同步测试代码

.config

@@ -205,7 +205,23 @@ CONFIG_RT_SDIO_DEBUG=y
 # Using USB
 #
 # CONFIG_RT_USING_USB_HOST is not set
-# CONFIG_RT_USING_USB_DEVICE is not set
+CONFIG_RT_USING_USB_DEVICE=y
+CONFIG_RT_USBD_THREAD_STACK_SZ=4096
+CONFIG_USB_VENDOR_ID=0x0FFE
+CONFIG_USB_PRODUCT_ID=0x0001
+CONFIG_RT_USB_DEVICE_COMPOSITE=y
+CONFIG_RT_USB_DEVICE_CDC=y
+CONFIG_RT_USB_DEVICE_NONE=y
+# CONFIG_RT_USB_DEVICE_MSTORAGE is not set
+# CONFIG_RT_USB_DEVICE_HID is not set
+# CONFIG_RT_USB_DEVICE_WINUSB is not set
+# CONFIG_RT_USB_DEVICE_AUDIO is not set
+CONFIG_RT_VCOM_TASK_STK_SIZE=512
+CONFIG_RT_CDC_RX_BUFSIZE=128
+# CONFIG_RT_VCOM_TX_USE_DMA is not set
+CONFIG_RT_VCOM_SERNO="32021919830108"
+CONFIG_RT_VCOM_SER_LEN=14
+CONFIG_RT_VCOM_TX_TIMEOUT=1000
 # end of Using USB
 # end of Device Drivers
 
@@ -503,15 +519,7 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_SEGGER_RTT is not set
 # CONFIG_PKG_USING_RDB is not set
 # CONFIG_PKG_USING_ULOG_EASYFLASH is not set
-CONFIG_PKG_USING_ULOG_FILE=y
+# CONFIG_PKG_USING_ULOG_FILE is not set
-CONFIG_PKG_ULOG_FILE_PATH="/packages/tools/ulog_file"
-CONFIG_ULOG_FILE_ROOT_PATH="/logs"
-CONFIG_ULOG_FILE_NAME_BASE="ulog.log"
-CONFIG_ULOG_FILE_MAX_NUM=5
-CONFIG_ULOG_FILE_MAX_SIZE=524288
-CONFIG_PKG_USING_ULOG_FILE_V100=y
-# CONFIG_PKG_USING_ULOG_FILE_LATEST_VERSION is not set
-CONFIG_PKG_ULOG_FILE_VER="v1.0.0"
 # CONFIG_PKG_USING_LOGMGR is not set
 # CONFIG_PKG_USING_ADBD is not set
 # CONFIG_PKG_USING_COREMARK is not set
@@ -546,6 +554,7 @@ CONFIG_PKG_ULOG_FILE_VER="v1.0.0"
 # CONFIG_PKG_USING_SNOWFLAKE is not set
 # CONFIG_PKG_USING_HASH_MATCH is not set
 # CONFIG_PKG_USING_FIRE_PID_CURVE is not set
+# CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set
 # end of tools packages
 
 #
@@ -841,7 +850,9 @@ CONFIG_BSP_UART3_RX_USING_DMA=y
 # CONFIG_BSP_UART3_TX_USING_DMA is not set
 # CONFIG_BSP_USING_UART4 is not set
 # CONFIG_BSP_USING_UART5 is not set
-# CONFIG_BSP_USING_UART6 is not set
+CONFIG_BSP_USING_UART6=y
+CONFIG_BSP_UART6_RX_USING_DMA=y
+# CONFIG_BSP_UART6_TX_USING_DMA is not set
 # CONFIG_BSP_USING_TIM is not set
 # CONFIG_BSP_USING_PWM is not set
 # CONFIG_BSP_USING_ON_CHIP_FLASH is not set

.settings/RTK_base.JLink.Debug.rttlaunch

@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="ilg.gnumcueclipse.debug.gdbjtag.jlink.launchConfigurationType">
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.adapterName" value="J-Link"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.binFileStartAddress" value="0x08000000"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doConnectToRunning" value="false"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doContinue" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doDebugInRam" value="false"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doFirstReset" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerAllocateConsole" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerAllocateSemihostingConsole" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerInitRegs" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerLocalOnly" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerSilent" value="false"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doGdbServerVerifyDownload" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doSecondReset" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.doStartGdbServer" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.enableFlashBreakpoints" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.enableSemihosting" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.enableSemihostingIoclientGdbClient" value="false"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.enableSemihostingIoclientTelnet" value="true"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.enableSwo" value="true"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.eraseEndAddress" value=""/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.eraseMode" value="0"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.eraseStartAddress" value=""/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.firstResetSpeed" value="1500"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.firstResetType" value=""/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.flashDeviceName" value="STM32F407ZG"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.flashDownloadHex" value="false"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.forceQuitGdbServer" value="false"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbClientOtherCommands" value="set mem inaccessible-by-default off"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbClientOtherOptions" value=""/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerConnection" value="usb"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerConnectionAddress" value=""/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerDebugInterface" value="swd"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerDeviceEndianness" value="little"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerDeviceName" value="STM32F407ZG"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerDeviceSpeed" value="1000"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerExecutable" value="${debugger_install_path}/${jlink_debugger_relative_path}\JLinkGDBServerCL.exe"/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerGdbPortNumber" value="2331"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerLog" value=""/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerOther" value="-singlerun"/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerRunAfterStopDebug" value="true"/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerSwoPortNumber" value="2332"/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.gdbServerTelnetPortNumber" value="2333"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.interfaceSpeed" value="auto"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.jlinkExecutable" value="${debugger_install_path}/${jlink_debugger_relative_path}\JLink.exe"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.otherInitCommands" value=""/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.otherRunCommands" value=""/>
+<booleanAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.runAfterDownload" value="true"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.secondResetType" value=""/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.swoEnableTargetCpuFreq" value="0"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.swoEnableTargetPortMask" value="0x1"/>
+<intAttribute key="ilg.gnumcueclipse.debug.gdbjtag.jlink.swoEnableTargetSwoFreq" value="0"/>
+<stringAttribute key="ilg.gnumcueclipse.debug.gdbjtag.svdPath" value="${studio_install_path}\repo\Extract\Chip_Support_Packages\RealThread\STM32F4\0.2.0\debug\svd\STM32F40x.svd"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value=""/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="GNU MCU J-Link"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="2331"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value=""/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="false"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>
+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
+<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${rtt_gnu_gcc}/arm-none-eabi-gdb.exe"/>
+<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="0"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/rtthread.elf"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="RTK_base"/>
+<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+<listEntry value="/RTK_base"/>
+</listAttribute>
+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+<listEntry value="4"/>
+</listAttribute>
+<stringAttribute key="org.eclipse.debug.core.source_locator_id" value="org.eclipse.cdt.debug.core.sourceLocator"/>
+<stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;&lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.debug.ui.ATTR_CONSOLE_ENCODING" value="GBK"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;&gt;&#13;&#10;&lt;memoryBlockExpression address=&quot;1744848496&quot; label=&quot;0x68004670&quot;/&gt;&#13;&#10;&lt;/memoryBlockExpressionList&gt;&#13;&#10;"/>
+<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
+</launchConfiguration>

.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="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">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="38926886275555880" 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>
@@ -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="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="103830345138989147" 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="11935337743060155" 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>

.settings/projcfg.ini

@@ -1,5 +1,5 @@
 #RT-Thread Studio Project Configuration
-#Thu Jun 09 18:46:30 CST 2022
+#Tue Jun 21 21:06:22 CST 2022
 cfg_version=v3.0
 board_name=STM32F407-ATK-EXPLORER
 example_name=
@@ -7,13 +7,13 @@ hardware_adapter=J-Link
 board_base_nano_proj=False
 project_type=rt-thread
 chip_name=STM32F407ZG
-bsp_version=0.1.2
 selected_rtt_version=4.0.5
+bsp_version=0.1.2
 os_branch=full
-project_base_bsp=true
-is_use_scons_build=True
-is_base_example_project=False
 output_project_path=D\:\\Dev\\GitHome\\rt_thread_workspace\\RTK_base
+is_base_example_project=False
+is_use_scons_build=True
+project_base_bsp=true
 project_name=RTK_base
-bsp_path=repo/Extract/Board_Support_Packages/RealThread/STM32F407-ATK-EXPLORER/0.1.2
 os_version=4.0.5
+bsp_path=repo/Extract/Board_Support_Packages/RealThread/STM32F407-ATK-EXPLORER/0.1.2

RTK/lambda.c

@@ -0,0 +1,359 @@
+/*------------------------------------------------------------------------------
+ * lambda.c : integer ambiguity resolution
+ *
+ *          Copyright (C) 2007-2008 by T.TAKASU, All rights reserved.
+ *
+ * reference :
+ *     [1] P.J.G.Teunissen, The least-square ambiguity decorrelation adjustment:
+ *         a method for fast GPS ambiguity estimation, J.Geodesy, Vol.70, 65-82,
+ *         1995
+ *     [2] X.-W.Chang, X.Yang, T.Zhou, MLAMBDA: A modified LAMBDA method for
+ *         integer least-squares estimation, J.Geodesy, Vol.79, 552-565, 2005
+ *
+ * version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
+ * history : 2007/01/13 1.0 new
+ *           2015/05/31 1.1 add api lambda_reduction(), lambda_search()
+ *-----------------------------------------------------------------------------*/
+#include "rtklib.h"
+
+/* constants/macros ----------------------------------------------------------*/
+
+#define LOOPMAX 10000 /* maximum count of search loop */
+
+#define SGN(x) ((x) <= 0.0 ? -1.0 : 1.0)
+#define ROUND(x) (floor((x) + 0.5))
+#define SWAP(x, y)   \
+    do               \
+    {                \
+        double tmp_; \
+        tmp_ = x;    \
+        x = y;       \
+        y = tmp_;    \
+    } while (0)
+
+/* LD factorization (Q=L'*diag(D)*L) -----------------------------------------*/
+static int LD(int n, const double *Q, double *L, double *D)
+{
+    int i, j, k, info = 0;
+    double a, *A = mat(n, n);
+
+    memcpy(A, Q, sizeof(double) * n * n);
+    for (i = n - 1; i >= 0; i--)
+    {
+        if ((D[i] = A[i + i * n]) <= 0.0)
+        {
+            info = -1;
+            break;
+        }
+        a = sqrt(D[i]);
+        for (j = 0; j <= i; j++)
+            L[i + j * n] = A[i + j * n] / a;
+        for (j = 0; j <= i - 1; j++)
+            for (k = 0; k <= j; k++)
+                A[j + k * n] -= L[i + k * n] * L[i + j * n];
+        for (j = 0; j <= i; j++)
+            L[i + j * n] /= L[i + i * n];
+    }
+    free(A);
+    if (info)
+        fprintf(stderr, "%s : LD factorization error\n", __FILE__);
+    return info;
+}
+/* integer gauss transformation ----------------------------------------------*/
+static void gauss(int n, double *L, double *Z, int i, int j)
+{
+    int k, mu;
+
+    if ((mu = (int)ROUND(L[i + j * n])) != 0)
+    {
+        for (k = i; k < n; k++)
+            L[k + n * j] -= (double)mu * L[k + i * n];
+        for (k = 0; k < n; k++)
+            Z[k + n * j] -= (double)mu * Z[k + i * n];
+    }
+}
+/* permutations --------------------------------------------------------------*/
+static void perm(int n, double *L, double *D, int j, double del, double *Z)
+{
+    int k;
+    double eta, lam, a0, a1;
+
+    eta = D[j] / del;
+    lam = D[j + 1] * L[j + 1 + j * n] / del;
+    D[j] = eta * D[j + 1];
+    D[j + 1] = del;
+    for (k = 0; k <= j - 1; k++)
+    {
+        a0 = L[j + k * n];
+        a1 = L[j + 1 + k * n];
+        L[j + k * n] = -L[j + 1 + j * n] * a0 + a1;
+        L[j + 1 + k * n] = eta * a0 + lam * a1;
+    }
+    L[j + 1 + j * n] = lam;
+    for (k = j + 2; k < n; k++)
+        SWAP(L[k + j * n], L[k + (j + 1) * n]);
+    for (k = 0; k < n; k++)
+        SWAP(Z[k + j * n], Z[k + (j + 1) * n]);
+}
+/* lambda reduction (z=Z'*a, Qz=Z'*Q*Z=L'*diag(D)*L) (ref.[1]) ---------------*/
+static void reduction(int n, double *L, double *D, double *Z)
+{
+    int i, j, k;
+    double del;
+
+    j = n - 2;
+    k = n - 2;
+    //这里的调序变换类似插入排序的思路？
+    while (j >= 0)
+    {
+        //由于第k+1，k+2，...，n-2列都进行过降相关并且没有被上一次调序变换影响，
+        //因此只需对第0,1，...，k-1，k列进行降相关
+        if (j <= k)
+            for (i = j + 1; i < n; i++)
+                gauss(n, L, Z, i, j); //从最后一列开始，各列非对角线元素从上往下依次降相关
+        del = D[j] + L[j + 1 + j * n] * L[j + 1 + j * n] * D[j + 1];
+        if (del + 1E-6 < D[j + 1])
+        {                             /* 检验条件，若不满足检验条件则开始进行调序变换compared considering numerical error */
+            perm(n, L, D, j, del, Z); //调序变换
+            k = j;
+            j = n - 2; //完成调序变换后重新从最后一列开始进行降相关及排序，k记录最后一次进行过调序变换的列序号
+        }
+        else
+            j--;
+    }
+}
+/* modified lambda (mlambda) search (ref. [2]) -------------------------------
+* args   : n      I  number of float parameters
+*          m      I  number of fixed solution
+           L,D    I  transformed covariance matrix
+           zs     I  transformed double-diff phase biases
+           zn     O  fixed solutions
+           s      O  sum of residuals for fixed solutions                    */
+static int search(int n, int m, const double *L, const double *D,
+                  const double *zs, double *zn, double *s)
+{
+    int i, j, k, c, nn = 0, imax = 0;
+    double newdist, maxdist = 1E99, y; // maxdist，当前超椭圆半径
+    double *S = zeros(n, n), *dist = mat(n, 1), *zb = mat(n, 1), *z = mat(n, 1), *step = mat(n, 1);
+
+    k = n - 1;
+    dist[k] = 0.0;       // k表示当前层，从最后一层（n-1）开始计算
+    zb[k] = zs[k];       //即zn
+    z[k] = ROUND(zb[k]); //四舍五入取整；取整后的数与未取整的数作差；step记录z[k]是四舍还是五入
+    y = zb[k] - z[k];
+    step[k] = SGN(y); /* step towards closest integer */
+    for (c = 0; c < LOOPMAX; c++)
+    {
+        newdist = dist[k] + y * y / D[k]; /* newdist=sum(((z(j)-zb(j))^2/d(j))) */
+        if (newdist < maxdist)
+        { //如果当前累积目标函数计算值小于当前超椭圆半径
+            /* Case 1: move down 情况1：若还未计算至第一层，继续计算累积目标函数值 */
+            if (k != 0)
+            {
+                dist[--k] = newdist; //记录下当前层的累积目标函数值，dist[k]表示了第k,k+1,...,n-1层的目标函数计算和
+                for (i = 0; i <= k; i++)
+                    S[k + i * n] = S[k + 1 + i * n] + (z[k + 1] - zb[k + 1]) * L[k + 1 + i * n];
+                zb[k] = zs[k] + S[k + k * n]; //计算Zk，即第k个整数模糊度参数的备选组的中心
+                z[k] = ROUND(zb[k]);          /* next valid integer 四舍五入取整；取整后的数与未取整的数作差；记录是四舍还是五入*/
+                y = zb[k] - z[k];
+                step[k] = SGN(y);
+            }
+            /* Case 2: store the found candidate and try next valid integer 情况2：若已经计算至第一层，意味着所有层的累积目标函数值计算完毕 */
+            else
+            {
+                // nn为当前候选解数，m为我们需要的固定解数，这里为2，表示需要一个最优解及一个次优解
+                // s记录候选解的目标函数值，imax记录之前候选解中的最大目标函数值的坐标
+                if (nn < m)
+                { //若候选解数还没满
+                    /* store the first m initial points */
+                    if (nn == 0 || newdist > s[imax])
+                        imax = nn; //若当前解的目标函数值比之前最大的目标函数值都大，那么更新imax使s[imax]指向当前解中具有的最大目标函数值
+                    for (i = 0; i < n; i++)
+                        zn[i + nn * n] = z[i]; // zn存放所有候选解
+                    s[nn++] = newdist;         // s记录当前目标函数值newdist，并加加当前候选解数nn
+                }
+                else
+                { //若候选解数已满（即当前zn中已经存了2个候选解）
+                    if (newdist < s[imax])
+                    { //若 当前解的目标函数值 比 s中的最大目标函数值 小
+                        for (i = 0; i < n; i++)
+                            zn[i + imax * n] = z[i]; //用当前解替换zn中具有较大目标函数值的解
+                        s[imax] = newdist;           //用当前解的目标函数值替换s中的最大目标函数值
+                        for (i = imax = 0; i < m; i++)
+                            if (s[imax] < s[i])
+                                imax = i; //更新imax保证imax始终指向s中的最大目标函数值
+                    }
+                    maxdist = s[imax]; //用当前最大的目标函数值更新超椭圆半径
+                }
+                z[0] += step[0]; /* next valid integer在第一层，取下一个有效的整数模糊度参数进行计算（若zb为5.3，则z取值顺序为5,6,4,7，...） */
+                y = zb[0] - z[0];
+                step[0] = -step[0] - SGN(step[0]);
+            }
+        }
+        /* Case 3: exit or move up情况3：如果当前累积目标函数计算值大于当前超椭圆半径 */
+        else
+        {
+            if (k == n - 1)
+                break; //如果当前层为第n-1层，意味着后续目标函数各项的计算都会超出超椭圆半径，因此终止搜索
+            else
+            {                    //若当前层不是第n-1层
+                k++;             /* move up 退后一层，即从第k层退到第k+1层*/
+                z[k] += step[k]; /* next valid integer 计算退后一层后，当前层的下一个有效备选解*/
+                y = zb[k] - z[k];
+                step[k] = -step[k] - SGN(step[k]);
+            }
+        }
+    }
+    // 对s中的目标函数值及zn中的候选解进行排序（以s中目标函数值为排序标准，进行升序排序）
+    // RTKLIB中最终可以得到一个最优解一个次优解，存在zn中，两解对应的目标函数值，存在s中
+    for (i = 0; i < m - 1; i++)
+    { /* sort by s */
+        for (j = i + 1; j < m; j++)
+        {
+            if (s[i] < s[j])
+                continue;
+            SWAP(s[i], s[j]);
+            for (k = 0; k < n; k++)
+                SWAP(zn[k + i * n], zn[k + j * n]);
+        }
+    }
+    free(S);
+    free(dist);
+    free(zb);
+    free(z);
+    free(step);
+
+    if (c >= LOOPMAX)
+    {
+        fprintf(stderr, "%s : search loop count overflow\n", __FILE__);
+        return -2;
+    }
+    return 0;
+}
+/* lambda/mlambda integer least-square estimation ------------------------------
+ * integer least-square estimation. reduction is performed by lambda (ref.[1]),
+ * and search by mlambda (ref.[2]).
+ * args   : 
+ *          rtk_t* rtk    I
+ *          int    n      I  number of float parameters
+ *          int    m      I  number of fixed solutions
+ *          double *a     I  float parameters (n x 1) (double-diff phase biases)
+ *          double *Q     I  covariance matrix of float parameters (n x n)
+ *          double *F     O  fixed solutions (n x m)
+ *          double *s     O  sum of squared residulas of fixed solutions (1 x m)
+ * return : status (0:ok,other:error)
+ * notes  : matrix stored by column-major order (fortran convension)
+ *-----------------------------------------------------------------------------*/
+extern int lambda(rtk_t* rtk, int n, int m, const double *a, const double *Q, double *F,
+                  double *s)
+{
+    int info;
+    double *L, *D, *Z, *z, *E;
+    if (n <= 0 || m <= 0)
+        return -1;
+    L = zeros(n, n);
+    D = mat(n, 1);
+    Z = eye(n);
+    z = mat(n, 1);
+    E = mat(n, m);
+
+    /* LD (lower diaganol) factorization (Q=L'*diag(D)*L) */
+    if (!(info = LD(n, Q, L, D)))
+    {
+
+        /* lambda reduction (z=Z'*a, Qz=Z'*Q*Z=L'*diag(D)*L) */
+        reduction(n, L, D, Z);
+        matmul("TN", n, 1, n, 1.0, Z, a, 0.0, z); /* z=Z'*a */
+        /* mlambda search
+            z = transformed double-diff phase biases
+            L,D = transformed covariance matrix */
+        if (!(info = search(n, m, L, D, z, E, s)))
+        { /* returns 0 if no error */
+
+            /* 将在新空间中固定的模糊度逆变换回双差模糊度空间中 */
+            info = solve("T", Z, E, n, m, F); /* F=Z'\E */
+        }
+    }
+    free(L);
+    free(D);
+    free(Z);
+    free(z);
+    free(E);
+    return info;
+}
+
+
+
+/* lambda reduction ------------------------------------------------------------
+ * reduction by lambda (ref [1]) for integer least square
+ * args   : int    n      I  number of float parameters
+ *          double *Q     I  covariance matrix of float parameters (n x n)
+ *          double *Z     O  lambda reduction matrix (n x n)
+ * return : status (0:ok,other:error)
+ *-----------------------------------------------------------------------------*/
+extern int lambda_reduction(int n, const double *Q, double *Z)
+{
+    double *L, *D;
+    int i, j, info;
+
+    if (n <= 0)
+        return -1;
+
+    L = zeros(n, n);
+    D = mat(n, 1);
+
+    for (i = 0; i < n; i++)
+        for (j = 0; j < n; j++)
+        {
+            Z[i + j * n] = i == j ? 1.0 : 0.0;
+        }
+    /* LD factorization */
+    if ((info = LD(n, Q, L, D)))
+    {
+        free(L);
+        free(D);
+        return info;
+    }
+    /* lambda reduction */
+    reduction(n, L, D, Z);
+
+    free(L);
+    free(D);
+    return 0;
+}
+/* mlambda search --------------------------------------------------------------
+ * search by  mlambda (ref [2]) for integer least square
+ * args   : int    n      I  number of float parameters
+ *          int    m      I  number of fixed solutions
+ *          double *a     I  float parameters (n x 1)
+ *          double *Q     I  covariance matrix of float parameters (n x n)
+ *          double *F     O  fixed solutions (n x m)
+ *          double *s     O  sum of squared residulas of fixed solutions (1 x m)
+ * return : status (0:ok,other:error)
+ *-----------------------------------------------------------------------------*/
+extern int lambda_search(int n, int m, const double *a, const double *Q,
+                         double *F, double *s)
+{
+    double *L, *D;
+    int info;
+
+    if (n <= 0 || m <= 0)
+        return -1;
+
+    L = zeros(n, n);
+    D = mat(n, 1);
+
+    /* LD factorization */
+    if ((info = LD(n, Q, L, D)))
+    {
+        free(L);
+        free(D);
+        return info;
+    }
+    /* mlambda search */
+    info = search(n, m, L, D, a, F, s);
+
+    free(L);
+    free(D);
+    return info;
+}

RTK/lambda_par.c

@@ -0,0 +1,464 @@
+#include "rtklib.h"
+
+#define LAMBDA_P0 0.80
+#define MIN_SAT 6
+
+#define LOOPMAX 10000 /* maximum count of search loop */
+#define SGN(x) ((x) <= 0.0 ? -1.0 : 1.0)
+#define ROUND(x) (floor((x) + 0.5))
+#define SWAP(x, y)   \
+    do               \
+    {                \
+        double tmp_; \
+        tmp_ = x;    \
+        x = y;       \
+        y = tmp_;    \
+    } while (0)
+
+static int parsearch(rtk_t* rtk, int n, const double* zhat, const double* Qzhat, const double* Z,
+    const double* L, const double* D, int m, double* F, double* s);
+
+/* LD factorization (Q=L'*diag(D)*L) -----------------------------------------*/
+static int LD(int n, const double* Q, double* L, double* D)
+{
+    int i, j, k, info = 0;
+    double a, * A = mat(n, n);
+
+    memcpy(A, Q, sizeof(double) * n * n);
+    for (i = n - 1; i >= 0; i--)
+    {
+        if ((D[i] = A[i + i * n]) <= 0.0)
+        {
+            info = -1;
+            break;
+        }
+        a = sqrt(D[i]);
+        for (j = 0; j <= i; j++)
+            L[i + j * n] = A[i + j * n] / a;
+        for (j = 0; j <= i - 1; j++)
+            for (k = 0; k <= j; k++)
+                A[j + k * n] -= L[i + k * n] * L[i + j * n];
+        for (j = 0; j <= i; j++)
+            L[i + j * n] /= L[i + i * n];
+    }
+    free(A);
+    if (info)
+        fprintf(stderr, "%s : LD factorization error\n", __FILE__);
+    return info;
+}
+/* integer gauss transformation ----------------------------------------------*/
+static void gauss(int n, double* L, double* Z, int i, int j)
+{
+    int k, mu;
+
+    if ((mu = (int)ROUND(L[i + j * n])) != 0)
+    {
+        for (k = i; k < n; k++)
+            L[k + n * j] -= (double)mu * L[k + i * n];
+        for (k = 0; k < n; k++)
+            Z[k + n * j] -= (double)mu * Z[k + i * n];
+    }
+}
+/* permutations --------------------------------------------------------------*/
+static void perm(int n, double* L, double* D, int j, double del, double* Z)
+{
+    int k;
+    double eta, lam, a0, a1;
+
+    eta = D[j] / del;
+    lam = D[j + 1] * L[j + 1 + j * n] / del;
+    D[j] = eta * D[j + 1];
+    D[j + 1] = del;
+    for (k = 0; k <= j - 1; k++)
+    {
+        a0 = L[j + k * n];
+        a1 = L[j + 1 + k * n];
+        L[j + k * n] = -L[j + 1 + j * n] * a0 + a1;
+        L[j + 1 + k * n] = eta * a0 + lam * a1;
+    }
+    L[j + 1 + j * n] = lam;
+    for (k = j + 2; k < n; k++)
+        SWAP(L[k + j * n], L[k + (j + 1) * n]);
+    for (k = 0; k < n; k++)
+        SWAP(Z[k + j * n], Z[k + (j + 1) * n]);
+}
+/* lambda reduction (z=Z'*a, Qz=Z'*Q*Z=L'*diag(D)*L) (ref.[1]) ---------------*/
+static void reduction(int n, double* L, double* D, double* Z)
+{
+    int i, j, k;
+    double del;
+
+    j = n - 2;
+    k = n - 2;
+    //这里的调序变换类似插入排序的思路？
+    while (j >= 0)
+    {
+        //由于第k+1，k+2，...，n-2列都进行过降相关并且没有被上一次调序变换影响，
+        //因此只需对第0,1，...，k-1，k列进行降相关
+        if (j <= k)
+            for (i = j + 1; i < n; i++)
+                gauss(n, L, Z, i, j); //从最后一列开始，各列非对角线元素从上往下依次降相关
+        del = D[j] + L[j + 1 + j * n] * L[j + 1 + j * n] * D[j + 1];
+        if (del + 1E-6 < D[j + 1])
+        {                             /* 检验条件，若不满足检验条件则开始进行调序变换compared considering numerical error */
+            perm(n, L, D, j, del, Z); //调序变换
+            k = j;
+            j = n - 2; //完成调序变换后重新从最后一列开始进行降相关及排序，k记录最后一次进行过调序变换的列序号
+        }
+        else
+            j--;
+    }
+}
+/* modified lambda (mlambda) search (ref. [2]) -------------------------------
+* args   : n      I  number of float parameters
+*          m      I  number of fixed solution
+           L,D    I  transformed covariance matrix
+           zs     I  transformed double-diff phase biases
+           zn     O  fixed solutions
+           s      O  sum of residuals for fixed solutions                    */
+static int search(int n, int m, const double* L, const double* D,
+    const double* zs, double* zn, double* s)
+{
+    int i, j, k, c, nn = 0, imax = 0;
+    double newdist, maxdist = 1E99, y; // maxdist，当前超椭圆半径
+    double* S = zeros(n, n), * dist = mat(n, 1), * zb = mat(n, 1), * z = mat(n, 1), * step = mat(n, 1);
+
+    k = n - 1;
+    dist[k] = 0.0;       // k表示当前层，从最后一层（n-1）开始计算
+    zb[k] = zs[k];       //即zn
+    z[k] = ROUND(zb[k]); //四舍五入取整；取整后的数与未取整的数作差；step记录z[k]是四舍还是五入
+    y = zb[k] - z[k];
+    step[k] = SGN(y); /* step towards closest integer */
+    for (c = 0; c < LOOPMAX; c++)
+    {
+        newdist = dist[k] + y * y / D[k]; /* newdist=sum(((z(j)-zb(j))^2/d(j))) */
+        if (newdist < maxdist)
+        { //如果当前累积目标函数计算值小于当前超椭圆半径
+            /* Case 1: move down 情况1：若还未计算至第一层，继续计算累积目标函数值 */
+            if (k != 0)
+            {
+                dist[--k] = newdist; //记录下当前层的累积目标函数值，dist[k]表示了第k,k+1,...,n-1层的目标函数计算和
+                for (i = 0; i <= k; i++)
+                    S[k + i * n] = S[k + 1 + i * n] + (z[k + 1] - zb[k + 1]) * L[k + 1 + i * n];
+                zb[k] = zs[k] + S[k + k * n]; //计算Zk，即第k个整数模糊度参数的备选组的中心
+                z[k] = ROUND(zb[k]);          /* next valid integer 四舍五入取整；取整后的数与未取整的数作差；记录是四舍还是五入*/
+                y = zb[k] - z[k];
+                step[k] = SGN(y);
+            }
+            /* Case 2: store the found candidate and try next valid integer 情况2：若已经计算至第一层，意味着所有层的累积目标函数值计算完毕 */
+            else
+            {
+                // nn为当前候选解数，m为我们需要的固定解数，这里为2，表示需要一个最优解及一个次优解
+                // s记录候选解的目标函数值，imax记录之前候选解中的最大目标函数值的坐标
+                if (nn < m)
+                { //若候选解数还没满
+                    /* store the first m initial points */
+                    if (nn == 0 || newdist > s[imax])
+                        imax = nn; //若当前解的目标函数值比之前最大的目标函数值都大，那么更新imax使s[imax]指向当前解中具有的最大目标函数值
+                    for (i = 0; i < n; i++)
+                        zn[i + nn * n] = z[i]; // zn存放所有候选解
+                    s[nn++] = newdist;         // s记录当前目标函数值newdist，并加加当前候选解数nn
+                }
+                else
+                { //若候选解数已满（即当前zn中已经存了2个候选解）
+                    if (newdist < s[imax])
+                    { //若 当前解的目标函数值 比 s中的最大目标函数值 小
+                        for (i = 0; i < n; i++)
+                            zn[i + imax * n] = z[i]; //用当前解替换zn中具有较大目标函数值的解
+                        s[imax] = newdist;           //用当前解的目标函数值替换s中的最大目标函数值
+                        for (i = imax = 0; i < m; i++)
+                            if (s[imax] < s[i])
+                                imax = i; //更新imax保证imax始终指向s中的最大目标函数值
+                    }
+                    maxdist = s[imax]; //用当前最大的目标函数值更新超椭圆半径
+                }
+                z[0] += step[0]; /* next valid integer在第一层，取下一个有效的整数模糊度参数进行计算（若zb为5.3，则z取值顺序为5,6,4,7，...） */
+                y = zb[0] - z[0];
+                step[0] = -step[0] - SGN(step[0]);
+            }
+        }
+        /* Case 3: exit or move up情况3：如果当前累积目标函数计算值大于当前超椭圆半径 */
+        else
+        {
+            if (k == n - 1)
+                break; //如果当前层为第n-1层，意味着后续目标函数各项的计算都会超出超椭圆半径，因此终止搜索
+            else
+            {                    //若当前层不是第n-1层
+                k++;             /* move up 退后一层，即从第k层退到第k+1层*/
+                z[k] += step[k]; /* next valid integer 计算退后一层后，当前层的下一个有效备选解*/
+                y = zb[k] - z[k];
+                step[k] = -step[k] - SGN(step[k]);
+            }
+        }
+    }
+    // 对s中的目标函数值及zn中的候选解进行排序（以s中目标函数值为排序标准，进行升序排序）
+    // RTKLIB中最终可以得到一个最优解一个次优解，存在zn中，两解对应的目标函数值，存在s中
+    for (i = 0; i < m - 1; i++)
+    { /* sort by s */
+        for (j = i + 1; j < m; j++)
+        {
+            if (s[i] < s[j])
+                continue;
+            SWAP(s[i], s[j]);
+            for (k = 0; k < n; k++)
+                SWAP(zn[k + i * n], zn[k + j * n]);
+        }
+    }
+    free(S);
+    free(dist);
+    free(zb);
+    free(z);
+    free(step);
+
+    if (c >= LOOPMAX)
+    {
+        fprintf(stderr, "%s : search loop count overflow\n", __FILE__);
+        return -2;
+    }
+    return 0;
+}
+static float my_normcdf(float a) // 获取正态分布CDF
+{
+    float h, l, r;
+    const float SQRT_HALF_HI = 0x1.6a09e6p-01f; // 7.07106769e-1
+    const float SQRT_HALF_LO = 0x1.9fcef4p-27f; // 1.21016175e-8
+    /* clamp input as normcdf(x) is either 0 or 1 asymptotically */
+    if (fabsf(a) > 14.171875f)
+        a = (a < 0.0f) ? -14.171875f : 14.171875f;
+    h = fmaf(-SQRT_HALF_HI, a, -SQRT_HALF_LO * a);
+    l = fmaf(SQRT_HALF_LO, a, fmaf(SQRT_HALF_HI, a, h));
+    r = erfcf(h);
+    if (h > 0.0f)
+        r = fmaf(2.0f * h * l, r, r);
+    return 0.5f * r;
+}
+
+static double* nmatgetkmat_RD(const double* nmat, int n1, int n2, int m1, int m2)
+{
+    double* mmat;
+    int i, j;
+    mmat = mat(m1, m2);
+    //从大矩阵里取小矩阵
+    for (i = 0; i < m1; i++)
+        for (j = 0; j < m2; j++)
+        {
+            *(mmat + i * m2 + j) = *(nmat + (n1 - m1) * n2 + (n2 - m2) + i * n2 + j);
+        }
+
+    return mmat;
+}
+
+static double* nmatgetkmat_RU(const double* nmat, int n1, int n2, int m1, int m2)
+{
+    double* mmat;
+    int i, j;
+    mmat = mat(m1, m2);
+    //从大矩阵里取小矩阵
+    for (i = 0; i < m1; i++)
+        for (j = 0; j < m2; j++)
+        {
+            *(mmat + i * m2 + j) = *(nmat + (n2 - m2) + i * n2 + j);
+        }
+
+    return mmat;
+}
+/* parlambda ------------------------------
+ * integer least-square estimation. reduction is performed by lambda (ref.[1]),
+ * and search by mlambda (ref.[2]).
+ * args   :
+ *          rtk_t* rtk    I
+ *          int    n      I  number of float parameters
+ *          int    m      I  number of fixed solutions
+ *          double *a     I  float parameters (n x 1) (double-diff phase biases)
+ *          double *Q     I  covariance matrix of float parameters (n x n)
+ *          double *F     O  fixed solutions (n x m)
+ *          double *s     O  sum of squared residulas of fixed solutions (1 x m)
+ * return : status (0:ok,other:error)
+ * notes  : matrix stored by column-major order (fortran convension)
+ *-----------------------------------------------------------------------------*/
+extern int parlambda(rtk_t* rtk, int n, int m, const double* a, const double* Q, double* F,
+    double* s)
+{
+    int info;
+    double* L, * D, * Z, * z, * E, * Qt, * Qzhat;
+    if (n <= 0 || m <= 0)
+        return -1;
+    L = zeros(n, n);
+    D = mat(n, 1);
+    Z = eye(n);
+    z = mat(n, 1);
+    E = mat(n, m);
+
+    /* LD (lower diaganol) factorization (Q=L'*diag(D)*L) */
+    if (!(info = LD(n, Q, L, D)))
+    {
+
+        /* lambda reduction (z=Z'*a, Qz=Z'*Q*Z=L'*diag(D)*L) */
+        reduction(n, L, D, Z);
+        matmul("TN", n, 1, n, 1.0, Z, a, 0.0, z); /* z=Z'*a */
+
+        /*par search*/
+        // Qz = Z'*Q*Z
+        Qt = mat(n, n);
+        Qzhat = mat(n, n);
+        matmul("TN", n, n, n, 1.0, Z, Q, 0.0, Qt);     // Qt = Z'*Q
+        matmul("NN", n, n, n, 1.0, Qt, Z, 0.0, Qzhat); // Qz =QtZ
+        if (!(info = parsearch(rtk, n, z, Qzhat, Z, L, D, 2, F, s)))
+        {
+        };
+    }
+    free(L);
+    free(D);
+    free(Z);
+    free(z);
+    free(E);
+    return info;
+}
+
+/*parsearch
+*by LongRui Peng&ZiWen Qu from ZJUT
+args:
+  rtk_t *rtk            I
+  int n                 I     number of float parameter
+  const double *zhat    I     decorrelated float ambiguities
+  const double *Qzhat   I     variance-covariance matrix of decorrelated float ambiguities
+  const double *Z       I     Z-matrix from decorrel
+  L,D                   I     lower-triangular and diagonal matrix from LtDL-decomposition of Qzhat
+  m                     I     Number of requested integer candidate vectors [DEFAULT=2]
+  double *F             O     fixed solutions (n x m)
+  double *s             O     sum of squared residulas of fixed solutions (1 x m)
+
+*/
+static int parsearch(rtk_t* rtk, int n, const double* zhat, const double* Qzhat, const double* Z,
+    const double* L, const double* D, int m, double* F, double* s)
+
+{
+    int info=0, p, k, i, j;
+    float Ps = 1; /* Ps ：cumulative success rate  P0:Minimum required sucess rate [DEFAULT=0.8] */
+
+    double* zk_n, * Lk_n, * Dk_n, * z1_fix, * Q11, * Q12, * Qp, * z2_fix, * z_t1, * z_t2, * z_fix;
+    for (k = n; k > 2; k--)
+    {
+        if (Ps > LAMBDA_P0)
+        {
+            Ps = Ps * (2 * my_normcdf((float)(1 / (2 * sqrt(20 * D[k - 1])))) - 1);
+        }
+        else
+            break;
+    }
+    // Lk_n: new matrix formed by  [k:n,k:n]  of  L
+    // Dk_n: new diag formed by  [k:n] row of  D
+    // zk_n: new column formed by [k:n] element of  zhat
+    // Lk_n: new matrix formed by  [k:n,k:n]  of  L
+    // Dk_n: new diag formed by  [k:n] row of  D
+    // zk_n: new column formed by [k:n] element of  zhat
+    p = n - k + 1;
+
+    while (p >= MIN_SAT)
+    {
+        Dk_n = mat(p, 1);
+        zk_n = mat(p, 1);
+        Lk_n = mat(p, p);
+        z1_fix = mat(p, m);
+        j = k - 1;
+        for (i = 0; i < p; i++)
+        {
+            Dk_n[i] = D[j];
+            zk_n[i] = zhat[j];
+            j++;
+        }
+        Lk_n = nmatgetkmat_RD(L, n, n, p, p);
+
+        if (!(info = search(p, m, Lk_n, Dk_n, zk_n, z1_fix, s))) /* returns 0 if no error */
+        {
+            if (s[0] <= 0.0 || s[1] / s[0] >= rtk->sol.thres) // Ratio test
+            {
+                Q12 = mat(k - 1, p);
+                Q11 = mat(p, p);
+                Qp = mat(k - 1, p);
+                z2_fix = mat(k - 1, m);
+                z_t1 = mat(p, m);
+                z_t2 = mat(k - 1, m);
+                z_fix = mat(n, m);
+                // first k - 1 ambiguities are adjusted based on correlation with the fixed ambiguities
+                Q11 = nmatgetkmat_RD(Qzhat, n, n, p, p);
+                Q12 = nmatgetkmat_RU(Qzhat, n, n, k - 1, p);
+                matinv(Q11, p);
+                matmul("NN", k - 1, p, p, 1.0, Q12, Q11, 0.0, Qp); // Qp = Q12 / Q11;
+                for (i = 0; i < 2 * p; i++)
+                {
+                    if (i < p)
+                        z_t1[i] = zk_n[i] - z1_fix[i];
+                    else
+                        z_t1[i] = zk_n[i - p] - z1_fix[i];
+                }
+
+                matmul("NN", k - 1, m, p, 1.0, Qp, z_t1, 0.0, z_t2); // zt_2=Qp(zk_n - z1_fix)
+                /*z2_fix = z2_float - Qp(zk_n - z1_fix);*/
+                for (i = 0; i < 2 * k - 2; i++)
+                {
+                    if (i < k - 1)
+                        z2_fix[i] = zhat[i] - z_t2[i];
+                    else
+                        z2_fix[i] = zhat[i - k + 1] - z_t2[i];
+                }
+                //for (i = 0; i < 2 * k - 2; i++)
+                //{
+                //    z2_fix[i] = ROUND(z2_fix[i]);
+                //}
+                /* z_fix = [z2_fix, z1_fix]; */
+                for (i = 0; i < 2 * n; i++)
+                {
+                    if (i < k - 1)
+                        z_fix[i] = z2_fix[i];
+                    else if (i < n)
+                        z_fix[i] = z1_fix[i - k + 1];
+                    else if (i < k - 1 + n)
+                        z_fix[i] = z2_fix[i - n + k - 1];
+                    else
+                        z_fix[i] = z1_fix[i - 2 * k + 2];
+                }
+
+                /* 将在新空间中固定的模糊度逆变换回双差模糊度空间中 */
+                info = solve("T", Z, z_fix, n, m, F); /* F=Z'\E */
+                free(Dk_n);
+                free(zk_n);
+                free(Lk_n);
+                free(z1_fix);
+                free(Q12);
+                free(Q11);
+                free(Qp);
+                free(z2_fix);
+                free(z_t1);
+                free(z_t2);
+                free(z_fix);
+                break;
+            }
+            else
+            {
+                trace(3, "PAR ratio test failed ! ,remove the ambiguity with the largest variance \n");
+                p--;
+                k++;
+                free(Dk_n);
+                free(zk_n);
+                free(Lk_n);
+                free(z1_fix);
+            }
+        }
+    }
+    if (p < MIN_SAT) // set the minimum number of part ambiguities  6
+    {
+        trace(3, "PAR lack sat! Now:%d output float solution... \n", p);
+        z_fix = mat(n, m);
+        if (!(info = search(n, m, L, D, zhat, z_fix, s)))
+        { /* returns 0 if no error */
+
+            /* 将在新空间中固定的模糊度逆变换回双差模糊度空间中 */
+            info = solve("T", Z, z_fix, n, m, F); /* F=Z'\E */
+        }
+        free(z_fix);
+        info = 0;
+    }
+
+    return info;
+}

RTK/options.c

@@ -0,0 +1,793 @@
+#include "rtklib.h"
+
+/* system options buffer -----------------------------------------------------*/
+prcopt_t prcopt_;
+solopt_t solopt_;
+// static filopt_t filopt_;
+static double elmask_, elmaskar_, elmaskhold_;
+static int antpostype_[2]; /* 数据流天线位置格式 */
+static double antpos_[2][3];
+
+#ifdef USING_FILE_OPT
+static char exsats_[1024];
+static char snrmask_[NFREQ][1024];
+
+/* system options table ------------------------------------------------------*/
+#define SWTOPT "0:off,1:on"
+#define MODOPT "0:single,1:dgps,2:kinematic,3:static,4:static-start,5:movingbase,6:fixed,7:ppp-kine,8:ppp-static,9:ppp-fixed"
+#define FRQOPT "1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6"
+#define TYPOPT "0:forward,1:backward,2:combined,3:combined-nophasereset"
+#define IONOPT "0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc"
+#define TRPOPT "0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad"
+#define EPHOPT "0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom"
+#define NAVOPT "1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic"
+#define GAROPT "0:off,1:on,2:autocal,3:fix-and-hold"
+#define WEIGHTOPT "0:elevation,1:snr"
+#define SOLOPT "0:llh,1:xyz,2:enu,3:nmea"
+#define TSYOPT "0:gpst,1:utc,2:jst"
+#define TFTOPT "0:tow,1:hms"
+#define DFTOPT "0:deg,1:dms"
+#define HGTOPT "0:ellipsoidal,1:geodetic"
+#define GEOOPT "0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000"
+#define STAOPT "0:all,1:single"
+#define STSOPT "0:off,1:state,2:residual"
+#define ARMOPT "0:off,1:continuous,2:instantaneous,3:fix-and-hold"
+#define POSOPT "0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw"
+#define TIDEOPT "0:off,1:on,2:otl"
+#define PHWOPT "0:off,1:on,2:precise"
+
+extern opt_t sysopts[] = {
+    {"pos1-posmode", 3, (void *)&prcopt_.mode, MODOPT},
+    {"pos1-frequency", 3, (void *)&prcopt_.nf, FRQOPT},
+    {"pos1-soltype", 3, (void *)&prcopt_.soltype, TYPOPT},
+    {"pos1-elmask", 1, (void *)&elmask_, "deg"},
+    {"pos1-snrmask_r", 3, (void *)&prcopt_.snrmask.ena[0], SWTOPT},
+    {"pos1-snrmask_b", 3, (void *)&prcopt_.snrmask.ena[1], SWTOPT},
+    {"pos1-snrmask_L1", 2, (void *)snrmask_[0], ""},
+    {"pos1-snrmask_L2", 2, (void *)snrmask_[1], ""},
+    {"pos1-snrmask_L5", 2, (void *)snrmask_[2], ""},
+    {"pos1-dynamics", 3, (void *)&prcopt_.dynamics, SWTOPT},
+    {"pos1-tidecorr", 3, (void *)&prcopt_.tidecorr, TIDEOPT},
+    {"pos1-ionoopt", 3, (void *)&prcopt_.ionoopt, IONOPT},
+    {"pos1-tropopt", 3, (void *)&prcopt_.tropopt, TRPOPT},
+    {"pos1-sateph", 3, (void *)&prcopt_.sateph, EPHOPT},
+    {"pos1-posopt1", 3, (void *)&prcopt_.posopt[0], SWTOPT},
+    {"pos1-posopt2", 3, (void *)&prcopt_.posopt[1], SWTOPT},
+    {"pos1-posopt3", 3, (void *)&prcopt_.posopt[2], PHWOPT},
+    {"pos1-posopt4", 3, (void *)&prcopt_.posopt[3], SWTOPT},
+    {"pos1-posopt5", 3, (void *)&prcopt_.posopt[4], SWTOPT},
+    {"pos1-posopt6", 3, (void *)&prcopt_.posopt[5], SWTOPT},
+    {"pos1-exclsats", 2, (void *)exsats_, "prn ..."},
+    {"pos1-navsys", 0, (void *)&prcopt_.navsys, NAVOPT},
+
+    {"pos2-armode", 3, (void *)&prcopt_.modear, ARMOPT},
+    {"pos2-gloarmode", 3, (void *)&prcopt_.glomodear, GAROPT},
+    {"pos2-bdsarmode", 3, (void *)&prcopt_.bdsmodear, SWTOPT},
+    {"pos2-arfilter", 3, (void *)&prcopt_.arfilter, SWTOPT},
+    {"pos2-arthres", 1, (void *)&prcopt_.thresar[0], ""},
+    {"pos2-arthresmin", 1, (void *)&prcopt_.thresar[5], ""},
+    {"pos2-arthresmax", 1, (void *)&prcopt_.thresar[6], ""},
+    {"pos2-arthres1", 1, (void *)&prcopt_.thresar[1], ""},
+    {"pos2-arthres2", 1, (void *)&prcopt_.thresar[2], ""},
+    {"pos2-arthres3", 1, (void *)&prcopt_.thresar[3], ""},
+    {"pos2-arthres4", 1, (void *)&prcopt_.thresar[4], ""},
+    {"pos2-varholdamb", 1, (void *)&prcopt_.varholdamb, "cyc^2"},
+    {"pos2-gainholdamb", 1, (void *)&prcopt_.gainholdamb, ""},
+    {"pos2-arlockcnt", 0, (void *)&prcopt_.minlock, ""},
+    {"pos2-minfixsats", 0, (void *)&prcopt_.minfixsats, ""},
+    {"pos2-minholdsats", 0, (void *)&prcopt_.minholdsats, ""},
+    {"pos2-mindropsats", 0, (void *)&prcopt_.mindropsats, ""},
+    {"pos2-arelmask", 1, (void *)&elmaskar_, "deg"},
+    {"pos2-arminfix", 0, (void *)&prcopt_.minfix, ""},
+    {"pos2-armaxiter", 0, (void *)&prcopt_.armaxiter, ""},
+    {"pos2-elmaskhold", 1, (void *)&elmaskhold_, "deg"},
+    {"pos2-aroutcnt", 0, (void *)&prcopt_.maxout, ""},
+    {"pos2-maxage", 1, (void *)&prcopt_.maxtdiff, "s"},
+    {"pos2-syncsol", 3, (void *)&prcopt_.syncsol, SWTOPT},
+    {"pos2-slipthres", 1, (void *)&prcopt_.thresslip, "m"},
+    {"pos2-dopthres", 1, (void *)&prcopt_.thresdop, "m"},
+    {"pos2-rejionno", 1, (void *)&prcopt_.maxinno, "m"},
+    {"pos2-rejgdop", 1, (void *)&prcopt_.maxgdop, ""},
+    {"pos2-niter", 0, (void *)&prcopt_.niter, ""},
+    {"pos2-baselen", 1, (void *)&prcopt_.baseline[0], "m"},
+    {"pos2-basesig", 1, (void *)&prcopt_.baseline[1], "m"},
+
+    {"out-solformat", 3, (void *)&solopt_.posf, SOLOPT},
+    {"out-outhead", 3, (void *)&solopt_.outhead, SWTOPT},
+    {"out-outopt", 3, (void *)&solopt_.outopt, SWTOPT},
+    {"out-outvel", 3, (void *)&solopt_.outvel, SWTOPT},
+    {"out-timesys", 3, (void *)&solopt_.times, TSYOPT},
+    {"out-timeform", 3, (void *)&solopt_.timef, TFTOPT},
+    {"out-timendec", 0, (void *)&solopt_.timeu, ""},
+    {"out-degform", 3, (void *)&solopt_.degf, DFTOPT},
+    {"out-fieldsep", 2, (void *)solopt_.sep, ""},
+    {"out-outsingle", 3, (void *)&prcopt_.outsingle, SWTOPT},
+    {"out-maxsolstd", 1, (void *)&solopt_.maxsolstd, "m"},
+    {"out-height", 3, (void *)&solopt_.height, HGTOPT},
+    {"out-geoid", 3, (void *)&solopt_.geoid, GEOOPT},
+    {"out-solstatic", 3, (void *)&solopt_.solstatic, STAOPT},
+    {"out-nmeaintv1", 1, (void *)&solopt_.nmeaintv[0], "s"},
+    {"out-nmeaintv2", 1, (void *)&solopt_.nmeaintv[1], "s"},
+    {"out-outstat", 3, (void *)&solopt_.sstat, STSOPT},
+    {"stats-eratio1", 1, (void *)&prcopt_.eratio[0], ""},
+    {"stats-eratio2", 1, (void *)&prcopt_.eratio[1], ""},
+    {"stats-eratio5", 1, (void *)&prcopt_.eratio[2], ""},
+    {"stats-errphase", 1, (void *)&prcopt_.err[1], "m"},
+    {"stats-errphaseel", 1, (void *)&prcopt_.err[2], "m"},
+    {"stats-errphasebl", 1, (void *)&prcopt_.err[3], "m/10km"},
+    {"stats-errdoppler", 1, (void *)&prcopt_.err[4], "Hz"},
+    {"stats-snrmax", 1, (void *)&prcopt_.err[5], "dB.Hz"},
+    {"stats-errsnr", 1, (void *)&prcopt_.err[6], "m"},
+    {"stats-errrcv", 1, (void *)&prcopt_.err[7], " "},
+    {"stats-stdbias", 1, (void *)&prcopt_.std[0], "m"},
+    {"stats-stdiono", 1, (void *)&prcopt_.std[1], "m"},
+    {"stats-stdtrop", 1, (void *)&prcopt_.std[2], "m"},
+    {"stats-prnaccelh", 1, (void *)&prcopt_.prn[3], "m/s^2"},
+    {"stats-prnaccelv", 1, (void *)&prcopt_.prn[4], "m/s^2"},
+    {"stats-prnbias", 1, (void *)&prcopt_.prn[0], "m"},
+    {"stats-prniono", 1, (void *)&prcopt_.prn[1], "m"},
+    {"stats-prntrop", 1, (void *)&prcopt_.prn[2], "m"},
+    {"stats-prnpos", 1, (void *)&prcopt_.prn[5], "m"},
+    {"stats-clkstab", 1, (void *)&prcopt_.sclkstab, "s/s"},
+
+    {"ant1-postype", 3, (void *)&antpostype_[0], POSOPT},
+    {"ant1-pos1", 1, (void *)&antpos_[0][0], "deg|m"},
+    {"ant1-pos2", 1, (void *)&antpos_[0][1], "deg|m"},
+    {"ant1-pos3", 1, (void *)&antpos_[0][2], "m|m"},
+    {"ant1-anttype", 2, (void *)prcopt_.anttype[0], ""},
+    {"ant1-antdele", 1, (void *)&prcopt_.antdel[0][0], "m"},
+    {"ant1-antdeln", 1, (void *)&prcopt_.antdel[0][1], "m"},
+    {"ant1-antdelu", 1, (void *)&prcopt_.antdel[0][2], "m"},
+
+    {"ant2-postype", 3, (void *)&antpostype_[1], POSOPT},
+    {"ant2-pos1", 1, (void *)&antpos_[1][0], "deg|m"},
+    {"ant2-pos2", 1, (void *)&antpos_[1][1], "deg|m"},
+    {"ant2-pos3", 1, (void *)&antpos_[1][2], "m|m"},
+    {"ant2-anttype", 2, (void *)prcopt_.anttype[1], ""},
+    {"ant2-antdele", 1, (void *)&prcopt_.antdel[1][0], "m"},
+    {"ant2-antdeln", 1, (void *)&prcopt_.antdel[1][1], "m"},
+    {"ant2-antdelu", 1, (void *)&prcopt_.antdel[1][2], "m"},
+    {"ant2-maxaveep", 0, (void *)&prcopt_.maxaveep, ""},
+    {"ant2-initrst", 3, (void *)&prcopt_.initrst, SWTOPT},
+
+    {"misc-timeinterp", 3, (void *)&prcopt_.intpref, SWTOPT},
+    {"misc-sbasatsel", 0, (void *)&prcopt_.sbassatsel, "0:all"},
+    {"misc-rnxopt1", 2, (void *)prcopt_.rnxopt[0], ""},
+    {"misc-rnxopt2", 2, (void *)prcopt_.rnxopt[1], ""},
+    {"misc-pppopt", 2, (void *)prcopt_.pppopt, ""},
+
+    // {"file-satantfile", 2,  (void *)&filopt_.satantp,    ""     },
+    // {"file-rcvantfile", 2,  (void *)&filopt_.rcvantp,    ""     },
+    // {"file-staposfile", 2,  (void *)&filopt_.stapos,     ""     },
+    // {"file-geoidfile",  2,  (void *)&filopt_.geoid,      ""     },
+    // {"file-ionofile",   2,  (void *)&filopt_.iono,       ""     },
+    // {"file-dcbfile",    2,  (void *)&filopt_.dcb,        ""     },
+    // {"file-eopfile",    2,  (void *)&filopt_.eop,        ""     },
+    // {"file-blqfile",    2,  (void *)&filopt_.blq,        ""     },
+    // {"file-tempdir",    2,  (void *)&filopt_.tempdir,    ""     },
+    // {"file-geexefile",  2,  (void *)&filopt_.geexe,      ""     },
+    // {"file-solstatfile",2,  (void *)&filopt_.solstat,    ""     },
+    // {"file-tracefile",  2,  (void *)&filopt_.trace,      ""     },
+
+    {"", 0, NULL, ""} /* terminator */
+};
+#endif
+const prcopt_t prcopt_default = {
+     /* defaults processing options */
+     PMODE_KINEMA,                                   /* positioning mode (PMODE_???) */
+     0,                                              /* solution type (0:forward,1:backward,2:combined) */
+     1,                                              /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) */
+     SYS_GPS | SYS_CMP | SYS_QZS,                    /* navigation system */
+     15.0 * D2R,                                     /* elevation mask angle (rad) */
+     {{1, 1},
+     {{37,37,37,35,35,35,35,35,35},
+     {37,37,37,35,35,35,35,35,35},
+     {37,37,37,35,35,35,35,35,35}}},                 /* SNR mask */
+     0,                                              /* satellite ephemeris/clock (EPHOPT_???) */
+     1,                                              /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+     1,                                              /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
+     1,                                              /* GPS AR mode, debug/learning only (0:off,1:on) */
+     1,                                              /* BeiDou AR mode (0:off,1:on) */
+     1,                                              /* AR filtering to reject bad sats (0:off,1:on) */
+     5,                                              /* obs outage count to reset bias */
+     10,                                              /* min lock count to fix ambiguity */
+     7,                                              /* min sats to fix integer ambiguities */
+     7,                                              /* min sats to hold integer ambiguities */
+     10,                                             /* min sats to drop sats in AR */
+     10,                                             /* min fix count to hold ambiguity */
+     1,                                              /* max iteration to resolve ambiguity */
+     0,                                              /* ionosphere option (IONOOPT_???) */
+     0,                                              /* troposphere option (TROPOPT_???) */
+     1,                                              /* dynamics model (0:none,1:velociy,2:accel) */
+     0,                                              /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
+     1,                                              /* number of filter iteration */
+     0,                                              /* code smoothing window size (0:none) */
+     0,                                              /* interpolate reference obs (for post mission) */
+     0,                                              /* SBAS correction options */
+     0,                                              /* SBAS satellite selection (0:all) */
+     0,                                              /* rover position for fixed mode */
+     4,                                              /* (0:pos in prcopt,  1:average of single pos, */
+													/*  2:read from file, 3:rinex header, 4:rtcm pos) */
+     {100.0, 100.0, 300.0},                           /* base position for relative mode *//* eratio[] */
+     {100.0, 0.015, 0.015, 0.0, 1.0, 52.0, 0.0, 0.0}, /* err[-,base,el,bl,dop,snr_max,snr,rcverr] */
+     {30.0, 0.03, 0.3},                               /* initial-state std [0]bias,[1]iono [2]trop */
+     {1E-4, 1E-3, 1E-4, 1.0, 1.0, 0.0},             /* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos */
+     5E-12,                                           /* satellite clock stability (sec/sec) */
+     {3.0, 1, 0.25, 1E-9, 1E-5, 3.0, 3.0, 0.0},     /* AR validation threshold */
+     15.0,                                             /* elevation mask of AR for rising satellite (deg) */
+     15.0,                                             /* elevation mask to hold ambiguity (deg) */
+     0.05,                                            /* slip threshold of geometry-free phase (m) */
+     0,                                               /* slip threshold of doppler (m) */
+     0.1,                                             /* variance for fix-and-hold psuedo measurements (cycle^2) */
+     0.01,                                            /* gain used for GLO and SBAS sats to adjust ambiguity */
+     30.0,                                            /* max difference of time (sec) */
+     30.0,                                             /* reject threshold of innovation (m) */
+     30.0,                                            /* reject threshold of gdop */
+     {0},                                             /* baseline length constraint {const,sigma} (m) */
+     {0},                                             /* rover position for fixed mode {x,y,z} (ecef) (m) */
+     {0},                                             /* base position for relative mode {x,y,z} (ecef) (m) */
+     {"", ""},                                        /* antenna types {rover,base} */
+     {{0}},                                           /* antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
+     {{0}},                                           /* receiver antenna parameters {rov,base} */
+     {0},                                             /* excluded satellites (1:excluded,2:included) */
+     0,                                               /* max averaging epoches */
+     0                                                /* initialize by restart */
+ };
+// const solopt_t solopt_default = {
+//     /* defaults solution output options */
+//     SOLF_NMEA,   /* solution format (SOLF_???) */
+//     TIMES_UTC, /* time system (TIMES_???)*/
+//     1,          /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */
+//     3,          /* time digits under decimal point */
+//     0,          /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */
+//     1,          /* output header (0:no,1:yes) */
+//     1,          /* output processing options (0:no,1:yes) */
+//     0,          /* output velocity options (0:no,1:yes) */
+//     0,          /* datum (0:WGS84,1:Tokyo) */
+//     0,          /* height (0:ellipsoidal,1:geodetic) */
+//     0,          /* geoid model (0:EGM96,1:JGD2000) */
+//     0,          /* solution of static mode (0:all,1:single) */
+//     0,          /* solution statistics level (0:off,1:states,2:residuals) */
+//     0,          /* debug trace level (0:off,1-5:debug) */
+//     {0.0, 0.0}, /* nmea output interval (s) (<0:no,0:all) */
+//                 /* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv */
+//     " ",/* field separator */
+//     ""          /* program name */
+//     /* solution options type */
+// };
+//const prcopt_t prcopt_default = {
+//    /* defaults processing options */
+//    PMODE_KINEMA,
+//    0,
+//    2,
+//    SYS_GPS | SYS_GLO | SYS_GAL, /* mode,soltype,nf,navsys */
+//    15.0 * D2R,
+//    {{0, 0}}, /* elmin,snrmask */
+//    0,
+//    3,
+//    3,
+//    1,
+//    0,
+//    1, /* sateph,modear,glomodear,gpsmodear,bdsmodear,arfilter */
+//    20,
+//    0,
+//    4,
+//    5,
+//    10,
+//    20, /* maxout,minlock,minfixsats,minholdsats,mindropsats,minfix */
+//    1,
+//    1,
+//    1,
+//    1,
+//    0, /* armaxiter,estion,esttrop,dynamics,tidecorr */
+//    1,
+//    0,
+//    0,
+//    0,
+//    0, /* niter,codesmooth,intpref,sbascorr,sbassatsel */
+//    0,
+//    4,                                               /* rovpos,refpos */
+//    {300.0, 300.0, 300.0},                           /* eratio[] */
+//    {100.0, 0.003, 0.003, 0.0, 1.0, 52.0, 0.0, 0.0}, /* err[-,base,el,bl,dop,snr_max,snr,rcverr] */
+//    {30.0, 0.03, 0.3},                               /* std[] */
+//    {1E-4, 1E-3, 1E-4, 1E-1, 1E-2, 0.0},             /* prn[] */
+//    5E-12,                                           /* sclkstab */
+//    {3.0, 0.25, 0.0, 1E-9, 1E-5, 3.0, 3.0, 0.0},     /* thresar */
+//    0.0,
+//    0.0,
+//    0.05,
+//    0, /* elmaskar,elmaskhold,thresslip,thresdop, */
+//    0.1,
+//    0.01,
+//    30.0,
+//    5.0,
+//    30.0, /* varholdamb,gainholdamb,maxtdif,maxinno,maxgdop */
+//    {0},
+//    {0},
+//    {0},      /* baseline,ru,rb */
+//    {"", ""}, /* anttype */
+//    {{0}},
+//    {{0}},
+//    {0}, /* antdel,pcv,exsats */
+//    1,
+//    1 /* maxaveep,initrst */
+//};
+const solopt_t solopt_default = {
+    /* defaults solution output options */
+    SOLF_LLH,
+    TIMES_GPST,
+    1,
+    3, /* posf,times,timef,timeu */
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    0, /* degf,outhead,outopt,outvel,datum,height,geoid */
+    0,
+    0,
+    0,          /* solstatic,sstat,trace */
+    {0.0, 0.0}, /* nmeaintv */
+    " ",
+    "" /* separator/program name */
+};
+#ifdef USING_FILE_OPT
+/* discard space characters at tail ------------------------------------------*/
+static void chop(char *str)
+{
+    char *p;
+    if ((p = strchr(str, '#')))
+        *p = '\0'; /* comment */
+    for (p = str + strlen(str) - 1; p >= str && !isgraph((int)*p); p--)
+        *p = '\0';
+}
+/* enum to string ------------------------------------------------------------*/
+static int enum2str(char *s, const char *comment, int val)
+{
+    char str[32], *p, *q;
+    int n;
+
+    n = sprintf(str, "%d:", val);
+    if (!(p = strstr(comment, str)))
+    {
+        return sprintf(s, "%d", val);
+    }
+    if (!(q = strchr(p + n, ',')) && !(q = strchr(p + n, ')')))
+    {
+        strcpy(s, p + n);
+        return (int)strlen(p + n);
+    }
+    strncpy(s, p + n, q - p - n);
+    s[q - p - n] = '\0';
+    return (int)(q - p - n);
+}
+/* string to enum ------------------------------------------------------------*/
+static int str2enum(const char *str, const char *comment, int *val)
+{
+    const char *p;
+    char s[32];
+
+    for (p = comment;; p++)
+    {
+        if (!(p = strstr(p, str)))
+            break;
+        if (*(p - 1) != ':')
+            continue;
+        for (p -= 2; '0' <= *p && *p <= '9'; p--)
+            ;
+        return sscanf(p + 1, "%d", val) == 1;
+    }
+    sprintf(s, "%.30s:", str);
+    if ((p = strstr(comment, s)))
+    { /* number */
+        return sscanf(p, "%d", val) == 1;
+    }
+    return 0;
+}
+/* search option ---------------------------------------------------------------
+ * search option record
+ * args   : char   *name     I  option name
+ *          opt_t  *opts     I  options table
+ *                              (terminated with table[i].name="")
+ * return : option record (NULL: not found)
+ *-----------------------------------------------------------------------------*/
+extern opt_t *searchopt(const char *name, const opt_t *opts)
+{
+    int i;
+
+    trace(4, "searchopt: name=%s\n", name);
+
+    for (i = 0; *opts[i].name; i++)
+    {
+        if (strstr(opts[i].name, name))
+            return (opt_t *)(opts + i);
+    }
+    return NULL;
+}
+/* string to option value ------------------------------------------------------
+ * convert string to option value
+ * args   : opt_t  *opt      O  option
+ *          char   *str      I  option value string
+ * return : status (1:ok,0:error)
+ *-----------------------------------------------------------------------------*/
+extern int str2opt(opt_t *opt, const char *str)
+{
+    switch (opt->format)
+    {
+    case 0:
+        *(int *)opt->var = atoi(str);
+        break;
+    case 1:
+        *(double *)opt->var = atof(str);
+        break;
+    case 2:
+        strcpy((char *)opt->var, str);
+        break;
+    case 3:
+        return str2enum(str, opt->comment, (int *)opt->var);
+    default:
+        return 0;
+    }
+    return 1;
+}
+/* option value to string ------------------------------------------------------
+ * convert option value to string
+ * args   : opt_t  *opt      I  option
+ *          char   *str      O  option value string
+ * return : length of output string
+ *-----------------------------------------------------------------------------*/
+extern int opt2str(const opt_t *opt, char *str)
+{
+    char *p = str;
+
+    trace(3, "opt2str : name=%s\n", opt->name);
+
+    switch (opt->format)
+    {
+    case 0:
+        p += sprintf(p, "%d", *(int *)opt->var);
+        break;
+    case 1:
+        p += sprintf(p, "%.15g", *(double *)opt->var);
+        break;
+    case 2:
+        p += sprintf(p, "%s", (char *)opt->var);
+        break;
+    case 3:
+        p += enum2str(p, opt->comment, *(int *)opt->var);
+        break;
+    }
+    return (int)(p - str);
+}
+/* option to string -------------------------------------------------------------
+ * convert option to string (keyword=value # comment)
+ * args   : opt_t  *opt      I  option
+ *          char   *buff     O  option string
+ * return : length of output string
+ *-----------------------------------------------------------------------------*/
+extern int opt2buf(const opt_t *opt, char *buff)
+{
+    char *p = buff;
+    int n;
+
+    trace(3, "opt2buf : name=%s\n", opt->name);
+
+    p += sprintf(p, "%-18s =", opt->name);
+    p += opt2str(opt, p);
+    if (*opt->comment)
+    {
+        if ((n = (int)(buff + 30 - p)) > 0)
+            p += sprintf(p, "%*s", n, "");
+        p += sprintf(p, " # (%s)", opt->comment);
+    }
+    return (int)(p - buff);
+}
+/* load options ----------------------------------------------------------------
+ * load options from file
+ * args   : char   *file     I  options file
+ *          opt_t  *opts     IO options table
+ *                              (terminated with table[i].name="")
+ * return : status (1:ok,0:error)
+ *-----------------------------------------------------------------------------*/
+extern int loadopts(const char *file, opt_t *opts)
+{
+    FILE *fp;
+    opt_t *opt;
+    char buff[2048], *p;
+    int n = 0;
+
+    trace(4, "loadopts: file=%s\n", file);
+
+    if (!(fp = fopen(file, "r")))
+    {
+        trace(1, "loadopts: options file open error (%s)\n", file);
+        return 0;
+    }
+    while (fgets(buff, sizeof(buff), fp))
+    {
+        n++;
+        chop(buff);
+
+        if (buff[0] == '\0')
+            continue;
+
+        if (!(p = strstr(buff, "=")))
+        {
+            fprintf(stderr, "invalid option %s (%s:%d)\n", buff, file, n);
+            continue;
+        }
+        *p++ = '\0';
+        chop(buff);
+        if (!(opt = searchopt(buff, opts)))
+            continue;
+
+        if (!str2opt(opt, p))
+        {
+            fprintf(stderr, "invalid option value %s (%s:%d)\n", buff, file, n);
+            continue;
+        }
+    }
+    fclose(fp);
+
+    return 1;
+}
+/* save options to file --------------------------------------------------------
+ * save options to file
+ * args   : char   *file     I  options file
+ *          char   *mode     I  write mode ("w":overwrite,"a":append);
+ *          char   *comment  I  header comment (NULL: no comment)
+ *          opt_t  *opts     I  options table
+ *                              (terminated with table[i].name="")
+ * return : status (1:ok,0:error)
+ *-----------------------------------------------------------------------------*/
+extern int saveopts(const char *file, const char *mode, const char *comment,
+                    const opt_t *opts)
+{
+    FILE *fp;
+    char buff[2048];
+    int i;
+
+    trace(3, "saveopts: file=%s mode=%s\n", file, mode);
+
+    if (!(fp = fopen(file, mode)))
+    {
+        trace(1, "saveopts: options file open error (%s)\n", file);
+        return 0;
+    }
+    if (comment)
+        fprintf(fp, "# %s\n\n", comment);
+
+    for (i = 0; *opts[i].name; i++)
+    {
+        opt2buf(opts + i, buff);
+        fprintf(fp, "%s\n", buff);
+    }
+    fclose(fp);
+    return 1;
+}
+/* options to system options buffer ------------------------------------------*/
+static void sysopts2buff(void)
+{
+    double pos[3], *rr;
+    char id[32], *p;
+    int i, j, sat, *ps;
+
+    elmask_ = prcopt_.elmin * R2D;
+    elmaskar_ = prcopt_.elmaskar * R2D;
+    elmaskhold_ = prcopt_.elmaskhold * R2D;
+
+    for (i = 0; i < 2; i++)
+    {
+        ps = i == 0 ? &prcopt_.rovpos : &prcopt_.refpos;
+        rr = i == 0 ? prcopt_.ru : prcopt_.rb;
+
+        if (*ps == 0)
+        {
+            antpostype_[i] = 0;
+            ecef2pos(rr, pos);
+            antpos_[i][0] = pos[0] * R2D;
+            antpos_[i][1] = pos[1] * R2D;
+            antpos_[i][2] = pos[2];
+        }
+        else
+            antpostype_[i] = *ps + 1;
+    }
+    /* excluded satellites */
+    exsats_[0] = '\0';
+    for (sat = 1, p = exsats_; sat <= MAXSAT && p - exsats_ < (int)sizeof(exsats_) - 32; sat++)
+    {
+        if (prcopt_.exsats[sat - 1])
+        {
+            satno2id(sat, id);
+            p += sprintf(p, "%s%s%s", p == exsats_ ? "" : " ",
+                         prcopt_.exsats[sat - 1] == 2 ? "+" : "", id);
+        }
+    }
+    /* snrmask */
+    for (i = 0; i < NFREQ; i++)
+    {
+        snrmask_[i][0] = '\0';
+        p = snrmask_[i];
+        for (j = 0; j < 9; j++)
+        {
+            p += sprintf(p, "%s%.0f", j > 0 ? "," : "", prcopt_.snrmask.mask[i][j]);
+        }
+    }
+    /* number of frequency (4:L1+L5) TODO ???? */
+    /*if (prcopt_.nf==3&&prcopt_.freqopt==1) {
+        prcopt_.nf=4;
+        prcopt_.freqopt=0;
+    }*/
+}
+#endif
+/* system options buffer to options ------------------------------------------*/
+static void buff2sysopts(void)
+{
+    double pos[3], *rr;
+    char buff[1024], *p, *id;
+    int i, j, sat, *ps;
+
+    prcopt_.elmin = elmask_ * D2R;
+    prcopt_.elmaskar = elmaskar_ * D2R;
+    prcopt_.elmaskhold = elmaskhold_ * D2R;
+    for (i = 0; i < MAXSAT; i++)
+        prcopt_.exsats[i] = 0;
+
+    for (i = 0; i < 2; i++)
+    {
+        ps = i == 0 ? &prcopt_.rovpos : &prcopt_.refpos;
+        rr = i == 0 ? prcopt_.ru : prcopt_.rb;
+
+        if (antpostype_[i] == 0)
+        { /* lat/lon/hgt */
+            *ps = 0;
+            pos[0] = antpos_[i][0] * D2R;
+            pos[1] = antpos_[i][1] * D2R;
+            pos[2] = antpos_[i][2];
+            pos2ecef(pos, rr);
+        }
+        else if (antpostype_[i] == 1)
+        { /* xyz-ecef */
+            *ps = 0;
+            rr[0] = antpos_[i][0];
+            rr[1] = antpos_[i][1];
+            rr[2] = antpos_[i][2];
+        }
+        else
+            *ps = antpostype_[i] - 1;
+    }
+#ifdef USING_FILE_OPT
+    /* excluded satellites */
+    if (exsats_[0] != '\0')
+    {
+        strcpy(buff, exsats_);
+        for (p = strtok(buff, " "); p; p = strtok(NULL, " "))
+        {
+            if (*p == '+')
+                id = p + 1;
+            else
+                id = p;
+            if (!(sat = satid2no(id)))
+                continue;
+            prcopt_.exsats[sat - 1] = *p == '+' ? 2 : 1;
+        }
+    }
+    /* snrmask */
+    for (i = 0; i < NFREQ; i++)
+    {
+        for (j = 0; j < 9; j++)
+            prcopt_.snrmask.mask[i][j] = 0.0;
+        strcpy(buff, snrmask_[i]);
+        for (p = strtok(buff, ","), j = 0; p && j < 9; p = strtok(NULL, ","))
+        {
+            prcopt_.snrmask.mask[i][j++] = atof(p);
+        }
+    }
+#endif
+    /* number of frequency (4:L1+L5) TODO ????*/
+    /*if (prcopt_.nf==4) {
+        prcopt_.nf=3;
+        prcopt_.freqopt=1;
+    }*/
+}
+
+/* reset system options to default ---------------------------------------------
+ * reset system options to default
+ * args   : none
+ * return : none
+ *-----------------------------------------------------------------------------*/
+extern void resetsysopts(void)
+{
+    int i, j;
+
+    trace(3, "resetsysopts:\n");
+
+    prcopt_ = prcopt_default;
+    solopt_ = solopt_default;
+
+    // filopt_.satantp[0]='\0';
+    // filopt_.rcvantp[0]='\0';
+    // filopt_.stapos [0]='\0';
+    // filopt_.geoid  [0]='\0';
+    // filopt_.dcb    [0]='\0';
+    // filopt_.blq    [0]='\0';
+    // filopt_.solstat[0]='\0';
+    // filopt_.trace  [0]='\0';
+
+    elmask_ = 15.0;
+    elmaskar_ = 0.0;
+    elmaskhold_ = 0.0;
+    for (i = 0; i < 2; i++)
+        antpostype_[i] = 0;
+    for (i = 0; i < 2; i++)
+        for (j = 0; j < 3; j++)
+        {
+            antpos_[i][j] = 0.0;
+        }
+#ifdef USING_FILE_OPT
+    exsats_[0] = '\0';
+#endif
+    antpostype_[0] = 0;
+    antpostype_[1] = 5;
+}
+/* opt_init ---------------------------------------------
+ * 对规则做自定义, 相当于是导入文件的写死版本
+ * args   : none
+ * return : none
+ *-----------------------------------------------------------------------------*/
+static void opt_init(void)
+{
+    // prcopt_.nf = 1;
+}
+
+/* get system options ----------------------------------------------------------
+ * get system options
+ * args   : prcopt_t *popt   IO processing options (NULL: no output)
+ *          solopt_t *sopt   IO solution options   (NULL: no output)
+ *          folopt_t *fopt   IO file options       (NULL: no output)
+ * return : none
+ * notes  : to load system options, use loadopts() before calling the function
+ *-----------------------------------------------------------------------------*/
+// extern void getsysopts(prcopt_t *popt, solopt_t *sopt, filopt_t *fopt)
+extern void getsysopts(prcopt_t *popt, solopt_t *sopt)
+{
+    trace(3, "getsysopts:\n");
+
+    opt_init();
+    buff2sysopts();
+
+    /* confirm overwrite */
+    if (prcopt_.refpos == 4) /* 4:rtcm pos */
+    {                        /* rtcm */
+        for (char i = 0; i < 3; i++)
+            prcopt_.rb[i] = 0.0;
+    }
+    if (popt)
+        *popt = prcopt_;
+    if (sopt)
+        *sopt = solopt_;
+    // if (fopt) *fopt=filopt_;
+}
+/* set system options ----------------------------------------------------------
+ * set system options
+ * args   : prcopt_t *prcopt I  processing options (NULL: default)
+ *          solopt_t *solopt I  solution options   (NULL: default)
+ *          filopt_t *filopt I  file options       (NULL: default)
+ * return : none
+ * notes  : to save system options, use saveopts() after calling the function
+ *-----------------------------------------------------------------------------*/
+// extern void setsysopts(const prcopt_t *prcopt, const solopt_t *solopt,
+//                        const filopt_t *filopt)
+// extern void setsysopts(const prcopt_t *prcopt, const solopt_t *solopt)
+// {
+//     trace(3, "setsysopts:\n");
+
+//     resetsysopts();
+//     if (prcopt)
+//         prcopt_ = *prcopt;
+//     if (solopt)
+//         solopt_ = *solopt;
+//     // if (filopt) filopt_=*filopt;
+//     sysopts2buff();
+// }

RTK/rtklib.h

@@ -31,14 +31,14 @@
 #define ENAGPS
 // #define ENAGLO
 // #define ENAGAL
-#define ENACMP
+// #define ENACMP
 // #define ENAQZS
-//#define TRACE
+// #define TRACE
 // #define L5_TO_L2
 // #define ONLY_2FREQ
 #define PAR
 
-#define USING_FILE_OPT
+//#define USING_FILE_OPT
 //#define STATIC
 
 #define STM32
@@ -56,6 +56,7 @@
 
 #include <rtthread.h>
 #include <rtdevice.h>
+#include <rtk_task.h>
 
 /* constants -----------------------------------------------------------------*/
 
@@ -1242,15 +1243,15 @@ typedef struct
     int format[2];           /* input format {rov,base} */
     solopt_t solopt[2];      /* output solution options {sol1,sol2} */
     int navsel;              /* ephemeris select (0:all,1:rover,2:base,3) */
-    int nsbs;                /* number of sbas message */
+//    int nsbs;                /* number of sbas message */
     int nsol;                /* number of solution buffer */
     rtk_t rtk;               /* RTK control/result struct */
     int nb[2];               /* bytes in input buffers {rov,base} */
-    int nsb[2];              /* bytes in soulution buffers */
+//    int nsb[2];              /* bytes in soulution buffers */
-    int npb[2];              /* bytes in input peek buffers */
+//    int npb[2];              /* bytes in input peek buffers */
     uint8_t *buff[2];        /* input buffers {rov,base} */
-    uint8_t *sbuf[2];        /* output buffers {sol1,sol2} */
+//    uint8_t *sbuf[2];        /* output buffers {sol1,sol2} */
-    uint8_t *pbuf[2];        /* peek buffers {rov,base} */
+//    uint8_t *pbuf[2];        /* peek buffers {rov,base} */
     sol_t solbuf[MAXSOLBUF]; /* solution buffer */
     uint32_t nmsg[2][10];    /* input message counts */
     // raw_t  raw [2];     /* receiver raw control {rov,base} */
@@ -1260,7 +1261,7 @@ typedef struct
     obs_t obs[2][MAXOBSBUF]; /* observation data {rov,base} */
     nav_t nav;               /* navigation data */
     // sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
-    stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
+//    stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
     // stream_t *moni;     /* monitor stream */
     uint32_t tick;    /* start tick */
 //    thread_t thread;  /* server thread */
@@ -1699,8 +1700,8 @@ extern int rtkpos_static(rtk_t *rtk, obsd_t *obs[], int n, const nav_t *nav, cha
  int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path,
                          const solopt_t *solopt);
  void rtksvrclosestr(rtksvr_t *svr, int index);
- void rtksvrlock(rtksvr_t *svr);
+// void rtksvrlock(rtksvr_t *svr);
- void rtksvrunlock(rtksvr_t *svr);
+// void rtksvrunlock(rtksvr_t *svr);
  int rtksvrostat(rtksvr_t *svr, int type, gtime_t *time, int *sat,
                        double *az, double *el, int **snr, int *vsat);
  void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg);
@@ -1724,4 +1725,5 @@ extern int showmsg(const char *format, ...);
 extern void settspan(gtime_t ts, gtime_t te);
 extern void settime(gtime_t time);
 
+int dbg_show_obs(const obsd_t *obs, int nobs, char mode, char *buffer);
 #endif /* RTKLIB_H */

RTK/static_ram.c

@@ -1,36 +0,0 @@
-#include "rtklib.h"
-
-#ifdef STATIC
-/* number of parameters (pos,ionos,tropos,hw-bias,phase-bias,real,estimated) */
-#define NX 87
-#define NR 9
-/* global variables ----------------------------------------------------------*/
-rtksvr_t svr;               /* rtk server struct */
-prcopt_t prcopt;            /* processing options */
-solopt_t solopt[2] = {{0}}; /* solution options */
-
-/* rtkpos.c */
-double rtk_x[NX] = {0.0};       /* NX*8 =  B */
-double rtk_P[NX * NX] = {0.0};  /* NX*NX*8 =  B */
-double rtk_xa[NR] = {0.0};      /* NR*8 =  B */
-double rtk_Pa[NR * NR] = {0.0}; /* NR*NR*8 =  B */
-
-/* rtksvr.c */
-eph_t svr_eph[MAXSAT];
-#ifdef ENAGLO
-geph_t svr_geph[NSATGLO];
-#endif
-#ifdef ENASBS
-seph_t svr_seph[NSATSBS];
-#endif
-obsd_t svr_obsd[2][MAXOBS];
-
-/* rtcm.c */
-obsd_t RTCM_obsd_r[MAXOBS];
-obsd_t RTCM_obsd_b[MAXOBS];
-eph_t RTCM_eph_r[MAXSAT];
-#ifdef ENAGLO
-geph_t RTCM_geph[MAXPRNGLO];
-#endif
-
-#endif

RTK/tides.c

@@ -0,0 +1,310 @@
+/*------------------------------------------------------------------------------
+* tides.c : tidal displacement corrections
+*
+*          Copyright (C) 2015-2017 by T.TAKASU, All rights reserved.
+*
+* options : -DIERS_MODEL use IERS tide model
+*
+* references :
+*     [1] D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
+*     [2] D.D.McCarthy and G.Petit, IERS Technical Note 32, IERS Conventions
+*         2003, November 2003
+*     [3] D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed,
+*         Space Technology Library, 2004
+*     [4] J.Kouba, A Guide to using International GNSS Service (IGS) products,
+*         May 2009
+*     [5] G.Petit and B.Luzum (eds), IERS Technical Note No. 36, IERS
+*         Conventions (2010), 2010
+*
+* version : $Revision:$ $Date:$
+* history : 2015/05/10 1.0  separated from ppp.c
+*           2015/06/11 1.1  fix bug on computing days in tide_oload() (#128)
+*           2017/04/11 1.2  fix bug on calling geterp() in timdedisp()
+*-----------------------------------------------------------------------------*/
+#include "rtklib.h"
+
+#define SQR(x)      ((x)*(x))
+
+//#define AS2R        (D2R/3600.0)    /* arc sec to radian */
+#define GME         3.986004415E+14 /* earth gravitational constant */
+#define GMS         1.327124E+20    /* sun gravitational constant */
+#define GMM         4.902801E+12    /* moon gravitational constant */
+
+/* function prototypes -------------------------------------------------------*/
+#ifdef IERS_MODEL
+extern int dehanttideinel_(double *xsta, int *year, int *mon, int *day,
+                           double *fhr, double *xsun, double *xmon,
+                           double *dxtide);
+#endif
+
+/* solar/lunar tides (ref [2] 7) ---------------------------------------------*/
+#ifndef IERS_MODEL
+static void tide_pl(const double *eu, const double *rp, double GMp,
+                    const double *pos, double *dr)
+{
+    const double H3=0.292,L3=0.015;
+    double r,ep[3],latp,lonp,p,K2,K3,a,H2,L2,dp,du,cosp,sinl,cosl;
+    int i;
+    
+    trace(4,"tide_pl : pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
+    
+    if ((r=norm(rp,3))<=0.0) return;
+    
+    for (i=0;i<3;i++) ep[i]=rp[i]/r;
+    
+    K2=GMp/GME*SQR(RE_WGS84)*SQR(RE_WGS84)/(r*r*r);
+    K3=K2*RE_WGS84/r;
+    latp=asin(ep[2]); lonp=atan2(ep[1],ep[0]);
+    cosp=cos(latp); sinl=sin(pos[0]); cosl=cos(pos[0]);
+    
+    /* step1 in phase (degree 2) */
+    p=(3.0*sinl*sinl-1.0)/2.0;
+    H2=0.6078-0.0006*p;
+    L2=0.0847+0.0002*p;
+    a=dot(ep,eu,3);
+    dp=K2*3.0*L2*a;
+    du=K2*(H2*(1.5*a*a-0.5)-3.0*L2*a*a);
+    
+    /* step1 in phase (degree 3) */
+    dp+=K3*L3*(7.5*a*a-1.5);
+    du+=K3*(H3*(2.5*a*a*a-1.5*a)-L3*(7.5*a*a-1.5)*a);
+    
+    /* step1 out-of-phase (only radial) */
+    du+=3.0/4.0*0.0025*K2*sin(2.0*latp)*sin(2.0*pos[0])*sin(pos[1]-lonp);
+    du+=3.0/4.0*0.0022*K2*cosp*cosp*cosl*cosl*sin(2.0*(pos[1]-lonp));
+    
+    dr[0]=dp*ep[0]+du*eu[0];
+    dr[1]=dp*ep[1]+du*eu[1];
+    dr[2]=dp*ep[2]+du*eu[2];
+    
+    trace(5,"tide_pl : dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
+}
+/* displacement by solid earth tide (ref [2] 7) ------------------------------*/
+static void tide_solid(const double *rsun, const double *rmoon,
+                       const double *pos, const double *E, double gmst, int opt,
+                       double *dr)
+{
+    double dr1[3],dr2[3],eu[3],du,dn,sinl,sin2l;
+    
+    trace(3,"tide_solid: pos=%.3f %.3f opt=%d\n",pos[0]*R2D,pos[1]*R2D,opt);
+    
+    /* step1: time domain */
+    eu[0]=E[2]; eu[1]=E[5]; eu[2]=E[8];
+    tide_pl(eu,rsun, GMS,pos,dr1);
+    tide_pl(eu,rmoon,GMM,pos,dr2);
+    
+    /* step2: frequency domain, only K1 radial */
+    sin2l=sin(2.0*pos[0]);
+    du=-0.012*sin2l*sin(gmst+pos[1]);
+    
+    dr[0]=dr1[0]+dr2[0]+du*E[2];
+    dr[1]=dr1[1]+dr2[1]+du*E[5];
+    dr[2]=dr1[2]+dr2[2]+du*E[8];
+    
+    /* eliminate permanent deformation */
+    if (opt&8) {
+        sinl=sin(pos[0]); 
+        du=0.1196*(1.5*sinl*sinl-0.5);
+        dn=0.0247*sin2l;
+        dr[0]+=du*E[2]+dn*E[1];
+        dr[1]+=du*E[5]+dn*E[4];
+        dr[2]+=du*E[8]+dn*E[7];
+    }
+    trace(5,"tide_solid: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
+}
+#endif /* !IERS_MODEL */
+
+/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
+static void tide_oload(gtime_t tut, const double *odisp, double *denu)
+{
+    const double args[][5]={
+        {1.40519E-4, 2.0,-2.0, 0.0, 0.00},  /* M2 */
+        {1.45444E-4, 0.0, 0.0, 0.0, 0.00},  /* S2 */
+        {1.37880E-4, 2.0,-3.0, 1.0, 0.00},  /* N2 */
+        {1.45842E-4, 2.0, 0.0, 0.0, 0.00},  /* K2 */
+        {0.72921E-4, 1.0, 0.0, 0.0, 0.25},  /* K1 */
+        {0.67598E-4, 1.0,-2.0, 0.0,-0.25},  /* O1 */
+        {0.72523E-4,-1.0, 0.0, 0.0,-0.25},  /* P1 */
+        {0.64959E-4, 1.0,-3.0, 1.0,-0.25},  /* Q1 */
+        {0.53234E-5, 0.0, 2.0, 0.0, 0.00},  /* Mf */
+        {0.26392E-5, 0.0, 1.0,-1.0, 0.00},  /* Mm */
+        {0.03982E-5, 2.0, 0.0, 0.0, 0.00}   /* Ssa */
+    };
+    const double ep1975[]={1975,1,1,0,0,0};
+    double ep[6],fday,days,t,t2,t3,a[5],ang,dp[3]={0};
+    int i,j;
+    
+    trace(3,"tide_oload:\n");
+    
+    /* angular argument: see subroutine arg.f for reference [1] */
+    time2epoch(tut,ep);
+    fday=ep[3]*3600.0+ep[4]*60.0+ep[5];
+    ep[3]=ep[4]=ep[5]=0.0;
+    days=timediff(epoch2time(ep),epoch2time(ep1975))/86400.0+1.0;
+    t=(27392.500528+1.000000035*days)/36525.0;
+    t2=t*t; t3=t2*t;
+    
+    a[0]=fday;
+    a[1]=(279.69668+36000.768930485*t+3.03E-4*t2)*D2R; /* H0 */
+    a[2]=(270.434358+481267.88314137*t-0.001133*t2+1.9E-6*t3)*D2R; /* S0 */
+    a[3]=(334.329653+4069.0340329577*t-0.010325*t2-1.2E-5*t3)*D2R; /* P0 */
+    a[4]=2.0*PI;
+    
+    /* displacements by 11 constituents */
+    for (i=0;i<11;i++) {
+        ang=0.0;
+        for (j=0;j<5;j++) ang+=a[j]*args[i][j];
+        for (j=0;j<3;j++) dp[j]+=odisp[j+i*6]*cos(ang-odisp[j+3+i*6]*D2R);
+    }
+    denu[0]=-dp[1];
+    denu[1]=-dp[2];
+    denu[2]= dp[0];
+    
+    trace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
+}
+/* iers mean pole (ref [7] eq.7.25) ------------------------------------------*/
+static void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar)
+{
+    const double ep2000[]={2000,1,1,0,0,0};
+    double y,y2,y3;
+    
+    y=timediff(tut,epoch2time(ep2000))/86400.0/365.25;
+    
+    if (y<3653.0/365.25) { /* until 2010.0 */
+        y2=y*y; y3=y2*y;
+        *xp_bar= 55.974+1.8243*y+0.18413*y2+0.007024*y3; /* (mas) */
+        *yp_bar=346.346+1.7896*y-0.10729*y2-0.000908*y3;
+    }
+    else { /* after 2010.0 */
+        *xp_bar= 23.513+7.6141*y; /* (mas) */
+        *yp_bar=358.891-0.6287*y;
+    }
+}
+/* displacement by pole tide (ref [7] eq.7.26) --------------------------------*/
+static void tide_pole(gtime_t tut, const double *pos, const double *erpv,
+                      double *denu)
+{
+    double xp_bar,yp_bar,m1,m2,cosl,sinl;
+    
+    trace(3,"tide_pole: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
+    
+    /* iers mean pole (mas) */
+    iers_mean_pole(tut,&xp_bar,&yp_bar);
+    
+    /* ref [7] eq.7.24 */
+    m1= erpv[0]/AS2R-xp_bar*1E-3; /* (as) */
+    m2=-erpv[1]/AS2R+yp_bar*1E-3;
+    
+    /* sin(2*theta) = sin(2*phi), cos(2*theta)=-cos(2*phi) */
+    cosl=cos(pos[1]);
+    sinl=sin(pos[1]);
+    denu[0]=  9E-3*sin(pos[0])    *(m1*sinl-m2*cosl); /* de= Slambda (m) */
+    denu[1]= -9E-3*cos(2.0*pos[0])*(m1*cosl+m2*sinl); /* dn=-Stheta  (m) */
+    denu[2]=-33E-3*sin(2.0*pos[0])*(m1*cosl+m2*sinl); /* du= Sr      (m) */
+    
+    trace(5,"tide_pole : denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
+}
+/* tidal displacement ----------------------------------------------------------
+* displacements by earth tides
+* args   : gtime_t tutc     I   time in utc
+*          double *rr       I   site position (ecef) (m)
+*          int    opt       I   options (or of the followings)
+*                                 1: solid earth tide
+*                                 2: ocean tide loading
+*                                 4: pole tide
+*                                 8: elimate permanent deformation
+*          double *erp      I   earth rotation parameters (NULL: not used)
+*          double *odisp    I   ocean loading parameters  (NULL: not used)
+*                                 odisp[0+i*6]: consituent i amplitude radial(m)
+*                                 odisp[1+i*6]: consituent i amplitude west  (m)
+*                                 odisp[2+i*6]: consituent i amplitude south (m)
+*                                 odisp[3+i*6]: consituent i phase radial  (deg)
+*                                 odisp[4+i*6]: consituent i phase west    (deg)
+*                                 odisp[5+i*6]: consituent i phase south   (deg)
+*                                (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,
+*                                   8:Mf,9:Mm,10:Ssa)
+*          double *dr       O   displacement by earth tides (ecef) (m)
+* return : none
+* notes  : see ref [1], [2] chap 7
+*          see ref [4] 5.2.1, 5.2.2, 5.2.3
+*          ver.2.4.0 does not use ocean loading and pole tide corrections
+* 计算因地球潮汐而引起的站点位移校正值 dr
+* 函数参数，6个：
+gtime_t  tutc     I   time in utc
+double  *rr       I   站点位置 (ecef) (m)
+int      opt      I   选项（指定包含哪些潮的影响）
+                      1: solid earth tide
+                      2: ocean tide loading
+                      4: pole tide
+                      8: elimate permanent deformation
+double  *erp      I   地球自转参数
+double  *odisp    I   海潮负荷参数
+                      odisp[0+i*6]: consituent i amplitude radial(m)
+                      odisp[1+i*6]: consituent i amplitude west  (m)
+                      odisp[2+i*6]: consituent i amplitude south (m)
+                      odisp[3+i*6]: consituent i phase radial  (deg)
+                      odisp[4+i*6]: consituent i phase west    (deg)
+                      odisp[5+i*6]: consituent i phase south   (deg)
+                      (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,8:Mf,9:Mm,10:Ssa)
+double  *dr       O   因地球潮汐而引起的站点位移校正值 (ecef) (m)
+返回类型: 无
+*-----------------------------------------------------------------------------*/
+extern void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
+                     const double *odisp, double *dr)
+{
+    gtime_t tut;
+    double pos[2],E[9],drt[3],denu[3],rs[3],rm[3],gmst,erpv[5]={0};
+    int i;
+#ifdef IERS_MODEL
+    double ep[6],fhr;
+    int year,mon,day;
+#endif
+    
+    trace(3,"tidedisp: tutc=%s\n",time_str(tutc,0));
+    
+    if (erp) {
+        //1、若有erp，调用 geterp 获取erp参数。
+        geterp(erp,utc2gpst(tutc),erpv);
+    }
+    tut=timeadd(tutc,erpv[2]);
+    
+    dr[0]=dr[1]=dr[2]=0.0;
+    
+    if (norm(rr,3)<=0.0) return;
+    
+    pos[0]=asin(rr[2]/norm(rr,3));
+    pos[1]=atan2(rr[1],rr[0]);
+    xyz2enu(pos,E);
+    
+    if (opt&1) { /* solid earth tides */
+        
+        /* sun and moon position in ecef */
+        sunmoonpos(tutc,erpv,rs,rm,&gmst);
+        
+#ifdef IERS_MODEL
+        time2epoch(tutc,ep);
+        year=(int)ep[0];
+        mon =(int)ep[1];
+        day =(int)ep[2];
+        fhr =ep[3]+ep[4]/60.0+ep[5]/3600.0;
+        
+        /* call DEHANTTIDEINEL */
+        dehanttideinel_((double *)rr,&year,&mon,&day,&fhr,rs,rm,drt);
+#else
+        //2、若有选项，调用 tide_solid 计算固体潮
+        tide_solid(rs,rm,pos,E,gmst,opt,drt);
+#endif
+        for (i=0;i<3;i++) dr[i]+=drt[i];
+    }
+    if ((opt&2)&&odisp) { /* ocean tide loading 3、若有选项，调用 tide_oload 计算海潮负荷*/
+        tide_oload(tut,odisp,denu);
+        matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
+        for (i=0;i<3;i++) dr[i]+=drt[i];
+    }
+    if ((opt&4)&&erp) { /* pole tide 4、若有选项，调用 tide_pole 计算极潮*/
+        tide_pole(tut,pos,erpv,denu);
+        matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
+        for (i=0;i<3;i++) dr[i]+=drt[i];
+    }
+    trace(5,"tidedisp: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
+}

applications/main.c

@@ -16,6 +16,7 @@
 #include <dfs_posix.h>
 #include <dfs.h>
 #include "user_uart.h"
+#include <rtklib.h>
 
 
 /* defined the LED0 pin: PF9 */
@@ -26,6 +27,7 @@ int main(void)
 {
 
     uart3_init();
+    uart6_init();
     task_init();
 
     rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
@@ -38,10 +40,24 @@ int main(void)
 
     }
 }
+struct test{
+    int a;
+    int b;
+    int *a_p;
+    int *b_p;
+}test,* test_p;
 void test_entry()
 {
-    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};
+//    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));
+//    rt_device_write(serial3,0,testbuff,sizeof(testbuff));
+//    LOG_I("rtksvr_t size= %d",sizeof(rtksvr_t));
+    test.a=1;
+    test.b=2;
+    test.a_p=&test.a;
+    test.b_p=&test.b;
+    test_p = &test;
+    LOG_I("%d",&test_p->a);
+
 }
 MSH_CMD_EXPORT(test_entry,test_entry);
 

board/CubeMX_Config/CubeMX_Config.ioc

@@ -1,11 +1,12 @@
 #MicroXplorer Configuration settings - do not modify
 ETH.IPParameters=MediaInterface
-ETH.MediaInterface=ETH_MEDIA_INTERFACE_RMII
+ETH.MediaInterface=HAL_ETH_RMII_MODE
 FSMC.IPParameters=WriteOperation1
 FSMC.WriteOperation1=FSMC_WRITE_OPERATION_ENABLE
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
+Mcu.CPN=STM32F407ZGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DAC
 Mcu.IP1=ETH
@@ -17,7 +18,8 @@ Mcu.IP14=TIM13
 Mcu.IP15=TIM14
 Mcu.IP16=USART1
 Mcu.IP17=USART3
-Mcu.IP18=USB_OTG_FS
+Mcu.IP18=USART6
+Mcu.IP19=USB_OTG_FS
 Mcu.IP2=FSMC
 Mcu.IP3=IWDG
 Mcu.IP4=NVIC
@@ -26,7 +28,7 @@ Mcu.IP6=RTC
 Mcu.IP7=SDIO
 Mcu.IP8=SPI1
 Mcu.IP9=SPI2
-Mcu.IPNb=19
+Mcu.IPNb=20
 Mcu.Name=STM32F407Z(E-G)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC14-OSC32_IN
@@ -76,70 +78,68 @@ Mcu.Pin48=PG3
 Mcu.Pin49=PG4
 Mcu.Pin5=PF3
 Mcu.Pin50=PG5
-Mcu.Pin51=PC8
+Mcu.Pin51=PC6
-Mcu.Pin52=PC9
+Mcu.Pin52=PC7
-Mcu.Pin53=PA9
+Mcu.Pin53=PC8
-Mcu.Pin54=PA10
+Mcu.Pin54=PC9
-Mcu.Pin55=PA11
+Mcu.Pin55=PA9
-Mcu.Pin56=PA12
+Mcu.Pin56=PA10
-Mcu.Pin57=PA13
+Mcu.Pin57=PA11
-Mcu.Pin58=PA14
+Mcu.Pin58=PA12
-Mcu.Pin59=PC10
+Mcu.Pin59=PA13
 Mcu.Pin6=PF4
-Mcu.Pin60=PC11
+Mcu.Pin60=PA14
-Mcu.Pin61=PC12
+Mcu.Pin61=PC10
-Mcu.Pin62=PD0
+Mcu.Pin62=PC11
-Mcu.Pin63=PD1
+Mcu.Pin63=PC12
-Mcu.Pin64=PD2
+Mcu.Pin64=PD0
-Mcu.Pin65=PD4
+Mcu.Pin65=PD1
-Mcu.Pin66=PD5
+Mcu.Pin66=PD2
-Mcu.Pin67=PG10
+Mcu.Pin67=PD4
-Mcu.Pin68=PG11
+Mcu.Pin68=PD5
-Mcu.Pin69=PG13
+Mcu.Pin69=PG10
 Mcu.Pin7=PF5
-Mcu.Pin70=PG14
+Mcu.Pin70=PG11
-Mcu.Pin71=PB3
+Mcu.Pin71=PG13
-Mcu.Pin72=PB4
+Mcu.Pin72=PG14
-Mcu.Pin73=PB5
+Mcu.Pin73=PB3
-Mcu.Pin74=PB6
+Mcu.Pin74=PB4
-Mcu.Pin75=PB7
+Mcu.Pin75=PB5
-Mcu.Pin76=PE0
+Mcu.Pin76=PB6
-Mcu.Pin77=PE1
+Mcu.Pin77=PB7
-Mcu.Pin78=VP_IWDG_VS_IWDG
+Mcu.Pin78=PE0
-Mcu.Pin79=VP_RTC_VS_RTC_Activate
+Mcu.Pin79=PE1
 Mcu.Pin8=PH0-OSC_IN
-Mcu.Pin80=VP_SYS_VS_Systick
+Mcu.Pin80=VP_IWDG_VS_IWDG
-Mcu.Pin81=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin81=VP_RTC_VS_RTC_Activate
-Mcu.Pin82=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin82=VP_SYS_VS_Systick
-Mcu.Pin83=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin83=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin84=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin84=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin85=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin86=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin9=PH1-OSC_OUT
-Mcu.PinsNb=85
+Mcu.PinsNb=87
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407ZGTx
-MxCube.Version=6.0.1
+MxCube.Version=6.5.0
-MxDb.Version=DB.6.0.0
+MxDb.Version=DB.6.0.50
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
-PA9.GPIOParameters=GPIO_PuPd
-PA9.GPIO_PuPd=GPIO_PULLUP
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
 PA10.GPIOParameters=GPIO_PuPd
 PA10.GPIO_PuPd=GPIO_PULLUP
 PA10.Mode=Asynchronous
@@ -160,6 +160,10 @@ PA5.Locked=true
 PA5.Signal=COMP_DAC2_group
 PA7.Mode=RMII
 PA7.Signal=ETH_CRS_DV
+PA9.GPIOParameters=GPIO_PuPd
+PA9.GPIO_PuPd=GPIO_PULLUP
+PA9.Mode=Asynchronous
+PA9.Signal=USART1_TX
 PB10.GPIOParameters=GPIO_PuPd
 PB10.GPIO_PuPd=GPIO_PULLUP
 PB10.Mode=Asynchronous
@@ -203,6 +207,10 @@ PC4.Mode=RMII
 PC4.Signal=ETH_RXD0
 PC5.Mode=RMII
 PC5.Signal=ETH_RXD1
+PC6.Mode=Asynchronous
+PC6.Signal=USART6_TX
+PC7.Mode=Asynchronous
+PC7.Signal=USART6_RX
 PC8.Mode=SD_4_bits_Wide_bus
 PC8.Signal=SDIO_D0
 PC9.Mode=SD_4_bits_Wide_bus
@@ -273,7 +281,7 @@ ProjectManager.CustomerFirmwarePackage=
 ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407ZGTx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.0
 ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
@@ -291,7 +299,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true,16-MX_TIM4_Init-TIM4-false-HAL-true,17-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,18-MX_FSMC_Init-FSMC-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_RTC_Init-RTC-false-HAL-true,8-MX_IWDG_Init-IWDG-false-HAL-true,9-MX_TIM14_Init-TIM14-false-HAL-true,10-MX_TIM13_Init-TIM13-false-HAL-true,11-MX_TIM11_Init-TIM11-false-HAL-true,12-MX_SDIO_SD_Init-SDIO-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_SPI2_Init-SPI2-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,17-MX_FSMC_Init-FSMC-false-HAL-true,18-MX_DAC_Init-DAC-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -430,6 +438,8 @@ USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
+USART6.IPParameters=VirtualMode
+USART6.VirtualMode=VM_ASYNC
 USB_OTG_FS.IPParameters=VirtualMode
 USB_OTG_FS.VirtualMode=Device_Only
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate

board/CubeMX_Config/Inc/main.h

@@ -73,7 +73,8 @@ extern "C" {
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 
 /* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
+//void Error_Handler(void);
+#define Error_Handler() _Error_Handler()
 
 /* USER CODE BEGIN EFP */
 
@@ -89,5 +90,3 @@ void Error_Handler(void);
 #endif
 
 #endif /* __MAIN_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h

@@ -1,3 +1,4 @@
+/* USER CODE BEGIN Header */
 /**
   ******************************************************************************
   * @file    stm32f4xx_hal_conf_template.h
@@ -8,16 +9,16 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * Copyright (c) 2017 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
+/* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F4xx_HAL_CONF_H
@@ -76,6 +77,7 @@
 /* #define HAL_QSPI_MODULE_ENABLED   */
 /* #define HAL_CEC_MODULE_ENABLED   */
 /* #define HAL_FMPI2C_MODULE_ENABLED   */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED   */
 /* #define HAL_SPDIFRX_MODULE_ENABLED   */
 /* #define HAL_DFSDM_MODULE_ENABLED   */
 /* #define HAL_LPTIM_MODULE_ENABLED   */
@@ -94,11 +96,11 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    8000000U /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSE_STARTUP_TIMEOUT)
-  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100U)   /*!< Time out for HSE start up, in ms */
+  #define HSE_STARTUP_TIMEOUT    100U   /*!< Time out for HSE start up, in ms */
 #endif /* HSE_STARTUP_TIMEOUT */
 
 /**
@@ -114,7 +116,7 @@
   * @brief Internal Low Speed oscillator (LSI) value.
   */
 #if !defined  (LSI_VALUE)
- #define LSI_VALUE  ((uint32_t)32000U)       /*!< LSI Typical Value in Hz*/
+ #define LSI_VALUE  32000U       /*!< LSI Typical Value in Hz*/
 #endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
                                              The real value may vary depending on the variations
                                              in voltage and temperature.*/
@@ -122,11 +124,11 @@
   * @brief External Low Speed oscillator (LSE) value.
   */
 #if !defined  (LSE_VALUE)
- #define LSE_VALUE  ((uint32_t)32768U)    /*!< Value of the External Low Speed oscillator in Hz */
+ #define LSE_VALUE  32768U    /*!< Value of the External Low Speed oscillator in Hz */
 #endif /* LSE_VALUE */
 
 #if !defined  (LSE_STARTUP_TIMEOUT)
-  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000U)   /*!< Time out for LSE start up, in ms */
+  #define LSE_STARTUP_TIMEOUT    5000U   /*!< Time out for LSE start up, in ms */
 #endif /* LSE_STARTUP_TIMEOUT */
 
 /**
@@ -135,7 +137,7 @@
   *        frequency, this source is inserted directly through I2S_CKIN pad.
   */
 #if !defined  (EXTERNAL_CLOCK_VALUE)
-  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000U) /*!< Value of the External audio frequency in Hz*/
+  #define EXTERNAL_CLOCK_VALUE    12288000U /*!< Value of the External audio frequency in Hz*/
 #endif /* EXTERNAL_CLOCK_VALUE */
 
 /* Tip: To avoid modifying this file each time you need to use different HSE,
@@ -145,8 +147,8 @@
 /**
   * @brief This is the HAL system configuration section
   */
-#define  VDD_VALUE		      ((uint32_t)3300U) /*!< Value of VDD in mv */
+#define  VDD_VALUE		      3300U /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            ((uint32_t)0U)   /*!< tick interrupt priority */
+#define  TICK_INT_PRIORITY            0U   /*!< tick interrupt priority */
 #define  USE_RTOS                     0U
 #define  PREFETCH_ENABLE              1U
 #define  INSTRUCTION_CACHE_ENABLE     1U
@@ -166,6 +168,7 @@
 #define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
 #define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
 #define  USE_HAL_FMPI2C_REGISTER_CALLBACKS      0U /* FMPI2C register callback disabled    */
+#define  USE_HAL_FMPSMBUS_REGISTER_CALLBACKS    0U /* FMPSMBUS register callback disabled  */
 #define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
 #define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
 #define  USE_HAL_LPTIM_REGISTER_CALLBACKS       0U /* LPTIM register callback disabled     */
@@ -213,20 +216,20 @@
 /* Definition of the Ethernet driver buffers size and count */
 #define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
-#define ETH_RXBUFNB                    ((uint32_t)4U)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
-#define ETH_TXBUFNB                    ((uint32_t)4U)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
 
 /* Section 2: PHY configuration section */
 
 /* LAN8742A_PHY_ADDRESS Address*/
 #define LAN8742A_PHY_ADDRESS           1U
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
-#define PHY_RESET_DELAY                 ((uint32_t)0x000000FFU)
+#define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
-#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFFU)
+#define PHY_CONFIG_DELAY                0x00000FFFU
 
-#define PHY_READ_TO                     ((uint32_t)0x0000FFFFU)
+#define PHY_READ_TO                     0x0000FFFFU
-#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFFU)
+#define PHY_WRITE_TO                    0x0000FFFFU
 
 /* Section 3: Common PHY Registers */
 
@@ -249,10 +252,10 @@
 #define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
 
 /* Section 4: Extended PHY Registers */
-#define PHY_SR                          ((uint16_t)0x1FU)    /*!< PHY status register Offset                      */
+#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
 
-#define PHY_SPEED_STATUS                ((uint16_t)0x0004U)  /*!< PHY Speed mask                                  */
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
-#define PHY_DUPLEX_STATUS               ((uint16_t)0x0010U)  /*!< PHY Duplex mask                                 */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
 
 #define PHY_ISFR                        ((uint16_t)0x001DU)    /*!< PHY Interrupt Source Flag register Offset   */
 #define PHY_ISFR_INT4                   ((uint16_t)0x000BU)  /*!< PHY Link down inturrupt       */
@@ -447,6 +450,10 @@
  #include "stm32f4xx_hal_fmpi2c.h"
 #endif /* HAL_FMPI2C_MODULE_ENABLED */
 
+#ifdef HAL_FMPSMBUS_MODULE_ENABLED
+ #include "stm32f4xx_hal_fmpsmbus.h"
+#endif /* HAL_FMPSMBUS_MODULE_ENABLED */
+
 #ifdef HAL_SPDIFRX_MODULE_ENABLED
  #include "stm32f4xx_hal_spdifrx.h"
 #endif /* HAL_SPDIFRX_MODULE_ENABLED */
@@ -485,5 +492,3 @@
 #endif
 
 #endif /* __STM32F4xx_HAL_CONF_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/CubeMX_Config/Inc/stm32f4xx_it.h

@@ -83,5 +83,3 @@ void OTG_FS_IRQHandler(void);
 #endif
 
 #endif /* __STM32F4xx_IT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/CubeMX_Config/Src/main.c

@@ -39,6 +39,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "string.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -61,7 +62,12 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
-DAC_HandleTypeDef hdac;
+
+ETH_TxPacketConfig TxConfig;
+ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
+ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
+
+ DAC_HandleTypeDef hdac;
 
 ETH_HandleTypeDef heth;
 
@@ -82,6 +88,7 @@ TIM_HandleTypeDef htim14;
 
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart3;
+UART_HandleTypeDef huart6;
 
 PCD_HandleTypeDef hpcd_USB_OTG_FS;
 
@@ -111,6 +118,7 @@ static void MX_TIM4_Init(void);
 static void MX_USB_OTG_FS_PCD_Init(void);
 static void MX_FSMC_Init(void);
 static void MX_DAC_Init(void);
+static void MX_USART6_UART_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -165,6 +173,7 @@ int main(void)
   MX_USB_OTG_FS_PCD_Init();
   MX_FSMC_Init();
   MX_DAC_Init();
+  MX_USART6_UART_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -190,12 +199,12 @@ void SystemClock_Config(void)
 {
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
 
   /** Configure the main internal regulator output voltage
   */
   __HAL_RCC_PWR_CLK_ENABLE();
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
@@ -214,6 +223,7 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
+
   /** Initializes the CPU, AHB and APB buses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
@@ -227,12 +237,6 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
-  PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
 }
 
 /**
@@ -252,6 +256,7 @@ static void MX_DAC_Init(void)
   /* USER CODE BEGIN DAC_Init 1 */
 
   /* USER CODE END DAC_Init 1 */
+
   /** DAC Initialization
   */
   hdac.Instance = DAC;
@@ -259,6 +264,7 @@ static void MX_DAC_Init(void)
   {
     Error_Handler();
   }
+
   /** DAC channel OUT1 config
   */
   sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
@@ -267,6 +273,7 @@ static void MX_DAC_Init(void)
   {
     Error_Handler();
   }
+
   /** DAC channel OUT2 config
   */
   if (HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_2) != HAL_OK)
@@ -291,21 +298,23 @@ static void MX_ETH_Init(void)
 
   /* USER CODE END ETH_Init 0 */
 
+   static uint8_t MACAddr[6];
+
   /* USER CODE BEGIN ETH_Init 1 */
 
   /* USER CODE END ETH_Init 1 */
   heth.Instance = ETH;
-  heth.Init.AutoNegotiation = ETH_AUTONEGOTIATION_ENABLE;
+  MACAddr[0] = 0x00;
-  heth.Init.PhyAddress = LAN8742A_PHY_ADDRESS;
+  MACAddr[1] = 0x80;
-  heth.Init.MACAddr[0] =   0x00;
+  MACAddr[2] = 0xE1;
-  heth.Init.MACAddr[1] =   0x80;
+  MACAddr[3] = 0x00;
-  heth.Init.MACAddr[2] =   0xE1;
+  MACAddr[4] = 0x00;
-  heth.Init.MACAddr[3] =   0x00;
+  MACAddr[5] = 0x00;
-  heth.Init.MACAddr[4] =   0x00;
+  heth.Init.MACAddr = &MACAddr[0];
-  heth.Init.MACAddr[5] =   0x00;
+  heth.Init.MediaInterface = HAL_ETH_RMII_MODE;
-  heth.Init.RxMode = ETH_RXPOLLING_MODE;
+  heth.Init.TxDesc = DMATxDscrTab;
-  heth.Init.ChecksumMode = ETH_CHECKSUM_BY_HARDWARE;
+  heth.Init.RxDesc = DMARxDscrTab;
-  heth.Init.MediaInterface = ETH_MEDIA_INTERFACE_RMII;
+  heth.Init.RxBuffLen = 1524;
 
   /* USER CODE BEGIN MACADDRESS */
     
@@ -315,6 +324,11 @@ static void MX_ETH_Init(void)
   {
     Error_Handler();
   }
+
+  memset(&TxConfig, 0 , sizeof(ETH_TxPacketConfig));
+  TxConfig.Attributes = ETH_TX_PACKETS_FEATURES_CSUM | ETH_TX_PACKETS_FEATURES_CRCPAD;
+  TxConfig.ChecksumCtrl = ETH_CHECKSUM_IPHDR_PAYLOAD_INSERT_PHDR_CALC;
+  TxConfig.CRCPadCtrl = ETH_CRC_PAD_INSERT;
   /* USER CODE BEGIN ETH_Init 2 */
 
   /* USER CODE END ETH_Init 2 */
@@ -364,6 +378,7 @@ static void MX_RTC_Init(void)
   /* USER CODE BEGIN RTC_Init 1 */
 
   /* USER CODE END RTC_Init 1 */
+
   /** Initialize RTC Only
   */
   hrtc.Instance = RTC;
@@ -762,6 +777,39 @@ static void MX_USART3_UART_Init(void)
 
 }
 
+/**
+  * @brief USART6 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART6_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART6_Init 0 */
+
+  /* USER CODE END USART6_Init 0 */
+
+  /* USER CODE BEGIN USART6_Init 1 */
+
+  /* USER CODE END USART6_Init 1 */
+  huart6.Instance = USART6;
+  huart6.Init.BaudRate = 115200;
+  huart6.Init.WordLength = UART_WORDLENGTH_8B;
+  huart6.Init.StopBits = UART_STOPBITS_1;
+  huart6.Init.Parity = UART_PARITY_NONE;
+  huart6.Init.Mode = UART_MODE_TX_RX;
+  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART6_Init 2 */
+
+  /* USER CODE END USART6_Init 2 */
+
+}
+
 /**
   * @brief USB_OTG_FS Initialization Function
   * @param None
@@ -904,5 +952,3 @@ void assert_failed(uint8_t *file, uint32_t line)
   /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/CubeMX_Config/Src/stm32f4xx_hal_msp.c

@@ -269,11 +269,22 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
 */
 void HAL_RTC_MspInit(RTC_HandleTypeDef* hrtc)
 {
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
   if(hrtc->Instance==RTC)
   {
   /* USER CODE BEGIN RTC_MspInit 0 */
 
   /* USER CODE END RTC_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
+    PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
     /* Peripheral clock enable */
     __HAL_RCC_RTC_ENABLE();
   /* USER CODE BEGIN RTC_MspInit 1 */
@@ -777,6 +788,30 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
   /* USER CODE END USART3_MspInit 1 */
   }
+  else if(huart->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspInit 0 */
+
+  /* USER CODE END USART6_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_USART6_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**USART6 GPIO Configuration
+    PC6     ------> USART6_TX
+    PC7     ------> USART6_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART6_MspInit 1 */
+
+  /* USER CODE END USART6_MspInit 1 */
+  }
 
 }
 
@@ -826,6 +861,24 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
   /* USER CODE END USART3_MspDeInit 1 */
   }
+  else if(huart->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspDeInit 0 */
+
+  /* USER CODE END USART6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART6_CLK_DISABLE();
+
+    /**USART6 GPIO Configuration
+    PC6     ------> USART6_TX
+    PC7     ------> USART6_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN USART6_MspDeInit 1 */
+
+  /* USER CODE END USART6_MspDeInit 1 */
+  }
 
 }
 
@@ -1094,5 +1147,3 @@ void HAL_SRAM_MspDeInit(SRAM_HandleTypeDef* hsram){
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/CubeMX_Config/Src/stm32f4xx_it.c

@@ -259,4 +259,3 @@ void OTG_FS_IRQHandler(void)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

rtconfig.h

@@ -129,6 +129,18 @@
 
 /* Using USB */
 
+#define RT_USING_USB_DEVICE
+#define RT_USBD_THREAD_STACK_SZ 4096
+#define USB_VENDOR_ID 0x0FFE
+#define USB_PRODUCT_ID 0x0001
+#define RT_USB_DEVICE_COMPOSITE
+#define RT_USB_DEVICE_CDC
+#define RT_USB_DEVICE_NONE
+#define RT_VCOM_TASK_STK_SIZE 512
+#define RT_CDC_RX_BUFSIZE 128
+#define RT_VCOM_SERNO "32021919830108"
+#define RT_VCOM_SER_LEN 14
+#define RT_VCOM_TX_TIMEOUT 1000
 /* end of Using USB */
 /* end of Device Drivers */
 
@@ -241,12 +253,6 @@
 
 /* tools packages */
 
-#define PKG_USING_ULOG_FILE
-#define ULOG_FILE_ROOT_PATH "/logs"
-#define ULOG_FILE_NAME_BASE "ulog.log"
-#define ULOG_FILE_MAX_NUM 5
-#define ULOG_FILE_MAX_SIZE 524288
-#define PKG_USING_ULOG_FILE_V100
 /* end of tools packages */
 
 /* system packages */
@@ -322,6 +328,8 @@
 #define BSP_USING_UART1
 #define BSP_USING_UART3
 #define BSP_UART3_RX_USING_DMA
+#define BSP_USING_UART6
+#define BSP_UART6_RX_USING_DMA
 #define BSP_USING_ONCHIP_RTC
 #define BSP_RTC_USING_LSE
 #define BSP_USING_SDIO

task/rtk_task.c

@@ -11,61 +11,221 @@
 #include <rtk_task.h>
 
 #define LOG_TAG "USER_TASK"
+#define EVENT_FLAG(...) (1<<__VA_ARGS__)
 
-#define THREAD_get_rtcm_data_priority 10
+#define EVENT_REF_RTCM_DATA_FLAG EVENT_FLAG(0)
-#define THREAD_rtcm_data_proces_priority 9
+#define EVENT_UAER_RTCM_DATA_FLAG EVENT_FLAG(1)
 
-#define get_rtcm_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
+#define THREAD_get_user_rtcm_data_priority 10
-#define rtcm_data_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE
+#define THREAD_get_ref_rtcm_data_priority 10
+#define thread_rtk_proces_priority 9
 
-rtcm_t rtcm_data;
+#define get_rtcm_user_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE
-struct rt_completion get_rtcm_data_completion;
+#define get_rtcm_ref_data_stack_size DEFAULT_USER_THREAD_STACK_SIZE * 4
-struct rt_completion rtcm_data_process_completion;
+#define rtk_proces_stack_size DEFAULT_USER_THREAD_STACK_SIZE
 
-static struct rt_thread get_rtcm_data;
+//rtcm_t rtcm_data;
-static char thread_get_rtcm_data_stack[get_rtcm_data_stack_size];
+struct rt_event uart_event;
-static struct rt_thread rtcm_data_proces;
+struct rt_completion rtcm_ref_data_process_completion;
-static char thread_rtcm_data_proces_stack[DEFAULT_USER_THREAD_STACK_SIZE];
+struct rt_completion rtcm_user_data_process_completion;
+
+static struct rt_thread get_user_rtcm_data;
+static char thread_user_rtcm_data_stack[get_rtcm_user_data_stack_size];
+static struct rt_thread get_ref_rtcm_data;
+static char thread_ref_rtcm_data_stack[get_rtcm_ref_data_stack_size];
+static struct rt_thread rtk_proces;
+static char thread_rtk_proces_stack[rtk_proces_stack_size];
 
 
-static char rtcm_buff[2048];
+struct rt_mutex userf_svrlock;
+rtksvr_t *svr; /* rtk server struct */
+//serial3  -->user   serial_rtcm_buff[0][]
+//serial6  -->ref    serial_rtcm_buff[1][]
 
-static void thread_get_rtcm_data(void *parameter)
+static void thread_get_ref_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);
+        rt_completion_wait(&rtcm_ref_data_process_completion, 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.
+        if (rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
         {
-            get_rtcm_data_completion.flag = RT_UNCOMPLETED;
+            READ_SERIAL6(svr->buff[1]);
-            length = uart3_simpack.rx_num;
+            svr->nb[1] = uart6_simpack.rx_num;
-            READ_SERIAL3(rtcm_buff);
+            rt_event_send(&uart_event, EVENT_REF_RTCM_DATA_FLAG);
-            rt_completion_done(&get_rtcm_data_completion);
         }
     }
 }
 
-static void thread_rtcm_data_proces(void *parameter)
+static void thread_get_user_rtcm_data(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);
+        rt_completion_wait(&rtcm_user_data_process_completion, RT_WAITING_FOREVER);
-        rtcm_data_process_completion.flag = RT_UNCOMPLETED;
+
-        for (int var = 0; var < uart3_simpack.rx_num; var++)
+        //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_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
         {
-            input_rtcm3(&rtcm_data, rtcm_buff[var]);
+            READ_SERIAL3(svr->buff[0]);
+//            char test[2048];
+//            READ_SERIAL3(test);
+            svr->nb[0] = uart3_simpack.rx_num;
+            rt_event_send(&uart_event, EVENT_UAER_RTCM_DATA_FLAG);
         }
-        rt_completion_done(&rtcm_data_process_completion);
+    }
+}
+
+/* global variables ----------------------------------------------------------*/
+
+static int svrcycle = 50; /* server cycle (ms) */
+static int buffsize = 4096; /* input buffer size (bytes) */
+static int strfmt[] = { STRFMT_RTCM3, STRFMT_RTCM3 }; /* stream formats */
+static int nmeacycle = 5000; /* nmea request cycle (ms) */
+static int nmeareq = 0; /* nmea request type (0:off,1:lat/lon,2:single) */
+extern prcopt_t prcopt_;
+extern solopt_t solopt_;
+static void thread_rtk_proces(void *parameter)
+{
+    double pos[3] = { 0.0, 0.0, 0.0 }, npos[3] = { 0.0, 0.0, 0.0 };
+    static double nmeapos[] = { 0, 0, 0 };
+
+    svr = (rtksvr_t *) rt_malloc(sizeof(rtksvr_t));
+    if (svr == RT_NULL)
+    {
+        LOG_E("mem not enough for svr&prcopt&solopt");
     }
 
+    /*  STEP-1: 加载RTK配置信息  */
+    resetsysopts(); /* 清空配置信息 */
+    getsysopts(NULL, NULL); /* 指针指向新的配置信息 */
+
+    /*  STEP-2: 初始化RTK服务结构体  */
+    rtksvrinit(svr);
+
+    /*  STEP-3: 初始化发送的NMEA信息  */
+    /* 设置发送GGA的位置信息, 也可以从单点定位中获取 */
+    pos[0] = nmeapos[0] * D2R;
+    pos[1] = nmeapos[1] * D2R;
+    pos[2] = nmeapos[2];
+    pos2ecef(pos, npos);
+    /*  STEP-5: 开始RTK子线程  */
+    rtksvrstart_mini(svr, svrcycle, buffsize, strfmt, nmeacycle, nmeareq, nmeapos, &prcopt_, &solopt_);
+
+    obs_t obs; /* 28 B */
+//    obsd_t data[MAXOBS * 2]; /* 7616 B */
+    sol_t sol = { { 0 } }; /* 199 B */
+    double tt;
+    uint32_t tick, ticknmea, tick1hz, tickreset;
+    uint8_t *p, *q;
+    int i, j, n = 0, fobs[2] = { 0 }, cycle, cputime=0;
+    uint8_t nr, nu;
+
+    svr->state = 1;
+    obs.data = (obsd_t *)rt_malloc(sizeof(obsd_t)*MAXOBS*2);
+    svr->tick = tickget();
+    ticknmea = tick1hz = svr->tick - 1000;
+    tickreset = svr->tick - 30000;
+
+    rt_completion_done(&rtcm_user_data_process_completion);
+    rt_completion_done(&rtcm_ref_data_process_completion);
+
+    while (1)
+    {
+        if (!svr->state)
+        {
+            rt_thread_yield();
+        }
+        else
+        {
+
+            tick = tickget();
+            uint32_t recevd_event = 0;
+            rt_event_recv(&uart_event, (EVENT_UAER_RTCM_DATA_FLAG | EVENT_REF_RTCM_DATA_FLAG),
+                    (RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR), RT_WAITING_FOREVER, &recevd_event);
+            if (recevd_event & EVENT_UAER_RTCM_DATA_FLAG)
+            {
+                rtcm_user_data_process_completion.flag = RT_UNCOMPLETED;
+                fobs[0] = decoderaw(svr, 0);
+
+            }
+            else if (recevd_event & EVENT_REF_RTCM_DATA_FLAG)
+            {
+                rtcm_ref_data_process_completion.flag = RT_UNCOMPLETED;
+                fobs[1] = decoderaw(svr, 1);
+
+            }
+            else {
+                continue;
+            }
+
+            /* 将基准站和移动站的观测数据合二为一 这里重新申请了一个MAXOBS*2 的数组, 我觉得是不是有点问题? */
+            for (i = 0; i < fobs[0]; i++)
+            {
+                obs.n = 0;
+                nr = nu = 0;
+                for (j = 0; j < svr->obs[0][i].n && obs.n < MAXOBS * 2; j++)
+                {
+                    obs.data[obs.n++] = svr->obs[0][i].data[j];
+                    nu++;
+                }
+
+                for (j = 0; j < svr->obs[1][0].n && obs.n < MAXOBS * 2; j++)
+                {
+                    obs.data[obs.n++] = svr->obs[1][0].data[j];
+                    nr++;
+                }
+                /* rtk positioning */
+//                rtksvrlock(svr);
+////                rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
+//                rtksvrunlock(svr);
+
+                /* 如果解算结果有效, 设置解算时间点 */
+                if (svr->rtk.sol.stat != SOLQ_NONE)
+                {
+                    /* adjust current time */
+                    tt = (int) (tickget() - tick) / 1000.0 + DTTOL;
+                    timeset(gpst2utc(timeadd(svr->rtk.sol.time, tt)));
+
+                    /* write solution */
+//                    writesol_mini(svr, i);
+                }
+                /* 如果设定的运算时间到了发现还没有计算完, 则记录没有计算完的观测次数 */
+                if ((int) (tickget() - tick) >= svr->cycle)
+                {
+                    svr->prcout += fobs[0] - i - 1;
+                }
+            }
+            /* send null solution if no solution (1hz) */
+            if (svr->rtk.sol.stat == SOLQ_NONE && (int) (tick - tick1hz) >= 1000)
+            {
+//                writesol_mini(svr, 0);
+                tick1hz = tick;
+            }
+            /* send nmea request to base/nrtk input stream */
+            if (svr->nmeacycle > 0 && (int) (tick - ticknmea) >= svr->nmeacycle)
+            {
+                // TODO: 完成send_nmea 到到串口的移植
+                // send_nmea(svr, &tickreset);
+                ticknmea = tick;
+            }
+            cputime = (int) (tickget() - tick);
+            if (cputime > 0)
+                svr->cputime = cputime;
+
+            /* sleep until next cycle */
+            sleepms(15);
+        }
+    }
+
+    while (1)
+    {
+
+    }
 }
 
 static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
@@ -87,10 +247,26 @@ static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(v
 }
 
 /*===========================================================================================================*/
+
 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);
+    rt_event_init(&uart_event, "uart_event", RT_IPC_FLAG_PRIO);
-    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);
+    rt_mutex_init(&userf_svrlock,"svrlock",RT_IPC_FLAG_PRIO);
+    rt_completion_init(&rtcm_user_data_process_completion);
+    rt_completion_init(&rtcm_ref_data_process_completion);
+
+    rt_thread_t trd=rt_thread_create("rtk_proces", thread_rtk_proces, RT_NULL, 3000, thread_rtk_proces_priority, DEFAULT_USER_THREA_TICK);
+    rt_thread_startup(trd);
+    user_init_task(&get_user_rtcm_data, "thread_get_user_rtcm_data", thread_get_user_rtcm_data,
+            thread_user_rtcm_data_stack,
+            get_rtcm_user_data_stack_size, THREAD_get_user_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
+    user_init_task(&get_ref_rtcm_data, "thread_get_ref_rtcm_data", thread_get_ref_rtcm_data,
+            thread_ref_rtcm_data_stack,
+            get_rtcm_ref_data_stack_size, THREAD_get_ref_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
+//    user_init_task(&rtk_proces, "rtk_proces", thread_rtk_proces, thread_rtk_proces_stack,
+//    rtk_proces_stack_size, thread_rtk_proces_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
+
+
 }
 

task/rtk_task.h

@@ -5,7 +5,7 @@
  *
  * Change Logs:
  * Date           Author       Notes
- * 2022-06-15     ¸µÐ¡¶þ       the first version
+ * 2022-06-15     Fize       the first version
  */
 #ifndef TASK_RTK_TASK_H_
 #define TASK_RTK_TASK_H_
@@ -19,10 +19,16 @@
 #define RT_COMPLETED    1
 #define RT_UNCOMPLETED  0
 
-#define DEFAULT_USER_THREAD_STACK_SIZE 1024
+#define DEFAULT_USER_THREAD_STACK_SIZE 4096
-#define DEFAULT_USER_THREA_TICK 5
+#define DEFAULT_USER_THREA_TICK 2
+
+
+extern struct rt_mutex userf_svrlock;
+struct rt_mutex userf_svrlock;
+#define rtksvrlock(svr)   rt_mutex_take(&userf_svrlock,RT_WAITING_FOREVER)
+#define rtksvrunlock(svr)   rt_mutex_release(&userf_svrlock)
 
 extern uart_simpack  uart3_simpack;  //from user_uart.h
-extern rtcm_t rtcm_data;  //from  rtklib.h
+extern uart_simpack  uart6_simpack;  //from user_uart.h
 void task_init(void);
 #endif /* TASK_RTK_TASK_H_ */

user_uart/user_uart.c

@@ -9,57 +9,79 @@
  */
 #include "user_uart.h"
 
-
-
-static rt_err_t uart3_tx_complete(rt_device_t dev, void *buffer)
-{
-    //todo: uart3_tx_complete sem: do nothing for now.
-    //since dma for tx not enabled,so this callback will not be called at any time.
-    LOG_I("massage sent %s",strlen(buffer));
-    return RT_EOK;
-}
-
 //dev       设备句柄（回调函数参数）
 //size    缓冲区数据大小（回调函数参数）
 //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)
 {
-
+    uart3_simpack.rx_num = size;
-    uart3_simpack.rx_num=size;
     rt_sem_release(&uart3_simpack.rx_sem);
     return RT_EOK;
 }
+static rt_err_t uart6_rx_complete(rt_device_t dev, rt_size_t size)
+{
+    uart6_simpack.rx_num = size;
+    rt_sem_release(&uart6_simpack.rx_sem);
+    return RT_EOK;
+}
 
 rt_device_t uart3_init(void)
 {
     struct serial_configure config;
 
-    serial3 = rt_device_find(USER_UART_NAME);
+    serial3 = rt_device_find(USER_UART3_NAME);
     if (serial3 == RT_NULL)
     {
-        LOG_E("could not find device: %s", USER_UART_NAME);
+        LOG_E("could not find device: %s", USER_UART3_NAME);
         return RT_NULL;
     }
-    config.baud_rate = BAUD_RATE_115200;        //修改波特率为 115200
+    config.baud_rate = BAUD_RATE_460800;        //修改波特率为 460800
     config.data_bits = DATA_BITS_8;           //数据位 8
     config.stop_bits = STOP_BITS_1;           //停止位 1
-    config.bufsz = 2048;                   //修改缓冲区 buff size 为 2048
+    config.bufsz = 4096;                   //修改缓冲区 buff size 为 2048
     config.parity = PARITY_NONE;           //无奇偶校验位
     rt_device_control(serial3, RT_DEVICE_CTRL_CONFIG, &config);
-    if ((rt_device_set_tx_complete(serial3, uart3_tx_complete) || rt_device_set_rx_indicate(serial3, uart3_rx_complete))
+    if (rt_device_set_rx_indicate(serial3, uart3_rx_complete) != RT_EOK)
-            != RT_EOK)
     {
-        LOG_E("could not set %s 's rx|tx callback func", USER_UART_NAME);
+        LOG_E("could not set %s 's rx callback func", USER_UART3_NAME);
         return RT_NULL;
     }
     //do not ust dma for rx and tx at same time
-    if (  rt_device_open(serial3,  RT_DEVICE_FLAG_INT_TX |RT_DEVICE_FLAG_DMA_RX|RT_DEVICE_OFLAG_RDWR ))
+    if (rt_device_open(serial3, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_DMA_RX | RT_DEVICE_OFLAG_RDWR))
     {
-        LOG_E("could not open device: %s", USER_UART_NAME);
+        LOG_E("could not open device: %s", USER_UART3_NAME);
         return RT_NULL;
     }
     rt_sem_init(&uart3_simpack.rx_sem, "rx3_sem", 0, RT_IPC_FLAG_PRIO);
-    rt_sem_init(&uart3_simpack.tx_sem, "tx3_sem", 0, RT_IPC_FLAG_PRIO);
     return serial3;
 }
+rt_device_t uart6_init(void)
+{
+    struct serial_configure config;
+    serial6 = rt_device_find(USER_UART6_NAME);
+    if (serial6 == RT_NULL)
+    {
+        LOG_E("could not find device: %s", USER_UART6_NAME);
+        return RT_NULL;
+    }
+    config.baud_rate = BAUD_RATE_460800;        //修改波特率为 460800
+    config.data_bits = DATA_BITS_8;           //数据位 8
+    config.stop_bits = STOP_BITS_1;           //停止位 1
+    config.bufsz = 4096;                   //修改缓冲区 buff size 为 2048
+    config.parity = PARITY_NONE;           //无奇偶校验位
+    rt_device_control(serial6, RT_DEVICE_CTRL_CONFIG, &config);
+    if (rt_device_set_rx_indicate(serial6, uart6_rx_complete) != RT_EOK)
+    {
+        LOG_E("could not set %s 's rx callback func", USER_UART6_NAME);
+        return RT_NULL;
+    }
+    //do not ust dma for rx and tx at same time
+    if (rt_device_open(serial6, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_DMA_RX | RT_DEVICE_OFLAG_RDWR))
+    {
+        LOG_E("could not open device: %s", USER_UART6_NAME);
+        return RT_NULL;
+    }
+    rt_sem_init(&uart6_simpack.rx_sem, "rx6_sem", 0, RT_IPC_FLAG_PRIO);
+    return serial6;
+}
 

user_uart/user_uart.h

@@ -15,12 +15,14 @@
 #include <ulog.h>
 #include <rtdef.h>
 
-#define USER_UART_NAME "uart3"
+#define USER_UART3_NAME "uart3"
+#define USER_UART6_NAME "uart6"
 
 #define READ_SERIAL3(...)   rt_device_read(serial3,0,__VA_ARGS__,uart3_simpack.rx_num)
+#define READ_SERIAL6(...)   rt_device_read(serial6,0,__VA_ARGS__,uart3_simpack.rx_num)
 
 rt_device_t serial3;
-
+rt_device_t serial6;
 struct uart_simpack
 {
     rt_size_t rx_num;
@@ -32,7 +34,9 @@ typedef struct uart_simpack uart_simpack;
 
 
 uart_simpack  uart3_simpack;
+uart_simpack  uart6_simpack;
 
 rt_device_t uart3_init(void);
+rt_device_t uart6_init(void);
 
 #endif /* APPLICATIONS_USER_UART_USER_UART_H_ */