泰斗T302模块选择导航系统方法

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已于 2022-12-28 15:01:14 修改

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分类专栏： Linux 嵌入式文章标签： linux 嵌入式

于 2022-12-28 14:59:43 首次发布

本文链接：https://blog.csdn.net/dufengcan/article/details/128468449

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内容速览

模块介绍

T302模块是泰斗微电子推出的一款支持BD2 B1/GPS L1频点的双模授时模块。模块内部集成了泰斗微电子自主研发的BD2 B1/GPS L1双模芯片，为电力系统、通信基站等授时终端产品提供了高精度、高灵敏度、低功耗、低成本的BD2 B1/GPS L1双模解决方案。
T302模块尺寸为22.4mmx 17mmx2.2mm，体积小巧。采用28pin邮票孔兼容通用封装，采用通用接口协议。板上可直接替换，大大节省授时定位终端产品设计时间。
T302支持模块软件升级等功能。

产品特性

28pin邮票孔封装，尺寸22.4mm x 17mm x2.2mm
支持BD2 B1和GPS L1频点
支持以下三种工作模式，并可通过命令相互无缝切换（无缝切换是指在模式切换的过程中，模块不重启，且1PPS信号稳定无跳变，授时服务不中断）：
1）单BD2 B1工作模式
2）单GPS L1工作模式
3）BD2 B1/GPS L1双模工作模式

导航配置

配置和读取数据是一样的，都需要打开相应的串口设备，只不过配置过程是以特定指令格式往该串口写数据，厂家的指令集截取如下：
在这里插入图片描述
转化为代码就是下面这个样子了，注意换行符\n不能丢。

int bspCfgGpsMode(int mode, int isRestart)
{
    int fd = 0;
    char tx_buff [256];

    fd = open("/dev/ttyS5", O_RDWR|O_NOCTTY|O_NDELAY);
    if(fd < 0)
    {
        printf("Open /dev/ttyS5 failed!");
        return -1;
    }

    memset(&tx_buff, 0, sizeof(tx_buff));
    
    if(isRestart)    /*冷启动*/
    {
        switch(mode)
        {
          case 1:    /* 北斗 */
            strcpy(tx_buff,"$CCSIR,1,1*48\n");
            break;
          case 2:    /* GPS */
            strcpy(tx_buff,"$CCSIR,2,1*4B\n");
            break;
          case 3:    /* 混合 */
          default:
            strcpy(tx_buff,"$CCSIR,3,1*4A\n");
            break;
        }
    }
    else              /*不重启*/
    {
        switch(mode)
        {
          case 1:
            strcpy(tx_buff,"$CCSIR,1,0*49\n");
            break;
          case 2:
            strcpy(tx_buff,"$CCSIR,2,0*4A\n");
            break;
          case 3:
          default:
            strcpy(tx_buff,"$CCSIR,3,0*4B\n");
            break;
        }
    }

    write(fd, tx_buff, sizeof(tx_buff));
    
    close(fd);
    return 0;
}

数据解析

导航系统切换后势必导致串口数据格式的差异

GPS数据
$GPZDA,030959.00,28,12,2022,00,00*6B
$GPRMC,030959.00,A,2234.84485,N,11355.31347,E,0.042,,281222,,,A,V*00
$GPGGA,030959.00,2234.84485,N,11355.31347,E,1,05,1.57,213.7,M,-2.5,M,,*42
$GPGSA,A,3,25,31,23,12,32,,,,,,,,3.27,1.57,2.86,1*10
$GPGSV,3,1,09,01,01,306,43,10,63,178,36,12,17,041,43,21,05,286,41,0*6B
$GPGSV,3,2,09,22,39,332,32,23,30,159,33,25,45,054,42,31,51,291,44,0*66
$GPGSV,3,3,09,32,55,016,38,0*51
$GPZDA,031000.00,28,12,2022,00,00*6F
$GPRMC,031000.00,A,2234.84523,N,11355.31294,E,0.041,,281222,,,A,V*05
$GPGGA,031000.00,2234.84523,N,11355.31294,E,1,05,1.57,212.1,M,-2.5,M,,*43
$GPGSA,A,3,25,31,23,12,32,,,,,,,,3.27,1.57,2.86,1*10
$GPGSV,3,1,09,01,01,306,42,10,63,178,36,12,17,041,43,21,05,286,39,0*65
$GPGSV,3,2,09,22,39,332,31,23,30,159,33,25,45,054,41,31,51,291,44,0*66
$GPGSV,3,3,09,32,55,016,36,0*5F

北斗的数据相对较慢
$BDZDA,024143.00,28,12,2022,00,00*7C
$BDRMC,024143.00,A,2234.73989,N,11355.32483,E,0.175,,281222,,,A,V*17
$BDGGA,024143.00,2234.73989,N,11355.32483,E,1,05,4.41,250.7,M,-2.5,M,,*55
$BDGSA,A,3,06,09,13,16,08,,,,,,,,22.3,4.41,21.9,4*01
$BDGSV,4,1,14,02,48,237,,03,63,189,,04,32,111,,05,25,257,,0*7C
$BDGSV,4,2,14,06,54,332,40,07,26,178,,08,50,204,19,09,50,312,33,0*74
$BDGSV,4,3,14,10,20,185,20,13,55,222,27,16,54,344,39,19,65,353,,0*7F
$BDGSV,4,4,14,20,52,112,,22,16,321,,0*71
$BDZDA,024144.00,28,12,2022,00,00*7B
$BDRMC,024144.00,A,2234.74003,N,11355.32485,E,0.176,,281222,,,A,V*19
$BDGGA,024144.00,2234.74003,N,11355.32485,E,1,05,4.41,250.6,M,-2.5,M,,*59
$BDGSA,A,3,06,09,13,16,08,,,,,,,,22.3,4.41,21.9,4*01
$BDGSV,4,1,14,02,48,237,,03,63,189,,04,32,111,,05,25,257,,0*7C
$BDGSV,4,2,14,06,54,332,40,07,26,178,,08,50,204,20,09,50,312,33,0*7E
$BDGSV,4,3,14,10,20,185,19,13,55,222,27,16,54,344,39,19,65,353,,0*75
$BDGSV,4,4,14,20,52,112,,22,16,321,,0*71

混合定位数据
$GNZDA,013516.00,28,12,2022,00,00*73
$GNRMC,013516.00,A,2234.67271,N,11355.36048,E,0.023,,281222,,,A,V*14
$GNGGA,013516.00,2234.67271,N,11355.36048,E,1,06,2.32,84.7,M,-2.5,M,,*6E
$GNGSA,A,3,10,12,22,32,24,,,,,,,,3.02,2.32,1.94,1*0A
$GNGSA,A,3,06,,,,,,,,,,,,3.02,2.32,1.94,4*0C
$GPGSV,2,1,08,10,66,340,39,12,37,083,33,22,19,293,41,23,,,22,0*5A
$GPGSV,2,2,08,24,21,040,40,25,,,30,31,,,33,32,38,321,42,0*62
$BDGSV,1,1,02,06,59,315,36,09,,,33,0*47
$GNZDA,013517.00,28,12,2022,00,00*72
$GNRMC,013517.00,A,2234.67264,N,11355.36054,E,0.024,,281222,,,A,V*1B
$GNGGA,013517.00,2234.67264,N,11355.36054,E,1,06,2.32,84.6,M,-2.5,M,,*67
$GNGSA,A,3,10,12,22,32,24,,,,,,,,3.02,2.32,1.94,1*0A
$GNGSA,A,3,06,,,,,,,,,,,,3.02,2.32,1.94,4*0C
$GPGSV,2,1,08,10,66,340,40,12,37,083,31,22,19,293,40,23,,,20,0*55
$GPGSV,2,2,08,24,21,040,40,25,,,30,31,,,33,32,38,321,42,0*62
$BDGSV,1,1,02,06,59,315,36,09,,,33,0*47

了解一下GPS数据格式后，我们就会明白后三个字母才是用来区分数据类型的，此处我们只需要解析RMC数据就行，下面我们就要以一种兼容的方式来解析这个数据了

static void parseRMC(char *pStr)
{
    int tmp;
    char* buf=pStr;

    /*date time*/
    gpsInfo.D.hour   =(buf[4]-'0')*10+(buf[5]-'0');
    gpsInfo.D.minute =(buf[6]-'0')*10+(buf[7]-'0');
    gpsInfo.D.second =(buf[8]-'0')*10+(buf[9]-'0');
    tmp = GetComma(9,buf);      //得到第9个逗号的下一字符序号
    gpsInfo.D.day    =(buf[tmp+0]-'0')*10+(buf[tmp+1]-'0');
    gpsInfo.D.month  =(buf[tmp+2]-'0')*10+(buf[tmp+3]-'0');
    gpsInfo.D.year   =(buf[tmp+4]-'0')*10+(buf[tmp+5]-'0')+2000;
    /*other infomation*/
    gpsInfo.status   =buf[GetComma(2,buf)];                            //状态
    gpsInfo.latitude =getDoubleNumber(&buf[GetComma(3,buf)]) / 100;    //纬度
    gpsInfo.NS       =buf[GetComma(4,buf)];                            //南北纬
    gpsInfo.longitude=getDoubleNumber(&buf[GetComma(5,buf)]) / 100;    //经度
    gpsInfo.EW       =buf[GetComma(6,buf)];                            //东西经
    gpsInfo.speed    =getDoubleNumber(&buf[GetComma(7,buf)]);          //速度
    UTC2BTC(&gpsInfo.D);                                               //转北京时间

    return;
}

int gpsAnalysize (char *gps_buff)
{
    char *ptr = NULL;
    
    if((strlen(gps_buff)) < 10)
    {
        printf ("gps_buff error\n");
    }
    
    if(NULL == (ptr = strstr(gps_buff, "RMC")))
    {
        printf ("cannot find \"RMC\".\n");
    }
    else
    {
        parseRMC(ptr);
    }
    return 0;
}