#include "L76X.h" char const Temp[16]={'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'}; static const double pi = 3.14159265358979324; static const double a = 6378245.0; static const double ee = 0.00669342162296594323; static const double x_pi = 3.14159265358979324 * 3000.0 / 180.0; static char buff_t[BUFFSIZE]={0}; GNRMC GPS; /****************************************************************************** function: Latitude conversion ******************************************************************************/ static double transformLat(double x,double y) { double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 *sqrt(abs(x)); ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0; ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0; return ret; } /****************************************************************************** function: Longitude conversion ******************************************************************************/ static double transformLon(double x,double y) { double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x)); ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0; ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0; return ret; } /****************************************************************************** function: GCJ-02 international standard converted to Baidu map BD-09 standard ******************************************************************************/ static Coordinates bd_encrypt(Coordinates gg) { Coordinates bd; double x = gg.Lon, y = gg.Lat; double z = sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi); double theta = atan2(y, x) + 0.000003 * cos(x * x_pi); bd.Lon = z * cos(theta) + 0.0065; bd.Lat = z * sin(theta) + 0.006; return bd; } /****************************************************************************** function: GPS's WGS-84 standard is converted into GCJ-02 international standard ******************************************************************************/ static Coordinates transform(Coordinates gps) { Coordinates gg; double dLat = transformLat(gps.Lon - 105.0, gps.Lat - 35.0); double dLon = transformLon(gps.Lon - 105.0, gps.Lat - 35.0); double radLat = gps.Lat / 180.0 * pi; double magic = sin(radLat); magic = 1 - ee * magic * magic; double sqrtMagic = sqrt(magic); dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi); dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi); gg.Lat = gps.Lat + dLat; gg.Lon = gps.Lon + dLon; return gg; } /****************************************************************************** function: Send a command to the L76X，Automatic calculation of the code parameter: data ：The end of the command ends with ‘\0’ or it will go wrong, no need to increase the validation code. ******************************************************************************/ void L76X_Send_Command(char *data) { char Check = data[1], Check_char[3]={0}; UBYTE i = 0; DEV_Uart_SendByte('\r'); DEV_Uart_SendByte('\n'); //printf(" 1i = %d Check =%x \n", i, Check); for(i=2; data[i] != '\0'; i++){ Check ^= data[i]; //Calculate the check value } //printf(" i = %d Check =%x \n", i, Check); Check_char[0] = Temp[Check/16%16]; Check_char[1] = Temp[Check%16]; Check_char[2] = '\0'; DEV_Uart_SendString(data); DEV_Uart_SendByte('*'); DEV_Uart_SendString(Check_char); DEV_Uart_SendByte('\r'); DEV_Uart_SendByte('\n'); } void L76X_Exit_BackupMode() { DEV_Set_GPIOMode(DEV_FORCE, 0); DEV_Digital_Write(DEV_FORCE, 1); DEV_Delay_ms(1000); DEV_Digital_Write(DEV_FORCE, 0); DEV_Set_GPIOMode(DEV_FORCE, 1); } /****************************************************************************** function: Analyze GNRMC data in L76x, latitude and longitude, time ******************************************************************************/ GNRMC L76X_Gat_GNRMC() { UWORD add = 0, x = 0, z = 0, i = 0; UDOUBLE Time = 0, latitude = 0, longitude = 0; GPS.Status = 0; GPS.Time_H = 0; GPS.Time_M = 0; GPS.Time_S = 0; DEV_Uart_ReceiveString(buff_t, BUFFSIZE); Serial.print(buff_t); add = 0; while(add < BUFFSIZE){ if(buff_t[add] == '$' && buff_t[add+1] == 'G' && (buff_t[add+2] == 'N' || buff_t[add+2] == 'P')\ && buff_t[add+3] == 'R' && buff_t[add+4] == 'M' && buff_t[add+5] == 'C'){ x = 0; for(z = 0; x < 12; z++){ if(buff_t[add+z]=='\0'){ break; } if(buff_t[add+z]==','){ x++; if(x == 1){//The first comma is followed by time Time = 0; for(i = 0; buff_t[add+z+i+1] != '.'; i++){ if(buff_t[add+z+i+1]=='\0'){ break; } if(buff_t[add+z+i+1] == ',') break; Time = (buff_t[add+z+i+1]-'0') + Time*10; } GPS.Time_H = Time/10000+8; GPS.Time_M = Time/100%100; GPS.Time_S = Time%100; if(GPS.Time_H >= 24) GPS.Time_H = GPS.Time_H - 24; }else if(x == 2){ //A indicates that it has been positioned //V indicates that there is no positioning. if(buff_t[add+z+1] == 'A'){ GPS.Status = 1; }else{ GPS.Status = 0; } }else if(x == 3){ latitude = 0; //If you need to modify, please re-edit the calculation method below. for(i = 0; buff_t[add+z+i+1] != ','; i++){ if(buff_t[add+z+i+1] == '\0'){ break; } if(buff_t[add+z+i+1] == '.'){ continue; } latitude = (buff_t[add+z+i+1]-'0') + latitude*10; } GPS.Lat = latitude/10000000.0; }else if(x == 4){ GPS.Lat_area = buff_t[add+z+1]; } else if(x == 5){ longitude = 0; for(i = 0; buff_t[add+z+i+1] != ','; i++){ if(buff_t[add+z+i+1] == '\0'){ break; } if(buff_t[add+z+i+1] == '.') continue; longitude = (buff_t[add+z+i+1]-'0') + longitude*10; } GPS.Lon = longitude/10000000.0; }else if(x == 6){ GPS.Lon_area = buff_t[add+z+1]; } } } add = 0; break; } if(buff_t[add+5] == '\0'){ add = 0; break; } add++; if(add > BUFFSIZE){ add = 0; break; } } return GPS; } /****************************************************************************** function: Convert GPS latitude and longitude into Baidu map coordinates ******************************************************************************/ Coordinates L76X_Baidu_Coordinates() { Coordinates temp; temp.Lat =((int)(GPS.Lat)) + (GPS.Lat - ((int)(GPS.Lat)))*100 / 60; temp.Lon =((int)(GPS.Lon)) + (GPS.Lon - ((int)(GPS.Lon)))*100 / 60; temp = transform(temp); temp = bd_encrypt(temp); return temp; } /****************************************************************************** function: Convert GPS latitude and longitude into Google Maps coordinates ******************************************************************************/ Coordinates L76X_Google_Coordinates() { Coordinates temp; GPS.Lat =((int)(GPS.Lat)) + (GPS.Lat - ((int)(GPS.Lat)))*100 / 60; GPS.Lon =((int)(GPS.Lon)) + (GPS.Lon - ((int)(GPS.Lon)))*100 / 60; temp = transform(temp); return temp; }