文章目录
- 前言
- 前期准备
-
- 硬件
- 工具
- 代码
- 代码思路
- 问题
-
- lua浮点型参数双精度
- lcd画点会导致crash
- 效果
- 运行代码
前言
本章整理一下使用合宙air551G定位并在st7735 屏幕上显示实时路线的一些问题。
前期准备
硬件
- 显示：st7735屏幕
- MCU：esp32开发板
- 定位：air551G定位板
- 串口调试：usb2ttl
工具
- 下载代码：luatools
- 定位板调试：naviTrack（也可以不用，直接通过esp32的串口输出读取）
代码
st7735的初始化代码
uart调试代码
坐标转换：
- WGS84转BD09——https://www.openluat.com/GPS-Offset.html
- BD转lcd坐标
代码思路
大致的代码编写流程如下：
1，调试esp32的uart，使用sscom查看uart的读写
2，调整WGS84转BD09的python源码为lua，这个小改就行
3，BD转lcd坐标
4，lcd坐标点显示
比较繁琐的在于BD09转lcd坐标：
我是先取一个起始点的经纬度坐标，将其作为参考点P00作为原点。
后续定位到的点坐标与之相减得到偏移值BD_cur_bias。
基于一个刻度scale_max（偏移值最大值/固定值）对偏移值进行归一化，得到比例Ref_cur_bias
根据比例计算出该偏移值距离lcd中心点(64,64)几个像素点
最后映射到lcd的坐标范围(0,0)-(128,128)
小结一下：BD坐标 --> 差值 --> 归一化比值 --> 原点的lcd偏移 --> 换算lcd点位
画布缩小放大：
此外考虑到定位的百度坐标基于参考点偏移值可能超过刻度，效果就是点无法在当前的lcd屏幕中显示，所以又增加了一个重绘的函数。当超过限定的刻度时，对所有坐标进行重新计算。
这个就相当于我们对地图进行缩小。
画布左移右移：
调整P00的lcd点位，比如原来是(64,64)，改为(128,0)
先从百度的拾取坐标系统先定点了学校的几个角坐标，然后绘制图形。
再结合WGS转BD，再转lcd。
最后通过uart获取WGS坐标就可以了。
思路大致是这样的，不过遇到几个问题。
问题
lua浮点型参数双精度
计算时number为小数时，仅保留7位有效数字以及一个小数点，所以计算会有误差。
lcd画点会导致crash
[2022-02-12 15:21:18.439] I/user.74 23 69 23
[2022-02-12 15:21:18.455] Guru Meditation Error: Core 0 panic'ed (Store access fault). Exception was unhandled.[2022-02-12 15:28:01.448] I/user.68 64 64 64
[2022-02-12 15:28:01.448] Guru Meditation Error: Core 0 panic'ed (Store access fault). Exception was unhandled.[2022-02-12 15:30:12.171] I/user.64 64 58 64
[2022-02-12 15:30:12.202] Guru Meditation Error: Core 0 panic'ed (Store access fault). Exception was unhandled.
当使用lcd.drawline()时，如果输入坐标的x或者y相同，会导致重启，这个目前不知道怎么解决。
效果
添加链接描述
合宙air551G定位及轨迹绘制
运行代码
--- 模块功能：gsensor- esp32_air551G
-- @module air551G
-- @author youkai
-- @release 2022.01.23-- LuaTools需要PROJECT和VERSION这两个信息
PROJECT = "esp32_mpu6050"
VERSION = "1.0.0"log.info("main", PROJECT, VERSION)-- sys库是标配
_G.sys = require("sys")function init_esp32_st7735 ()-- spi test ok-- spi clk is io2, cs is IO7spi_lcd = spi.deviceSetup(2,7,0,0,8,20000000,spi.MSB,1,1)log.info("SPI OK")log.info("lcd.init",-- st7735 + esp32lcd.init("st7735",{
port = "device",pin_dc = 6, pin_pwr = 11,pin_rst = 10,direction = 0,w = 128,h = 160,xoffset = 0,yoffset = 0},spi_lcd))log.info("LCD OK")
endfunction init_lvgl()LCD_W, LCD_H = 128,160-- LCD_W, LCD_H = spi_lcd.getSize()log.info("lcd", "size", LCD_W, LCD_H )log.info("init lvgl")if lvgl.init(128,160) == true thenlog.debug("lvgl init ok.")elselog.debug("lvgl init error.")endendrequire("t5_uart_air551")require("t5_draw_bd")log.info("end require")--添加硬狗防止程序卡死
-- wdt.init(15000)--初始化watchdog设置为15s
-- sys.timerLoopStart(wdt.feed, 10000)--10s喂一次狗-- ----------------setup start----------------------
-- 初始化屏幕
init_esp32_st7735 ()
init_lvgl()
-- ----------------setup end------------------------T1_BD_xy_lib = 0
T2_realtime = 1-- ================main start================
sys.taskInit(function()-- ps:有wait不能放在外面-- display_line ()-- print("aaaaa")-- lcd.drawLine(21,22, 21, 47,0x001F)-- sys.wait(1000)-- print("bbbb")-- lcd.update()-- 测试固定百度经纬度标if T1_BD_xy_lib == 1 theninit_status()test_lib()end -- 测试实时if T2_realtime == 1 theninit_rt_test()endsys.wait(1500)while 1 doif T2_realtime == 1 thenrealtime_test()endsys.wait(10)end
end)
-- ================main end==================sys.run()
require("t5_wgs2lcd")-- init status
xy_list_BD_temp = {
{
119.477546,32.20058},{
119.473719,32.206519},{
119.472255,32.206282},{
119.472237,32.202448},{
119.47795,32.197712},{
119.478418,32.196398},{
119.481714,32.197773},{
119.481481,32.198377},{
119.48069,32.198453}
}
xy_list_BD_temp_num = 0
xy_list_BD_temp_num_max = 0
function table_leng(t)local leng=0for k, v in pairs(t) doleng=leng+1endlog.info("xy_list_BD_temp len = ",xy_list_BD_temp_num)return leng
endLCD_list = {
}
LCD_list_temp_num = 0function draw_line()-- lcd.clear()-- sys.wait(1000)-- 画点,圆半径为2-- log.info("lcd.drawCircle", lcd.drawCircle(cur_LCD[1],cur_LCD[2],1,0xF800))log.info("lcd.drawCircle", lcd.drawCircle(LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num],1,0xF800))-- 显示坐标信息（lcd/经纬度）m = cur_BD[1].." , "..cur_BD[2]-- log.info(type(m),m)lcd.fill(0, 130, 129, 160) -- 清除显示文本内容lcd.setFont(lcd.font_opposansm8) --设置字体lcd.drawStr(0,140,m) -- 显示经纬度log.info("xy_list_BD_temp_num",xy_list_BD_temp_num)-- -- 首尾相接if xy_list_BD_temp_num == xy_list_BD_temp_num_max thenprint("xxxxx ebd",xy_list_BD_temp_num)print(LCD_list[3],LCD_list[4],LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num])log.info("lcd.drawLine", lcd.drawLine(LCD_list[3],LCD_list[4],LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num],0x001F))-- print(LCD_list[2*xy_list_BD_temp_num-3],LCD_list[2*xy_list_BD_temp_num-2],LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num])log.info("lcd.drawLine", lcd.drawLine(LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num],LCD_list[2*xy_list_BD_temp_num-3],LCD_list[2*xy_list_BD_temp_num-2],0x001F))end-- -- 绘制线if xy_list_BD_temp_num > 1 and xy_list_BD_temp_num < xy_list_BD_temp_num_max thenprint("xxxxx",xy_list_BD_temp_num)log.info(LCD_list[2*xy_list_BD_temp_num-3],LCD_list[2*xy_list_BD_temp_num-2],LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num])log.info("lcd.drawLine", lcd.drawLine(LCD_list[2*xy_list_BD_temp_num-3],LCD_list[2*xy_list_BD_temp_num-2],LCD_list[2*xy_list_BD_temp_num-1],LCD_list[2*xy_list_BD_temp_num],0x001F))m_lcd = LCD_list[2*xy_list_BD_temp_num-3]..","..LCD_list[2*xy_list_BD_temp_num-2].." "..LCD_list[2*xy_list_BD_temp_num-1]..","..LCD_list[2*xy_list_BD_temp_num]lcd.drawStr(0,155,m_lcd)endsys.wait(100) -- 为什么删了就会清空屏幕
endfunction init_status()log.info("init_status 1 ---------------")-- 首先要设置起始点init_P00( 119.478979,32.199603 )set_scale_max( 0.01012100 )-- 仅用于测试计算该值xy_list_BD_temp_num_max = table_leng(xy_list_BD_temp)xy_list_BD_num_max = xy_list_BD_temp_num_maxlog.info("init_status 0 ---------------")
endfunction test_lib()log.info("test 1 ---------------")for i = 1, xy_list_BD_temp_num_max, 1 doxy_list_BD_temp_num = xy_list_BD_temp_num + 1 -- 记录了多少个点cur_BD[1] = xy_list_BD_temp[i][1] -- 测试，从表中取出点cur_BD[2] = xy_list_BD_temp[i][2]-- 设置当前值log.info("---------lcd point",i,cur_BD[1],cur_BD[2])a , b = BD2lcd()-- print(a , b)-- table.insert(LCD_list,a)-- table.insert(LCD_list,b)-- draw_line()realtime_draw_line()print("LCD_list:"..table.concat( LCD_list, ","))-- GGA_bias2lcd_point() -- 执行转换坐标函数-- 若最大值更新执行-- redraw_line()-- sys.wait(1000)endprint("LCD_list:"..table.concat( LCD_list, ","))-- 加上判定redraw_pic()-- log.info("xy_list_BD_temp_num",xy_list_BD_temp_num)log.info("test 0 ---------------")
endfunction redraw_pic()-- print("BD_range",BD_x_max,BD_x_min,BD_y_max,BD_y_min)range_x = BD_x_max-BD_x_minrange_y = BD_y_max-BD_y_minif range_x > range_y thenrange_bias = range_xMap_size_max_x = 128Map_size_max_y = range_y/range_bias*128elserange_bias = range_yMap_size_max_x = range_x/range_bias*128Map_size_max_y = 128endif range_bias ~= scale_max thenstatus_redraw = 1lcd.clear()set_scale_max( range_bias )LCD_max = 128P00_LCD[1] = math.floor((P00_BD[1]-BD_x_min)/range_x*128)P00_LCD[2] = math.floor((BD_y_max-P00_BD[2])/range_y*128)-- set_scale_max( 0.00738400*2 )-- LCD_max = 64-- P00_LCD = {64,64}print("P00_LCD",table.concat(P00_LCD , " , " ))LCD_list = {
}-- LCD_list = {}xy_list_BD_temp_num = 0LCD_list_num = 0LCD_list_temp_num = 0test()elsereturnendend
-- uartid = 1 -- 根据实际设备选取不同的uartid-- --初始化
-- local result = uart.setup(
-- uartid,--串口id
-- 115200,--波特率
-- 8,--数据位
-- 1--停止位
-- )-- require("t5_change_draw")
-- require("t5_wgs2lcd")tag_uart = "test5_uart"id = 1
len = 1024get_gga_time = 1000data_time = ""
data_longitude = "" -- 经度
data_latitude = "" -- 纬度
data_GGA = ""
data_GGA_status = ""
GGA_list = {
}
GGA_list["time"] = data_time
GGA_list["x"] = data_longitude
GGA_list["y"] = data_latitude
GGA_list["status"]= data_GGA_statusfunction rt_init_uart_air551()-- uart.on(1, "recv", function(id, len)-- local data = uart.read(1, 1024)-- log.info("uart2", data)-- -- libgnss.parse(data)-- end)log.info(tag_uart,"init_uart_air551")uart.setup(1, 115200)uart_air551_NMEA_set()-- 定时发送数据-- timex = sys.timerLoopStart(uart_air551_send,1000)-- log.info(tag_uart,"time:",timex)sys.wait(1000)-- func1: 接收数据，只要收到就接收-- uart.on(id, "receive",rt_uart_air551_receive)status_rt_receive = 0num_rt_receive = 0 --记录当前多少次触发-- func2: 定时接收timex = sys.timerLoopStart(rt_uart_air551_receive,get_gga_time)log.info(tag_uart,"time:",timex)endfunction init_uart_air551()-- uart.on(1, "recv", function(id, len)-- local data = uart.read(1, 1024)-- log.info("uart2", data)-- -- libgnss.parse(data)-- end)log.info(tag_uart,"init_uart_air551")uart.setup(1, 115200)uart_air551_NMEA_set()-- 定时发送数据-- timex = sys.timerLoopStart(uart_air551_send,1000)-- log.info(tag_uart,"time:",timex)sys.wait(1000)-- func1: 接收数据，只要收到就接收-- uart.on(id, "receive",uart_air551_receive)-- func2: 定时接收timex = sys.timerLoopStart(uart_air551_receive,get_gga_time)log.info(tag_uart,"time:",timex)init_air551G_cont() -- 暂时先不显示，后期改进两个界面
endfunction uart_air551_send()-- log.info("uart_air551_send")uart.write(id, "test")
end-- 下发命令
function uart_air551_NMEA_set()log.info("uart_air551_NMEA_set")uart.write(id, "$PGKC242,0,0,0,1*2A\r\n") --只接收GGA数据。注意需要传入回车符
end-- 获取串口数据
function rt_uart_air551_receive()log.info("uart_air551_receive start---------------")local s = ""s = uart.read(id, len)print("#s",#s)if #s > 0 then -- #s 是取字符串的长度-- 如果传输二进制/十六进制数据, 部分字符不可见, 不代表没收到-- 关于收发hex值,请查阅 https://doc.openluat.com/article/583-- log.info("uart", "receive", id, #s, s) -- 这句将接收的都打印出来status_rt_receive = 1num_rt_receive = num_rt_receive+1log.info("get air551","uart", "receive", id, #s)--",s"加上显示串口接收值-- log.info("uart", "receive", id, #s, s:toHex())elsereturn -1enddata_GGA = get_gga(s)-- log.info("data_GGA",data_GGA)get_gga_longitude_latitude(data_GGA)-- 尝试在uart接收触发时执行画点命令-- realtime_test()status_rt_receive = 0log.info("uart_air551_receive end---------------")return
end-- 获取串口数据
function uart_air551_receive()log.info("uart_air551_receive start---------------")local s = ""s = uart.read(id, len)print("#s",#s)if #s > 0 then -- #s 是取字符串的长度-- 如果传输二进制/十六进制数据, 部分字符不可见, 不代表没收到-- 关于收发hex值,请查阅 https://doc.openluat.com/article/583-- log.info("uart", "receive", id, #s, s) -- 这句将接收的都打印出来log.info("get air551","uart", "receive", id, #s,s)-- log.info("uart", "receive", id, #s, s:toHex())enddata_GGA = get_gga(s)log.info("data_GGA",data_GGA)get_gga_longitude_latitude(data_GGA)log.info("uart_air551_receive end---------------")
end--测试数据提取
function test_string_get()string_temp = "xxxxx$GNGGA,000004.811,XXX,N,XXX,E,0,0,,143.01,M,6.99,M,,*6D\r$GNGGA,000003.811,*6A"temp_start = string.find(string_temp,'$GNGGA',1)temp_end = string.find(string_temp,'\r',1)temp_gga = string.sub(string_temp,temp_start,temp_end-1)log.info("temp_x:",temp_start,temp_end,temp_gga)
end-- 提取一组数据
function get_gga(value)temp_start = string.find(value,'GGA',1)-3temp_end = string.find(value,'\r',1)-- print(type(temp_start),type(temp_end))temp_gga = string.sub(value,temp_start,temp_end-1)-- log.info("temp_value:",temp_start,temp_end,temp_gga)return temp_gga
endfunction get_gga_longitude_latitude(value_gga)-- log.info(type(value_gga))if value_gga == "" then --数据第一次异常return -1end-- 获取GGA数据-- log.info("L2_temp",L2_temp)L2_temp = string.sub(value_gga,8) -- +8是因为"$gngga"-- 获取时间data_time_h = string.sub(L2_temp,1,2)data_time_m = string.sub(L2_temp,3,4)data_time_s = string.sub(L2_temp,4,5)-- data_time_h = string.t(data_time_h)data_time_h = math.floor(data_time_h +8)-- log.info(type(data_time_h),data_time_h)if data_time_h >= 24 thendata_time_h = data_time_h -24 end-- data_time_h = tostring(data_time_h)if data_time_h <10 thendata_time_h = '0'..data_time_hend-- log.info(type(data_time_h),data_time_h)-- data_time_h = tostring(data_time_h)-- data_time_h = string.(8 + string.toValue(data_time_h))data_time = data_time_h..":"..data_time_m..":"..data_time_s-- 获取纬度L2_temp_x_start = string.find(L2_temp,',',1)+1L2_temp_x_end = string.find(L2_temp,',N',1)-1data_longitude = string.sub(L2_temp,L2_temp_x_start,L2_temp_x_end)-- 获取经度L2_temp_y_start = L2_temp_x_end+4-- +4是因为"time,xxx,N,yyy,E",",N"后面三个才是y开始L2_temp_y_end = string.find(L2_temp,',E',1)-1data_latitude = string.sub(L2_temp,L2_temp_y_start,L2_temp_y_end)-- 获取定位指示",E,定位指示,"L2_temp_status_start = L2_temp_y_end + 4L2_temp_status_end = L2_temp_status_start data_GGA_status = string.sub(L2_temp,L2_temp_status_start,L2_temp_status_end)-- log.info("data_GGA_status",data_GGA_status)if data_GGA_status == "0" thenlog.info("定位指示为0,未定位")elseif data_GGA_status == "1" thenlog.info("定位指示为1,SPS 模式,定位有效")elseif data_GGA_status == "2" thenlog.info("定位指示为2,差分,SPS 模式,定位有效")endGGA_list["time"] = data_timeGGA_list["x"] = data_longitudeGGA_list["y"] = data_latitudeGGA_list["status"]= data_GGA_status-- 返回时间，xy，状态return GGA_list["time"],GGA_list["x"],GGA_list["y"],GGA_list["status"]
endfunction init_air551G_cont()air551G_cont = lvgl.cont_create(lvgl.scr_act(), nil)lvgl.obj_set_size(air551G_cont,128,160)lvgl.obj_set_auto_realign(air551G_cont, true) lvgl.obj_align_origo(air551G_cont, nil, lvgl.ALIGN_CENTER, 0, 0)lvgl.cont_set_fit(air551G_cont, lvgl.FIT_NONE) --此时cont未设置自适应状态，则内容在cont中lvgl.cont_set_layout(air551G_cont, lvgl.LAYOUT_COLUMN_LEFT) --布局靠左--}log.info("scr_load",lvgl.scr_load(air551G_cont)) --显示 容器--创建标签labelGGA_label = lvgl.label_create(air551G_cont, nil)lvgl.label_set_text(GGA_label, "GGA_data")lvgl.obj_set_pos(GGA_label, 2, 5)endfunction set_air551G_cont()string_GGA = "GGA_data"..'\r'.."time: "..GGA_list["time"]..'\r'.."x: "..GGA_list["x"]..'\r'.."y: "..GGA_list["y"]..'\r'.."status: "..GGA_list["status"]log.info("string_GGA",string_GGA)if string_GGA == "" thenreturn -1endlvgl.label_set_text(GGA_label, string_GGA)endfunction ddmmmm2dd()-- 计算失败-- temp_dd_lng = string.format("%.10f", a) -- 字符转浮点temp_dd_lng = string.format("%.10f", lng_ddmmmm) -- 字符转浮点-- print("temp: ",temp_dd_lng ,type(temp_dd_lng))local dd_lng_int = math.floor(temp_dd_lng/100)local dd_lng_float = (temp_dd_lng-dd_lng_int*100)*100/60-- log.info("dd_lng_float",type(dd_lng_float))local dd_lng = dd_lng_int + dd_lng_float/100print("dd_lng = ",dd_lng_int,dd_lng_float,dd_lng)-- temp_dd_lat = string.format("%.10f", b) -- 字符转浮点temp_dd_lat = string.format("%.10f", lat_ddmmmm) -- 字符转浮点-- print("temp: ",temp_dd_lat)local dd_lat_int = math.floor(temp_dd_lat/100)local dd_lat_float = (temp_dd_lat-dd_lat_int*100)*100/60local dd_lat = dd_lat_int + dd_lat_float/100print("dd_lat = ",dd_lat_int,dd_lat_float,dd_lat)return dd_lng,dd_lat
end
require("t5_BD2lcd")
require("t5_wgs2BD")
require("t5_uart_air551")function wgs2lcd(x,y)-- wgs ddmm格式转为BD09BD_x , BD_y = ddmm2BD(x,y)print(BD_x , BD_y )set_cur(BD_x,BD_y)temp_lcd_x ,temp_lcd_y = BD2lcd()return temp_lcd_x ,temp_lcd_y
endfunction rt_draw_line()if LCD_list_temp_num > 2 then-- -- 绘制线 and LCD_list_temp_num < xy_list_BD_num_max if LCD_list_temp_num > 2 thenprint("normal draw line",LCD_list_temp_num)log.info(LCD_list[2*LCD_list_temp_num-3],LCD_list[2*LCD_list_temp_num-2],LCD_list[2*LCD_list_temp_num-1],LCD_list[2*LCD_list_temp_num])log.info("lcd.drawLine", lcd.drawLine(LCD_list[2*LCD_list_temp_num-3],LCD_list[2*LCD_list_temp_num-2],LCD_list[2*LCD_list_temp_num-1],LCD_list[2*LCD_list_temp_num],0x001F))endendendfunction realtime_draw_line()-- 画当前的点log.info("lcd.drawCircle", lcd.drawCircle(LCD_list[2*LCD_list_temp_num-1],LCD_list[2*LCD_list_temp_num],1,0xF800))-- 显示坐标信息（lcd/经纬度）m_BD = "BD:"..cur_BD[1].." , "..cur_BD[2]m_lcd = "lcd:"..LCD_list[2*LCD_list_temp_num-1].." , "..LCD_list[2*LCD_list_temp_num]-- log.info(type(m),m)lcd.fill(0, 130, 128, 145) -- 清除显示文本内容lcd.fill(0, 145, 64, 160)lcd.setFont(lcd.font_opposansm8) --设置字体lcd.drawStr(0,140,m_BD) -- 显示经纬度lcd.drawStr(0,155,m_lcd) -- 显示经纬度-- log.info("LCD_list_temp_num",LCD_list_temp_num)rt_draw_line()sys.wait(100) -- 为什么删了就会清空屏幕
endfunction init_rt_test()-- 初始化uartrt_init_uart_air551()status_P00 = 0num_uart_re = 0
endfunction rt_wgs2lcd()--获取当前经纬度及状态rt_x ,rt_y = GGA_list["x"],GGA_list["y"] -- 待uart输入rt_status = GGA_list["status"] -- print(num_rt_receive)lcd.fill(64, 145, 128, 160)lcd.setFont(lcd.font_opposansm8)lcd.drawStr(64,155,num_rt_receive)-- 注意此时状态为字符型if rt_status == "1" then-- 未定位起始点if status_P00 == 0 then-- print("P00_BD")print( "WGS_ddmm : ("..rt_x.." , "..rt_y..")" ,"status"..rt_status)init_P00(ddmm2BD(rt_x ,rt_y))set_scale_max( 0.0002 )-- 清空坐标表xy_list_BD = {
}xy_list_BD_num = 0xy_list_BD_num_max = 0LCD_list = {
}LCD_list_temp_num = 0cur_BD_bias = {
}cur_Ref = {
}cur_LCD = {
}BD_x_max = 0BD_x_min = 0BD_y_max = 0BD_y_min = 0status_P00 = 1end-- 已经定位了起始点if status_P00 == 1 thenprint("************** point start****************")xy_list_BD_num = xy_list_BD_num+1-- 记录当前坐标个数if xy_list_BD_num_max < xy_list_BD_num thenxy_list_BD_num_max = xy_list_BD_numendprint( "WGS_ddmm : ("..rt_x.." , "..rt_y..")" ,"status"..rt_status)-- 转换位BD09BD_temp_x ,BD_temp_y = ddmm2BD(rt_x ,rt_y)-- 存储百度坐标table.insert( xy_list_BD, BD_temp_x )table.insert( xy_list_BD, BD_temp_y )-- 存储当前处理的百度坐标，后续运算直接用该值cur_BD[1] = BD_temp_xcur_BD[2] = BD_temp_y-- 打印当前的百度坐标print("BD_ddd : ("..cur_BD[1].." , "..cur_BD[2]..")","LCD_list_temp_num : ",LCD_list_temp_num )-- log.info("**lcd point : ",LCD_list_temp_num,"("..cur_BD[1].." , "..cur_BD[2]..")")-- 百度坐标转换为lcd坐标rt_lcd_x , rt_lcd_y = BD2lcd()realtime_draw_line()print("LCD_list:"..table.concat( LCD_list, ","))print("************** point end****************")endrt_status = "0"else-- print("当前未定位")end-- 画一个点就重绘，用于及时放大-- rt_redraw_pic()
end-- 获取uart数据并画点
function realtime_test()-- print("num_rt_receive",num_rt_receive,"num_uart_re",num_uart_re)if num_rt_receive > num_uart_re thennum_uart_re = num_rt_receivert_wgs2lcd()end
endfunction rt_redraw_pic()-- print("BD_range",BD_x_max,BD_x_min,BD_y_max,BD_y_min)-- 计算所有百度坐标的经纬度最大差值（用于映射到lcd中）range_x = BD_x_max-BD_x_minrange_y = BD_y_max-BD_y_minif range_x > range_y thenrange_bias = range_xMap_size_max_x = 128Map_size_max_y = range_y/range_bias*128elserange_bias = range_yMap_size_max_x = range_x/range_bias*128Map_size_max_y = 128end-- 重绘时如果当前的归一化度量小于最大偏移，就重新画坐标if range_bias ~= scale_max thenprint("重新绘制")status_redraw = 1lcd.clear()set_scale_max( range_bias )LCD_max = 128P00_LCD[1] = math.floor((P00_BD[1]-BD_x_min)/range_x*128)P00_LCD[2] = math.floor((BD_y_max-P00_BD[2])/range_y*128)-- set_scale_max( 0.00738400*2 )-- LCD_max = 64-- P00_LCD = {64,64}print("P00_LCD",table.concat(P00_LCD , " , " ))LCD_list = {
}xy_list_BD_temp_num = 0 -- 当前处理BD点数LCD_list_temp_num = 0 -- 当前处理的lcd点数-- test()elsereturnendend
-- 输入BD09转化为lcd画点坐标（0，0）-（128，128）status_redraw = 0-- 变量
cur_BD = {
}-- /xn,yn
cur_BD_bias = {
}
cur_Ref = {
}
cur_LCD = {
}-- 固定量，若固定量改变则所有的都要变
P00_BD = {
} -- /x0,y0
scale_max = 0.00738400 --BD最大偏移值，2scale_max 映射 128 这是图像精度，变小则图像在lcd上绘制大
LCD_max = 64 --64/128
-- LCD_max_x =
-- LCD_max_y =
P00_LCD = {
64,64} --64，64（参照点在屏幕中心） / 128，0（这个是参照点在屏幕左上角） -- x0，y0在lcd上坐标偏移
P00_Ref = {
0,0} --暂时用不上，默认起始点对应0,0BD_x_max = 0
BD_x_min = 0
BD_y_max = 0
BD_y_min = 0-- lcd坐标范围
LCD_x_max = 128
LCD_x_min = 0
LCD_y_max = 128
LCD_y_min = 0-- 存储画点数据
LCD_list = {
}
LCD_list_temp_num = 0
xy_list_BD = {
}
xy_list_BD_num = 0
xy_list_BD_num_max = 0-- init
function init_P00(x,y)P00_BD[1] = xP00_BD[2] = yprint("init_P00 BD",x,y)BD_x_max = xBD_x_min = xBD_y_max = yBD_y_min = yprint("BD_range",BD_x_max,BD_x_min,BD_y_max,BD_y_min)return x,y
endfunction set_cur(x,y)cur_BD[1] = xcur_BD[2] = y print("set_cur",x,y)return x,y
endfunction set_scale_max(max)scale_max = maxprint("scale_max is:",scale_max)return 1
endfunction judge_BD_range(x_c,y_c)-- log.info("judge_BD_range 1 ---------------")-- print(x_c,y_c)if x_c>BD_x_max thenBD_x_max = x_celse if x_c<BD_x_min thenBD_x_min = x_cendendif y_c>BD_y_max thenBD_y_max = y_celse if y_c<BD_y_min thenBD_y_min = y_cendend-- print("BD_range",BD_x_max,BD_x_min,BD_y_max,BD_y_min)
end-- change
function BD_cur_bias(x_c,y_c,x_0,y_0)-- 取当前坐标最值-- 计算基于起始点的BD偏移if type(x_0) == "nil" or type(y_0) == "nil" then-- print("Please set start xy.")elseprint("now start xy is ",x_0.." , "..y_0)endif type(x_c) == "nil" or type(y_c) == "nil"then-- print("BD_cur_bias no input")-- print("P00_BD",table.concat( P00_BD , ","))-- print("cur_BD",table.concat( cur_BD , ","))BD_bias_x = cur_BD[1]-P00_BD[1]BD_bias_y = cur_BD[2]-P00_BD[2]judge_BD_range(cur_BD[1],cur_BD[2])else-- print("BD_cur_bias has input")BD_bias_x = x_c - x_0BD_bias_y = y_c - y_0judge_BD_range(x_c,y_c)end-- 存储当前BD偏移cur_BD_bias[1] = BD_bias_xcur_BD_bias[2] = BD_bias_y-- print("BD_cur_bias",table.concat(cur_BD_bias,','))-- print(BD_bias_x,BD_bias_y)return BD_bias_x,BD_bias_yendfunction Ref_cur_bias(x,y,lcdmax,scalemax)-- 归一化，计算基于 0，0的参考偏移if type(x) == "nil" or type(y) == "nil" or type(lcdmax) == "nil" or type(scalemax) == "nil" then-- print("Ref_cur_bias no input")Ref_bias_x = math.floor(cur_BD_bias[1]*LCD_max/(scale_max)) -- + P00_Ref[1]Ref_bias_y = math.floor(cur_BD_bias[2]*LCD_max/(scale_max)) -- + P00_Ref[2]elseRef_bias_x = math.floor(x*lcdmax/(scalemax)) -- + P00_Ref[1]Ref_bias_y = math.floor(x*lcdmax/(scalemax)) -- + P00_Ref[2]end-- 存储参考偏移cur_Ref[1] = Ref_bias_xcur_Ref[2] = Ref_bias_y-- print("Ref_cur_bias",table.concat(cur_Ref,','))return Ref_bias_x,Ref_bias_y
endfunction LCD_cur(x_c,y_c,x_0,y_0)-- 归一化，计算基于 0，0的参考偏移if type(x_c) == "nil" or type(y_c) == "nil" or type(x_0) == "nil" or type(y_0) == "nil" then-- print("LCD_cur no input")LCD_x = P00_LCD[1]+cur_Ref[1]LCD_y = P00_LCD[2]-cur_Ref[2]elseLCD_x = x_0+x_cLCD_y = y_0-y_cendprint("LCD_cur",LCD_x..' , '..LCD_y)-- 防止超出屏幕if LCD_x > LCD_x_max thenLCD_x = LCD_x_maxelseif LCD_x < LCD_x_min thenLCD_x = LCD_x_minendif LCD_y > LCD_y_max thenLCD_y = LCD_y_maxelseif LCD_y < LCD_y_min thenLCD_y = LCD_y_minend-- 存储参数cur_LCD[1] = LCD_xcur_LCD[2] = LCD_ytable.insert(LCD_list,LCD_x)table.insert(LCD_list,LCD_y)LCD_list_temp_num = LCD_list_temp_num + 1print("LCD_list_temp_num: ", LCD_list_temp_num) -- 显示当前记录的点个数-- print("LCD_cur",table.concat(cur_LCD,' , '))return LCD_x,LCD_y
end-- function BD2lcd(temp_P00_BD , temp_cur_BD, temp_scale_max , temp_LCD_max , temp_P00_LCD)-- end-- 直接基于全局变量运算
function BD2lcd()-- 计算基于起始点的经纬度偏移BD_cur_bias()-- 归一化当前lcd坐标Ref_cur_bias()-- 返回计算的lcd坐标return LCD_cur()
end-- 方法1：直接对全局变量进行处理
-- BD2lcd()-- 方法2：对入参进行处理
-- LCD_cur(Ref_cur_bias(BD_cur_bias(cur_BD[1],cur_BD[2],P00_BD[1],P00_BD[2]),scale_max,LCD_max),P00_LCD[1],P00_LCD[2])-- 方法3：传入数组处理，相当于1
-- function input_all_value(cutBD,P00BD,scalemax,lcdmax,P00lcd)
-- LCD_cur(Ref_cur_bias(BD_cur_bias(cutBD[1],cutBD[2],P00BD[1],P00BD[2]),scalemax,lcdmax),P00lcd[1],P00lcd[2])
-- end-- input_all_value(cur_BD,P00_BD,scale_max,LCD_max,P00_LCD)