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完成RTCM解析移植和任务创建

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This commit is contained in:
fize 2022-06-16 18:57:17 +08:00
parent b5fed93741
commit 17854a4b1a
12 changed files with 564 additions and 465 deletions
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6
.config
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@ -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

591
.cproject
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File diff suppressed because one or more lines are too long

BIN
.settings/.rtmenus
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2
.settings/language.settings.xml
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@ -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>

22
RTK/rtkcmn.c
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@ -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 ------------------------------------------------------------*/

7
RTK/rtklib.h
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@ -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 -----------------------------------------------------------------*/

8
applications/main.c
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@ -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!!!";
// rt_device_write(serial3,0,testbuff,strlen(testbuff));
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,sizeof(testbuff));
}
MSH_CMD_EXPORT(test_entry,test_entry);

6
rtconfig.h
View File

@ -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

96
task/rtk_task.c Normal file
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@ -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);
}

28
task/rtk_task.h Normal file
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@ -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_ */

5
user_uart/user_uart.c
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@ -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;
}

2
user_uart/user_uart.h
View File

@ -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;