RTOS（ENV）串口DMA接收GPS数据并解析

RTOS（ENV）配置STM32串口DMA接收模式

---

环境：

1. RTOS 4.0.3
2. Keil5
3. ENV
4. STm32l475

ENV配置

1. 使能串口：

2. 使能DMA，并设置接收缓冲区大小：

3. 创建工程

scons --target=mdk

工程配置

1. 创建串口设备句柄

#define SAMPLE_UART_NAME "uart2" /* 串口设备名称 */
rt_device_t serial; /*句柄*/

2.使用消息队列方式

/* 串口接收消息结构*/
struct rx_msg
{
    rt_device_t dev;
    rt_size_t size;
};
/* 串口设备句柄 */
static rt_device_t serial;
/* 消息队列控制块 */
static struct rt_messagequeue rx_mq;

3.打开设备方式

       /* 以 DMA 接收及轮询发送方式打开串口设备 */
       rt_device_open(serial, RT_DEVICE_FLAG_DMA_RX);
       /* 设置接收回调函数 */
       rt_device_set_rx_indicate(serial, uart_input);
       /* 发送字符串 */
       rt_device_write(serial, 0, str, (sizeof(str) - 1));

注意：

struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT; // 初始化配置
/* 控制串口设备。通过控制接口传入命令控制字，与控制参数 */
rt_device_control(serial, RT_DEVICE_CTRL_CONFIG, &config);
这些步骤是非DMA方式（中断）接收的，使用 rt_device_control函数 会影响DMA共能得使用

4. 串口接收数据

/* 接收数据回调函数 */
static rt_err_t uart_input(rt_device_t dev, rt_size_t size)
{
    struct rx_msg msg;
    rt_err_t result;
    msg.dev = dev;
    msg.size = size;

    result = rt_mq_send(&rx_mq, &msg, sizeof(msg));
    if ( result == -RT_EFULL)
    {
        /* 消息队列满 */
        rt_kprintf("message queue full！\n");
    }
    return result;
}

static void serial_thread_entry(void *parameter)
{
    struct rx_msg msg;
        rt_err_t result;
        rt_uint32_t rx_length;
        static char rx_buffer[RT_SERIAL_RB_BUFSZ + 1];

        while (1)
        {
            rt_memset(&msg, 0, sizeof(msg));
            /* 从消息队列中读取消息*/
            result = rt_mq_recv(&rx_mq, &msg, sizeof(msg), RT_WAITING_FOREVER);
            if (result == RT_EOK)
            {
                /* 从串口读取数据*/
                rx_length = rt_device_read(msg.dev, 0, rx_buffer, msg.size);
                rx_buffer[rx_length] = '\0';
                /* 通过串口设备 serial 输出读取到的消息 */
                rt_device_write(serial, 0, rx_buffer, rx_length);
                /* 打印数据 */
                rt_kprintf("%s\n",rx_buffer);
            }
        }
}

源code：

#include 
#include 
#include 
#include 
#include 

#define SAMPLE_UART_NAME       "uart2"

/* 串口接收消息结构*/
struct rx_msg
{
    rt_device_t dev;
    rt_size_t size;
};
/* 串口设备句柄 */
static rt_device_t serial;
/* 消息队列控制块 */
static struct rt_messagequeue rx_mq;

/* 接收数据回调函数 */
static rt_err_t uart_input(rt_device_t dev, rt_size_t size)
{
    struct rx_msg msg;
    rt_err_t result;
    msg.dev = dev;
    msg.size = size;

    result = rt_mq_send(&rx_mq, &msg, sizeof(msg));
    if ( result == -RT_EFULL)
    {
        /* 消息队列满 */
        rt_kprintf("message queue full！\n");
    }
    return result;
}


static void serial_thread_entry(void *parameter)
{
    struct rx_msg msg;
        rt_err_t result;
        rt_uint32_t rx_length;
        static char rx_buffer[RT_SERIAL_RB_BUFSZ + 1];

        while (1)
        {
            rt_memset(&msg, 0, sizeof(msg));
            /* 从消息队列中读取消息*/
            result = rt_mq_recv(&rx_mq, &msg, sizeof(msg), RT_WAITING_FOREVER);
            if (result == RT_EOK)
            {
                /* 从串口读取数据*/
                rx_length = rt_device_read(msg.dev, 0, rx_buffer, msg.size);
                rx_buffer[rx_length] = '\0';
                /* 通过串口设备 serial 输出读取到的消息 */
                rt_device_write(serial, 0, rx_buffer, rx_length);
                /* 打印数据 */
                rt_kprintf("%s\n",rx_buffer);
            }
        }
}

void main(void)
{
    static char msg_pool[256];
    char str[] = "hello RT-Thread!666\r\n";
    /* 查找串口设备 */
       serial = rt_device_find(SAMPLE_UART_NAME);
       if (!serial)
       {
           rt_kprintf("find %s failed!\n", SAMPLE_UART_NAME);
       }

       /* 初始化消息队列 */
       rt_mq_init(&rx_mq, "rx_mq",
                  msg_pool,                 /* 存放消息的缓冲区 */
                  sizeof(struct rx_msg),    /* 一条消息的最大长度 */
                  sizeof(msg_pool),         /* 存放消息的缓冲区大小 */
                  RT_IPC_FLAG_FIFO);        /* 如果有多个线程等待，按照先来先得到的方法分配消息 */

       /* 以 DMA 接收及轮询发送方式打开串口设备 */
       rt_device_open(serial, RT_DEVICE_FLAG_DMA_RX);
       /* 设置接收回调函数 */
       rt_device_set_rx_indicate(serial, uart_input);
       /* 发送字符串 */
       rt_device_write(serial, 0, str, (sizeof(str) - 1));

       /* 创建 serial 线程 */
       rt_thread_t thread = rt_thread_create("serial", serial_thread_entry, RT_NULL, 1024, 25, 10);
       /* 创建成功则启动线程 */
       if (thread != RT_NULL)
       {
           rt_thread_startup(thread);
       }
       else
       {
           rt_kprintf("Create %s Entry failed!\n", SAMPLE_UART_NAME);
       }

}

附加例题：RT-Thread使用消息邮箱解析GPS数据

使用消息邮箱完成以下任务：
创建2个线程：串口接收和解析线程、LCD显示线程；

1. 串口线程接收和解析GPS设备通过串口发来的数据（以GPRMC为主），发送给邮箱；

2. LCD显示线程获取邮箱里的邮件消息，提取相关信息（如 经纬度位置、速度、方向、当前时间等），显示到LCD屏幕上。

3. 使用PC上位机的串口调试助手发送GPS接收数据，模拟GPS接收机。

参考资料：GPS数据包格式及数据包解析(https://blog.csdn.net/qq_17308321/article/details/80714560)

GPS接收机接收到的数据样例：

$GPRMC,092927.000,A,2235.9058,N,11400.0518,E,0.000,74.11,151216,,D*49 
$GPVTG,74.11,T,,M,0.000,N,0.000,K,D*0B 
$GPGGA,092927.000,2235.9058,N,11400.0518,E,2,9,1.03,53.1,M,-2.4,M,0.0,0*6B
$GPGSA,A,3,29,18,12,25,10,193,32,14,31,,,,1.34,1.03,0.85*31 
$GPGSV,3,1,12,10,77,192,17,25,59,077,42,32,51,359,39,193,49,157,36*48 
$GPGSV,3,2,12,31,47,274,25,50,46,122,37,18,45,158,37,14,36,326,18*70 
$GPGSV,3,3,12,12,24,045,45,26,17,200,18,29,07,128,38,21,02,174,*79

1. 添加GPS数据解析模块

• 定义数据结构

/*邮箱控股句柄*/
rt_mailbox_t uart_gps_mail;

typedef struct GpsData
{
    char Time[30];
    char Status[30];
    char Latitude[30];
    char N_S[30];
    char Longitude[30];
    char E_W[30];
    char Ground_Speed[30];
    char Course[30];
    char Date[30];
} GpsData;

• 添加GPS数据解析函数

 //解析 NMEA 句子并提取信息的函数
void parseNMEA(const char *sentence)
{

    char utcTime[12];
    char status;
    double latitude, longitude, groundSpeed, course;
    char utcDate[7];

    // 使用 sscanf 函数从 NMEA 句子中提取信息
    sscanf(sentence, "$GPRMC,%[^,],%c,%lf,N,%lf,E,%lf,%lf,%[^,],",
           utcTime, &status, &latitude, &longitude, &groundSpeed, &course, utcDate);

    // 提取小时、分钟和秒
    int hour, minute;
    double second;
    sscanf(utcTime, "%2d%2d%lf", &hour, &minute, &second);

    // 提取日期
    int year, month, day;
    sscanf(utcDate, "%2d%2d%2d", &day, &month, &year);

    // 打印提取的信息

    sprintf(gpsData.Time, "Time: %02d:%02d:%06.3lf", hour, minute, second);
    sprintf(gpsData.Status, "Status: %s", (status == 'A') ? "Valid" : "Invalid");
    sprintf(gpsData.Latitude, "Latitude: %.4f  N", latitude);
    sprintf(gpsData.Longitude, "Longitude: %.4f  E", longitude);
    sprintf(gpsData.Ground_Speed, "Speed: %.3f knots", groundSpeed);
    sprintf(gpsData.Course, "Course: %.2f ", course);
    sprintf(gpsData.Date, "Date: %02d-%02d-%02d", year, month, day);

    rt_mb_send(uart_gps_mail, (rt_uint32_t)&gpsData);
}

2. 添加lcd显示线程：

void lcd_show(void *parameter)
{
    lcd_clear(WHITE);
    lcd_set_color(WHITE, BLACK);

    GpsData *gpsData;

    while (1)
    {
        rt_mb_recv(uart_gps_mail, (rt_ubase_t *)&gpsData, RT_WAITING_FOREVER);
        lcd_show_string(10, 10, 16, gpsData->Time);
        lcd_show_string(10, 40, 16, gpsData->Status);
        lcd_show_string(10, 70, 16, gpsData->Latitude);
        lcd_show_string(10, 100, 16, gpsData->Longitude);
        lcd_show_string(10, 130, 16, gpsData->Ground_Speed);
        lcd_show_string(10, 160, 16, gpsData->Course);
        lcd_show_string(10, 190, 16, gpsData->Date);
    }
}

3. 源code

#include 
#include 
#include 
#include 
#include 
#include 
#include 

#define SAMPLE_UART_NAME "uart2"

/* 串口接收消息结构*/
struct rx_msg
{
    rt_device_t dev;
    rt_size_t size;
};
/* 串口设备句柄 */
static rt_device_t serial;
/* 消息队列控制块 */
static struct rt_messagequeue rx_mq;
/*邮箱控股句柄*/
rt_mailbox_t uart_gps_mail;

typedef struct GpsData
{
    char Time[30];
    char Status[30];
    char Latitude[30];
    char N_S[30];
    char Longitude[30];
    char E_W[30];
    char Ground_Speed[30];
    char Course[30];
    char Date[30];
} GpsData;

GpsData gpsData;

void lcd_show(void *parameter)
{
    lcd_clear(WHITE);
    lcd_set_color(WHITE, BLACK);

    GpsData *gpsData;

    while (1)
    {
        rt_mb_recv(uart_gps_mail, (rt_ubase_t *)&gpsData, RT_WAITING_FOREVER);
        lcd_show_string(10, 10, 16, gpsData->Time);
        lcd_show_string(10, 40, 16, gpsData->Status);
        lcd_show_string(10, 70, 16, gpsData->Latitude);
        lcd_show_string(10, 100, 16, gpsData->Longitude);
        lcd_show_string(10, 130, 16, gpsData->Ground_Speed);
        lcd_show_string(10, 160, 16, gpsData->Course);
        lcd_show_string(10, 190, 16, gpsData->Date);
    }
}

// 解析 NMEA 句子并提取信息的函数
void parseNMEA(const char *sentence)
{

    char utcTime[12];
    char status;
    double latitude, longitude, groundSpeed, course;
    char utcDate[7];

    // 使用 sscanf 函数从 NMEA 句子中提取信息
    sscanf(sentence, "$GPRMC,%[^,],%c,%lf,N,%lf,E,%lf,%lf,%[^,],",
           utcTime, &status, &latitude, &longitude, &groundSpeed, &course, utcDate);

    // 提取小时、分钟和秒
    int hour, minute;
    double second;
    sscanf(utcTime, "%2d%2d%lf", &hour, &minute, &second);

    // 提取日期
    int year, month, day;
    sscanf(utcDate, "%2d%2d%2d", &day, &month, &year);

    // 打印提取的信息

    sprintf(gpsData.Time, "Time: %02d:%02d:%06.3lf", hour, minute, second);
    sprintf(gpsData.Status, "Status: %s", (status == 'A') ? "Valid" : "Invalid");
    sprintf(gpsData.Latitude, "Latitude: %.4f  N", latitude);
    sprintf(gpsData.Longitude, "Longitude: %.4f  E", longitude);
    sprintf(gpsData.Ground_Speed, "Speed: %.3f knots", groundSpeed);
    sprintf(gpsData.Course, "Course: %.2f ", course);
    sprintf(gpsData.Date, "Date: %02d-%02d-%02d", year, month, day);

    rt_mb_send(uart_gps_mail, (rt_uint32_t)&gpsData);
}

/* 接收数据回调函数 */
static rt_err_t uart_input(rt_device_t dev, rt_size_t size)
{
    struct rx_msg msg;
    rt_err_t result;
    msg.dev = dev;
    msg.size = size;

    result = rt_mq_send(&rx_mq, &msg, sizeof(msg));
    if (result == -RT_EFULL)
    {
        /* 消息队列满 */
        rt_kprintf("message queue full！\n");
    }
    return result;
}

static void serial_thread_entry(void *parameter)
{
    struct rx_msg msg;
    rt_err_t result;
    rt_uint32_t rx_length;
    static char rx_buffer[RT_SERIAL_RB_BUFSZ + 1];

    while (1)
    {
        rt_memset(&msg, 0, sizeof(msg));
        /* 从消息队列中读取消息*/
        result = rt_mq_recv(&rx_mq, &msg, sizeof(msg), RT_WAITING_FOREVER);
        if (result == RT_EOK)
        {
            /* 从串口读取数据*/
            rx_length = rt_device_read(msg.dev, 0, rx_buffer, msg.size);
            rx_buffer[rx_length] = '\0';
            /* 通过串口设备 serial 输出读取到的消息 */
            rt_device_write(serial, 0, rx_buffer, rx_length);
            /* 打印数据 */
            // rt_kprintf("%s\n",rx_buffer);
            parseNMEA(rx_buffer);
        }
    }
}

int main(void)
{

    static char msg_pool[256];
    char str[] = "hello RT-Thread!666\r\n";
    /*动态创建邮箱*/
    uart_gps_mail = rt_mb_create("uart_gps", 1024, RT_IPC_FLAG_FIFO);

    /* 查找串口设备 */
    serial = rt_device_find(SAMPLE_UART_NAME);
    if (!serial)
    {
        rt_kprintf("find %s failed!\n", SAMPLE_UART_NAME);
    }

    /* 初始化消息队列 */
    rt_mq_init(&rx_mq, "rx_mq",
               msg_pool,              /* 存放消息的缓冲区 */
               sizeof(struct rx_msg), /* 一条消息的最大长度 */
               sizeof(msg_pool),      /* 存放消息的缓冲区大小 */
               RT_IPC_FLAG_FIFO);     /* 如果有多个线程等待，按照先来先得到的方法分配消息 */

    /* 以 DMA 接收及轮询发送方式打开串口设备 */
    rt_device_open(serial, RT_DEVICE_FLAG_DMA_RX);
    /* 设置接收回调函数 */
    rt_device_set_rx_indicate(serial, uart_input);
    /* 发送字符串 */
    rt_device_write(serial, 0, str, (sizeof(str) - 1));

    /* 创建 serial 线程 */
    rt_thread_t thread = rt_thread_create("serial", serial_thread_entry, RT_NULL, 1024, 25, 10);
    rt_thread_t lcd_th = rt_thread_create("lcd", lcd_show, RT_NULL, 1024, 25, 10);
    /* 创建成功则启动线程 */
    if (thread != RT_NULL && lcd_th != RT_NULL)
    {
        rt_thread_startup(thread);
        rt_thread_startup(lcd_th);
    }
    else
    {
        rt_kprintf("Create %s Entry failed!\n", SAMPLE_UART_NAME);
    }
    return RT_EOK;
}