GPS signals received through the serial port, parse out the current latitude and longitude, and the use of the DMA mode to store and handle, can reduce the burden of the CPU, and can use a variety of data processing, in order to reduce the error.

DMA串口接收to刘杰
.................\Common
.................\......\delay.c
.................\......\delay.h
.................\......\usart.c
.................\......\usart.h
.................\CORE
.................\....\core_cm3.c
.................\....\core_cm3.h
.................\....\startup_stm32f10x_hd.s
.................\....\startup_stm32f10x_md.s
.................\FWLIB
.................\.....\inc
.................\.....\...\misc.h
.................\.....\...\stm32f10x_adc.h
.................\.....\...\stm32f10x_bkp.h
.................\.....\...\stm32f10x_can.h
.................\.....\...\stm32f10x_cec.h
.................\.....\...\stm32f10x_crc.h
.................\.....\...\stm32f10x_dac.h
.................\.....\...\stm32f10x_dbgmcu.h
.................\.....\...\stm32f10x_dma.h
.................\.....\...\stm32f10x_exti.h
.................\.....\...\stm32f10x_flash.h
.................\.....\...\stm32f10x_fsmc.h
.................\.....\...\stm32f10x_gpio.h
.................\.....\...\stm32f10x_i2c.h
.................\.....\...\stm32f10x_iwdg.h
.................\.....\...\stm32f10x_pwr.h
.................\.....\...\stm32f10x_rcc.h
.................\.....\...\stm32f10x_rtc.h
.................\.....\...\stm32f10x_sdio.h
.................\.....\...\stm32f10x_spi.h
.................\.....\...\stm32f10x_tim.h
.................\.....\...\stm32f10x_usart.h
.................\.....\...\stm32f10x_wwdg.h
.................\.....\src
.................\.....\...\misc.c
.................\.....\...\stm32f10x_adc.c
.................\.....\...\stm32f10x_bkp.c
.................\.....\...\stm32f10x_can.c
.................\.....\...\stm32f10x_cec.c
.................\.....\...\stm32f10x_crc.c
.................\.....\...\stm32f10x_dac.c
.................\.....\...\stm32f10x_dbgmcu.c
.................\.....\...\stm32f10x_dma.c
.................\.....\...\stm32f10x_exti.c
.................\.....\...\stm32f10x_flash.c
.................\.....\...\stm32f10x_fsmc.c
.................\.....\...\stm32f10x_gpio.c
.................\.....\...\stm32f10x_i2c.c
.................\.....\...\stm32f10x_iwdg.c
.................\.....\...\stm32f10x_pwr.c
.................\.....\...\stm32f10x_rcc.c
.................\.....\...\stm32f10x_rtc.c
.................\.....\...\stm32f10x_sdio.c
.................\.....\...\stm32f10x_spi.c
.................\.....\...\stm32f10x_tim.c
.................\.....\...\stm32f10x_usart.c
.................\.....\...\stm32f10x_wwdg.c
.................\HARDWARE
.................\........\GPS.C
.................\........\GPS.h
.................\OBJ
.................\...\ahrs.crf
.................\...\ahrs.d
.................\...\ahrs.o
.................\...\core_cm3.crf
.................\...\core_cm3.d
.................\...\core_cm3.o
.................\...\delay.crf
.................\...\delay.d
.................\...\delay.o
.................\...\ExtDll.iex
.................\...\gps.crf
.................\...\gps.d
.................\...\gps.o
.................\...\main.crf
.................\...\main.d
.................\...\main.o
.................\...\misc.crf
.................\...\misc.d
.................\...\misc.o
.................\...\startup_stm32f10x_hd.d
.................\...\startup_stm32f10x_hd.o
.................\...\startup_stm32f10x_md.d
.................\...\startup_stm32f10x_md.o
.................\...\stm32f10x_dma.crf
.................\...\stm32f10x_dma.d
.................\...\stm32f10x_dma.o
.................\...\stm32f10x_gpio.crf
.................\...\stm32f10x_gpio.d
.................\...\stm32f10x_gpio.o
.................\...\stm32f10x_it.crf
.................\...\stm32f10x_it.d
.................\...\stm32f10x_it.o
.................\...\stm32f10x_rcc.crf
.................\...\stm32f10x_rcc.d
.................\...\stm32f10x_rcc.o
.................\...\stm32f10x_usart.crf

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