# ${CMAKE_CURRENT_SOURCE_DIR}/gnss_config_array.c
${CMAKE_CURRENT_SOURCE_DIR}/src/uart_gnss.c
${CMAKE_CURRENT_SOURCE_DIR}/src/gnss_ctl.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/NMEA0183.c
${TIOT_SRC_LIST}
)
set(PUBLIC_HEADER
CONFIG_GNSS_WAKEUP_TYPE_UART=1
CONFIG_GNSS_TCXO_FREQ_26M=1
CONFIG_GNSS_UART_BAUDRATE=115200
- CONFIG_GNSS_UART_WITH_FLOWCTRL
+ # CONFIG_GNSS_UART_WITH_FLOWCTRL
CONFIG_FILE_BY_ARRAY=1
CONFIG_FIRMWARE_CFG_HANDLE_PRIV=1
CONFIG_FIRMWARE_FILE_READ_BUF_LEN=1029
--- /dev/null
+/*\r
+* GPS NMEA0183协议简要解析框架 \r
+* \r
+* 支持解析 RMC、GGA、VTG、HDT等消息字段信息，由于解析框架比较明了，\r
+* 移植源码者可自行考虑添加新的解析代码。\r
+* 解析方式采用逐个字段解析的方式，能很大程度上节省消耗内存空间。 \r
+* 重新编写数据转换函数，不依赖外部库，移植时一般只需包含NMEA0183.h\r
+* 文件即可。 \r
+*\r
+* 代码示例：\r
+* \r
+ char nmea[] = \\r
+ "$GNRMC,102219.00,A,2239.11578,N,11406.59325,E,0.009,,291018,,,D*62\r\n"\\r
+ "$GNVTG,,T,,M,0.009,N,0.017,K,D*37\r\n"\\r
+ "$GNGGA,102220.00,2239.11583,N,11406.59338,E,2,09,1.30,112.7,M,-2.3,M,,0000*52\r\n";\r
+ \r
+$GPGGA,,,,,,0,,,,,,,,*66\r
+\r
+$GPGLL,,,,,,V,N*64\r
+\r
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
+\r
+$GPRMC,,V,,,,,,,,,E,N,V*6C\r
+\r
+$GPVTG,,T,,M,,N,,K,N*2C\r
+\r
+$GPZDA,,,,,00,00*48\r
+\r
+$PNTH000,13,,-87,0,,,,,1,1*22\r
+\r
+$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
+\r
+$PNTH002,,T,0.000000,0,200,0.000000,3,0.000000*4B\r
+\r
+\r
+ gps_nmea gps_nmea_temp; /// 定义解析时用到的暂存状态数据,只供解析时使用 \r
+ gps_data gps_data1; /// GPS解析得到的最终数据，用户可使用 \r
+ unsigned int index = 0;\r
+ \r
+ for(index=0; index<sizeof(nmea); ++index)\r
+ {\r
+ if(nmea_decode(&gps_nmea_temp, &gps_data1, nmea[index])) ///调用解析函数\r
+ {\r
+ /// 解析消息段成功 \r
+ ... \r
+ } \r
+ } \r
+ \r
+* NMEA0183解析代码思想来源于开源飞控代码(Ardupilot)，所以该份代码开源，可免费使用。\r
+* ( 如有Bug，望能反馈 ! QQ: 2281280195 ) \r
+* \r
+* 作者： ouyanglei 时间：2018-11-16\r
+*/\r
+\r
+\r
+#ifndef NMEA0183_H\r
+#define NMEA0183_H\r
+\r
+/*************** 宏定义 *******************/ \r
+#define current_time_ms() 1\r
+\r
+#define GPS_LEAPSECONDS_MILLIS 18000UL\r
+#define AP_SEC_PER_WEEK (7UL * 86400UL)\r
+\r
+/* 检查字符串是否为数字0-9 */ \r
+#define IS_DIGITAL(x) ( ((x)>='0'&&(x)<='9')||(x)=='-'||(x)=='.' )\r
+#define CHAR_TO_DIGITAL(x) ((x)-'0')\r
+#define DIGITAL_TO_CHAR(x) ( (x)+'0' )\r
+\r
+/**************** 枚举量定义 ***************/\r
+ typedef enum _sentence_types \r
+ { /* 每个枚举量表示该字段的起始位置，有些特殊字段需要10个字段域 */ \r
+ GPS_SENTENCE_RMC = 32, /* RMC字段 推荐的最少专用导航数据。*/\r
+ GPS_SENTENCE_GGA = (32*2), /* GGA字段 接收机定位数据。*/\r
+ GPS_SENTENCE_GSV = (32*3), /* GSV字段 可见卫星数据。*/\r
+ GPS_SENTENCE_GSA = (32*4), /* GSA字段 有效卫星与精度因子数据。*/\r
+ GPS_SENTENCE_GLL = (32*5), /* GLL字段 接收机地理位置数据。*/\r
+ GPS_SENTENCE_VTG = (32*6), /* VTG字段 对地速度与航向数据。*/\r
+ // GPS_SENTENCE_HDT = (32*7), /* HDT字段 */\r
+ GPS_SENTENCE_ZDA = (32*7), /* ZDA字段 时间与日期数据。*/\r
+ GPS_SENTENCE_TH000 = (32*8), /* 接收机前端增益信息。*/\r
+ GPS_SENTENCE_TH001 = (32*9), /* 接收机定位质量信息。*/\r
+ GPS_SENTENCE_TH002 = (32*10), /* 接收机功耗模式信息。*/\r
+ GPS_SENTENCE_OTHER = 0 /* 默认没有字段 */\r
+ }sentence_types;\r
+\r
+/**************** 结构体定义 ***************/ \r
+ /* GPS定位状态枚举量 */ \r
+ typedef enum _gps_status\r
+ {\r
+ NO_GPS = 0, /* 无GPS */\r
+ NO_FIX, /* 接收到GPS信息，但没有定位 */\r
+ GPS_OK_FIX_2D, /* 2D定位 */\r
+ GPS_OK_FIX_3D, /* 3D定位 */ \r
+ GPS_OK_FIX_3D_DGPS, /* 优于3D定位 */ \r
+ GPS_OK_FIX_3D_RTK_FLOAT, /* RTK浮点解状态 */ \r
+ GPS_OK_FIX_3D_RTK_FIXED, /* RTK固定解状态 */\r
+ }gps_status;\r
+ \r
+\r
+/**\r
+ * \r
+BDS, // GB\r
+GPS, // GP\r
+Galileo,// GA\r
+GLONASS,// GL\r
+QZSS,// GQ\r
+\r
+signal systemID signalID\r
+GPS L1C/A 1 1 \r
+GLONASS L1OF 2 1 \r
+Galileo E1C 3 7 \r
+BDS B1i 4 1 \r
+QZSS L1C/A 5 1\r
+\r
+卫星编号\r
+\r
+GNSS "NMEA svid range" "GNSS PRN range" "PRN to svid"\r
+GPS L1C/A 1～32 1～32 PRN+0\r
+GLONASS L1OF 65～88 1～24 PRN+64\r
+Galileo E1C 1～36 1～36 PRN+0\r
+BDS B1i 1～50 1～50 PRN+0\r
+QZSS L1C/A 1～4 193～196 PRN-192\r
+\r
+*/\r
+ typedef enum _location_system\r
+ {\r
+ GNSS, //GN\r
+ GPS_L1C_A=1, //GP\r
+ GLONASS_L1OF, //GL\r
+ Galileo_E1C, //GA\r
+ BDS_Bli, //GB\r
+ QZSS_L1C_A, //GQ\r
+ MAX_LOCATION_SYSTEM\r
+ } location_system_t;\r
+\r
+ typedef struct _start\r
+ {\r
+ unsigned char starID;\r
+ unsigned char snr;\r
+ }start_stat_t;\r
+\r
+ /* GPS点位置 */ \r
+ typedef struct _location \r
+ {\r
+ int alt:24; /* 海拔高度 meters * 100 单位为厘米 */\r
+ float lat; /* 纬度 * 暂时不乘以10**7，原始保存*/\r
+ float lng; /* 精度 * 暂时不乘以10**7，原始保存*/\r
+ }Location;\r
+ \r
+ /* 数据解析状态结构体定义 */\r
+ typedef struct _gps_nmea\r
+ {\r
+ /* 数据解析状态 */ \r
+ unsigned char parity; /* 校验计算和 */ \r
+ unsigned char is_checksum_term; /* 当前字段域为校验字 */\r
+ char term[15]; /* 当前字段域缓冲区，','为字段域分割符 */\r
+ unsigned char location_system; /* 字段类别，location_system_t gps_type， 北斗，GPS，GNSS，GLONASS 等*/\r
+ unsigned char term_number; /* 当前字段域序号 */\r
+ unsigned char term_offset; /* 字段域数据偏移量 */\r
+ unsigned char gps_data_good; /* GPS数据有效状态 */\r
+ unsigned int sentence_type; /* 字段类别，见枚举 sentence_types*/\r
+ /* 数据解析结果 */\r
+ unsigned int new_time; /* UTC时间 */\r
+ unsigned int new_date; /* UTC日期 */\r
+ float new_latitude; /* 纬度 */\r
+ float new_longitude; /* 经度 */\r
+ int new_altitude; /* 海拔高度 cm*/\r
+ float new_speed; /* 地速 km/h */\r
+ float new_course; /* RMC、VTG字段磁偏角信息*/\r
+ float new_gps_yaw; /* HDT航向信息 */\r
+ unsigned short new_hdop; /* 水平精度 *100 */\r
+ unsigned char new_satellite_count; /* 当前使用卫星的颗数 */\r
+ unsigned char new_quality_indicator; /* 定位状态 */\r
+ unsigned int last_RMC_ms; /* 最后更新字段时间 */\r
+ unsigned int last_GGA_ms;\r
+ unsigned int last_VTG_ms;\r
+ unsigned int last_HDT_ms;\r
+ unsigned int last_GSV_ms;\r
+ unsigned int last_GSA_ms;\r
+ unsigned int last_GLL_ms;\r
+ unsigned int last_ZDA_ms;\r
+ start_stat_t starts[20];\r
+ unsigned int gsvpagecount;\r
+ unsigned int gsvpage;\r
+ unsigned int startnum;\r
+ }gps_nmea;\r
+ \r
+ /* 时间结构体 */ \r
+ typedef struct _time\r
+ {\r
+ unsigned char year;\r
+ unsigned short int month : 4;\r
+ unsigned short int : 4;\r
+ unsigned short int day : 5;\r
+ unsigned short int week : 3;\r
+ }DateTime;\r
+ \r
+ /* GPS数据区域，供上层应用调用 */ \r
+ typedef struct _gps_data {\r
+ unsigned char instance; /* GPS实例个数 */ \r
+ gps_status status; /* GPS定位状态 */\r
+ Location location; /* GPS定位到的当前位置 */\r
+ DateTime date_time; \r
+ start_stat_t starts[20];\r
+ unsigned int startnum;\r
+ float ground_speed; /* 地速 m/s */\r
+ float ground_course; /* 地速航向 度 顺时针 0-360 */ \r
+ float gps_yaw; /* GPHDT字段航向信息 一般用于双天线测向 */\r
+ unsigned short hdop; /* 水平精度 cm */\r
+ unsigned short vdop; /* 垂直精度 cm */\r
+ unsigned char num_sats; /* 可见卫星颗数 */\r
+ unsigned char have_gps_yaw; /* GPHDT航向字段有效 */\r
+ unsigned int last_gps_time_ms; /* 最后获取GPS信息时的时间 ms */\r
+ }gps_data;\r
+ \r
+ /* NMEA0183结构体对象 */\r
+ typedef struct _nmea0183\r
+ {\r
+ gps_nmea gpsParse;\r
+ gps_data gpsData;\r
+ unsigned char (*nmea_decode)(struct _nmea0183* pnmea, char c); \r
+ }NMEA0183; \r
+ \r
+/**************** 函数定义 ***************/\r
+\r
+unsigned char nmea_decode(NMEA0183* pnmea, char c);\r
+char* get_gps_status_str(gps_status status);\r
+char* get_gps_sentence_type_str(sentence_types sentencetype);\r
+void dump_location_data(gps_data *locationdata);\r
+\r
+#endif\r
+\r
+\r
\r
static const GnssSamplesCfgTable g_gnssSamplesCfg[] = {\r
{COLDSTART_FIXMODEGPS_NMEAALL_SAMPLE, CfgColdStartFixModeGpsNmeaAll},\r
- {AUTOSTART_FIXMODEALL_NMEADEF_SAMPLE, CfgAutoStartFixModeAllNmeaDefault}\r
+ // {AUTOSTART_FIXMODEALL_NMEADEF_SAMPLE, CfgAutoStartFixModeAllNmeaDefault}\r
};\r
\r
static int32_t StartGnss(tiot_handle handle)\r
return 1;\r
}\r
\r
+#include "NMEA0183.h"\r
+NMEA0183 g_nmeadata={0};\r
+gps_data g_global_gpsData={0};\r
+static int decode_nmea(char c)\r
+{\r
+ int ret=0;\r
+ if(nmea_decode(&g_nmeadata,c) ) ///调用解析函数\r
+ {\r
+ // dump_nmea_str(&(g_nmeadata.gpsParse));\r
+ if (g_nmeadata.gpsParse.sentence_type == GPS_SENTENCE_TH002)\r
+ {\r
+ //一组数据最后一条\r
+ memcpy_s(&g_global_gpsData,sizeof(gps_data),&(g_nmeadata.gpsData),sizeof(gps_data));\r
+ ret = 1;\r
+ memset(&g_nmeadata,0,sizeof(g_nmeadata));\r
+ }\r
+ } \r
+\r
+ return ret;\r
+}\r
+\r
static void ListenGnssData(tiot_handle handle)\r
{\r
int32_t i = 0;\r
uint16_t *type = (uint16_t *)g_gnssServiceBuff;\r
if (type[0] == MSG_TYPE_ASCII) {\r
g_gnssServiceBuff[ret] = '\0';\r
- printf("%s\n", (char *)&g_gnssServiceBuff[MSG_CONTENT_IDX]);\r
- fprintf(g_gnssLogFp, "%s\n", (char *)&g_gnssServiceBuff[MSG_CONTENT_IDX]);\r
+ char* pbuf=(char *)&g_gnssServiceBuff[MSG_CONTENT_IDX];\r
+ printf("%s\n", pbuf);\r
+ fprintf(g_gnssLogFp, "%s\n", pbuf);\r
+ for (int index=0;index < ret ;index++)\r
+ {\r
+ if (decode_nmea(pbuf[index]))\r
+ {\r
+ dump_location_data(&g_global_gpsData);\r
+ }\r
+ }\r
}\r
i++;\r
}\r
\r
#include "NMEA0183.h"\r
-\r
+#include <stdio.h>\r
static short int from_hex(char a);\r
static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata);\r
static int sring_to_int(const char* pstr, unsigned char* b);\r
static int sring_to_int(const char* pstr, unsigned char* b); \r
static int make_date_time(gps_data* pdata, unsigned int date, unsigned int time);\r
\r
-/* GPSÊý¾Ý½âÎö */ \r
+/* GPS数据解析 */ \r
unsigned char nmea_decode(NMEA0183* nmea, char c)\r
{\r
unsigned char valid_sentence = 0;\r
\r
switch (c) \r
{\r
- case ',': /* ×Ö¶ÎÓò·Ö¸î·ûºÅ */ \r
+ case ',': /* 字段域分割符号 */ \r
nmea->gpsParse.parity ^= c;\r
/* no break */\r
case '\r':\r
}\r
++nmea->gpsParse.term_number;\r
nmea->gpsParse.term_offset = 0;\r
- nmea->gpsParse.is_checksum_term = (c == '*'); /* ºóÃæÁ½¸ö×Ö½ÚΪУÑé×ֶΠ*/ \r
+ nmea->gpsParse.is_checksum_term = (c == '*'); /* 后面两个字节为校验字段 */ \r
return valid_sentence;\r
\r
- case '$': /* ×Ö¶ÎÐÅÏ¢¿ªÊ¼ */ \r
+ case '$': /* 字段信息开始 */ \r
nmea->gpsParse.term_number = nmea->gpsParse.term_offset = 0;\r
nmea->gpsParse.parity = 0;\r
nmea->gpsParse.sentence_type = GPS_SENTENCE_OTHER;\r
return valid_sentence;\r
}\r
\r
- /* ±£´æ×Ö¶ÎÓòÊý¾Ý */\r
+ /* 保存字段域数据 */\r
if (nmea->gpsParse.term_offset < sizeof(nmea->gpsParse.term) - 1)\r
nmea->gpsParse.term[nmea->gpsParse.term_offset++] = c;\r
if (!nmea->gpsParse.is_checksum_term)\r
return valid_sentence;\r
}\r
\r
-/* µ¥¸öÊ®Áù½øÖÆ×Ö·ûת»»ÎªÊ®½øÖÆ */\r
+/* 单个十六进制字符转换为十进制 */\r
static short int from_hex(char a)\r
{\r
if (a >= 'A' && a <= 'F')\r
return a - '0';\r
}\r
\r
-/* ´¦Àíµ¥¸ö×Ö¶ÎÓòÊý¾Ý */\r
+/* 处理单个字段域数据 */\r
static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)\r
{\r
if((void*)0==pnmea || (void*)0==pdata) return 0;\r
{\r
unsigned char checksum = 16 * from_hex(pnmea->term[0]) + from_hex(pnmea->term[1]);\r
\r
- /* ¼ìÑéÐÅÏ¢¶ÎÊÇ·ñÍêÕûÎÞ´í£¬Èç¹ûУÑéͨ¹ý£¬Ôò½«½âÎöµÃµ½µÄÊý¾Ý±£´æ£¬²¢Ìṩ¸øÓû§µ÷ÓÃ*/\r
+ /* 检验信息段是否完整无错，如果校验通过，则将解析得到的数据保存，并提供给用户调用*/\r
if (checksum == pnmea->parity) \r
{\r
if (pnmea->gps_data_good) \r
\r
// VTG has no fix indicator, can't change fix status\r
break;\r
- case GPS_SENTENCE_HDT:\r
- pnmea->last_HDT_ms = now;\r
-// pdata->gps_yaw = wrap_360(pnmea->new_gps_yaw*0.01f);\r
- pdata->have_gps_yaw = 1;\r
- break;\r
+// case GPS_SENTENCE_HDT:\r
+// pnmea->last_HDT_ms = now;\r
+// // pdata->gps_yaw = wrap_360(pnmea->new_gps_yaw*0.01f);\r
+// pdata->have_gps_yaw = 1;\r
+// break;\r
+ case GPS_SENTENCE_GSA:\r
+ pnmea->last_GSA_ms = now;\r
+ //time = _new_time;\r
+ //date = _new_date;\r
+ // pdata->location.lat = pnmea->new_latitude;\r
+ // pdata->location.lng = pnmea->new_longitude;\r
+ // pdata->ground_speed = pnmea->new_speed;\r
+ // pdata->ground_course = pnmea->new_course;\r
+ // make_date_time(pdata, pnmea->new_date, pnmea->new_time);\r
+ // pdata->last_gps_time_ms = now;\r
+ break;\r
+ case GPS_SENTENCE_GSV:\r
+ pnmea->last_GSV_ms = now;\r
+ for (int j=0;j<20;j++)\r
+ {\r
+ pdata->starts[j].snr=pnmea->starts[j].snr;\r
+ pdata->starts[j].starID=pnmea->starts[j].starID;\r
+ }\r
+ pdata->startnum = pnmea->startnum;\r
+ printf("gsv startnum copy to pdata %d\r\n",pdata->startnum );\r
+ break;\r
+ case GPS_SENTENCE_GLL:\r
+ pnmea->last_GLL_ms = now;\r
+ break;\r
+ case GPS_SENTENCE_ZDA:\r
+ pnmea->last_ZDA_ms = now;\r
+ break;\r
}\r
} else {\r
switch (pnmea->sentence_type) {\r
pnmea->sentence_type = GPS_SENTENCE_OTHER;\r
return 0;\r
}\r
+ switch(pnmea->term[1])\r
+ {\r
+ case 'B':\r
+ pnmea->location_system = BDS_Bli;\r
+ break;\r
+ case 'L':\r
+ pnmea->location_system = GLONASS_L1OF;\r
+ break;\r
+ case 'P':\r
+ pnmea->location_system = GPS_L1C_A;\r
+ break;\r
+ case 'Q':\r
+ pnmea->location_system = QZSS_L1C_A;\r
+ break;\r
+ case 'A':\r
+ pnmea->location_system = Galileo_E1C;\r
+ break;\r
+ case 'N':\r
+ pnmea->location_system = GNSS;\r
+ break;\r
+ default:\r
+ pnmea->location_system = MAX_LOCATION_SYSTEM;\r
+ break;\r
+ }\r
+\r
+\r
const char *term_type = &pnmea->term[2];\r
if (strcmp(term_type, "RMC") == 0) {\r
pnmea->sentence_type = GPS_SENTENCE_RMC;\r
} else if (strcmp(term_type, "GGA") == 0) {;\r
pnmea->sentence_type = GPS_SENTENCE_GGA;\r
- }else if (strcmp(term_type, "HDT") == 0) {\r
- pnmea->sentence_type = GPS_SENTENCE_HDT;\r
- // HDT doesn't have a data qualifier\r
- pnmea->gps_data_good = 1;\r
+ } else if (strcmp(term_type, "GSV") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_GSV;\r
+ } else if (strcmp(term_type, "GSA") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_GSA;\r
+ } else if (strcmp(term_type, "GLL") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_GLL;\r
+ } else if (strcmp(term_type, "ZDA") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_ZDA;\r
+ } else if (strcmp(term_type, "TH000") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_TH000;\r
+ } else if (strcmp(term_type, "TH001") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_TH001;\r
+ } else if (strcmp(term_type, "TH002") == 0) {;\r
+ pnmea->sentence_type = GPS_SENTENCE_TH002;\r
+ \r
}else if (strcmp(term_type, "VTG") == 0) {\r
pnmea->sentence_type = GPS_SENTENCE_VTG;\r
// VTG may not contain a data qualifier, presume the solution is good\r
}\r
return 0;\r
}\r
-\r
+ \r
+ \r
+ unsigned char startindex;\r
// 32 = RMC, 64 = GGA, 96 = VTG\r
if (pnmea->sentence_type != GPS_SENTENCE_OTHER && pnmea->term[0]) {\r
switch (pnmea->sentence_type + pnmea->term_number) {\r
case GPS_SENTENCE_GGA + 8: // HDOP (GGA)\r
pnmea->new_hdop = (unsigned short)(string_to_float((const char*)pnmea->term, (void*)0)*100);\r
break;\r
-\r
+ case GPS_SENTENCE_GSV + 1: // GSV numMsg 2 GSV 语句总数。\r
+ pnmea->gsvpagecount = (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv pagecount %d\r\n",pnmea->gsvpagecount );\r
+ pnmea->gps_data_good=1;\r
+ break;\r
+ case GPS_SENTENCE_GSV + 2: // GSV msgNo GSV 语句编号。\r
+ pnmea->gsvpage = (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv gsvpage %d\r\n",pnmea->gsvpage );\r
+ break;\r
+ case GPS_SENTENCE_GSV + 3: // GSV numSV 可见卫星总数。\r
+ pnmea->startnum = (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startnum %d\r\n",pnmea->startnum );\r
+ break;\r
+ case GPS_SENTENCE_GSV + 4: // GSV svid 卫星编号\r
+ startindex=4*(pnmea->gsvpage-1);\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 7: // GSV cn0 载噪比：0～99，无效时为空\r
+ startindex=4*(pnmea->gsvpage-1);\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 8: // GSV svid 卫星编号 N*4\r
+ startindex=4*(pnmea->gsvpage-1)+1;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 11: // GSV cn0 载噪比：0～99，无效时为空\r
+ startindex=4*(pnmea->gsvpage-1)+1;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 12: // GSV svid 卫星编号\r
+ startindex=4*(pnmea->gsvpage-1)+2;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 15: // GSV cn0 载噪比：0～99，无效时为空\r
+ startindex=4*(pnmea->gsvpage-1)+2;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 16: // GSV svid 卫星编号\r
+ startindex=4*(pnmea->gsvpage-1)+3;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);\r
+ break;\r
+ case GPS_SENTENCE_GSV + 19: // GSV cn0 载噪比：0～99，无效时为空\r
+ startindex=4*(pnmea->gsvpage-1)+3;\r
+ if (startindex>=pnmea->startnum) break;\r
+ pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+ printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);\r
+ break;\r
// time and date\r
//\r
case GPS_SENTENCE_RMC + 1: // Time (RMC)\r
pnmea->new_speed = string_to_float((const char*)pnmea->term, (void*)0); //km/h\r
break;\r
\r
- case GPS_SENTENCE_HDT + 1: // Course (HDT)\r
- pnmea->new_gps_yaw = string_to_float((const char*)pnmea->term, (void*)0);\r
- break;\r
+ // case GPS_SENTENCE_HDT + 1: // Course (HDT)\r
+ // pnmea->new_gps_yaw = string_to_float((const char*)pnmea->term, (void*)0);\r
+ // break;\r
case GPS_SENTENCE_RMC + 8: // Course (GPRMC)\r
case GPS_SENTENCE_VTG + 1: // Course (VTG)\r
pnmea->new_course = string_to_float((const char*)pnmea->term, (void*)0);\r
return 0;\r
}\r
\r
-/* ¶à´Î·½ */\r
+/* 多次方 */\r
static int int_pow(int value, unsigned int count)\r
{\r
int v = 1;\r
return v;\r
}\r
\r
-/* ¼ì²é×Ö·û´®ÊÇ·ñΪÊý×Ö×Ö·û´®£¬ÊÇ·µ»Ø1£¬·ñÔò·µ»Ø0 */ \r
+/* 检查字符串是否为数字字符串，是返回1，否则返回0 */ \r
static unsigned char string_check_digital(const char* pc)\r
{\r
const char* p;\r
return 1; \r
} \r
\r
-/* Êý×Ö×Ö·û´®´¦Àíº¯Êý,ʶ±ð·ûºÅ²¢ÇÒ²»¼ì²éÒç³ö\r
-* Èç¹ûÊÇСÊý£¬ÔòÖ»·µ»ØÕûÊý²¿·Ö,Èç¹ûת»»³ö´í£¬·µ»Ø0 \r
-* ´«Èë²ÎÊý£º Ôʼ×Ö·û´®£¬ ת»»³É¹¦±êÖ¾ 0-´íÎó 1-ÕýÈ· \r
+/* 数字字符串处理函数,识别符号并且不检查溢出\r
+* 如果是小数，则只返回整数部分,如果转换出错，返回0 \r
+* 传入参数： 原始字符串， 转换成功标志 0-错误 1-正确 \r
*/\r
static int sring_to_int(const char* pstr, unsigned char* b)\r
{\r
- char nega = 1; /* ¸ºÊýΪ1£¬ ÕýÊýΪ1 */ \r
+ char nega = 1; /* 负数为1， 正数为1 */ \r
const char* psrc = (void*)0;\r
int value = 0;\r
\r
}\r
\r
psrc = pstr;\r
- if('-'==*psrc) /* ·ûºÅλ */ \r
+ if('-'==*psrc) /* 符号位 */ \r
{\r
nega = -1;\r
++psrc;\r
return value;\r
} \r
\r
-/* ×Ö·û´®×ª»»³ÉСÊý */\r
+/* 字符串转换成小数 */\r
static double string_to_float(const char* pstr, unsigned char* b) \r
{\r
- char nega = 1; /* ¸ºÊýΪ1£¬ ÕýÊýΪ1 */ \r
+ char nega = 1; /* 负数为1， 正数为1 */ \r
const char* psrc = (void*)0;\r
double value = 0.0;\r
- double lvalue = 0.0; /* СÊýµãºóÃæÊý×Ö */ \r
- unsigned char dotflag = 0; /* СÊýµã±ê¼Ç 1Ϊ֮ǰ³öÏÖ¹ýСÊýµã */ \r
+ double lvalue = 0.0; /* 小数点后面数字 */ \r
+ unsigned char dotflag = 0; /* 小数点标记 1为之前出现过小数点 */ \r
unsigned char j = 0;\r
\r
if( (void*)0==pstr ) \r
return 0;\r
}\r
\r
- if('-'==*psrc) /* ·ûºÅλ */ \r
+ if('-'==*psrc) /* 符号位 */ \r
{\r
nega = -1;\r
++psrc;\r
return value;\r
}\r
\r
-/* ¸¡µãÊýת»»Îª×Ö·û´®£¬°üÀ¨ÕûÊýת»»Îª×Ö·û´® \r
-* intgrÖ¸¶¨ÕûÊýλ¸öÊý£¬decÖ¸¶¨Ð¡Êýλ¸öÊý \r
-* ×Ô¶¯È¥³ýÇ°ÃæµÄ0£¬Ð¡ÊýµãºóÃæµÄ0²»»áÉáÈ¥ \r
+/* 浮点数转换为字符串，包括整数转换为字符串 \r
+* intgr指定整数位个数，dec指定小数位个数 \r
+* 自动去除前面的0，小数点后面的0不会舍去 \r
*/ \r
static unsigned char float_to_string(double value, char* pdest, unsigned int intgr, unsigned int dec)\r
{\r
if( !zeroflag ) *pstr++ = '0';\r
\r
\r
- /* Èç¹ûСÊýλÊýΪ0£¬Ôò·µ»ØÕûÊý²¿·Ö */\r
+ /* 如果小数位数为0，则返回整数部分 */\r
if(0==dec)\r
{\r
*pstr = '\0';\r
} \r
\r
\r
-/* ÕûÊýת»»³É×Ö·û´®£¬ÄÚ²¿Æäʵµ÷ÓÃÁË float_to_string */\r
+/* 整数转换成字符串，内部其实调用了 float_to_string */\r
static unsigned char int_to_string(int value, char* pdest, unsigned int intgr) \r
{\r
return float_to_string((double)value, pdest, intgr,0);\r
}\r
\r
-/* ʱ¼ä´¦Àí ´«Èë²ÎÊýΪÈÕÔÂÄêºÍºÁÃë*/ \r
+/* 时间处理 传入参数为日月年和毫秒*/ \r
static int make_date_time(gps_data* pdata, unsigned int date, unsigned int time)\r
{\r
\r
\r
return 1;\r
} \r
+char* get_gps_status_str(gps_status status)\r
+{\r
+ char* ret="NO_GPS";\r
+ switch(status)\r
+ {\r
+ case NO_GPS:\r
+ ret = "无卫星";\r
+ break;\r
+ case NO_FIX:\r
+ ret = "接收到GPS信息，但没有定位";\r
+ break;\r
+ case GPS_OK_FIX_2D:\r
+ ret = "2D定位";\r
+ break;\r
+ case GPS_OK_FIX_3D:\r
+ ret = "3D定位";\r
+ break;\r
+ case GPS_OK_FIX_3D_DGPS:\r
+ ret = "优于3D定位";\r
+ break;\r
+ case GPS_OK_FIX_3D_RTK_FLOAT:\r
+ ret = "RTK浮点解状态";\r
+ break;\r
+ case GPS_OK_FIX_3D_RTK_FIXED:\r
+ ret = "RTK固定解状态";\r
+ break;\r
+ \r
+ default:\r
+ ret = "未知卫星状态";\r
+ }\r
+ return ret;\r
+}\r
+\r
+char* get_gps_sentence_type_str(sentence_types sentencetype)\r
+{\r
+ switch(sentencetype)\r
+ {\r
+ case GPS_SENTENCE_RMC:\r
+ return "RMC字段 推荐的最少专用导航数据。";\r
+ case GPS_SENTENCE_GGA:\r
+ return "GGA字段 接收机定位数据。";\r
+ case GPS_SENTENCE_GSV:\r
+ return "GSV字段 可见卫星数据。";\r
+ case GPS_SENTENCE_GSA:\r
+ return "GSA字段 有效卫星与精度因子数据。";\r
+ case GPS_SENTENCE_GLL:\r
+ return "GLL字段 接收机地理位置数据。";\r
+ case GPS_SENTENCE_VTG:\r
+ return "VTG字段 对地速度与航向数据。";\r
+ // case GPS_SENTENCE_HDT:\r
+ // return "HDT字段";\r
+ case GPS_SENTENCE_ZDA:\r
+ return "ZDA字段 时间与日期数据";\r
+ case GPS_SENTENCE_TH000:\r
+ return "接收机前端增益信息。";\r
+ case GPS_SENTENCE_TH001:\r
+ return "接收机定位质量信息。";\r
+ case GPS_SENTENCE_TH002:\r
+ return "接收机功耗模式信息。";\r
+ case GPS_SENTENCE_OTHER:\r
+ return "其他字段";\r
+ default:\r
+ return "unknown_type";\r
+ } \r
+}\r
+char* get_gps_location_system_str(location_system_t lsystem)\r
+{\r
+switch(lsystem)\r
+ {\r
+ case GNSS:\r
+ return "全球导航卫星系统";\r
+ case GPS_L1C_A:\r
+ return "全球定位系统";\r
+ case GLONASS_L1OF:\r
+ return "全球导航卫星系统(俄)";\r
+ case Galileo_E1C:\r
+ return "伽利略卫星定位系统";\r
+ case BDS_Bli:\r
+ return "北斗卫星导航系统";\r
+ case QZSS_L1C_A:\r
+ return "准天顶卫星系统";\r
+ default:\r
+ return "未知定位系统或自定义系统指令";\r
+ } \r
+}\r
+\r
+void dump_nmea_str(gps_nmea *nmeadata)\r
+{\r
+\r
+ printf("\r\n");\r
+ printf("%s\r\n",get_gps_location_system_str(nmeadata->location_system));\r
+ printf("%s\r\n",get_gps_sentence_type_str(nmeadata->sentence_type));\r
+ printf("\r\n");\r
+}\r
+void dump_location_data(gps_data*locationdata)\r
+{\r
+\r
+ printf("\r\n");\r
+ printf("20%02d-%02d-%02d,\r\n定位状态(%s)\r\n",\r
+ locationdata->date_time.year,\r
+ locationdata->date_time.month,\r
+ locationdata->date_time.day,\r
+ get_gps_status_str(locationdata->status)\r
+ );\r
+ printf("可见卫星颗数(%d),\r\n坐标(%f,%f,%d),\r\nhdop(%d),vdop(%d)\r\n",\r
+ locationdata->num_sats,\r
+ locationdata->location.lat,\r
+ locationdata->location.lng,\r
+ locationdata->location.alt,\r
+ locationdata->hdop,\r
+ locationdata->vdop\r
+ );\r
+ if (locationdata->startnum>0)\r
+ {\r
+ printf("卫星数[%d]",locationdata->startnum);\r
+ for(int i=0;i<20;i++)\r
+ {\r
+ if (i< locationdata->startnum)\r
+ {\r
+ printf(",(%d,%d)",\r
+ locationdata->starts[i].starID,\r
+ locationdata->starts[i].snr);\r
+\r
+ }\r
+ }\r
+ printf("\r\n");\r
+ }else{\r
+ printf("无卫星数据\r\n");\r
+ }\r
+ printf("\r\n");\r
+}\r
+\r
+\r
+\r
+// NMEA0183 g_nmeadata={0};\r
+\r
+// int decode_nmea(char c)\r
+// {\r
+// if(nmea_decode(&g_nmeadata,c) ) ///调用解析函数\r
+// {\r
+// dump_nmea_str(&(g_nmeadata.gpsParse));\r
+// if (g_nmeadata.gpsParse.sentence_type == GPS_SENTENCE_TH002)\r
+// {\r
+// //一组数据最后一条\r
+// dump_location_data(&(g_nmeadata.gpsData));\r
+// memset(&g_nmeadata,0,sizeof(g_nmeadata));\r
+// }\r
+// } \r
+\r
\r
+// return 0;\r
+// }\r
+++ /dev/null
-/*\r
-* GPS NMEA0183ÐÒé¼òÒª½âÎö¿ò¼Ü \r
-* \r
-* Ö§³Ö½âÎö RMC¡¢GGA¡¢VTG¡¢HDTµÈÏûÏ¢×Ö¶ÎÐÅÏ¢£¬ÓÉÓÚ½âÎö¿ò¼Ü±È½ÏÃ÷ÁË£¬\r
-* ÒÆÖ²Ô´ÂëÕß¿É×ÔÐп¼ÂÇÌí¼ÓеĽâÎö´úÂë¡£\r
-* ½âÎö·½Ê½²ÉÓÃÖð¸ö×ֶνâÎöµÄ·½Ê½£¬Äܴܺó³Ì¶ÈÉϽÚÊ¡ÏûºÄÄÚ´æ¿Õ¼ä¡£ \r
-* ÖØбàдÊý¾Ýת»»º¯Êý£¬²»ÒÀÀµÍⲿ¿â£¬ÒÆֲʱһ°ãÖ»Ðè°üº¬NMEA0183.h\r
-* Îļþ¼´¿É¡£ \r
-*\r
-* ´úÂëʾÀý£º\r
-* \r
- char nmea[] = \\r
- "$GNRMC,102219.00,A,2239.11578,N,11406.59325,E,0.009,,291018,,,D*62\r\n"\\r
- "$GNVTG,,T,,M,0.009,N,0.017,K,D*37\r\n"\\r
- "$GNGGA,102220.00,2239.11583,N,11406.59338,E,2,09,1.30,112.7,M,-2.3,M,,0000*52\r\n";\r
- \r
- gps_nmea gps_nmea_temp; /// ¶¨Òå½âÎöʱÓõ½µÄÔÝ´æ״̬Êý¾Ý,Ö»¹©½âÎöʱʹÓà \r
- gps_data gps_data1; /// GPS½âÎöµÃµ½µÄ×îÖÕÊý¾Ý£¬Óû§¿ÉʹÓà \r
- unsigned int index = 0;\r
- \r
- for(index=0; index<sizeof(nmea); ++index)\r
- {\r
- if(nmea_decode(&gps_nmea_temp, &gps_data1, nmea[index])) ///µ÷ÓýâÎöº¯Êý\r
- {\r
- /// ½âÎöÏûÏ¢¶Î³É¹¦ \r
- ... \r
- } \r
- } \r
- \r
-* NMEA0183½âÎö´úÂë˼ÏëÀ´Ô´ÓÚ¿ªÔ´·É¿Ø´úÂë(Ardupilot)£¬ËùÒԸ÷ݴúÂ뿪Դ£¬¿ÉÃâ·ÑʹÓá£\r
-* ( ÈçÓÐBug£¬ÍûÄÜ·´À¡ ! QQ: 2281280195 ) \r
-* \r
-* ×÷Õߣº ouyanglei ʱ¼ä£º2018-11-16\r
-*/\r
-\r
-\r
-#ifndef NMEA0183_H\r
-#define NMEA0183_H\r
-\r
-/*************** ºê¶¨Òå *******************/ \r
-#define current_time_ms() 1\r
-\r
-#define GPS_LEAPSECONDS_MILLIS 18000UL\r
-#define AP_SEC_PER_WEEK (7UL * 86400UL)\r
-\r
-/* ¼ì²é×Ö·û´®ÊÇ·ñΪÊý×Ö0-9 */ \r
-#define IS_DIGITAL(x) ( ((x)>='0'&&(x)<='9')||(x)=='-'||(x)=='.' )\r
-#define CHAR_TO_DIGITAL(x) ((x)-'0')\r
-#define DIGITAL_TO_CHAR(x) ( (x)+'0' )\r
-\r
-/**************** ö¾ÙÁ¿¶¨Òå ***************/\r
- /* ½âÎö×Ö¶Îö¾ÙÁ¿ */ \r
- typedef enum _sentence_types \r
- { /* ÿ¸öö¾ÙÁ¿±íʾ¸Ã×ֶεÄÆðʼλÖã¬ÓÐЩÌØÊâ×Ö¶ÎÐèÒª10¸ö×Ö¶ÎÓò */ \r
- GPS_SENTENCE_RMC = 32, /* RMC×ֶΠ*/\r
- GPS_SENTENCE_GGA = 64, /* GGA×ֶΠ*/\r
- GPS_SENTENCE_VTG = 96, /* VTG×ֶΠ*/\r
- GPS_SENTENCE_HDT = 128, /* HDT×ֶΠ*/\r
- GPS_SENTENCE_OTHER = 0 /* ĬÈÏûÓÐ×ֶΠ*/\r
- }sentence_types;\r
-\r
-/**************** ½á¹¹Ì嶨Òå ***************/ \r
- /* GPS¶¨Î»×´Ì¬Ã¶¾ÙÁ¿ */ \r
- typedef enum _gps_status\r
- {\r
- NO_GPS = 0, /* ÎÞGPS */\r
- NO_FIX, /* ½ÓÊÕµ½GPSÐÅÏ¢£¬µ«Ã»Óж¨Î» */\r
- GPS_OK_FIX_2D, /* 2D¶¨Î» */\r
- GPS_OK_FIX_3D, /* 3D¶¨Î» */ \r
- GPS_OK_FIX_3D_DGPS, /* ÓÅÓÚ3D¶¨Î» */ \r
- GPS_OK_FIX_3D_RTK_FLOAT, /* RTK¸¡µã½â״̬ */ \r
- GPS_OK_FIX_3D_RTK_FIXED, /* RTK¹Ì¶¨½â״̬ */\r
- }gps_status;\r
- \r
- /* GPSµãλÖà */ \r
- typedef struct _location \r
- {\r
- int alt:24; /* º£°Î¸ß¶È meters * 100 µ¥Î»ÎªÀåÃ× */\r
- float lat; /* γ¶È * ÔÝʱ²»³ËÒÔ10**7£¬Ôʼ±£´æ*/\r
- float lng; /* ¾«¶È * ÔÝʱ²»³ËÒÔ10**7£¬Ôʼ±£´æ*/\r
- }Location;\r
- \r
- /* Êý¾Ý½âÎö״̬½á¹¹Ì嶨Òå */\r
- typedef struct _gps_nmea\r
- {\r
- /* Êý¾Ý½âÎö״̬ */ \r
- unsigned char parity; /* УÑé¼ÆËãºÍ */ \r
- unsigned char is_checksum_term; /* µ±Ç°×Ö¶ÎÓòΪУÑé×Ö */\r
- char term[15]; /* µ±Ç°×Ö¶ÎÓò»º³åÇø£¬','Ϊ×Ö¶ÎÓò·Ö¸î·û */\r
- unsigned char sentence_type; /* ×Ö¶ÎÀà±ð£¬¼ûö¾Ù sentence_types*/\r
- unsigned char term_number; /* µ±Ç°×Ö¶ÎÓòÐòºÅ */\r
- unsigned char term_offset; /* ×Ö¶ÎÓòÊý¾ÝÆ«ÒÆÁ¿ */\r
- unsigned char gps_data_good; /* GPSÊý¾ÝÓÐЧ״̬ */\r
- \r
- /* Êý¾Ý½âÎö½á¹û */\r
- unsigned int new_time; /* UTCʱ¼ä */\r
- unsigned int new_date; /* UTCÈÕÆÚ */\r
- float new_latitude; /* γ¶È */\r
- float new_longitude; /* ¾¶È */\r
- int new_altitude; /* º£°Î¸ß¶È cm*/\r
- float new_speed; /* µØËÙ km/h */\r
- float new_course; /* RMC¡¢VTG×ֶδÅÆ«½ÇÐÅÏ¢*/\r
- float new_gps_yaw; /* HDTº½ÏòÐÅÏ¢ */\r
- unsigned short new_hdop; /* ˮƽ¾«¶È *100 */\r
- unsigned char new_satellite_count; /* µ±Ç°Ê¹ÓÃÎÀÐǵĿÅÊý */\r
- unsigned char new_quality_indicator; /* ¶¨Î»×´Ì¬ */\r
-\r
- unsigned int last_RMC_ms; /* ×îºó¸üÐÂ×Ö¶Îʱ¼ä */\r
- unsigned int last_GGA_ms;\r
- unsigned int last_VTG_ms;\r
- unsigned int last_HDT_ms;\r
- }gps_nmea;\r
- \r
- /* ʱ¼ä½á¹¹Ìå */ \r
- typedef struct _time\r
- {\r
- unsigned char year;\r
- unsigned short int month : 4;\r
- unsigned short int : 4;\r
- unsigned short int day : 5;\r
- unsigned short int week : 3;\r
- }DateTime;\r
- \r
- /* GPSÊý¾ÝÇøÓò£¬¹©ÉϲãÓ¦Óõ÷Óà */ \r
- typedef struct _gps_data {\r
- unsigned char instance; /* GPSʵÀý¸öÊý */ \r
- gps_status status; /* GPS¶¨Î»×´Ì¬ */\r
- Location location; /* GPS¶¨Î»µ½µÄµ±Ç°Î»Öà */\r
- DateTime date_time; \r
- float ground_speed; /* µØËÙ m/s */\r
- float ground_course; /* µØËÙº½Ïò ¶È ˳ʱÕë 0-360 */ \r
- float gps_yaw; /* GPHDT×ֶκ½ÏòÐÅÏ¢ Ò»°ãÓÃÓÚË«ÌìÏß²âÏò */\r
- unsigned short hdop; /* ˮƽ¾«¶È cm */\r
- unsigned short vdop; /* ´¹Ö±¾«¶È cm */\r
- unsigned char num_sats; /* ¿É¼ûÎÀÐÇ¿ÅÊý */\r
- unsigned char have_gps_yaw; /* GPHDTº½Ïò×Ö¶ÎÓÐЧ */\r
- unsigned int last_gps_time_ms; /* ×îºó»ñÈ¡GPSÐÅϢʱµÄʱ¼ä ms */\r
- }gps_data;\r
- \r
- /* NMEA0183½á¹¹Ìå¶ÔÏó */\r
- typedef struct _nmea0183\r
- {\r
- gps_nmea gpsParse;\r
- gps_data gpsData;\r
- unsigned char (*nmea_decode)(struct _nmea0183* pnmea, char c); \r
- }NMEA0183; \r
- \r
-/**************** º¯Êý¶¨Òå ***************/\r
-\r
-unsigned char nmea_decode(NMEA0183* pnmea, char c);\r
-\r
-#endif\r
-\r
-\r
--- /dev/null
+/**
+ *
+ *
+$GPGGA,,,,,,0,,,,,,,,*66
+
+$GPGLL,,,,,,V,N*64
+
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+
+$GPRMC,,V,,,,,,,,,E,N,V*6C
+
+$GPVTG,,T,,M,,N,,K,N*2C
+
+$GPZDA,,,,,00,00*48
+
+$PNTH000,13,,-87,0,,,,,1,1*22
+
+$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D
+
+$PNTH002,,T,0.000000,0,200,0.000000,3,0.000000*4B
+*/
+
+
+#include "NMEA0183.h"
+#include <string.h>
+#include <stdio.h>
+
+char* nmealines[]={
+ "$GPGGA,,,,,,0,,,,,,,,*66\r\n",
+ "$GPGLL,,,,,,V,N*64\r\n",
+ "$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r\n",
+ "$GPRMC,,V,,,,,,,,,E,N,V*6C\r\n",
+ "$GPVTG,,T,,M,,N,,K,N*2C\r\n",
+ "$GPZDA,,,,,00,00*48\r\n",
+ "$PNTH000,13,,-87,0,,,,,1,1*22\r\n",
+ "$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r\n",
+ "$PNTH002,,T,0.000000,0,200,0.000000,3,0.000000*4B\r\n"
+};
+char nmealines1[]={
+ "$GBGSV,3,1,11,07,75,129,27,08,68,213,28,10,88,303,26,11,58,322,26,1*7D\r\n"\
+ "$GBGSV,3,2,11,13,51,216,31,25,43,237,33,34,62,011,26,38,81,201,30,1*75\r\n"\
+ "$GBGSV,3,3,11,40,64,107,30,42,17,157,29,43,38,289,27,1*47\r\n"\
+ "$GNGSA,A,3,7,8,10,11,13,25,34,38,40,42,43,,1.5,0.8,1.2,4*39\r\n"\
+ "$GNRMC,102219.00,A,2239.11578,N,11406.59325,E,0.009,,291018,,,D*62\r\n"\
+ "$GNVTG,,T,,M,0.009,N,0.017,K,D*37\r\n"\
+ "$GNGLL,3412.433366,N,10852.420048,E,094345.00,A,A*7F\r\n"\
+ "$GNZDA,094343.00,24,03,2022,00,00*76\r\n"\
+ "$GNGGA,094343.00,3412.431698,N,10852.419449,E,1,22,0.8,378.8,M,,M,,0000*67\r\n"\
+ "$PNTH000,13,,-87,0,,,,,1,1*22\r\n"\
+ "$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r\n"\
+ "$PNTH002,,T,0.000000,0,200,0.000000,3,0.000000*4B\r\n"
+};
+
+
+NMEA0183 g_nmeadata={0};
+
+int decode_nmea(char c)
+{
+ if(nmea_decode(&g_nmeadata,c) ) ///调用解析函数
+ {
+ dump_nmea_str(&(g_nmeadata.gpsParse));
+ if (g_nmeadata.gpsParse.sentence_type == GPS_SENTENCE_TH002)
+ {
+ //一组数据最后一条
+ dump_location_data(&(g_nmeadata.gpsData));
+ memset(&g_nmeadata,0,sizeof(g_nmeadata));
+ }
+ }
+
+
+ return 0;
+}
+
+int main1(int argc, char** argv)
+{
+
+ char tmpc=0;
+ FILE *fp = NULL;
+ fp = fopen("nmealist.txt", "r");
+ while (fread(&tmpc, 1,1, (FILE*)fp))
+ decode_nmea(tmpc);
+ fclose(fp);
+
+}
+
+int main(int argc, char** argv)
+{
+
+ for(int i=0; i<sizeof(nmealines1); ++i)
+ {
+ decode_nmea(nmealines1[i]);
+ }
+
+ return 0;
+}
\ No newline at end of file
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