fuxiaoer/RTK_base
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完成串口调试

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添加RTCM库
This commit is contained in:
fize 2022-06-14 19:43:20 +08:00
parent 354bdc8068
commit b5fed93741
21 changed files with 10432 additions and 225 deletions
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25
.config
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@ -270,10 +270,14 @@ CONFIG_RT_USING_ULOG=y
# CONFIG_ULOG_OUTPUT_LVL_I is not set # CONFIG_ULOG_OUTPUT_LVL_I is not set
CONFIG_ULOG_OUTPUT_LVL_D=y CONFIG_ULOG_OUTPUT_LVL_D=y
CONFIG_ULOG_OUTPUT_LVL=7 CONFIG_ULOG_OUTPUT_LVL=7
# CONFIG_ULOG_USING_ISR_LOG is not set CONFIG_ULOG_USING_ISR_LOG=y
CONFIG_ULOG_ASSERT_ENABLE=y CONFIG_ULOG_ASSERT_ENABLE=y
CONFIG_ULOG_LINE_BUF_SIZE=128 CONFIG_ULOG_LINE_BUF_SIZE=128
# CONFIG_ULOG_USING_ASYNC_OUTPUT is not set CONFIG_ULOG_USING_ASYNC_OUTPUT=y
CONFIG_ULOG_ASYNC_OUTPUT_BUF_SIZE=2048
CONFIG_ULOG_ASYNC_OUTPUT_BY_THREAD=y
CONFIG_ULOG_ASYNC_OUTPUT_THREAD_STACK=1024
CONFIG_ULOG_ASYNC_OUTPUT_THREAD_PRIORITY=30
# #
# log format # log format
@ -499,7 +503,15 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
# CONFIG_PKG_USING_SEGGER_RTT is not set # CONFIG_PKG_USING_SEGGER_RTT is not set
# CONFIG_PKG_USING_RDB is not set # CONFIG_PKG_USING_RDB is not set
# CONFIG_PKG_USING_ULOG_EASYFLASH is not set # CONFIG_PKG_USING_ULOG_EASYFLASH is not set
# CONFIG_PKG_USING_ULOG_FILE is not set CONFIG_PKG_USING_ULOG_FILE=y
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_LOGMGR is not set
# CONFIG_PKG_USING_ADBD is not set # CONFIG_PKG_USING_ADBD is not set
# CONFIG_PKG_USING_COREMARK is not set # CONFIG_PKG_USING_COREMARK is not set
@ -589,6 +601,7 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
# CONFIG_PKG_USING_CAIRO is not set # CONFIG_PKG_USING_CAIRO is not set
# CONFIG_PKG_USING_PIXMAN is not set # CONFIG_PKG_USING_PIXMAN is not set
# CONFIG_PKG_USING_PARTITION is not set # CONFIG_PKG_USING_PARTITION is not set
# CONFIG_PKG_USING_PERF_COUNTER is not set
# CONFIG_PKG_USING_FAL is not set # CONFIG_PKG_USING_FAL is not set
# CONFIG_PKG_USING_FLASHDB is not set # CONFIG_PKG_USING_FLASHDB is not set
# CONFIG_PKG_USING_SQLITE is not set # CONFIG_PKG_USING_SQLITE is not set
@ -798,7 +811,7 @@ CONFIG_SOC_STM32F407ZG=y
# #
CONFIG_BSP_USING_USB_TO_USART=y CONFIG_BSP_USING_USB_TO_USART=y
# CONFIG_BSP_USING_COM2 is not set # CONFIG_BSP_USING_COM2 is not set
# CONFIG_BSP_USING_COM3 is not set CONFIG_BSP_USING_COM3=y
CONFIG_BSP_USING_SRAM=y CONFIG_BSP_USING_SRAM=y
# CONFIG_BSP_USING_SPI_FLASH is not set # CONFIG_BSP_USING_SPI_FLASH is not set
# CONFIG_BSP_USING_EEPROM is not set # CONFIG_BSP_USING_EEPROM is not set
@ -823,7 +836,9 @@ CONFIG_BSP_USING_UART1=y
# CONFIG_BSP_UART1_RX_USING_DMA is not set # CONFIG_BSP_UART1_RX_USING_DMA is not set
# CONFIG_BSP_UART1_TX_USING_DMA is not set # CONFIG_BSP_UART1_TX_USING_DMA is not set
# CONFIG_BSP_USING_UART2 is not set # CONFIG_BSP_USING_UART2 is not set
# CONFIG_BSP_USING_UART3 is not set CONFIG_BSP_USING_UART3=y
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_UART4 is not set
# CONFIG_BSP_USING_UART5 is not set # CONFIG_BSP_USING_UART5 is not set
# CONFIG_BSP_USING_UART6 is not set # CONFIG_BSP_USING_UART6 is not set

227
.cproject
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File diff suppressed because one or more lines are too long

1
.gitignore vendored
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@ -40,3 +40,4 @@ RTE/
settings/ settings/
*.uvguix* *.uvguix*
/Release/

BIN
.settings/.rtmenus
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Binary file not shown.

13
.settings/language.settings.xml
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@ -5,7 +5,18 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="113460590584128686" 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="37529093409571594" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
<configuration id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.553091094.295091433" name="Release">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

164
.settings/org.eclipse.cdt.core.prefs Normal file
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@ -0,0 +1,164 @@
eclipse.preferences.version=1
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org.eclipse.cdt.core.formatter.alignment_for_assignment=16
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org.eclipse.cdt.core.formatter.alignment_for_binary_expression=16
org.eclipse.cdt.core.formatter.alignment_for_compact_if=16
org.eclipse.cdt.core.formatter.alignment_for_conditional_expression=34
org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain=18
org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list=0
org.eclipse.cdt.core.formatter.alignment_for_declarator_list=16
org.eclipse.cdt.core.formatter.alignment_for_enumerator_list=48
org.eclipse.cdt.core.formatter.alignment_for_expression_list=0
org.eclipse.cdt.core.formatter.alignment_for_expressions_in_array_initializer=16
org.eclipse.cdt.core.formatter.alignment_for_member_access=0
org.eclipse.cdt.core.formatter.alignment_for_overloaded_left_shift_chain=16
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org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration=16
org.eclipse.cdt.core.formatter.brace_position_for_array_initializer=end_of_line
org.eclipse.cdt.core.formatter.brace_position_for_block=next_line
org.eclipse.cdt.core.formatter.brace_position_for_block_in_case=next_line
org.eclipse.cdt.core.formatter.brace_position_for_method_declaration=next_line
org.eclipse.cdt.core.formatter.brace_position_for_namespace_declaration=next_line
org.eclipse.cdt.core.formatter.brace_position_for_switch=next_line
org.eclipse.cdt.core.formatter.brace_position_for_type_declaration=next_line
org.eclipse.cdt.core.formatter.comment.line_up_line_comment_in_blocks_on_first_column=false
org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment=1
org.eclipse.cdt.core.formatter.comment.never_indent_line_comments_on_first_column=true
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org.eclipse.cdt.core.formatter.continuation_indentation=2
org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer=2
org.eclipse.cdt.core.formatter.format_guardian_clause_on_one_line=false
org.eclipse.cdt.core.formatter.indent_access_specifier_compare_to_type_header=false
org.eclipse.cdt.core.formatter.indent_access_specifier_extra_spaces=0
org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier=true
org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header=false
org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases=true
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org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause=insert
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org.eclipse.cdt.core.formatter.insert_space_after_colon_in_labeled_statement=insert
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org.eclipse.cdt.core.formatter.insert_space_after_comma_in_base_types=insert
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_declarator_list=insert
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations=insert
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_expression_list=insert
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_parameters=insert
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws=insert
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3
.settings/org.eclipse.cdt.ui.prefs Normal file
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@ -0,0 +1,3 @@
eclipse.preferences.version=1
formatter_profile=org.eclipse.cdt.ui.default.rtt_profile
formatter_settings_version=1

345
RTK/rtcm.c Normal file
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@ -0,0 +1,345 @@
#include "rtklib.h"
/* function prototypes -------------------------------------------------------*/
extern int decode_rtcm3(rtcm_t *rtcm);
/* 定义静态数组替换动态数组 */
#ifdef STATIC
#define RTCM_STATIC
#endif
/* 定义静态数组替换动态数组 */
/* constants -----------------------------------------------------------------*/
#define RTCM3PREAMB 0xD3 /* rtcm ver.3 frame preamble */
/* initialize rtcm control -----------------------------------------------------
* initialize rtcm control struct and reallocate memory for observation and
* ephemeris buffer in rtcm control struct
* args : rtcm_t *raw IO rtcm control struct
* return : status (1:ok,0:memory allocation error)
*-----------------------------------------------------------------------------*/
extern int init_rtcm(rtcm_t *rtcm)
{
gtime_t time0 = {0};
obsd_t data0 = {{0}};
eph_t eph0 = {0, -1, -1};
#ifdef ENAGLO
geph_t geph0 = {0, -1};
#endif
// ssr_t ssr0={{{0}}};
int i, j;
trace(4, "init_rtcm:\n");
rtcm->staid = rtcm->stah = rtcm->seqno = 0;
// rtcm->outtype = 0;
rtcm->time = rtcm->time_s = time0;
rtcm->sta.name[0] = rtcm->sta.marker[0] = '\0';
rtcm->sta.antdes[0] = rtcm->sta.antsno[0] = '\0';
rtcm->sta.rectype[0] = rtcm->sta.recver[0] = rtcm->sta.recsno[0] = '\0';
rtcm->sta.antsetup = rtcm->sta.itrf = rtcm->sta.deltype = 0;
for (i = 0; i < 3; i++)
{
rtcm->sta.pos[i] = rtcm->sta.del[i] = 0.0;
}
rtcm->sta.hgt = 0.0;
//rtcm->dgps = NULL;
// for (i=0;i<MAXSAT;i++) {
// rtcm->ssr[i]=ssr0;
// }
// rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
for (i = 0; i < 6; i++)
rtcm->msmtype[i][0] = '\0';
rtcm->obsflag = rtcm->ephsat = 0;
for (i = 0; i < MAXSAT; i++)
for (j = 0; j < NFREQ + NEXOBS; j++)
{
rtcm->cp[i][j] = 0.0;
rtcm->lock[i][j] = rtcm->loss[i][j] = 0;
rtcm->lltime[i][j] = time0;
}
rtcm->nbit = rtcm->len = 0;
rtcm->nbyte = 0;
// rtcm->word=0;
// for (i=0;i<100;i++) rtcm->nmsg2[i]=0;
for (i = 0; i < 400; i++)
rtcm->nmsg3[i] = 0;
rtcm->obs.data = NULL;
rtcm->nav.eph = NULL;
rtcm->nav.geph = NULL;
/* reallocate memory for observation and ephemeris buffer */
#ifndef ENAGLO
if (!(rtcm->obs.data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)) ||
!(rtcm->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT * 1)))
#else
if (!(rtcm->obs.data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)) ||
!(rtcm->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT)) ||
!(rtcm->nav.geph = (geph_t *)malloc(sizeof(geph_t) * MAXPRNGLO)))
#endif
{
free_rtcm(rtcm);
return 0;
}
rtcm->obs.n = 0;
rtcm->nav.n = MAXSAT * 1; /* 接收机星历 (当前星历) */
rtcm->nav.ng = MAXPRNGLO;
for (i = 0; i < MAXOBS; i++)
rtcm->obs.data[i] = data0;
for (i = 0; i < MAXSAT * 1; i++)
rtcm->nav.eph[i] = eph0;
#ifdef ENAGLO
for (i = 0; i < MAXPRNGLO; i++)
rtcm->nav.geph[i] = geph0;
#endif
return 1;
}
/* initialize rtcm control -----------------------------------------------------
* initialize rtcm control struct and reallocate memory for observation and
* ephemeris buffer in rtcm control struct
* args : rtcm_t *raw IO rtcm control struct
* return : status (1:ok,0:memory allocation error)
*-----------------------------------------------------------------------------*/
extern int init_rtcm_static(rtcm_t *rtcm, char index)
{
gtime_t time0 = {0};
obsd_t data0 = {{0}};
eph_t eph0 = {0, -1, -1};
extern obsd_t RTCM_obsd_r[MAXOBS];
extern obsd_t RTCM_obsd_b[MAXOBS];
extern eph_t RTCM_eph_r[MAXSAT];
#ifdef ENAGLO
extern eph_t RTCM_geph[MAXPRNGLO];
geph_t geph0 = {0, -1};
#endif
// ssr_t ssr0={{{0}}};
int i, j;
trace(4, "init_rtcm:\n");
rtcm->staid = rtcm->stah = rtcm->seqno = 0;
// rtcm->outtype = 0;
rtcm->time = rtcm->time_s = time0;
rtcm->sta.name[0] = rtcm->sta.marker[0] = '\0';
rtcm->sta.antdes[0] = rtcm->sta.antsno[0] = '\0';
rtcm->sta.rectype[0] = rtcm->sta.recver[0] = rtcm->sta.recsno[0] = '\0';
rtcm->sta.antsetup = rtcm->sta.itrf = rtcm->sta.deltype = 0;
for (i = 0; i < 3; i++)
{
rtcm->sta.pos[i] = rtcm->sta.del[i] = 0.0;
}
rtcm->sta.hgt = 0.0;
//rtcm->dgps = NULL;
// for (i=0;i<MAXSAT;i++) {
// rtcm->ssr[i]=ssr0;
// }
// rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
for (i = 0; i < 6; i++)
rtcm->msmtype[i][0] = '\0';
rtcm->obsflag = rtcm->ephsat = 0;
for (i = 0; i < MAXSAT; i++)
for (j = 0; j < NFREQ + NEXOBS; j++)
{
rtcm->cp[i][j] = 0.0;
rtcm->lock[i][j] = rtcm->loss[i][j] = 0;
rtcm->lltime[i][j] = time0;
}
rtcm->nbit = rtcm->len = 0;
rtcm->nbyte = 0;
// rtcm->word=0;
// for (i=0;i<100;i++) rtcm->nmsg2[i]=0;
for (i = 0; i < 400; i++)
rtcm->nmsg3[i] = 0;
rtcm->obs.data = NULL;
rtcm->nav.eph = NULL;
rtcm->nav.geph = NULL;
/* reallocate memory for observation and ephemeris buffer */
if (index == 0) /* 接收机静态 */
{
memset(RTCM_obsd_r,0,MAXOBS);
memset(RTCM_eph_r,0,MAXSAT);
rtcm->obs.data = RTCM_obsd_r;
rtcm->nav.eph = RTCM_eph_r;
rtcm->obs.n = 0;
rtcm->nav.n = MAXSAT * 1; /* 接收机星历 (当前星历) */
rtcm->nav.ng = MAXPRNGLO;
for (i = 0; i < MAXOBS; i++)
rtcm->obs.data[i] = data0;
for (i = 0; i < MAXSAT * 1; i++)
rtcm->nav.eph[i] = eph0;
}
else /* 基准站静态 */
{
memset(RTCM_obsd_b,0,MAXOBS);
rtcm->obs.data = RTCM_obsd_b;
rtcm->obs.n = 0;
rtcm->nav.n = 0; /* 基准站最大星历数量 */
rtcm->nav.ng = 0;
for (i = 0; i < MAXOBS; i++)
rtcm->obs.data[i] = data0;
}
#ifdef ENAGLO
if (index == 0)
{
memset(RTCM_geph_r,0,MAXPRNGLO);
rtcm->nav.geph = RTCM_geph_r;
for (i = 0; i < MAXPRNGLO; i++)
rtcm->nav.geph[i] = geph0;
}
#endif
return 1;
}
/* free rtcm control ----------------------------------------------------------
* free observation and ephemeris buffer in rtcm control struct
* args : rtcm_t *raw IO rtcm control struct
* return : none
*-----------------------------------------------------------------------------*/
extern void free_rtcm(rtcm_t *rtcm)
{
trace(4, "free_rtcm:\n");
/* free memory for observation and ephemeris buffer */
#ifndef RTCM_STATIC
free(rtcm->obs.data);
rtcm->obs.data = NULL;
free(rtcm->nav.eph);
rtcm->nav.eph = NULL;
free(rtcm->nav.geph);
rtcm->nav.geph = NULL;
#endif
rtcm->nav.ng = 0;
rtcm->obs.n = 0;
rtcm->nav.n = 0;
}
/* input RTCM 3 message from stream --------------------------------------------
* fetch next RTCM 3 message and input a message from byte stream
* args : rtcm_t *rtcm IO rtcm control struct
* uint8_t data I stream data (1 byte)
* return : status (-1: error message, 0: no message, 1: input observation data,
* 2: input ephemeris, 5: input station pos/ant parameters,
* 10: input ssr messages)
* notes : before firstly calling the function, time in rtcm control struct has
* to be set to the approximate time within 1/2 week in order to resolve
* ambiguity of time in rtcm messages.
*
* to specify input options, set rtcm->opt to the following option
* strings separated by spaces.
*
* -EPHALL : input all ephemerides (default: only new)
* -STA=nnn : input only message with STAID=nnn (default: all)
* -GLss : select signal ss for GPS MSM (ss=1C,1P,...)
* -RLss : select signal ss for GLO MSM (ss=1C,1P,...)
* -ELss : select signal ss for GAL MSM (ss=1C,1B,...)
* -JLss : select signal ss for QZS MSM (ss=1C,2C,...)
* -CLss : select signal ss for BDS MSM (ss=2I,7I,...)
* -ILss : select signal ss for IRN MSM (ss=5A,9A,...)
* -GALINAV : select I/NAV for Galileo ephemeris (default: all)
* -GALFNAV : select F/NAV for Galileo ephemeris (default: all)
*
* supported RTCM 3 messages (ref [7][10][15][16][17][18])
*
* TYPE : GPS GLONASS Galileo QZSS BDS SBAS NavIC
* ----------------------------------------------------------------------
* OBS COMP L1 : 1001~ 1009~ - - - - -
* FULL L1 : 1002 1010 - - - - -
* COMP L1L2: 1003~ 1011~ - - - - -
* FULL L1L2: 1004 1012 - - - - -
*
* NAV : 1019 1020 1045** 1044 1042 - 1041
* - - 1046** - 63* - -
*
* MSM 1 : 1071~ 1081~ 1091~ 1111~ 1121~ 1101~ 1131~
* 2 : 1072~ 1082~ 1092~ 1112~ 1122~ 1102~ 1132~
* 3 : 1073~ 1083~ 1093~ 1113~ 1123~ 1103~ 1133~
* 4 : 1074 1084 1094 1114 1124 1104 1134
* 5 : 1075 1085 1095 1115 1125 1105 1135
* 6 : 1076 1086 1096 1116 1126 1106 1136
* 7 : 1077 1087 1097 1117 1127 1107 1137
*
* SSR ORBIT : 1057 1063 1240* 1246* 1258* - -
* CLOCK : 1058 1064 1241* 1247* 1259* - -
* CODE BIAS: 1059 1065 1242* 1248* 1260* - -
* OBT/CLK : 1060 1066 1243* 1249* 1261* - -
* URA : 1061 1067 1244* 1250* 1262* - -
* HR-CLOCK : 1062 1068 1245* 1251* 1263* - -
* PHAS BIAS: 11* - 12* 13* 14* - -
*
* ANT/RCV INFO : 1007 1008 1033
* STA POSITION : 1005 1006
*
* PROPRIETARY : 4076 (IGS)
* ----------------------------------------------------------------------
* (* draft, ** 1045:F/NAV,1046:I/NAV, ~ only encode)
*
* for MSM observation data with multiple signals for a frequency,
* a signal is selected according to internal priority. to select
* a specified signal, use the input options.
*
* RTCM 3 message format:
* +----------+--------+-----------+--------------------+----------+
* | preamble | 000000 | length | data message | parity |
* +----------+--------+-----------+--------------------+----------+
* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
*
*-----------------------------------------------------------------------------*/
extern int input_rtcm3(rtcm_t *rtcm, uint8_t data)
{
trace(5, "input_rtcm3: data=%02x\n", data);
/* synchronize frame */
if (rtcm->nbyte == 0)
{
if (data != RTCM3PREAMB)
return 0;
rtcm->buff[rtcm->nbyte++] = data;
return 0;
}
rtcm->buff[rtcm->nbyte++] = data;
if (rtcm->nbyte == 3)
{
rtcm->len = getbitu(rtcm->buff, 14, 10) + 3; /* length without parity */
}
if (rtcm->nbyte < 3 || rtcm->nbyte < rtcm->len + 3)
return 0;
rtcm->nbyte = 0;
/* check parity */
if (rtk_crc24q(rtcm->buff, rtcm->len) != getbitu(rtcm->buff, rtcm->len * 8, 24))
{
trace(2, "rtcm3 parity error: len=%d\n", rtcm->len);
return 0;
}
/* decode rtcm3 message */
return decode_rtcm3(rtcm);
}
/* input RTCM 3 message from file ----------------------------------------------
* fetch next RTCM 3 message and input a messsage from file
* args : rtcm_t *rtcm IO rtcm control struct
* FILE *fp I file pointer
* return : status (-2: end of file, -1...10: same as above)
* notes : same as above
*-----------------------------------------------------------------------------*/
extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp)
{
int i, data = 0, ret;
trace(4, "input_rtcm3f: data=%02x\n", data);
for (i = 0; i < 4096; i++)
{
if ((data = fgetc(fp)) == EOF)
return -2;
if ((ret = input_rtcm3(rtcm, (uint8_t)data)))
return ret;
}
return 0; /* return at every 4k bytes */
}

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RTK/rtcm3.c Normal file
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4516
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1732
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36
RTK/static_ram.c Normal file
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#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

18
applications/main.c
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@ -13,23 +13,33 @@
#include <rtdevice.h> #include <rtdevice.h>
#include <board.h> #include <board.h>
#include <drv_log.h> #include <drv_log.h>
#include <dfs_posix.h>
#include <dfs.h>
#include "user_uart.h"
/* defined the LED0 pin: PF9 */ /* defined the LED0 pin: PF9 */
#define LED0_PIN GET_PIN(F, 9) #define LED0_PIN GET_PIN(F, 9)
int main(void) int main(void)
{ {
/* set LED0 pin mode to output */ uart3_init();
rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
LOG_I("main log");
rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
while (1) while (1)
{ {
rt_pin_write(LED0_PIN, PIN_HIGH); rt_pin_write(LED0_PIN, PIN_HIGH);
rt_thread_mdelay(500); rt_thread_mdelay(500);
rt_pin_write(LED0_PIN, PIN_LOW); rt_pin_write(LED0_PIN, PIN_LOW);
rt_thread_mdelay(500); rt_thread_mdelay(500);
// LOG_I("log test");
} }
} }
void test_entry()
{
// const char testbuff[] = "test massage!!!";
// rt_device_write(serial3,0,testbuff,strlen(testbuff));
}
MSH_CMD_EXPORT(test_entry,test_entry);

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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-01-07 ChenYong first version
*/
#include <rtthread.h>
#include <dfs_posix.h>
#include <dfs.h>
#include <ulog.h>
#include "ulog_file.h"
#define ULOG_FILE_BE_NAME "file"
#ifndef ULOG_FILE_ROOT_PATH
#define ULOG_FILE_ROOT_PATH "/logs"
#endif
#ifndef ULOG_FILE_NAME_BASE
#define ULOG_FILE_NAME_BASE "ulog.log"
#endif
#ifndef ULOG_FILE_MAX_NUM
#define ULOG_FILE_MAX_NUM 5
#endif
#ifndef ULOG_FILE_MAX_SIZE
#define ULOG_FILE_MAX_SIZE (1024 * 512)
#endif
#define ULOG_FILE_PATH_LEN 128
#if defined(ULOG_ASYNC_OUTPUT_THREAD_STACK) && (ULOG_ASYNC_OUTPUT_THREAD_STACK < 2048)
#error "The value of ULOG_ASYNC_OUTPUT_THREAD_STACK must be greater than 2048."
#endif
static struct ulog_backend ulog_file;
static char g_file_path[ULOG_FILE_PATH_LEN] = {0};
static int g_file_fd = -1;
/* rotate the log file xxx.log.n-1 => xxx.log.n, and xxx.log => xxx.log.0 */
static rt_bool_t ulog_file_rotate(void)
{
#define SUFFIX_LEN 10
/* mv xxx.log.n-1 => xxx.log.n, and xxx.log => xxx.log.0 */
static char old_path[ULOG_FILE_PATH_LEN], new_path[ULOG_FILE_PATH_LEN];
int index = 0, err = 0, file_fd = 0;
size_t base_len = 0;
rt_bool_t result = RT_FALSE;
rt_memcpy(old_path, g_file_path, ULOG_FILE_PATH_LEN);
rt_memcpy(new_path, g_file_path, ULOG_FILE_PATH_LEN);
base_len = rt_strlen(ULOG_FILE_ROOT_PATH) + rt_strlen(ULOG_FILE_NAME_BASE) + 1;
if (g_file_fd >= 0)
{
close(g_file_fd);
}
for (index = ULOG_FILE_MAX_NUM - 2; index >= 0; --index)
{
rt_snprintf(old_path + base_len, SUFFIX_LEN, index ? ".%d" : "", index - 1);
rt_snprintf(new_path + base_len, SUFFIX_LEN, ".%d", index);
/* remove the old file */
if ((file_fd = open(new_path, O_RDONLY)) >= 0)
{
close(file_fd);
unlink(new_path);
}
/* change the new log file to old file name */
if ((file_fd = open(old_path , O_RDONLY)) >= 0)
{
close(file_fd);
err = rename(old_path, new_path);
}
if (err < 0)
{
result = RT_FALSE;
goto __exit;
}
}
__exit:
/* reopen the file */
g_file_fd = open(g_file_path, O_CREAT | O_RDWR | O_APPEND);
return result;
}
static void ulog_file_backend_output(struct ulog_backend *backend, rt_uint32_t level,
const char *tag, rt_bool_t is_raw, const char *log, size_t len)
{
size_t file_size = 0;
/* check log file directory */
if (access(ULOG_FILE_ROOT_PATH, 0) < 0)
{
mkdir(ULOG_FILE_ROOT_PATH, 0);
}
if (g_file_fd < 0)
{
rt_snprintf(g_file_path, ULOG_FILE_PATH_LEN, "%s/%s", ULOG_FILE_ROOT_PATH, ULOG_FILE_NAME_BASE);
g_file_fd = open(g_file_path, O_CREAT | O_RDWR);
if (g_file_fd < 0)
{
rt_kprintf("ulog file(%s) open failed.", g_file_path);
return;
}
}
file_size = lseek(g_file_fd, 0, SEEK_END);
if (file_size > ULOG_FILE_MAX_SIZE)
{
if (!ulog_file_rotate())
{
return;
}
}
write(g_file_fd, log, len);
/* flush file cache */
fsync(g_file_fd);
}
/* initialize the ulog file backend */
int ulog_file_backend_init(void)
{
ulog_file.output = ulog_file_backend_output;
ulog_backend_register(&ulog_file, ULOG_FILE_BE_NAME, RT_FALSE);
return 0;
}
/* uninitialize the ulog file backend */
int ulog_file_backend_deinit(void)
{
if (g_file_fd >= 0)
{
close(g_file_fd);
g_file_fd = -1;
}
ulog_backend_unregister(&ulog_file);
return 0;
}

201
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@ -0,0 +1,201 @@
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# 基于文件系统的 ulog 插件
## 1、介绍
该软件包基于 ulog 组件，主要实现 ulog 文件系统后端工功能，并且支持配置参数存储功能 。
支持功能如下：
- 支持 ulog 日志存储到文件后端；
- 支持设置日志文件名，最大数量和大小；
- 支持日志文件循环存储功能；
### 1.1 许可证
本软件包遵循 Apache 2.0 许可，详见 `LICENSE` 文件。
### 1.2 依赖
- RT-Thread ulog 组件
## 2、如何打开
使用本软件包需要在 RT-Thread 的包管理器中选择它，具体路径如下：
```c
RT-Thread online packages
tools packages --->
[*] ulog_file: The ulog file backend by filesystem.
(/logs) The root path of the saved file
(ulog.log) The base name of the saved file
(5) The maximum number of the saved file
(524288) The maximum size of a file
Version (latest) --->
```
- **The root path of the saved file**：日志文件保存的根路径；
- **The base name of the saved file**：日志文件的基础文件名，文件名格式 `ulog.log.x`；
- **The maximum number of the saved file**：配置这日志文件最大数量；
- **The maximum size of a file**：配置单个日志文件最大长度；
## 3、使用说明
### 3.1 文件后端初始化
```c
int ulog_file_backend_init(void);
```
需要在应用层调用 `ulog_file_backend_init()` 初始化函数，即可初始化 ulog 日志文件后端，开启日志输出到文件系统指定文件中；
### 3.1 文件后端取消初始化
```c
int ulog_file_backend_deinit(void);
```
需要在应用层调用 `ulog_file_backend_deinit()` 函数，可以注销 ulog 文件后端，取消日志输出到文件系统指定文件中；
## 4、联系方式
- 维护：ChenYong
- 主页：<https://github.com/RT-Thread-packages/ulog_file.git>

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Import('RTT_ROOT')
Import('rtconfig')
from building import *
objs = []
cwd = GetCurrentDir()
list = os.listdir(cwd)
src = Glob('*.c')
CPPPATH = [cwd, str(Dir('#'))]
group = DefineGroup('ulog_file', src, depend = ['PKG_USING_ULOG_FILE'], CPPPATH = CPPPATH)
Return('group')

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rt-thread/components/utilities/ulog_file/ulog_file.h Normal file
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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-01-07 ChenYong first version
*/
#ifndef _ULOG_FILE_H_
#define _ULOG_FILE_H_
#define ULOG_FILE_SW_VERSION "1.0.0"
#define ULOG_FILE_SW_VERSION_NUM 0x0100000
int ulog_file_backend_init(void);
int ulog_file_backend_deinit(void);
#endif /* _ULOG_FILE_H_ */

15
rtconfig.h
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@ -168,8 +168,14 @@
#define RT_USING_ULOG #define RT_USING_ULOG
#define ULOG_OUTPUT_LVL_D #define ULOG_OUTPUT_LVL_D
#define ULOG_OUTPUT_LVL 7 #define ULOG_OUTPUT_LVL 7
#define ULOG_USING_ISR_LOG
#define ULOG_ASSERT_ENABLE #define ULOG_ASSERT_ENABLE
#define ULOG_LINE_BUF_SIZE 128 #define ULOG_LINE_BUF_SIZE 128
#define ULOG_USING_ASYNC_OUTPUT
#define ULOG_ASYNC_OUTPUT_BUF_SIZE 2048
#define ULOG_ASYNC_OUTPUT_BY_THREAD
#define ULOG_ASYNC_OUTPUT_THREAD_STACK 1024
#define ULOG_ASYNC_OUTPUT_THREAD_PRIORITY 30
/* log format */ /* log format */
@ -235,6 +241,12 @@
/* tools packages */ /* 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 */ /* end of tools packages */
/* system packages */ /* system packages */
@ -293,6 +305,7 @@
/* Onboard Peripheral Drivers */ /* Onboard Peripheral Drivers */
#define BSP_USING_USB_TO_USART #define BSP_USING_USB_TO_USART
#define BSP_USING_COM3
#define BSP_USING_SRAM #define BSP_USING_SRAM
/* Enable File System */ /* Enable File System */
@ -307,6 +320,8 @@
#define BSP_USING_GPIO #define BSP_USING_GPIO
#define BSP_USING_UART #define BSP_USING_UART
#define BSP_USING_UART1 #define BSP_USING_UART1
#define BSP_USING_UART3
#define BSP_UART3_RX_USING_DMA
#define BSP_USING_ONCHIP_RTC #define BSP_USING_ONCHIP_RTC
#define BSP_RTC_USING_LSE #define BSP_RTC_USING_LSE
#define BSP_USING_SDIO #define BSP_USING_SDIO

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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2022-06-14 fize the first version
*/
#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)
{
char testbuff[20];
uart3_simpack.rx_num=size;
rt_sem_release(&uart3_simpack.rx_sem);
rt_device_read(serial3,0,testbuff, size);
// can only use ulog at asynchronous mode.
LOG_I("massage received : %s",testbuff);
return RT_EOK;
}
rt_device_t uart3_init(void)
{
struct serial_configure config;
serial3 = rt_device_find(USER_UART_NAME);
if (serial3 == RT_NULL)
{
LOG_E("could not find device: %s", USER_UART_NAME);
return RT_NULL;
}
config.baud_rate = BAUD_RATE_115200; //修改波特率为 115200
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.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))
!= RT_EOK)
{
LOG_E("could not set %s 's rx|tx callback func", USER_UART_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 ))
{
LOG_E("could not open device: %s", USER_UART_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;
}

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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2022-06-14 傅小二 the first version
*/
#ifndef APPLICATIONS_USER_UART_USER_UART_H_
#define APPLICATIONS_USER_UART_USER_UART_H_
#include <rtthread.h>
#include <rtdevice.h>
#include <ulog.h>
#include <rtdef.h>
#define USER_UART_NAME "uart3"
#define READ_SERIAL3(args...) rt_device_read(serial3,0,args,args)
rt_device_t serial3;
struct uart_simpack
{
rt_size_t rx_num;
rt_size_t tx_num;
struct rt_semaphore rx_sem; /* 用于接收消息的信号量 */
struct rt_semaphore tx_sem; /* 用于发送消息的信号量 */
};
typedef struct uart_simpack uart_simpack;
uart_simpack uart3_simpack;
rt_device_t uart3_init(void);
#endif /* APPLICATIONS_USER_UART_USER_UART_H_ */