void USART1_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	/* 使能串口時鐘*/
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE); 

	/* USART1的IO腳配置*/    
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³ö
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);    
  
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	//¸¡¿ÕÊäÈë
  GPIO_Init(GPIOA, &GPIO_InitStructure);   //³õʼ»¯GPIOA
	
	/* USART1 工作模式配置*/
	USART_InitStructure.USART_BaudRate = 115200;	//波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;	//數據位
	USART_InitStructure.USART_StopBits = USART_StopBits_1; 	//停止位
	USART_InitStructure.USART_Parity = USART_Parity_No ;  //奇偶校驗位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;	//硬件流控制模式設置，沒有使能
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;//接受發送使能，這個可以根據實際設置
	
	USART_Init(USART1, &USART_InitStructure);  //初始化
	USART_Cmd(USART1, ENABLE);// USART1使能
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);    // 使能串口中斷
	
	NVIC_InitStructure.NVIC_IRQChannel=USART1_IRQn;  //中斷配置
	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
	NVIC_Init(&NVIC_InitStructure);
}

void UART1SendByte(USART_TypeDef* USARTx,unsigned char SendData)
{	   
		USART_SendData(USARTx,SendData);
		while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET);	    
}

void USART1_IRQHandler(void) 
{		
	uint8_t rec = 0;
    char str[15];
	char str1[15];
	char str2[5];

	uint16_t  x=0;
	uint16_t  x1 = 0;
		
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
	{
		USART_ClearITPendingBit(USART1,USART_IT_RXNE); 
		rec = USART_ReceiveData(USART1);
        //頭判斷
		if(rec == '$')
		{
			gps_count =0;
			count = 1;
			for(i=0;i<RECEIVE_BUF_LEN;i++)
			{
				ReceiveBuff[i] = 0;
				sendBuff[i] = 0;
			}
			ReceiveBuff[0] = rec;
			gps_state = f_start;
		}
		else if(gps_state == f_start)
		{
			//判斷接收的數據個數
			if(rec == ',')
			{
				sendBuff[gps_count++] = count;
						
			}
			if(rec == '*' && gps_count > 15)
			{
				gps_state = f_end;

			}
			ReceiveBuff[count++] = rec;
		}
		else if(gps_state == f_end)
		{
			gps_state = f_finished;
			//UART1SendByte(2);
			for(i=0; i< count; i++)
			{
				UART1SendByte(USART1, ReceiveBuff[i]);
			}
			// ½âÎö
			for( i =sendBuff[8]+1; i < sendBuff[9]; i++)
			{
				str[x++] = ReceiveBuff[i];
			}
			for( i =sendBuff[9]+1; i < sendBuff[10]; i++)
			{
				str1[x1++] = ReceiveBuff[i];
			}

					
			if(second_get == 1)
			{
				x_latitude = atof(str)*10;
				y_longtitude = atof(str1)*10;
				second_get = 2;
			}
			else if(second_get == 2)
			{
				 x1_latitude = atof(str)*10;
				 y1_longtitude = atof(str1)*10;
				three_get = 1;
			}
					
			if(three_get == 1)
			{
				float result1 = x_latitude - x1_latitude;
				float result2 = y_longtitude -  y1_longtitude;
				if((abs(result1) > 5.0)||(abs(result2) > 5.0))
				{
					LED1( ON );
				}
				else if((abs(result1) < 5.0)&&(abs(result2) < 5.0))
				{
					//UART1SendByte(USART1, 2);
					LED1( OFF );
				}
				x_latitude = x1_latitude;
				y_longtitude =  y1_longtitude;
				second_get = 2;
			}
		 }				
	}

	if(USART_GetFlagStatus(USART1,USART_FLAG_ORE) == SET)
	{   

		USART_ClearFlag(USART1,USART_FLAG_TC); 
		USART_ReceiveData(USART1); 
	}  
}

for(i=0; i< count; i++)
{
	UART1SendByte(USART1, ReceiveBuff[i]);
}

for( i =sendBuff[8]+1; i < sendBuff[9]; i++)
{
	str[x++] = ReceiveBuff[i];
}

if(second_get == 1)
{
	x_latitude = atof(str)*10;
	y_longtitude = atof(str1)*10;  //字符轉float
	second_get = 2;
}
else if(second_get == 2)
{
	x1_latitude = atof(str)*10;
	y1_longtitude = atof(str1)*10;
	three_get = 1;
}

if(three_get == 1)
{
	float result1 = x_latitude - x1_latitude;
	float result2 = y_longtitude -  y1_longtitude;
	if((abs(result1) > 5.0)||(abs(result2) > 5.0))
	{
		LED1( ON );
	}
	else if((abs(result1) < 5.0)&&(abs(result2) < 5.0))
	{
			//UART1SendByte(USART1, 2);
		LED1( OFF );
	}
	x_latitude = x1_latitude;
	y_longtitude =  y1_longtitude;
	second_get = 2;
}