匿名飞控解析GPS协议

匿名飞控写了一部分的gps解析的代码，但在实际应用时候发现了问题，使用之前给pixhawk配的gps，debug中断调试发现也是收到数据了，但是消息数全是错的很杂乱，再去翻文档，发现匿名飞控支持的gps协议为u-blox的，再去网上搜u-blox协议，发现之前用的就是u-blox协议，然后顺便又发现了个软件u-center，是专门调试u-blox协议的导航模块，然后使用串口接上gps模块，发现了波特率的设置为9600，而且可以更改，u-center使用说明网上可以搜到

再去看匿名飞控的波特率接收设置，文件目录 SRC/drivers/Drv_gps.c

void Drv_GpsPin_Init(void)
{
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd ( RCC_APB2Periph_USART1,ENABLE ); 
    RCC_AHB1PeriphClockCmd ( RCC_AHB1Periph_GPIOA, ENABLE );

    //???????
    NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_UART1_P;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_UART1_S;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init ( &NVIC_InitStructure );


    GPIO_PinAFConfig ( GPIOA, GPIO_PinSource9, GPIO_AF_USART1 );
    GPIO_PinAFConfig ( GPIOA, GPIO_PinSource10, GPIO_AF_USART1 );
	
	//??PC12??UART5 Tx
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
    GPIO_Init ( GPIOA, &GPIO_InitStructure );
    //??PD2??UART5 Rx
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 ;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN ;
    GPIO_Init ( GPIOA, &GPIO_InitStructure );

	USART_DeInit(GPS_UART);
	USART_StructInit(&USART_InitStructure);
	USART_InitStructure.USART_BaudRate          =   9600;//38400;//9600;//38400;
	USART_InitStructure.USART_WordLength        =   USART_WordLength_8b;
	USART_InitStructure.USART_StopBits          =   USART_StopBits_1;
	USART_InitStructure.USART_Parity            =   USART_Parity_No;
	USART_InitStructure.USART_Mode              =   USART_Mode_Rx | USART_Mode_Tx;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_Init(GPS_UART,&USART_InitStructure);
	USART_Cmd(GPS_UART,ENABLE);
	
	gps_baudrate_config();
	
//	USART_Cmd(GPS_UART,DISABLE);
	USART_InitStructure.USART_BaudRate          =   38400;//38400;//9600;//38400;
	USART_InitStructure.USART_WordLength        =   USART_WordLength_8b;
	USART_InitStructure.USART_StopBits          =   USART_StopBits_1;
	USART_InitStructure.USART_Parity            =   USART_Parity_No;
	USART_InitStructure.USART_Mode              =   USART_Mode_Rx | USART_Mode_Tx;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_Init(GPS_UART,&USART_InitStructure);
	USART_Cmd(GPS_UART,ENABLE);
	
	gps_baudrate_config();


//		USART_Cmd(GPS_UART,DISABLE);
    //??UART5
    //??????
    USART_InitStructure.USART_BaudRate = 115200;       //????????????
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;  //8???
    USART_InitStructure.USART_StopBits = USART_StopBits_1;   //??????1????
    USART_InitStructure.USART_Parity = USART_Parity_No;    //??????
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //???????
    USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;  //???????
    USART_Init ( GPS_UART, &USART_InitStructure );
    USART_Cmd ( GPS_UART, ENABLE );		
		gps_config();
		
    //??UART5????
    USART_ITConfig ( GPS_UART, USART_IT_RXNE, ENABLE );
    //??USART5


}

发现三次波特率设置，最后一次是115200，将gps波特率改为115200发现就调通了，为了方便之后更换gps，还是只改飞控，把后面两个波特率注释掉，使用默认的9600即可。

再次调试时发现，协议解析的函数和发送过来的消息不匹配，又杂乱消息发送过来。仔细去查ublox协议内容

ublox协议三个特点

1. 1字节对齐 2. low-overhead 校验算法 3. 两级消息标识符，分为class id和消息id

帧结构

• ublox数据，帧头为0xB5 0x62
• 帧头之后紧接一个字节的class id和message id（会有很多条消息）
• LENGTH为两个字节的消息长度，此长度仅仅包含PAYLOADA ，字节序为低字节序
• PAYLOAD为输出GPS数据
• CK_A 和 CK_B 都是一个字节的校验位，校验算法如下：

CK_A = 0, CK_B = 0 For(I=0;I<N;I++) { CK_A = CK_A + Buffer[I] CK_B = CK_B + CK_A }

再打开u-center，发现确实是发送多条消息，而匿名飞控只默认 解析一种消息，这条是class=1，msg=7的消息，包含了gps地理坐标和速度以及星数，其实一般我们用这条消息就够了，使用u-center可以修改成我们需要的消息，但我们总不能每个导航模块都去改吧，所以加个if判断只解析需要的消息
 

void GPS_data_analysis(void)
{
        /********************************************************************
        *说明：gps消息解析，根据ublox协议，取class id0x01 msg id 0x07的消息读取所需消息
        *作者 ：yh     
        *********************************************************************/
    
    if (GPS_data_buff[2] == 0x01 && GPS_data_buff[3] == 0x07)//不解析其他类型的消息
    {
    Gps_information.last_N_vel = (float)Gps_information.N_vel;                            //记录上次南北向速度
    Gps_information.last_E_vel = (float)Gps_information.E_vel;                            //记录上次东西向速度
    
    Gps_information.satellite_num = GPS_data_buff[29];                                    //卫星数量
    Gps_information.longitude = GPS_data_buff[30] + (GPS_data_buff[31]<<8) + (GPS_data_buff[32]<<16) + (GPS_data_buff[33]<<24);        //经度
    Gps_information.latitude  = GPS_data_buff[34] + (GPS_data_buff[35]<<8) + (GPS_data_buff[36]<<16) + (GPS_data_buff[37]<<24);        //纬度
    Gps_information.N_vel      = GPS_data_buff[54] + (GPS_data_buff[55]<<8) + (GPS_data_buff[56]<<16) + (GPS_data_buff[57]<<24);        //南北向速度
    Gps_information.E_vel      = GPS_data_buff[58] + (GPS_data_buff[59]<<8) + (GPS_data_buff[60]<<16) + (GPS_data_buff[61]<<24);        //东西向速度
    
    Gps_information.N_vel /=10;                                //单位换算 cm/s
    Gps_information.E_vel /=10;                                //单位换算 cm/s    

    if (Gps_information.satellite_num >= 6 && Gps_information.new_pos_get == 0)            //卫星数量到达6颗,且第一次获取经纬度点
    {
        Gps_information.new_pos_get = 1;
        Gps_information.start_longitude = Gps_information.longitude;
        Gps_information.start_latitude  = Gps_information.latitude;
        Gps_information.hope_latitude  = 0;
        Gps_information.hope_longitude = 0;

    }
    
    if (Gps_information.new_pos_get)
    {
        Gps_information.latitude_offset  = Gps_information.latitude  - Gps_information.start_latitude;
        Gps_information.longitude_offset = Gps_information.longitude - Gps_information.start_longitude;
    }

    Gps_information.run_heart++;    
    }
}

修改完再次编译运行程序，发现这次读取到了准确的gps信息，调试完成。