基于STM32开发板的GPS定位模块设计
生产实习设计报告
设计题目:基于GPS模块的定位装置
生产组长:王海昕
设计组长:孙振邦
小组成员:王洪振、唐政亮、帖小龙、宋劲草、宋晓林苏刚、孙晓龙、史俊、赵若曦
实习日期:2012年8月27日-9月15日
一、概述
本设计基于STM32F107开发板,结合iTrax03-02 型GPS 接收机,实现GPS模块与STM32的通信;通过GPS模块实现定位,STM32对GPS模块传入的数据进行读取和处理,将得到定位信息在OLED显示。
该定位装置还有如下附加功能:SD卡数据存储功能,定位状态显示(卫星颗数等);可通过RS232串口传输坐标和时间至PC机,并通过上位机软件实现路径计算和网络地图定位。
二、总体设计
1.总体系统结构
2.功能实现
⑴.经纬度测定,海拔高度测定
⑵.速度计算与方向指示
⑶.SD卡定时存储信息
⑷.上位机制作及路径计算
3.人员分工
孙振邦、王海昕完成源程序的编写,以及代码的修改、编译、下载、调试等工作;
宋劲草、宋晓林、苏刚负责GPS数据编码转换编程;
王洪振、帖小龙、唐政亮负责串口数据传输、SD卡定时存储设置;史俊、赵若曦、孙晓龙负责上位机界面设计和各项功能的验证。三、关键模块设计
⑴.GPS模块
iTrax03-02 型GPS 接收机是根据芬兰FASTRAX公司的GPS 模块进行了电平转换、通信接口等电路设计后生产的一款GPS (OEM)接收机产品。该产品通过底板上9pin排线与计算机串口直接通信,定位后即可输出载体的经纬度信息、时间信息、速度信息等。
(2)GPS定位数据格式解析
数据形式:
$GPGGA,hhmmss.dd,xxmm.dddd,
⑵.OLED显示模块
OLED使用的控制器为SSD1305,可通过写入不同的命令字来设置对比度、显示开关、电荷泵、页地址等。
OLED被配置为使用I2C的方式。I2C的地址二进制位为0111100X,16进制为0x78(写地址),0x79(读地址)。OLED的Reset 平时应该拉高,在初始化的时候,应该有一个从低电平到高电平的跳变。
使用的MCU端口为
PB6 CLK I2C
PB7 SDA I2C
PE6 RESET (低有效)
(3)距离计算功能
公式、原理什么的
(4).串行通信模块
RS232的电平转换芯片为MAX232CE。外部接口为DB9。有两个LED 指示灯,TXD用来显示接受到数据,RXD用来显示正在发送数据。对外接口为DB9接口,定义为:2RXD,3TXD,5GND。因此,基板可以通过串口线直接连接到PC机,和PC机进行通信。
使用的MCU端口为:
PD5 UART2_TX(Remap)
PD6 UART2_RX(remap)
四、测试结果
1.开机上电后在数据有效的情况下进入定位信息显示模式;
2.进入定位信息显示模式后,OLED显示出当前位置经度、纬度、海拔高度、移动速度、移动方向、卫星显示颗数
3.设定中断时间后,数据会自动存储至SD卡;
4.通过RS232串口与PC通讯后可以通过上位机软件打开该位置的谷歌地图显示,并且计算路径长度。
附录一
定位测试数据
保存数据如下:
$GPGSV,3,1,10,01,35,047,32,04,30,244,24,08,12,207,27,09,06,318,12*71 $GPGSV,3,2,10,11,20,063,36,17,54,320,39,20,54,099,23,27,10,309,26*7F $GPGSV,3,3,10,28,78,225,29,32,34,062,26*75
$GPRMC,071738.50,A,3609.4075,N,12029.3426,E,0.00,302.3,090912,5.8,W, A*15
$GPGGA,071738.50,3609.4075,N,12029.3426,E,1,05,2.0,115.0,M,5.5,M,,*50 $PFST,FOM,6*63
$GPGSA,A,3,01,08,11,17,28,,,,,,,,2.9,2.0,2.1*3D
$GPGSV,3,1,10,01,35,047,32,04,30,244,24,08,12,207,27,09,06,318,12*71 $GPGSV,3,2,10,11,20,063,36,17,54,320,39,20,54,099,23,27,10,309,26*7F $GPGSV,3,3,10,28,78,225,29,32,34,062,26*75
$GPRMC,071739.50,A,3609.4075,N,12029.3428,E,0.00,302.3,090912,5.8,W, A*1A
$GPGGA,071739.50,3609.4075,N,12029.3428,E,1,07,2.0,115.0,M,5.5,M,,*5D $PFST,FOM,24*53
$GPGSA,A,3,01,04,08,11,17,27,28,,,,,,2.9,2.0,2.1*3C
$GPGSV,3,1,10,01,35,047,31,04,30,244,24,08,12,207,27,09,06,318,12*72 $GPGSV,3,2,10,11,20,063,36,17,54,320,38,20,54,099,23,27,10,309,25*7D $GPGSV,3,3,10,28,78,225,27,32,34,062,26*7B
$GPRMC,071740.50,A,3609.4074,N,12029.3429,E,0.00,302.3,090912,5.8,W, A*14
$GPGGA,071740.50,3609.4074,N,12029.3429,E,1,07,1.8,115.0,M,5.5,M,,*58 $PFST,FOM,20*57
$GPGSA,A,3,01,04,08,11,17,27,28,,,,,,2.7,1.8,2.0*38
$GPGSV,3,1,10,01,35,047,31,04,30,244,24,08,12,207,27,09,06,318,12*72 $GPGSV,3,2,10,11,20,063,36,17,54,320,38,20,54,099,23,27,10,308,25*7C $GPGSV,3,3,10,28,78,225,27,32,34,062,26*7B
$GPRMC,071741.50,A,3609.4074,N,12029.3431,E,0.00,302.3,090912,5.8,W, A*1C
附录二
关键程序代码
Main.c:
#include "includes.h"
#include "led.h"
#include
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
void USART1_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA |
RCC_APB2Periph_USART1, ENABLE);
// 定义UART1 TX (PA.09)脚为复用推挽输出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //IO口的第九脚
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //IO口复用推挽输出GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化串口1输出IO口// 定义USART1 Rx (PA.10)为悬空输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //IO口的第十脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//IO口悬空输入GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化串口1输入IO口
//串口参数配置
USART_https://www.360docs.net/doc/c74966356.html,ART_BaudRate = 4800; //设置波特率为115200
USART_https://www.360docs.net/doc/c74966356.html,ART_WordLength = USART_WordLength_8b; //设置数据位为8位
USART_https://www.360docs.net/doc/c74966356.html,ART_StopBits = USART_StopBits_1; //设置停止位为1位
USART_https://www.360docs.net/doc/c74966356.html,ART_Parity = USART_Parity_No; //无奇偶校验USART_https://www.360docs.net/doc/c74966356.html,ART_HardwareFlowControl = USART_HardwareFlowControl_None; //没有硬件流控
USART_https://www.360docs.net/doc/c74966356.html,ART_Mode = USART_Mode_Rx | USART_Mode_Tx; //发送与接收
//完成串口COM1的时钟配置、GPIO配置,根据上述参数初始化并使能
USART_Init(USART1, &USART_InitStructure);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //使能串口1接收中断
USART_Cmd(USART1, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
int main(void)
{
delay_init(72);
GUI_Init();
GUI_SetBkColor(GUI_BLUE);
GUI_Clear();
USART1_Init();
while(1)
{
gps_display();
}
}
GPS.c:
#include "includes.h"
//GPS数据存储数组//
unsigned char JD[11]; //经度unsigned char JD_a; //经度方向unsigned char WD[10]; //纬度unsigned char WD_a; //纬度方向unsigned char time[10]; //时间unsigned char speed[6] = {0}; //速度
unsigned char speed2[6] = {0}; //速度
unsigned char high[6]; //高度
unsigned char haiba[6]; //海拔
unsigned char angle[6]; //方位角
unsigned char use_sat[3]; //使用的卫星数
unsigned char total_sat[3]; //天空中总卫星数
unsigned char lock; //定位状态
//串口中断需要的变量
unsigned char seg_count; //逗号计数器
unsigned char dot_count; //小数点计数器
unsigned char byte_count; //位数计数器
unsigned char cmd_number; //命令类型
unsigned char mode; //0:结束模式,1:命令模式,2:数据模式unsigned char buf_full; //1:整句接收完成,相应数据有效。0:缓存数据无效。unsigned char cmd[5]; //命令类型存储数组
unsigned char USART_END;
unsigned char newflag = 0;
//
经纬度转换用// double d;
double f; unsigned char d_d; double D_D;
unsigned char time_8; //时区转换void gps_deal(void)
{
u8 tmp = 0;
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //如果是接收中断
tmp = USART_ReceiveData(USART1);
switch(tmp)
{
case '$':
cmd_number = 0; //命令类型清空
mode = 1; //接收命令模式
byte_count = 0; //接收位数清空
break;
case ',':
seg_count++; //逗号计数加1
byte_count = 0;
break;
case '*':
switch(cmd_number)
{
case 1:
newflag |= 0x01; //GGA
break;
case 2:
newflag |= 0x02; //GSV
break;
case 3:
newflag |= 0x04; //RMC
break;
}
mode = 0;
break;
default:
if(mode == 1)
{
//命令种类判断
cmd[byte_count] = tmp;
//接收字符放入类型缓存
if(byte_count >= 4)
//如果类型数据接收完毕,判断类型
{
if(cmd[0] == 'G')
{
if(cmd[1] == 'P')
{
if(cmd[2] == 'G')
{
if(cmd[3] == 'G')
{
if(cmd[4] == 'A')
{
cmd_number = 1;
mode = 2;
seg_count = 0;
byte_count = 0;
}
}
else
if(cmd[3] == 'S')
{
if(cmd[4] == 'V')
{
cmd_number = 2;
mode = 2;
seg_count = 0;
byte_count = 0;
}
}
}
else if(cmd[2] == 'R')
{
if(cmd[3] == 'M')
{
if(cmd[4] == 'C')
{ cmd_number = 3;
mode = 2;
seg_count = 0;
byte_count = 0;
}
}
}
}
}
}
}
else if(mode == 2)
{
//接收数据处理
switch (cmd_number)
{
case 1: //类型1数据接收。GPGGA
switch(seg_count)
{
case 2:
//纬度处理
if(byte_count < 11)
{
WD[byte_count] = tmp;
WD[byte_count+1] = '\0'; //解决输出位数过多
}
break;
case 3:
//纬度方向处理
if(byte_count < 1)
WD_a = tmp;
}
break;
case 4:
//经度处理
if(byte_count < 11)
{
JD[byte_count] = tmp;
JD[byte_count+1] = '\0';
}
break;
case 5:
//经度方向处理
if(byte_count < 1)
{
JD_a = tmp;
}
break;
//定位使用的卫星数
if(byte_count < 2)
{
use_sat[byte_count] = tmp;
use_sat[byte_count+1] = '\0';
}
break;
case 9:
//高度处理
if(byte_count < 6)
{
high[byte_count] = tmp;
}
break;
case 11:
//海拔处理
if(byte_count < 6)
{
haiba[byte_count] = tmp;
}
break;
}
break;
case 2: //类型2数据接收。GPGSV
switch(seg_count)
{
case 3:
//天空中的卫星总数
if(byte_count < 2)
{
total_sat[byte_count] = tmp;
total_sat[byte_count+1] = '\0';
}
break;
}
case 3: //类型3数据接收。GPRMC
switch(seg_count)
{
case 1:
if(byte_count < 10)
{
//时间处理
time[byte_count] = tmp;
}
break;
case 2:
//定位判断
if(byte_count < 1)
{
lock = tmp;
}
break;
case 7:
//速度处理
if(byte_count < 5)
{
speed2[byte_count] = tmp;
//
spd_wei=byte_count;
}
break;
case 8:
//方位角处理
if(byte_count < 5)
{
angle[byte_count] = tmp;
}
break;
}
break;
}
}
byte_count++; //接收数位加1
break;
}
}
//时区转换
void TIME_AREA(void)
{
time_8 = (time[0] - 0x30) * 10 + (time[1] - 0x30) + 8;
if(time_8 > 23)
{
time_8 = time_8 - 24 ;
}
time[0] = (time_8 / 10) + 0x30;
time[1] = ((time_8 - (time_8 / 10) * 10) / 1) + 0x30;
}
//经纬度转换
double JWD_AREA(char *jwd)
{
d = atof(jwd) / 100.0; //将JD[]转换为double
d_d = d / 1;
f = (d - d_d) / 60.0 * 100;
D_D = d_d + f;
return D_D;
}
void gps_display(void)
{
LED0=!LED0;
if(newflag == 0x07)
{
newflag = 0;
GUI_SetColor(GUI_GREEN);
GUI_SetFont(&GUI_Font8x16);
GUI_DispStringAt("status",20,20);
GUI_DispCharAt(lock,140,20);
TIME_AREA();
GUI_DispStringAt("time",20,40);
GUI_DispStringAt(time,140,40);
GUI_DispStringAt("Longitude ",20,60);
JWD_AREA(JD); //经度转换
GUI_DispFloat(D_D,10) ;
GUI_DispCharAt(JD_a,120,60);
GUI_DispStringAt("Latitude
",20,80);
JWD_AREA(WD); //纬度转换
GUI_DispFloat(D_D,10) ;
GUI_DispCharAt(WD_a,120,80);
GUI_DispStringAt("use_sat",20,100);
GUI_DispStringAt(use_sat,140,100);
GUI_DispStringAt("total_sat",20,120);
GUI_DispStringAt(total_sat,140,120);
GUI_DispStringAt("Elevation",20,140) ;
GUI_DispStringAt(high,140,140);
GUI_DispStringAt("high",20,160);
GUI_DispStringAt(haiba,140,160);
GUI_DispStringAt("Speed",20,180);
GUI_DispStringAt(speed2,140,180);
GUI_DispStringAt("Direction",20,200) ;
GUI_DispStringAt(angle,140,200);
GUI_DispStringAt("OUC AUTOMATION GPS",40,280);
}
}
// printf("状态:%c\r\n", lock); //
串口输出调试
// TIME_AREA();
// printf("时间:%c%c时%c%c 分%c%c%c%c%c秒\r\n", time[0], time[1], time[2], time[3], time[4], time[5], time[6], time[7], time[8]); //串口输出调试
// JWD_AREA(JD); //经度转换
// printf("经度:%f%c\r\n", D_D, JD_a); //串口输出调试jd
// JWD_AREA(WD); //纬度转换// printf("纬度:%f%c\r\n", D_D, WD_a); //串口输出调试wd
// printf("卫星:%s颗\r\n", use_sat); //串口输出调试
// printf("卫星:%s颗\r\n", total_sat); //串口输出调试
// printf("高度:%sm\r\n", haiba); //串口输出调试
// printf("海拔:%sm\r\n", high); //串口输出调试
// printf("速度:%s节\r\n", speed2); //串口输出调试
// printf("方位:%s度\r\n", angle); //串口输出调试
// printf("状态:%c\r\n", lock); //串口输出调试
// TIME_AREA();
// printf("时间:%c%c时%c%c分%c%c%c%c%c秒\r\n", time[0], time[1], time[2], time[3], time[4], time[5], time[6], time[7], time[8]); //串口输出调试
// JWD_AREA(JD); //经度转换
// printf("经度:%f%c\r\n", D_D, JD_a); //串口输出调试jd
// JWD_AREA(WD); //纬度转换
// printf("纬度:%f%c\r\n", D_D, WD_a); //串口输出调试wd