基于STM32开发板的GPS定位模块设计.docx

1、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

2、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功能实现经纬度测定，海拔高度测定速度计算与方向指示SD卡定时存储信息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

3、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：$GPGGA,hhmmss.dd,xxmm.dddd,yyymm.dddd,v,ss,d.d,h.h,M,g.g,M,a.a,xxxx*hh名称说明$GPGGAGGA消息协议头hhmmss.ddUTC时间xxmm.dddd纬度信息，度、分格式纬度半球N（北半球）或S（南半球）yyymm.dddd经度信息，度、分格式纬度半球E（东经）或E（西经）V判断是否已定位，定位为1，未定位为0ss使用的解算卫星的数量一般0-12颗d.dHDOP水平精度因子h.h海拔高度M单位米g.gWGS-84

4、地表面与水平面的差值M单位米a.a空xxxx空hh校验及固定包尾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 I2CPB7 SDA I2CPE6 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

5、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

6、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

7、,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,12029.34

8、28,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$GPGSV,3,2,10,11,20,063,36,17,54,320,38,20,54,099,23,27,10,309,25*7D$G

9、PGSV,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,

10、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_InitTypeD

11、ef 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 GPI

12、O_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

13、口 /串口参数配置 USART_InitStructure.USART_BaudRate = 4800; /设置波特率为115200 USART_InitStructure.USART_WordLength = USART_WordLength_8b; /设置数据位为8位 USART_InitStructure.USART_StopBits = USART_StopBits_1; /设置停止位为1位 USART_InitStructure.USART_Parity = USART_Parity_No; /无奇偶校验 USART_InitStructure.USART_HardwareFlowC

14、ontrol = USART_HardwareFlowControl_None; /没有硬件流控 USART_InitStructure.USART_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

15、.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()

16、; USART1_Init(); while(1) gps_display(); GPS.c:#include includes.h/GPS数据存储数组/unsigned char JD11; /经度unsigned char JD_a; /经度方向unsigned char WD10; /纬度unsigned char WD_a; /纬度方向unsigned char time10; /时间unsigned char speed6 = 0; /速度unsigned char speed26 = 0; /速度unsigned char high6; /高度unsigned char haiba

17、6; /海拔unsigned char angle6; /方位角unsigned char use_sat3; /使用的卫星数unsigned char total_sat3; /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u

18、nsigned 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 cmd5; /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

19、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 |

20、= 0x04; /RMC break; mode = 0; break; default: if(mode = 1) /命令种类判断 cmdbyte_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(cmd0 = G) if(cmd1 = P) if(cmd2 = G) if(cmd3 = G) if(cmd4 = A) cmd_number = 1; mode = 2; seg_count = 0; byte_count = 0; else if(cmd3 = S) if(cmd4 = V) cmd_number

21、= 2; mode = 2; seg_count = 0; byte_count = 0; else if(cmd2 = R) if(cmd3 = M) if(cmd4 = 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) WDbyte_count = tmp; WDbyte_count+1

22、 = 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) JDbyte_count = tmp; JDbyte_count+1 = 0; break; case 5: /经度方向处理 if(byte_count 1) JD_a = tmp; break; case 7: /定位使用的卫星数 if(byte_count 2) use_satbyte_count = tmp; use_satbyte_count+1 = 0; break; ca

23、se 9: /高度处理 if(byte_count 6) highbyte_count = tmp; break; case 11: /海拔处理 if(byte_count 6) haibabyte_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_satbyte_count = tmp; total_satbyte_count+1 = 0; break; break; case 3: /类型3数据接收。GPRMC switch

24、(seg_count) case 1: if(byte_count 10) /时间处理 timebyte_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) speed2byte_count = tmp; / spd_wei=byte_count; break; case 8: /方位角处理 if(byte_count 23) time_8 = time_8 - 24 ; time0 = (time_8 / 10) + 0x30; time1 =

25、 (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);

26、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 G

27、UI_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);