在STM32上实现使用DMA+USART3传输数据

最新推荐文章于 2024-06-29 10:39:52 发布

Achou.Wang

最新推荐文章于 2024-06-29 10:39:52 发布

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分类专栏： C-C++ 文章标签： stm32 文档

本文链接：https://blog.csdn.net/andrewgithub/article/details/76153148

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串口的配置的文档如下所示
出口3的头文件

#ifndef __USART3_H
#define __USART3_H   
#include "sys.h"  


#define USART3_MAX_RECV_LEN     200                 //×î´ó½ÓÊÕ»º´æ×Ö½ÚÊý
#define USART3_MAX_SEND_LEN     200                 //×î´ó·¢ËÍ»º´æ×Ö½ÚÊý
#define USART3_RX_EN            1                   //0,²»½ÓÊÕ;1,½ÓÊÕ.

extern u8  USART3_RX_BUF[USART3_MAX_RECV_LEN];      //½ÓÊÕ»º³å,×î´óUSART2_MAX_RECV_LEN×Ö½Ú
extern u8  USART3_TX_BUF[USART3_MAX_SEND_LEN];      //·¢ËÍ»º³å,×î´óUSART2_MAX_SEND_LEN×Ö½Ú
extern u16 USART3_RX_STA;                           //½ÓÊÕÊý¾Ý×´Ì¬

void USART3_Init(u32 bound);                //´®¿Ú2³õÊ¼»¯ 
void TIM4_Set(u8 sta);
void TIM4_Init(u16 arr,u16 psc);
void UART_DMA_Config(DMA_Channel_TypeDef*DMA_CHx,u32 cpar,u32 cmar);
void UART_DMA_Enable(DMA_Channel_TypeDef*DMA_CHx,u8 len);
void u3_printf(char* fmt, ...);
#endif

串口3的c文件

#include "delay.h"
#include "usart3.h"
#include "stdarg.h"      
#include "stdio.h"       
#include "string.h"    

u16 USART3_RX_STA=0;     
void USART3_IRQHandler(void)
{
    u8 res;     
    if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)//½ÓÊÕµ½Êý¾Ý
    {    

    res =USART_ReceiveData(USART3);     
        if(USART3_RX_STA<USART3_MAX_RECV_LEN)       //»¹¿ÉÒÔ½ÓÊÕÊý¾Ý
        {
            TIM_SetCounter(TIM4,0);//¼ÆÊýÆ÷Çå¿Õ                      
            if(USART3_RX_STA==0)TIM4_Set(1);        //Ê¹ÄÜ¶¨Ê±Æ÷4µÄÖÐ¶Ï 
            USART3_RX_BUF[USART3_RX_STA++]=res;     //¼ÇÂ¼½ÓÊÕµ½µÄÖµ     
        }else 
        {
            USART3_RX_STA|=1<<15;                   //Ç¿ÖÆ±ê¼Ç½ÓÊÕÍê³É
        } 
    }                                            
}   
//³õÊ¼»¯IO ´®¿Ú2
//pclk1:PCLK1Ê±ÖÓÆµÂÊ(Mhz)
//bound:²¨ÌØÂÊ    
void USART3_Init(u32 bound)
{  

    NVIC_InitTypeDef NVIC_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);   // GPIOAÊ±ÖÓ
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);

    USART_DeInit(USART3);  //¸´Î»´®¿Ú2
         //USART2_TX   PA.2
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PA.2
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;   //¸´ÓÃÍÆÍìÊä³ö
  GPIO_Init(GPIOB, &GPIO_InitStructure); //³õÊ¼»¯PA2

    //USART2_RX   PA.3
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//¸¡¿ÕÊäÈë
  GPIO_Init(GPIOB, &GPIO_InitStructure);  //³õÊ¼»¯PA3

    USART_InitStructure.USART_BaudRate = bound;//Ò»°ãÉèÖÃÎª9600;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;//×Ö³¤Îª8Î»Êý¾Ý¸ñÊ½
    USART_InitStructure.USART_StopBits = USART_StopBits_1;//Ò»¸öÍ£Ö¹Î»
    USART_InitStructure.USART_Parity = USART_Parity_No;//ÎÞÆæÅ¼Ð£ÑéÎ»
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//ÎÞÓ²¼þÊý¾ÝÁ÷¿ØÖÆ
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //ÊÕ·¢Ä£Ê½

    USART_Init(USART3, &USART_InitStructure); //³õÊ¼»¯´®¿Ú  2

    //²¨ÌØÂÊÉèÖÃ
 // USART2->BRR=(pclk1*1000000)/(bound);// ²¨ÌØÂÊÉèÖÃ    
    //USART2->CR1|=0X200C;      //1Î»Í£Ö¹,ÎÞÐ£ÑéÎ».
    USART_DMACmd(USART3,USART_DMAReq_Tx,ENABLE);    //Ê¹ÄÜ´®¿Ú2µÄDMA·¢ËÍ
    UART_DMA_Config(DMA1_Channel2,(u32)&USART3->DR,(u32)USART3_TX_BUF);//DMA1Í¨µÀ7,ÍâÉèÎª´®¿Ú2,´æ´¢Æ÷ÎªUSART2_TX_BUF 
    USART_Cmd(USART3, ENABLE);                    //Ê¹ÄÜ´®¿Ú 

#ifdef USART3_RX_EN         //Èç¹ûÊ¹ÄÜÁË½ÓÊÕ
    //Ê¹ÄÜ½ÓÊÕÖÐ¶Ï
  USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//¿ªÆôÖÐ¶Ï   

    NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//ÇÀÕ¼ÓÅÏÈ¼¶3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;      //×ÓÓÅÏÈ¼¶3
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;         //IRQÍ¨µÀÊ¹ÄÜ
    NVIC_Init(&NVIC_InitStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯VIC¼Ä´æÆ÷
    TIM4_Init(99,7199);     //10msÖÐ¶Ï
    USART3_RX_STA=0;        //ÇåÁã
    TIM4_Set(0);            //¹Ø±Õ¶¨Ê±Æ÷4
#endif      

}
//´®¿Ú2,printf º¯Êý
//È·±£Ò»´Î·¢ËÍÊý¾Ý²»³¬¹ýUSART2_MAX_SEND_LEN×Ö½Ú
void u3_printf(char* fmt,...)  
{  
    va_list ap;
    va_start(ap,fmt);
    sprintf((char*)USART3_TX_BUF,fmt,ap);
    va_end(ap);
    while(DMA_GetCurrDataCounter(DMA1_Channel2)!=0);    //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,strlen((const char*)USART3_TX_BUF));  //Í¨¹ýdma·¢ËÍ³öÈ¥
}
//¶¨Ê±Æ÷4ÖÐ¶Ï·þÎñ³ÌÐò           
void TIM4_IRQHandler(void)
{   
    if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)//ÊÇ¸üÐÂÖÐ¶Ï
    {                  
        USART3_RX_STA|=1<<15;   //±ê¼Ç½ÓÊÕÍê³É
        TIM_ClearITPendingBit(TIM4, TIM_IT_Update  );  //Çå³ýTIMx¸üÐÂÖÐ¶Ï±êÖ¾    
        TIM4_Set(0);            //¹Ø±ÕTIM4  
    }       
}
//ÉèÖÃTIM4µÄ¿ª¹Ø
//sta:0£¬¹Ø±Õ;1,¿ªÆô;
void TIM4_Set(u8 sta)
{
    if(sta)
    {

        TIM_SetCounter(TIM4,0);//¼ÆÊýÆ÷Çå¿Õ
        TIM_Cmd(TIM4, ENABLE);  //Ê¹ÄÜTIMx  
    }else TIM_Cmd(TIM4, DISABLE);//¹Ø±Õ¶¨Ê±Æ÷4     
}
//Í¨ÓÃ¶¨Ê±Æ÷ÖÐ¶Ï³õÊ¼»¯
//ÕâÀïÊ¼ÖÕÑ¡ÔñÎªAPB1µÄ2±¶£¬¶øAPB1Îª36M
//arr£º×Ô¶¯ÖØ×°Öµ¡£
//psc£ºÊ±ÖÓÔ¤·ÖÆµÊý      
void TIM4_Init(u16 arr,u16 psc)
{   
    NVIC_InitTypeDef NVIC_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //Ê±ÖÓÊ¹ÄÜ//TIM4Ê±ÖÓÊ¹ÄÜ    

    //¶¨Ê±Æ÷TIM3³õÊ¼»¯
    TIM_TimeBaseStructure.TIM_Period = arr; //ÉèÖÃÔÚÏÂÒ»¸ö¸üÐÂÊÂ¼þ×°Èë»î¶¯µÄ×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷ÖÜÆÚµÄÖµ    
    TIM_TimeBaseStructure.TIM_Prescaler =psc; //ÉèÖÃÓÃÀ´×÷ÎªTIMxÊ±ÖÓÆµÂÊ³ýÊýµÄÔ¤·ÖÆµÖµ
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //ÉèÖÃÊ±ÖÓ·Ö¸î:TDTS = Tck_tim
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIMÏòÉÏ¼ÆÊýÄ£Ê½
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯TIMxµÄÊ±¼ä»ùÊýµ¥Î»

    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE ); //Ê¹ÄÜÖ¸¶¨µÄTIM4ÖÐ¶Ï,ÔÊÐí¸üÐÂÖÐ¶Ï


    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;//ÇÀÕ¼ÓÅÏÈ¼¶3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;      //×ÓÓÅÏÈ¼¶3
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;         //IRQÍ¨µÀÊ¹ÄÜ
    NVIC_Init(&NVIC_InitStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯VIC¼Ä´æÆ÷

}
#endif       
///////////////////////////////////////USART2 DMA·¢ËÍÅäÖÃ²¿·Ö//////////////////////////////////             
//DMA1µÄ¸÷Í¨µÀÅäÖÃ
//ÕâÀïµÄ´«ÊäÐÎÊ½ÊÇ¹Ì¶¨µÄ,ÕâµãÒª¸ù¾Ý²»Í¬µÄÇé¿öÀ´ÐÞ¸Ä
//´Ó´æ´¢Æ÷->ÍâÉèÄ£Ê½/8Î»Êý¾Ý¿í¶È/´æ´¢Æ÷ÔöÁ¿Ä£Ê½
//DMA_CHx:DMAÍ¨µÀCHx
//cpar:ÍâÉèµØÖ·
//cmar:´æ´¢Æ÷µØÖ·    
void UART_DMA_Config(DMA_Channel_TypeDef*DMA_CHx,u32 cpar,u32 cmar)
{
    DMA_InitTypeDef DMA_InitStructure;
    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);  //Ê¹ÄÜDMA´«Êä
  DMA_DeInit(DMA_CHx);   //½«DMAµÄÍ¨µÀ1¼Ä´æÆ÷ÖØÉèÎªÈ±Ê¡Öµ
    DMA_InitStructure.DMA_PeripheralBaseAddr = cpar;  //DMAÍâÉèADC»ùµØÖ·
    DMA_InitStructure.DMA_MemoryBaseAddr = cmar;  //DMAÄÚ´æ»ùµØÖ·
    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;  //Êý¾Ý´«Êä·½Ïò£¬´ÓÄÚ´æ¶ÁÈ¡·¢ËÍµ½ÍâÉè
    DMA_InitStructure.DMA_BufferSize = 0;  //DMAÍ¨µÀµÄDMA»º´æµÄ´óÐ¡
    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;  //ÍâÉèµØÖ·¼Ä´æÆ÷²»±ä
    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;  //ÄÚ´æµØÖ·¼Ä´æÆ÷µÝÔö
    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;  //Êý¾Ý¿í¶ÈÎª8Î»
    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //Êý¾Ý¿í¶ÈÎª8Î»
    DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;  //¹¤×÷ÔÚÕý³£»º´æÄ£Ê½
    DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; //DMAÍ¨µÀ xÓµÓÐÖÐÓÅÏÈ¼¶ 
    DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;  //DMAÍ¨µÀxÃ»ÓÐÉèÖÃÎªÄÚ´æµ½ÄÚ´æ´«Êä
    DMA_Init(DMA_CHx, &DMA_InitStructure);  //¸ù¾ÝDMA_InitStructÖÐÖ¸¶¨µÄ²ÎÊý³õÊ¼»¯DMAµÄÍ¨µÀUSART1_Tx_DMA_ChannelËù±êÊ¶µÄ¼Ä´æÆ÷  
} 
//¿ªÆôÒ»´ÎDMA´«Êä
void UART_DMA_Enable(DMA_Channel_TypeDef*DMA_CHx,u8 len)
{
    DMA_Cmd(DMA_CHx, DISABLE );  //¹Ø±Õ Ö¸Ê¾µÄÍ¨µÀ        
    DMA_SetCurrDataCounter(DMA_CHx,len);//DMAÍ¨µÀµÄDMA»º´æµÄ´óÐ¡    
    DMA_Cmd(DMA_CHx, ENABLE);           //¿ªÆôDMA´«Êä
}      
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

gps文件

#include "gps.h" 
#include "led.h" 
#include "delay.h"                                 
#include "usart3.h"                                    
#include "stdio.h"   
#include "stdarg.h"  
#include "string.h"  
#include "math.h"
//////////////////////////////////////////////////////////////////////////////////   
//±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹ÓÃ£¬Î´¾×÷ÕßÐí¿É£¬²»µÃÓÃÓÚÆäËüÈÎºÎÓÃÍ¾
//ALIENTEK STM32¿ª·¢°å
//ATK-NEO-6M GPSÄ£¿éÇý¶¯´úÂë       
//ÕýµãÔ×Ó@ALIENTEK
//¼¼ÊõÂÛÌ³:www.openedv.com
//ÐÞ¸ÄÈÕÆÚ:2014/3/30
//°æ±¾£ºV2.0
//°æÈ¨ËùÓÐ£¬µÁ°æ±Ø¾¿¡£
//Copyright(C) ¹ãÖÝÊÐÐÇÒíµç×Ó¿Æ¼¼ÓÐÏÞ¹«Ë¾ 2009-2019
//All rights reserved                   
//********************************************************************************
//V2.0 ÐÞ¸ÄËµÃ÷ 20140330
//1,Ìí¼ÓUblox_Cfg_Cfg_Saveº¯Êý
//2,Ìí¼ÓUblox_Cfg_Msgº¯Êý
//3,Ìí¼ÓUblox_Cfg_Prtº¯Êý.                
//////////////////////////////////////////////////////////////////////////////////     

//´ÓbufÀïÃæµÃµ½µÚcx¸ö¶ººÅËùÔÚµÄÎ»ÖÃ
//·µ»ØÖµ:0~0XFE,´ú±í¶ººÅËùÔÚÎ»ÖÃµÄÆ«ÒÆ.
//       0XFF,´ú±í²»´æÔÚµÚcx¸ö¶ººÅ                            
u8 NMEA_Comma_Pos(u8 *buf,u8 cx)
{               
    u8 *p=buf;
    while(cx)
    {        
        if(*buf=='*'||*buf<' '||*buf>'z')return 0XFF;//Óöµ½'*'»òÕß·Ç·¨×Ö·û,Ôò²»´æÔÚµÚcx¸ö¶ººÅ
        if(*buf==',')cx--;
        buf++;
    }
    return buf-p;    
}
//m^nº¯Êý
//·µ»ØÖµ:m^n´Î·½.
u32 NMEA_Pow(u8 m,u8 n)
{
    u32 result=1;    
    while(n--)result*=m;    
    return result;
}
//str×ª»»ÎªÊý×Ö,ÒÔ','»òÕß'*'½áÊø
//buf:Êý×Ö´æ´¢Çø
//dx:Ð¡ÊýµãÎ»Êý,·µ»Ø¸øµ÷ÓÃº¯Êý
//·µ»ØÖµ:×ª»»ºóµÄÊýÖµ
int NMEA_Str2num(u8 *buf,u8*dx)
{
    u8 *p=buf;
    u32 ires=0,fres=0;
    u8 ilen=0,flen=0,i;
    u8 mask=0;
    int res;
    while(1) //µÃµ½ÕûÊýºÍÐ¡ÊýµÄ³¤¶È
    {
        if(*p=='-'){mask|=0X02;p++;}//ÊÇ¸ºÊý
        if(*p==','||(*p=='*'))break;//Óöµ½½áÊøÁË
        if(*p=='.'){mask|=0X01;p++;}//Óöµ½Ð¡ÊýµãÁË
        else if(*p>'9'||(*p<'0'))   //ÓÐ·Ç·¨×Ö·û
        {   
            ilen=0;
            flen=0;
            break;
        }   
        if(mask&0X01)flen++;
        else ilen++;
        p++;
    }
    if(mask&0X02)buf++; //È¥µô¸ººÅ
    for(i=0;i<ilen;i++) //µÃµ½ÕûÊý²¿·ÖÊý¾Ý
    {  
        ires+=NMEA_Pow(10,ilen-1-i)*(buf[i]-'0');
    }
    if(flen>5)flen=5;   //×î¶àÈ¡5Î»Ð¡Êý
    *dx=flen;           //Ð¡ÊýµãÎ»Êý
    for(i=0;i<flen;i++) //µÃµ½Ð¡Êý²¿·ÖÊý¾Ý
    {  
        fres+=NMEA_Pow(10,flen-1-i)*(buf[ilen+1+i]-'0');
    } 
    res=ires*NMEA_Pow(10,flen)+fres;
    if(mask&0X02)res=-res;         
    return res;
}                                
//·ÖÎöGPGSVÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void NMEA_GPGSV_Analysis(nmea_msg *gpsx,u8 *buf)
{
    u8 *p,*p1,dx;
    u8 len,i,j,slx=0;
    u8 posx;     
    p=buf;
    p1=(u8*)strstr((const char *)p,"$GPGSV");
    len=p1[7]-'0';                              //µÃµ½GPGSVµÄÌõÊý
    posx=NMEA_Comma_Pos(p1,3);                  //µÃµ½¿É¼ûÎÀÐÇ×ÜÊý
    if(posx!=0XFF)gpsx->svnum=NMEA_Str2num(p1+posx,&dx);
    for(i=0;i<len;i++)
    {    
        p1=(u8*)strstr((const char *)p,"$GPGSV");  
        for(j=0;j<4;j++)
        {     
            posx=NMEA_Comma_Pos(p1,4+j*4);
            if(posx!=0XFF)gpsx->slmsg[slx].num=NMEA_Str2num(p1+posx,&dx);   //µÃµ½ÎÀÐÇ±àºÅ
            else break; 
            posx=NMEA_Comma_Pos(p1,5+j*4);
            if(posx!=0XFF)gpsx->slmsg[slx].eledeg=NMEA_Str2num(p1+posx,&dx);//µÃµ½ÎÀÐÇÑö½Ç 
            else break;
            posx=NMEA_Comma_Pos(p1,6+j*4);
            if(posx!=0XFF)gpsx->slmsg[slx].azideg=NMEA_Str2num(p1+posx,&dx);//µÃµ½ÎÀÐÇ·½Î»½Ç
            else break; 
            posx=NMEA_Comma_Pos(p1,7+j*4);
            if(posx!=0XFF)gpsx->slmsg[slx].sn=NMEA_Str2num(p1+posx,&dx);    //µÃµ½ÎÀÐÇÐÅÔë±È
            else break;
            slx++;     
        }   
        p=p1+1;//ÇÐ»»µ½ÏÂÒ»¸öGPGSVÐÅÏ¢
    }   
}
//·ÖÎöGPGGAÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void NMEA_GPGGA_Analysis(nmea_msg *gpsx,u8 *buf)
{
    u8 *p1,dx;           
    u8 posx;    
    p1=(u8*)strstr((const char *)buf,"$GPGGA");
    posx=NMEA_Comma_Pos(p1,6);                              //µÃµ½GPS×´Ì¬
    if(posx!=0XFF)gpsx->gpssta=NMEA_Str2num(p1+posx,&dx);   
    posx=NMEA_Comma_Pos(p1,7);                              //µÃµ½ÓÃÓÚ¶¨Î»µÄÎÀÐÇÊý
    if(posx!=0XFF)gpsx->posslnum=NMEA_Str2num(p1+posx,&dx); 
    posx=NMEA_Comma_Pos(p1,9);                              //µÃµ½º£°Î¸ß¶È
    if(posx!=0XFF)gpsx->altitude=NMEA_Str2num(p1+posx,&dx);  
}
//·ÖÎöGPGSAÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void NMEA_GPGSA_Analysis(nmea_msg *gpsx,u8 *buf)
{
    u8 *p1,dx;           
    u8 posx; 
    u8 i;   
    p1=(u8*)strstr((const char *)buf,"$GPGSA");
    posx=NMEA_Comma_Pos(p1,2);                              //µÃµ½¶¨Î»ÀàÐÍ
    if(posx!=0XFF)gpsx->fixmode=NMEA_Str2num(p1+posx,&dx);  
    for(i=0;i<12;i++)                                       //µÃµ½¶¨Î»ÎÀÐÇ±àºÅ
    {
        posx=NMEA_Comma_Pos(p1,3+i);                     
        if(posx!=0XFF)gpsx->possl[i]=NMEA_Str2num(p1+posx,&dx);
        else break; 
    }                 
    posx=NMEA_Comma_Pos(p1,15);                             //µÃµ½PDOPÎ»ÖÃ¾«¶ÈÒò×Ó
    if(posx!=0XFF)gpsx->pdop=NMEA_Str2num(p1+posx,&dx);  
    posx=NMEA_Comma_Pos(p1,16);                             //µÃµ½HDOPÎ»ÖÃ¾«¶ÈÒò×Ó
    if(posx!=0XFF)gpsx->hdop=NMEA_Str2num(p1+posx,&dx);  
    posx=NMEA_Comma_Pos(p1,17);                             //µÃµ½VDOPÎ»ÖÃ¾«¶ÈÒò×Ó
    if(posx!=0XFF)gpsx->vdop=NMEA_Str2num(p1+posx,&dx);  
}
//·ÖÎöGPRMCÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void NMEA_GPRMC_Analysis(nmea_msg *gpsx,u8 *buf)
{
    u8 *p1,dx;           
    u8 posx;     
    u32 temp;      
    float rs;  
    p1=(u8*)strstr((const char *)buf,"GPRMC");//"$GPRMC",¾³£ÓÐ&ºÍGPRMC·Ö¿ªµÄÇé¿ö,¹ÊÖ»ÅÐ¶ÏGPRMC.
    posx=NMEA_Comma_Pos(p1,1);                              //µÃµ½UTCÊ±¼ä
    if(posx!=0XFF)
    {
        temp=NMEA_Str2num(p1+posx,&dx)/NMEA_Pow(10,dx);     //µÃµ½UTCÊ±¼ä,È¥µôms
        gpsx->utc.hour=temp/10000;
        gpsx->utc.min=(temp/100)%100;
        gpsx->utc.sec=temp%100;      
    }   
    posx=NMEA_Comma_Pos(p1,3);                              //µÃµ½Î³¶È
    if(posx!=0XFF)
    {
        temp=NMEA_Str2num(p1+posx,&dx);          
        gpsx->latitude=temp/NMEA_Pow(10,dx+2);  //µÃµ½¡ã
        rs=temp%NMEA_Pow(10,dx+2);              //µÃµ½'      
        gpsx->latitude=gpsx->latitude*NMEA_Pow(10,5)+(rs*NMEA_Pow(10,5-dx))/60;//×ª»»Îª¡ã 
    }
    posx=NMEA_Comma_Pos(p1,4);                              //ÄÏÎ³»¹ÊÇ±±Î³ 
    if(posx!=0XFF)gpsx->nshemi=*(p1+posx);                   
    posx=NMEA_Comma_Pos(p1,5);                              //µÃµ½¾¶È
    if(posx!=0XFF)
    {                                                 
        temp=NMEA_Str2num(p1+posx,&dx);          
        gpsx->longitude=temp/NMEA_Pow(10,dx+2); //µÃµ½¡ã
        rs=temp%NMEA_Pow(10,dx+2);              //µÃµ½'      
        gpsx->longitude=gpsx->longitude*NMEA_Pow(10,5)+(rs*NMEA_Pow(10,5-dx))/60;//×ª»»Îª¡ã 
    }
    posx=NMEA_Comma_Pos(p1,6);                              //¶«¾»¹ÊÇÎ÷¾
    if(posx!=0XFF)gpsx->ewhemi=*(p1+posx);       
    posx=NMEA_Comma_Pos(p1,9);                              //µÃµ½UTCÈÕÆÚ
    if(posx!=0XFF)
    {
        temp=NMEA_Str2num(p1+posx,&dx);                     //µÃµ½UTCÈÕÆÚ
        gpsx->utc.date=temp/10000;
        gpsx->utc.month=(temp/100)%100;
        gpsx->utc.year=2000+temp%100;        
    } 
}
//·ÖÎöGPVTGÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void NMEA_GPVTG_Analysis(nmea_msg *gpsx,u8 *buf)
{
    u8 *p1,dx;           
    u8 posx;    
    p1=(u8*)strstr((const char *)buf,"$GPVTG");                             
    posx=NMEA_Comma_Pos(p1,7);                              //µÃµ½µØÃæËÙÂÊ
    if(posx!=0XFF)
    {
        gpsx->speed=NMEA_Str2num(p1+posx,&dx);
        if(dx<3)gpsx->speed*=NMEA_Pow(10,3-dx);             //È·±£À©´ó1000±¶
    }
}  
//ÌáÈ¡NMEA-0183ÐÅÏ¢
//gpsx:nmeaÐÅÏ¢½á¹¹Ìå
//buf:½ÓÊÕµ½µÄGPSÊý¾Ý»º³åÇøÊ×µØÖ·
void GPS_Analysis(nmea_msg *gpsx,u8 *buf)
{
    NMEA_GPGSV_Analysis(gpsx,buf);  //GPGSV½âÎö
    NMEA_GPGGA_Analysis(gpsx,buf);  //GPGGA½âÎö     
    NMEA_GPGSA_Analysis(gpsx,buf);  //GPGSA½âÎö
    NMEA_GPRMC_Analysis(gpsx,buf);  //GPRMC½âÎö
    NMEA_GPVTG_Analysis(gpsx,buf);  //GPVTG½âÎö
}

//GPSÐ£ÑéºÍ¼ÆËã
//buf:Êý¾Ý»º´æÇøÊ×µØÖ·
//len:Êý¾Ý³¤¶È
//cka,ckb:Á½¸öÐ£Ñé½á¹û.
void Ublox_CheckSum(u8 *buf,u16 len,u8* cka,u8*ckb)
{
    u16 i;
    *cka=0;*ckb=0;
    for(i=0;i<len;i++)
    {
        *cka=*cka+buf[i];
        *ckb=*ckb+*cka;
    }
}
/////////////////////////////////////////UBLOX ÅäÖÃ´úÂë/////////////////////////////////////
//¼ì²éCFGÅäÖÃÖ´ÐÐÇé¿ö
//·µ»ØÖµ:0,ACK³É¹¦
//       1,½ÓÊÕ³¬Ê±´íÎó
//       2,Ã»ÓÐÕÒµ½Í¬²½×Ö·û
//       3,½ÓÊÕµ½NACKÓ¦´ð
u8 Ublox_Cfg_Ack_Check(void)
{            
    u16 len=0,i;
    u8 rval=0;
    while((USART3_RX_STA&0X8000)==0 && len<100)//µÈ´ý½ÓÊÕµ½Ó¦´ð   
    {
        len++;
        delay_ms(5);
    }        
    if(len<250)     //³¬Ê±´íÎó.
    {
        len=USART3_RX_STA&0X7FFF;   //´Ë´Î½ÓÊÕµ½µÄÊý¾Ý³¤¶È 
        for(i=0;i<len;i++)if(USART3_RX_BUF[i]==0XB5)break;//²éÕÒÍ¬²½×Ö·û 0XB5
        if(i==len)rval=2;                       //Ã»ÓÐÕÒµ½Í¬²½×Ö·û
        else if(USART3_RX_BUF[i+3]==0X00)rval=3;//½ÓÊÕµ½NACKÓ¦´ð
        else rval=0;                            //½ÓÊÕµ½ACKÓ¦´ð
    }else rval=1;                               //½ÓÊÕ³¬Ê±´íÎó
    USART3_RX_STA=0;                            //Çå³ý½ÓÊÕ
    return rval;  
}
//ÅäÖÃ±£´æ
//½«µ±Ç°ÅäÖÃ±£´æÔÚÍâ²¿EEPROMÀïÃæ
//·µ»ØÖµ:0,Ö´ÐÐ³É¹¦;1,Ö´ÐÐÊ§°Ü.
u8 Ublox_Cfg_Cfg_Save(void)
{
    u8 i;
    _ublox_cfg_cfg *cfg_cfg=(_ublox_cfg_cfg *)USART3_TX_BUF;
    cfg_cfg->header=0X62B5;     //cfg header
    cfg_cfg->id=0X0906;         //cfg cfg id
    cfg_cfg->dlength=13;        //Êý¾ÝÇø³¤¶ÈÎª13¸ö×Ö½Ú.      
    cfg_cfg->clearmask=0;       //Çå³ýÑÚÂëÎª0
    cfg_cfg->savemask=0XFFFF;   //±£´æÑÚÂëÎª0XFFFF
    cfg_cfg->loadmask=0;        //¼ÓÔØÑÚÂëÎª0 
    cfg_cfg->devicemask=4;      //±£´æÔÚEEPROMÀïÃæ       
    Ublox_CheckSum((u8*)(&cfg_cfg->id),sizeof(_ublox_cfg_cfg)-4,&cfg_cfg->cka,&cfg_cfg->ckb);
    while(DMA1_Channel2->CNDTR!=0); //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,sizeof(_ublox_cfg_cfg));  //Í¨¹ýdma·¢ËÍ³öÈ¥
    for(i=0;i<6;i++)if(Ublox_Cfg_Ack_Check()==0)break;      //EEPROMÐ´ÈëÐèÒª±È½Ï¾ÃÊ±¼ä,ËùÒÔÁ¬ÐøÅÐ¶Ï¶à´Î
    return i==6?1:0;
}
//ÅäÖÃNMEAÊä³öÐÅÏ¢¸ñÊ½
//msgid:Òª²Ù×÷µÄNMEAÏûÏ¢ÌõÄ¿,¾ßÌå¼ûÏÂÃæµÄ²ÎÊý±í
//      00,GPGGA;01,GPGLL;02,GPGSA;
//      03,GPGSV;04,GPRMC;05,GPVTG;
//      06,GPGRS;07,GPGST;08,GPZDA;
//      09,GPGBS;0A,GPDTM;0D,GPGNS;
//uart1set:0,Êä³ö¹Ø±Õ;1,Êä³ö¿ªÆô.     
//·µ»ØÖµ:0,Ö´ÐÐ³É¹¦;ÆäËû,Ö´ÐÐÊ§°Ü.
u8 Ublox_Cfg_Msg(u8 msgid,u8 uart1set)
{
    _ublox_cfg_msg *cfg_msg=(_ublox_cfg_msg *)USART3_TX_BUF;
    cfg_msg->header=0X62B5;     //cfg header
    cfg_msg->id=0X0106;         //cfg msg id
    cfg_msg->dlength=8;         //Êý¾ÝÇø³¤¶ÈÎª8¸ö×Ö½Ú.  
    cfg_msg->msgclass=0XF0;     //NMEAÏûÏ¢
    cfg_msg->msgid=msgid;       //Òª²Ù×÷µÄNMEAÏûÏ¢ÌõÄ¿
    cfg_msg->iicset=1;          //Ä¬ÈÏ¿ªÆô
    cfg_msg->uart1set=uart1set; //¿ª¹ØÉèÖÃ
    cfg_msg->uart2set=1;        //Ä¬ÈÏ¿ªÆô
    cfg_msg->usbset=1;          //Ä¬ÈÏ¿ªÆô
    cfg_msg->spiset=1;          //Ä¬ÈÏ¿ªÆô
    cfg_msg->ncset=1;           //Ä¬ÈÏ¿ªÆô    
    Ublox_CheckSum((u8*)(&cfg_msg->id),sizeof(_ublox_cfg_msg)-4,&cfg_msg->cka,&cfg_msg->ckb);
    while(DMA1_Channel2->CNDTR!=0); //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,sizeof(_ublox_cfg_msg));  //Í¨¹ýdma·¢ËÍ³öÈ¥
    return Ublox_Cfg_Ack_Check();
}
//ÅäÖÃNMEAÊä³öÐÅÏ¢¸ñÊ½
//baudrate:²¨ÌØÂÊ,4800/9600/19200/38400/57600/115200/230400   
//·µ»ØÖµ:0,Ö´ÐÐ³É¹¦;ÆäËû,Ö´ÐÐÊ§°Ü(ÕâÀï²»»á·µ»Ø0ÁË)
u8 Ublox_Cfg_Prt(u32 baudrate)
{
    _ublox_cfg_prt *cfg_prt=(_ublox_cfg_prt *)USART3_TX_BUF;
    cfg_prt->header=0X62B5;     //cfg header
    cfg_prt->id=0X0006;         //cfg prt id
    cfg_prt->dlength=20;        //Êý¾ÝÇø³¤¶ÈÎª20¸ö×Ö½Ú. 
    cfg_prt->portid=1;          //²Ù×÷´®¿Ú1
    cfg_prt->reserved=0;        //±£Áô×Ö½Ú,ÉèÖÃÎª0
    cfg_prt->txready=0;         //TX ReadyÉèÖÃÎª0
    cfg_prt->mode=0X08D0;       //8Î»,1¸öÍ£Ö¹Î»,ÎÞÐ£ÑéÎ»
    cfg_prt->baudrate=baudrate; //²¨ÌØÂÊÉèÖÃ
    cfg_prt->inprotomask=0X0007;//0+1+2
    cfg_prt->outprotomask=0X0007;//0+1+2
    cfg_prt->reserved4=0;       //±£Áô×Ö½Ú,ÉèÖÃÎª0
    cfg_prt->reserved5=0;       //±£Áô×Ö½Ú,ÉèÖÃÎª0 
    Ublox_CheckSum((u8*)(&cfg_prt->id),sizeof(_ublox_cfg_prt)-4,&cfg_prt->cka,&cfg_prt->ckb);
    while(DMA1_Channel2->CNDTR!=0); //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,sizeof(_ublox_cfg_prt));  //Í¨¹ýdma·¢ËÍ³öÈ¥
    delay_ms(200);              //µÈ´ý·¢ËÍÍê³É 
    USART3_Init( baudrate); //ÖØÐÂ³õÊ¼»¯´®¿Ú2   
    return Ublox_Cfg_Ack_Check();//ÕâÀï²»»á·´»Ø0,ÒòÎªUBLOX·¢»ØÀ´µÄÓ¦´ðÔÚ´®¿ÚÖØÐÂ³õÊ¼»¯µÄÊ±ºòÒÑ¾±»¶ªÆúÁË.
} 
//ÅäÖÃUBLOX NEO-6µÄÊ±ÖÓÂö³åÊä³ö
//interval:Âö³å¼ä¸ô(us)
//length:Âö³å¿í¶È(us)
//status:Âö³åÅäÖÃ:1,¸ßµçÆ½ÓÐÐ§;0,¹Ø±Õ;-1,µÍµçÆ½ÓÐÐ§.
//·µ»ØÖµ:0,·¢ËÍ³É¹¦;ÆäËû,·¢ËÍÊ§°Ü.
u8 Ublox_Cfg_Tp(u32 interval,u32 length,signed char status)
{
    _ublox_cfg_tp *cfg_tp=(_ublox_cfg_tp *)USART3_TX_BUF;
    cfg_tp->header=0X62B5;      //cfg header
    cfg_tp->id=0X0706;          //cfg tp id
    cfg_tp->dlength=20;         //Êý¾ÝÇø³¤¶ÈÎª20¸ö×Ö½Ú.
    cfg_tp->interval=interval;  //Âö³å¼ä¸ô,us
    cfg_tp->length=length;      //Âö³å¿í¶È,us
    cfg_tp->status=status;      //Ê±ÖÓÂö³åÅäÖÃ
    cfg_tp->timeref=0;          //²Î¿¼UTC Ê±¼ä
    cfg_tp->flags=0;            //flagsÎª0
    cfg_tp->reserved=0;         //±£ÁôÎ»Îª0
    cfg_tp->antdelay=820;       //ÌìÏßÑÓÊ±Îª820ns
    cfg_tp->rfdelay=0;          //RFÑÓÊ±Îª0ns
    cfg_tp->userdelay=0;        //ÓÃ»§ÑÓÊ±Îª0ns
    Ublox_CheckSum((u8*)(&cfg_tp->id),sizeof(_ublox_cfg_tp)-4,&cfg_tp->cka,&cfg_tp->ckb);
    while(DMA1_Channel2->CNDTR!=0); //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,sizeof(_ublox_cfg_tp));   //Í¨¹ýdma·¢ËÍ³öÈ¥
    return Ublox_Cfg_Ack_Check();
}
//ÅäÖÃUBLOX NEO-6µÄ¸üÐÂËÙÂÊ     
//measrate:²âÁ¿Ê±¼ä¼ä¸ô£¬µ¥Î»Îªms£¬×îÉÙ²»ÄÜÐ¡ÓÚ200ms£¨5Hz£©
//reftime:²Î¿¼Ê±¼ä£¬0=UTC Time£»1=GPS Time£¨Ò»°ãÉèÖÃÎª1£©
//·µ»ØÖµ:0,·¢ËÍ³É¹¦;ÆäËû,·¢ËÍÊ§°Ü.
u8 Ublox_Cfg_Rate(u16 measrate,u8 reftime)
{
    _ublox_cfg_rate *cfg_rate=(_ublox_cfg_rate *)USART3_TX_BUF;
    if(measrate<200)return 1;   //Ð¡ÓÚ200ms£¬Ö±½ÓÍË³ö
    cfg_rate->header=0X62B5;    //cfg header
    cfg_rate->id=0X0806;        //cfg rate id
    cfg_rate->dlength=6;        //Êý¾ÝÇø³¤¶ÈÎª6¸ö×Ö½Ú.
    cfg_rate->measrate=measrate;//Âö³å¼ä¸ô,us
    cfg_rate->navrate=1;        //µ¼º½ËÙÂÊ£¨ÖÜÆÚ£©£¬¹Ì¶¨Îª1
    cfg_rate->timeref=reftime;  //²Î¿¼Ê±¼äÎªGPSÊ±¼ä
    Ublox_CheckSum((u8*)(&cfg_rate->id),sizeof(_ublox_cfg_rate)-4,&cfg_rate->cka,&cfg_rate->ckb);
    while(DMA1_Channel2->CNDTR!=0); //µÈ´ýÍ¨µÀ7´«ÊäÍê³É   
    UART_DMA_Enable(DMA1_Channel2,sizeof(_ublox_cfg_rate));//Í¨¹ýdma·¢ËÍ³öÈ¥
    return Ublox_Cfg_Ack_Check();
}

#ifndef __GPS_H
#define __GPS_H  
#include "sys.h"  
//////////////////////////////////////////////////////////////////////////////////   
//±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹ÓÃ£¬Î´¾×÷ÕßÐí¿É£¬²»µÃÓÃÓÚÆäËüÈÎºÎÓÃÍ¾
//ALIENTEK STM32¿ª·¢°å
//ATK-NEO-6M GPSÄ£¿éÇý¶¯´úÂë       
//ÕýµãÔ×Ó@ALIENTEK
//¼¼ÊõÂÛÌ³:www.openedv.com
//ÐÞ¸ÄÈÕÆÚ:2014/3/30
//°æ±¾£ºV2.0
//°æÈ¨ËùÓÐ£¬µÁ°æ±Ø¾¿¡£
//Copyright(C) ¹ãÖÝÊÐÐÇÒíµç×Ó¿Æ¼¼ÓÐÏÞ¹«Ë¾ 2009-2019
//All rights reserved                   
//********************************************************************************
//V2.0 ÐÞ¸ÄËµÃ÷ 20140330
//1,Ìí¼ÓUblox_Cfg_Cfg_Saveº¯Êý
//2,Ìí¼ÓUblox_Cfg_Msgº¯Êý
//3,Ìí¼ÓUblox_Cfg_Prtº¯Êý.                
//////////////////////////////////////////////////////////////////////////////////     

//GPS NMEA-0183ÐÒéÖØÒª²ÎÊý½á¹¹Ìå¶¨Òå 
//ÎÀÐÇÐÅÏ¢
__packed typedef struct  
{                                           
    u8 num;     //ÎÀÐÇ±àºÅ
    u8 eledeg;  //ÎÀÐÇÑö½Ç
    u16 azideg; //ÎÀÐÇ·½Î»½Ç
    u8 sn;      //ÐÅÔë±È           
}nmea_slmsg;  
//UTCÊ±¼äÐÅÏ¢
__packed typedef struct  
{                                           
    u16 year;   //Äê·Ý
    u8 month;   //ÔÂ·Ý
    u8 date;    //ÈÕÆÚ
    u8 hour;    //Ð¡Ê±
    u8 min;     //·ÖÖÓ
    u8 sec;     //ÃëÖÓ
}nmea_utc_time;        
//NMEA 0183 ÐÒé½âÎöºóÊý¾Ý´æ·Å½á¹¹Ìå
__packed typedef struct  
{                                           
    u8 svnum;                   //¿É¼ûÎÀÐÇÊý
    nmea_slmsg slmsg[12];       //×î¶à12¿ÅÎÀÐÇ
    nmea_utc_time utc;          //UTCÊ±¼ä
    u32 latitude;               //Î³¶È ·ÖÀ©´ó100000±¶,Êµ¼ÊÒª³ýÒÔ100000
    u8 nshemi;                  //±±Î³/ÄÏÎ³,N:±±Î³;S:ÄÏÎ³                 
    u32 longitude;              //¾¶È ·ÖÀ©´ó100000±¶,Êµ¼ÊÒª³ýÒÔ100000
    u8 ewhemi;                  //¶«¾/Î÷¾,E:¶«¾;W:Î÷¾
    u8 gpssta;                  //GPS×´Ì¬:0,Î´¶¨Î»;1,·Ç²î·Ö¶¨Î»;2,²î·Ö¶¨Î»;6,ÕýÔÚ¹ÀËã.                
    u8 posslnum;                //ÓÃÓÚ¶¨Î»µÄÎÀÐÇÊý,0~12.
    u8 possl[12];               //ÓÃÓÚ¶¨Î»µÄÎÀÐÇ±àºÅ
    u8 fixmode;                 //¶¨Î»ÀàÐÍ:1,Ã»ÓÐ¶¨Î»;2,2D¶¨Î»;3,3D¶¨Î»
    u16 pdop;                   //Î»ÖÃ¾«¶ÈÒò×Ó 0~500,¶ÔÓ¦Êµ¼ÊÖµ0~50.0
    u16 hdop;                   //Ë®Æ½¾«¶ÈÒò×Ó 0~500,¶ÔÓ¦Êµ¼ÊÖµ0~50.0
    u16 vdop;                   //´¹Ö±¾«¶ÈÒò×Ó 0~500,¶ÔÓ¦Êµ¼ÊÖµ0~50.0 

    int altitude;               //º£°Î¸ß¶È,·Å´óÁË10±¶,Êµ¼Ê³ýÒÔ10.µ¥Î»:0.1m   
    u16 speed;                  //µØÃæËÙÂÊ,·Å´óÁË1000±¶,Êµ¼Ê³ýÒÔ10.µ¥Î»:0.001¹«Àï/Ð¡Ê±   
}nmea_msg; 
////////////////////////////////////////////////////////////////////////////////////////////////////    
//UBLOX NEO-6M ÅäÖÃ(Çå³ý,±£´æ,¼ÓÔØµÈ)½á¹¹Ìå
__packed typedef struct  
{                                           
    u16 header;                 //cfg header,¹Ì¶¨Îª0X62B5(Ð¡¶ËÄ£Ê½)
    u16 id;                     //CFG CFG ID:0X0906 (Ð¡¶ËÄ£Ê½)
    u16 dlength;                //Êý¾Ý³¤¶È 12/13
    u32 clearmask;              //×ÓÇøÓòÇå³ýÑÚÂë(1ÓÐÐ§)
    u32 savemask;               //×ÓÇøÓò±£´æÑÚÂë
    u32 loadmask;               //×ÓÇøÓò¼ÓÔØÑÚÂë
    u8  devicemask;             //Ä¿±êÆ÷¼þÑ¡ÔñÑÚÂë  b0:BK RAM;b1:FLASH;b2,EEPROM;b4,SPI FLASH
    u8  cka;                    //Ð£ÑéCK_A                               
    u8  ckb;                    //Ð£ÑéCK_B                               
}_ublox_cfg_cfg; 

//UBLOX NEO-6M ÏûÏ¢ÉèÖÃ½á¹¹Ìå
__packed typedef struct  
{                                           
    u16 header;                 //cfg header,¹Ì¶¨Îª0X62B5(Ð¡¶ËÄ£Ê½)
    u16 id;                     //CFG MSG ID:0X0106 (Ð¡¶ËÄ£Ê½)
    u16 dlength;                //Êý¾Ý³¤¶È 8
    u8  msgclass;               //ÏûÏ¢ÀàÐÍ(F0 ´ú±íNMEAÏûÏ¢¸ñÊ½)
    u8  msgid;                  //ÏûÏ¢ ID 
                                //00,GPGGA;01,GPGLL;02,GPGSA;
                                //03,GPGSV;04,GPRMC;05,GPVTG;
                                //06,GPGRS;07,GPGST;08,GPZDA;
                                //09,GPGBS;0A,GPDTM;0D,GPGNS;
    u8  iicset;                 //IICÏûÊä³öÉèÖÃ    0,¹Ø±Õ;1,Ê¹ÄÜ.
    u8  uart1set;               //UART1Êä³öÉèÖÃ    0,¹Ø±Õ;1,Ê¹ÄÜ.
    u8  uart2set;               //UART2Êä³öÉèÖÃ    0,¹Ø±Õ;1,Ê¹ÄÜ.
    u8  usbset;                 //USBÊä³öÉèÖÃ      0,¹Ø±Õ;1,Ê¹ÄÜ.
    u8  spiset;                 //SPIÊä³öÉèÖÃ      0,¹Ø±Õ;1,Ê¹ÄÜ.
    u8  ncset;                  //Î´ÖªÊä³öÉèÖÃ     Ä¬ÈÏÎª1¼´¿É.
    u8  cka;                    //Ð£ÑéCK_A                               
    u8  ckb;                    //Ð£ÑéCK_B                               
}_ublox_cfg_msg; 

//UBLOX NEO-6M UART¶Ë¿ÚÉèÖÃ½á¹¹Ìå
__packed typedef struct  
{                                           
    u16 header;                 //cfg header,¹Ì¶¨Îª0X62B5(Ð¡¶ËÄ£Ê½)
    u16 id;                     //CFG PRT ID:0X0006 (Ð¡¶ËÄ£Ê½)
    u16 dlength;                //Êý¾Ý³¤¶È 20
    u8  portid;                 //¶Ë¿ÚºÅ,0=IIC;1=UART1;2=UART2;3=USB;4=SPI;
    u8  reserved;               //±£Áô,ÉèÖÃÎª0
    u16 txready;                //TX ReadyÒý½ÅÉèÖÃ,Ä¬ÈÏÎª0
    u32 mode;                   //´®¿Ú¹¤×÷Ä£Ê½ÉèÖÃ,ÆæÅ¼Ð£Ñé,Í£Ö¹Î»,×Ö½Ú³¤¶ÈµÈµÄÉèÖÃ.
    u32 baudrate;               //²¨ÌØÂÊÉèÖÃ
    u16 inprotomask;            //ÊäÈëÐÒé¼¤»îÆÁ±ÎÎ»  Ä¬ÈÏÉèÖÃÎª0X07 0X00¼´¿É.
    u16 outprotomask;           //Êä³öÐÒé¼¤»îÆÁ±ÎÎ»  Ä¬ÈÏÉèÖÃÎª0X07 0X00¼´¿É.
    u16 reserved4;              //±£Áô,ÉèÖÃÎª0
    u16 reserved5;              //±£Áô,ÉèÖÃÎª0 
    u8  cka;                    //Ð£ÑéCK_A                               
    u8  ckb;                    //Ð£ÑéCK_B                               
}_ublox_cfg_prt; 

//UBLOX NEO-6M Ê±ÖÓÂö³åÅäÖÃ½á¹¹Ìå
__packed typedef struct  
{                                           
    u16 header;                 //cfg header,¹Ì¶¨Îª0X62B5(Ð¡¶ËÄ£Ê½)
    u16 id;                     //CFG TP ID:0X0706 (Ð¡¶ËÄ£Ê½)
    u16 dlength;                //Êý¾Ý³¤¶È
    u32 interval;               //Ê±ÖÓÂö³å¼ä¸ô,µ¥Î»Îªus
    u32 length;                 //Âö³å¿í¶È,µ¥Î»Îªus
    signed char status;         //Ê±ÖÓÂö³åÅäÖÃ:1,¸ßµçÆ½ÓÐÐ§;0,¹Ø±Õ;-1,µÍµçÆ½ÓÐÐ§.             
    u8 timeref;                 //²Î¿¼Ê±¼ä:0,UTCÊ±¼ä;1,GPSÊ±¼ä;2,µ±µØÊ±¼ä.
    u8 flags;                   //Ê±¼äÂö³åÉèÖÃ±êÖ¾
    u8 reserved;                //±£Áô            
    signed short antdelay;      //ÌìÏßÑÓÊ±
    signed short rfdelay;       //RFÑÓÊ±
    signed int userdelay;       //ÓÃ»§ÑÓÊ±  
    u8 cka;                     //Ð£ÑéCK_A                               
    u8 ckb;                     //Ð£ÑéCK_B                               
}_ublox_cfg_tp; 

//UBLOX NEO-6M Ë¢ÐÂËÙÂÊÅäÖÃ½á¹¹Ìå
__packed typedef struct  
{                                           
    u16 header;                 //cfg header,¹Ì¶¨Îª0X62B5(Ð¡¶ËÄ£Ê½)
    u16 id;                     //CFG RATE ID:0X0806 (Ð¡¶ËÄ£Ê½)
    u16 dlength;                //Êý¾Ý³¤¶È
    u16 measrate;               //²âÁ¿Ê±¼ä¼ä¸ô£¬µ¥Î»Îªms£¬×îÉÙ²»ÄÜÐ¡ÓÚ200ms£¨5Hz£©
    u16 navrate;                //µ¼º½ËÙÂÊ£¨ÖÜÆÚ£©£¬¹Ì¶¨Îª1
    u16 timeref;                //²Î¿¼Ê±¼ä£º0=UTC Time£»1=GPS Time£»
    u8  cka;                    //Ð£ÑéCK_A                               
    u8  ckb;                    //Ð£ÑéCK_B                               
}_ublox_cfg_rate; 

int NMEA_Str2num(u8 *buf,u8*dx);
void GPS_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPGSV_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPGGA_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPGSA_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPGSA_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPRMC_Analysis(nmea_msg *gpsx,u8 *buf);
void NMEA_GPVTG_Analysis(nmea_msg *gpsx,u8 *buf);
u8 Ublox_Cfg_Cfg_Save(void);
u8 Ublox_Cfg_Msg(u8 msgid,u8 uart1set);
u8 Ublox_Cfg_Prt(u32 baudrate);
u8 Ublox_Cfg_Tp(u32 interval,u32 length,signed char status);
u8 Ublox_Cfg_Rate(u16 measrate,u8 reftime);
#endif