/** * 收到数据后，按一个字节一个字节的方式进入函数imu_rx()，通过crc32校验，就进入到data_extraction()函数， * 在memcpy之后，我们就可以从 fs982_NAV数据帧结构体中获取到数据。 */ #define IMU_PARSE_STATE_SYNC1_ID 0xAA #define IMU_PARSE_STATE_SYNC2_ID 0x55 #include "stdint.h" #include "string.h" #include "stdio.h" /** * crc32计算表 */ static const uint32_t crc32_tab[] = { 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d }; /** * crc32计算函数 */ uint32_t crc_crc32(uint32_t crc, const uint8_t *buf, uint32_t size) { for (uint32_t i=0; i> 8); } return crc; } typedef struct { volatile unsigned char state; volatile unsigned int count; volatile unsigned int id; volatile unsigned int length; volatile uint32_t check; volatile unsigned char id_temp; volatile unsigned char length_temp; volatile unsigned char check_temp1; volatile unsigned char check_temp2; volatile unsigned char check_temp3; volatile unsigned char check_temp4; } ParseStruct; typedef enum { IMU_PARSE_STATE_WAIT_SYNC1=0, IMU_PARSE_STATE_WAIT_SYNC2, IMU_PARSE_STATE_WAIT_ID1, IMU_PARSE_STATE_WAIT_ID, IMU_PARSE_STATE_WAIT_LENGTH1, IMU_PARSE_STATE_WAIT_LENGTH2, IMU_PARSE_STATE_PAYLOAD, IMU_PARSE_STATE_CHECK1, IMU_PARSE_STATE_CHECK2, IMU_PARSE_STATE_CHECK3, IMU_PARSE_STATE_CHECK4 } imu_parse_state_t; /** * fs982_NAV数据帧 */ struct NAV_DATA { //uint8_t header1; //0xAA 帧头 //uint8_t header2; //0x55 帧头 //uint16_t id;//帧ID 0x166 //uint16_t length; //帧长 uint32_t itow;//GPS周内毫秒 uint16_t week_num;//GPS周计数 int32_t lat;//纬度 纬度的值是lat除以10的7次方 double lat=((double)nav_struct.lat)/10000000.0; int32_t lon;//经度 经度的值是lon除以10的7次方 double lon=((double)nav_struct.lon)/10000000.0; int32_t hgt;//高度 高度的值是hgt除以10的3次方 double hgt=((double)nav_struct.hgt)/1000.0; float vn;//北向速度 float ve;//东向速度 float vd;//地向速度 float roll;//横滚 float pitch;//俯仰 float yaw;//航向 float rtk_yaw;//双天线航向 float wheel_angle;//预留 float imu[7];// imu[0]加速度x，imu[1]加速度y,imu[2]加速度z,imu[3]角速度x,imu[4]角速度y,imu[5]角速度z,imu[6]温度 uint8_t fix_type;//定位状态 uint8_t sv_num;//星数 uint8_t diff_age;//差分延时 uint8_t heading_type;//定向状态 uint16_t pos_acc;//位置精度因子（cm） uint16_t status;//状态位 uint32_t rev[2];//rev[0]预留1,rev[1]预留2 // uint32_t check_crc;//crc校验位 }__attribute__((packed)); ParseStruct _parse; uint32_t crcAccum=0; NAV_DATA nav_data; unsigned char payload[3000]; void imu_rx(unsigned char data); /** * 解析fs982_NAV数据帧，并且打印横滚角(度)，俯仰角(度)，航向角(度) */ int main() { unsigned char data[]={ 0xAA,0x55,0x66,0x01,0x5E,0x00,0x5D,0x98,0x2D,0x00,0x01,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0xC9,0x41,0x8D,0x40,0x99,0xBD,0x3B,0xC0,0x33, 0x3D,0xB2,0x43,0x33,0x3D,0xB2,0x43,0x00,0x00,0x00,0x00,0x44,0xC2,0x41,0xBD, 0xFA,0x4B,0xA0,0xBD,0xF1,0xB1,0x7C,0xBF,0xA0,0xC3,0x22,0xBE,0xDF,0x6C,0x7C, 0xBE,0xAA,0xD9,0x04,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xAC,0xCE,0x94,0x76 };//fs982_NAV数据帧 uint32_t nbytes = sizeof(data); for(uint32_t i = 0; i < nbytes; i++) { imu_rx(data[i]); } printf("roll=%lf\n", nav_data.roll); printf("pitch=%lf\n", nav_data.pitch); printf("yaw=%lf\n", nav_data.yaw); return 0; } void data_extraction(void) { if(_parse.id == 0x166) { memcpy((uint8_t *)(&nav_data), (uint8_t *)(payload), sizeof(NAV_DATA)); } } /** * 解码状态机 */ void imu_rx(unsigned char data) { static uint32_t crcAccum=1; switch (_parse.state) { case IMU_PARSE_STATE_WAIT_SYNC1: if (data == IMU_PARSE_STATE_SYNC1_ID) { _parse.state = IMU_PARSE_STATE_WAIT_SYNC2; crcAccum=1; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); } break; case IMU_PARSE_STATE_WAIT_SYNC2: if (data == IMU_PARSE_STATE_SYNC2_ID) { crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); _parse.state = IMU_PARSE_STATE_WAIT_ID1; } else { _parse.state = IMU_PARSE_STATE_WAIT_SYNC1; } break; case IMU_PARSE_STATE_WAIT_ID1: _parse.id_temp = data; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); _parse.state = IMU_PARSE_STATE_WAIT_ID; break; case IMU_PARSE_STATE_WAIT_ID: _parse.id =data<<8 | _parse.id_temp; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); _parse.state = IMU_PARSE_STATE_WAIT_LENGTH1; break; case IMU_PARSE_STATE_WAIT_LENGTH1: _parse.length_temp = data; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); _parse.state = IMU_PARSE_STATE_WAIT_LENGTH2; break; case IMU_PARSE_STATE_WAIT_LENGTH2: _parse.length =data<<8 | _parse.length_temp; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); if (_parse.length > 0 && _parse.length<10000) { _parse.count = 0; _parse.state = IMU_PARSE_STATE_PAYLOAD; } else { _parse.state = IMU_PARSE_STATE_WAIT_SYNC1; } break; case IMU_PARSE_STATE_PAYLOAD: *((char *)(payload) + _parse.count) = data; crcAccum = crc_crc32(crcAccum,(uint8_t*)&data,1); if (++_parse.count == _parse.length) _parse.state = IMU_PARSE_STATE_CHECK1; break; case IMU_PARSE_STATE_CHECK1: _parse.check_temp1 = data; _parse.state = IMU_PARSE_STATE_CHECK2; break; case IMU_PARSE_STATE_CHECK2: _parse.check_temp2 = data; _parse.state = IMU_PARSE_STATE_CHECK3; break; case IMU_PARSE_STATE_CHECK3: _parse.check_temp3 = data; _parse.state = IMU_PARSE_STATE_CHECK4; break; case IMU_PARSE_STATE_CHECK4: _parse.check = (data<<24) | (_parse.check_temp3<<16) | (_parse.check_temp2<<8) | (_parse.check_temp1); if (_parse.check == crcAccum) { data_extraction(); } _parse.state = IMU_PARSE_STATE_WAIT_SYNC1; break; default: break; } }