "uart3"
 
-#define READ_SERIAL3(args...)   rt_device_read(serial3,0,args,args)
+#define READ_SERIAL3(...)   rt_device_read(serial3,0,__VA_ARGS__,uart3_simpack.rx_num)
 
 rt_device_t serial3;