u-blox-M8N GNSS定位模块调试

RMC消息格式

串口接收到消息如下：

消息解析代码

根据RMC消息格式可以解析多种数据（时间、经纬度、海拔）

#include "gps.h"char HMSTime[10];   //时间，小时分秒
char latitude[12];  //纬度
char N_S[1]; //
char longitude[12]; //经度
char E_W[1]; //
char speed[10]; //速度，相当不准
char DMYTime[10];
char height[12];      //高度，相当不准//使用GPGGA信息格式
void GpsBufferParse(uint8_t gpsDataRx[150])
{char *subString;char *subStringNext;int i = 0;for(i = 0; i <= 9; i ++){if(i == 0){if((subString = strstr(gpsDataRx, ",")) == NULL) ;//无位置信息返回}else{subString ++;if((subStringNext = strstr(subString, ",")) != NULL){switch(i){//$GNRMC,064726.00,A,3150.33878,N,11707.97461,E,0.726,,021221,,,A*63//RMC位置信息头case 0: break;//时间，小时分秒，hhmmss.sscase 1: memcpy(HMSTime, subString, subStringNext - subString);break;//状态位case 2: break;//纬度case 3: memcpy(latitude, subString, subStringNext - subString);break;//case 4: memcpy(N_S, subString, subStringNext - subString);break;//经度case 5: memcpy(longitude, subString, subStringNext - subString);break;//case 6: memcpy(E_W, subString, subStringNext - subString);break;//速度case 7: memcpy(speed, subString, subStringNext - subString);break;//角速度case 8:break;//时间，日月年，ddmmyycase 9:memcpy(DMYTime, subString, subStringNext - subString);break;//case 10:break;default: break;}//match switch		subString = subStringNext;}//match if}//match else}//match for
}

usart.c中对串口进行配置及中断函数：

void UART6_Init(u32 bound)
{	//UART 初始化设置UART6_Handler.Instance=USART6;					    //USART1UART6_Handler.Init.BaudRate=bound;				    //波特率UART6_Handler.Init.WordLength=UART_WORDLENGTH_8B;   //字长为8位数据格式UART6_Handler.Init.StopBits=UART_STOPBITS_1;	    //一个停止位UART6_Handler.Init.Parity=UART_PARITY_NONE;		    //无奇偶校验位UART6_Handler.Init.HwFlowCtl=UART_HWCONTROL_NONE;   //无硬件流控UART6_Handler.Init.Mode=UART_MODE_TX_RX;		    //收发模式UART6_Handler.Init.HwFlowCtl = UART_HWCONTROL_NONE;UART6_Handler.Init.OverSampling = UART_OVERSAMPLING_16;if(HAL_UART_Init(&UART6_Handler) != HAL_OK)Error_Handler();					    //HAL_UART_Init()会使能UART1HAL_UART_Receive_IT(&UART6_Handler, (uint8_t *)uartBuffer, RXBUFFERSIZE);
}
/**USART6 GPIO Configuration    PC6     ------> USART6_TXPC7     ------> USART6_RX */if(huart->Instance==USART6)//如果是串口1，进行串口1 MSP初始化{__HAL_RCC_GPIOC_CLK_ENABLE();			//使能GPIOA时钟__HAL_RCC_USART6_CLK_ENABLE();			//使能USART2时钟GPIO_Initure.Pin=GPIO_PIN_6 | GPIO_PIN_7;			//PD8\9GPIO_Initure.Mode=GPIO_MODE_AF_PP;		//复用推挽输出GPIO_Initure.Pull=GPIO_PULLUP;			//上拉GPIO_Initure.Speed=GPIO_SPEED_FAST;		//高速GPIO_Initure.Alternate=GPIO_AF8_USART6;	//复用为USART2HAL_GPIO_Init(GPIOC,&GPIO_Initure);	   	//初始化PD9#if EN_USART6_RXHAL_NVIC_EnableIRQ(USART6_IRQn);				//使能USART1中断通道HAL_NVIC_SetPriority(USART6_IRQn,2,0);			//抢占优先级3，子优先级3#endif	}
/*+----------------GPS中断函数------------------+*/uint16_t gpsPoint=0;
uint8_t GPS_RX_BUF[150];     //接收缓冲,最大USART_REC_LEN个字节.
uint8_t gpsDataRx[150]; //传递至函数GpsBufferParsevoid USART6_IRQHandler(void)
{uint8_t res;uint32_t tmp1 = 0U, tmp2 = 0U;tmp1 = __HAL_UART_GET_FLAG(&UART6_Handler, UART_FLAG_RXNE);tmp2 = __HAL_UART_GET_IT_SOURCE(&UART6_Handler, UART_IT_RXNE);if (tmp1 != RESET && tmp2 != RESET){res = (uint8_t)(UART6_Handler.Instance -> DR & (uint8_t)0x00FFU);if(res == '$'){gpsPoint = 0;}GPS_RX_BUF[gpsPoint] = res;gpsPoint ++;if(gpsPoint > 150){gpsPoint = 0;}if(GPS_RX_BUF[0] == '$' && GPS_RX_BUF[4] == 'M' && GPS_RX_BUF[5] == 'C'){if(res == '\n'){comFuncClass.COM_UART_CLASS.cmd1_rxdone = 3; //GPS信息接收完成标志位memset(gpsDataRx, 0, 150); //清空传递变量memcpy(gpsDataRx, GPS_RX_BUF, gpsPoint); 	//保存数据memset(GPS_RX_BUF, 0, 150);      //清空临时变量}}}HAL_UART_IRQHandler(&UART6_Handler);
}

模块主板很小，带电池，断网仍可获取时间。但天线太大，要学学大疆家的天线模块，FPV上的特别紧凑。