GNSS更新GSV解析每种卫星最多显示5颗信号最强的卫星。

diff --git a/code/sdk/zhihui/services/gnss/inc/NMEA0183.h b/code/sdk/zhihui/services/gnss/inc/NMEA0183.h
index 34bb3aa..32c18e3 100644 (file)
--- a/code/sdk/zhihui/services/gnss/inc/NMEA0183.h
+++ b/code/sdk/zhihui/services/gnss/inc/NMEA0183.h
@@ -188,10 +188,11 @@ QZSS L1C/A                1～4                           193～196               PRN-192
                unsigned int last_GSA_ms;\r
                unsigned int last_GLL_ms;\r
                unsigned int last_ZDA_ms;\r
-               start_stat_t starts[20];\r
+               start_stat_t starts[4];\r
+               unsigned char starcount;\r
+               unsigned char gsvpage_starcount; //单条卫星数\r
                unsigned int gsvpagecount;\r
                unsigned int gsvpage;\r
-               unsigned int startnum;\r
        }gps_nmea_t;\r
        \r
        /* 时间结构体 */ \r
@@ -202,6 +203,9 @@ QZSS L1C/A          1～4                           193～196               PRN-192
                unsigned short int  : 4;\r
                unsigned short int day : 5;\r
                unsigned short int week : 3;\r
+               unsigned char hour;\r
+               unsigned char minute;\r
+               unsigned char second;\r
        }DateTime;\r
        \r
        /* GPS数据区域，供上层应用调用 */ \r
@@ -210,8 +214,18 @@ QZSS L1C/A                 1～4                           193～196               PRN-192
         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
+               start_stat_t startsB[5];\r
+               start_stat_t startsL[5];\r
+               start_stat_t startsP[5];\r
+               start_stat_t startsQ[5];\r
+               start_stat_t startsA[5];\r
+               start_stat_t startsN[5];\r
+               unsigned char starcountB;\r
+               unsigned char starcountL;\r
+               unsigned char starcountP;\r
+               unsigned char starcountQ;\r
+               unsigned char starcountA;\r
+               unsigned char starcountN;\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

diff --git a/code/sdk/zhihui/services/gnss/src/NMEA0183.c b/code/sdk/zhihui/services/gnss/src/NMEA0183.c
index d276f3c..7dbf6fd 100644 (file)
--- a/code/sdk/zhihui/services/gnss/src/NMEA0183.c
+++ b/code/sdk/zhihui/services/gnss/src/NMEA0183.c
@@ -17,6 +17,72 @@ static double string_to_float(const char* pstr, unsigned char* b);
 static int sring_to_int(const char* pstr, unsigned char* b); \r
 static int make_date_time(gps_data_t* pdata, unsigned int date, unsigned int time);\r
 \r
+\r
+void add_start_to_gpsbuf(gps_nmea_t* pnmea, gps_data_t* pdata)\r
+{\r
+       if (pnmea==NULL ||  pdata == NULL ) return;\r
+       start_stat_t *p_data_star=NULL;\r
+       start_stat_t *p_nmea_star=NULL;\r
+                       \r
+       p_nmea_star = pnmea->starts;\r
+       \r
+       switch(pnmea->location_system)\r
+       {\r
+               case GNSS_: //GN\r
+                       p_data_star = pdata->startsN;\r
+                       pdata->starcountN = pnmea->starcount;\r
+                       break;\r
+               case GPS_L1C_A:         //GP\r
+                       p_data_star = pdata->startsP;\r
+                       pdata->starcountP = pnmea->starcount;\r
+                       break;\r
+               case GLONASS_L1OF:      //GL\r
+                       p_data_star = pdata->startsL;\r
+                       pdata->starcountL = pnmea->starcount;\r
+                       break;\r
+               case Galileo_E1C:       //GA\r
+                       p_data_star = pdata->startsA;\r
+                       pdata->starcountA = pnmea->starcount;\r
+                       break;\r
+               case BDS_Bli:           //GB\r
+                       p_data_star = pdata->startsB;\r
+                       pdata->starcountB = pnmea->starcount;\r
+                       break;\r
+               case QZSS_L1C_A:        //GQ\r
+                       p_data_star = pdata->startsQ;\r
+                       pdata->starcountQ = pnmea->starcount;\r
+                       break;\r
+       }\r
+\r
+\r
+\r
+       start_stat_t tmp={0};\r
+       for (int i = 0;i < pnmea->gsvpage_starcount ; i++)\r
+       {\r
+               for (int j=0;j<5;j++)\r
+               {\r
+                       //找到空位直接赋值\r
+                       if(p_data_star[j].snr==0 && p_data_star[j].starID==0)\r
+                       {\r
+                               p_data_star[j].snr = p_nmea_star[i].snr;\r
+                               p_data_star[j].starID = p_nmea_star[i].starID;\r
+                               break;\r
+                       }else\r
+                       {\r
+                               if (p_data_star[j].snr < p_nmea_star[i].snr)\r
+                               {\r
+                                       tmp.snr=p_data_star[j].snr;\r
+                                       tmp.starID=p_data_star[j].starID;\r
+                                       p_data_star[j].snr = p_nmea_star[i].snr;\r
+                                       p_data_star[j].starID = p_nmea_star[i].starID;\r
+                                       p_nmea_star[i].snr = tmp.snr;\r
+                                       p_nmea_star[i].starID = tmp.starID;\r
+                               }\r
+                       }\r
+               }\r
+       }\r
+\r
+}\r
 /* GPS数据解析 */ \r
 unsigned char nmea_decode(NMEA0183* nmea, char c)\r
 {\r
@@ -162,13 +228,15 @@ static unsigned char nmea_term_complete(gps_nmea_t* pnmea, gps_data_t* pdata)
                                                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
+                                               // 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->starcount = pnmea->starcount;\r
+                                               add_start_to_gpsbuf(pnmea,pdata);\r
+                                               printf("gsv starcount copy to pdata \r\n");\r
+                                               \r
                                                break;\r
                                        case GPS_SENTENCE_GLL:\r
                            pnmea->last_GLL_ms = now;\r
@@ -310,56 +378,64 @@ static unsigned char nmea_term_complete(gps_nmea_t* pnmea, gps_data_t* pdata)
                        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
+                       {\r
+                               pnmea->starcount =  (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                               printf("gsv starcount %d\r\n",pnmea->starcount );\r
+                               if (pnmea->gsvpage==pnmea->gsvpagecount)\r
+                               {       //最后一页星的数量\r
+                                       //非最后一页的中间任意一页一定是4颗星\r
+                                       pnmea->gsvpage_starcount = pnmea->starcount - (pnmea->gsvpagecount -1) * 4;   \r
+                               }else\r
+                               {\r
+                                       pnmea->gsvpage_starcount =  4;   \r
+                               }\r
+                       }\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
+                       pnmea->starts[0].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 0 startindex %d startid %d\r\n",startindex ,pnmea->starts[0].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
+                       pnmea->starts[0].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 0 startindex %d snr %d\r\n",startindex ,pnmea->starts[0].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
+                       if (1>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[1].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 1 startindex %d startid %d\r\n",startindex ,pnmea->starts[1].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
+                       if (1>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[1].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 1 startindex %d snr %d\r\n",startindex ,pnmea->starts[1].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
+                       if (2>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[2].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 2 startindex %d startid %d\r\n",startindex ,pnmea->starts[2].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
+                       if (2>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[2].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 2 startindex %d snr %d\r\n",startindex ,pnmea->starts[2].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
+                       if (3>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[3].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 3 startindex %d startid %d\r\n",startindex ,pnmea->starts[3].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
+                       if (3>=pnmea->gsvpage_starcount) break;\r
+                       pnmea->starts[3].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);\r
+                       printf("gsv 3 startindex %d snr %d\r\n",startindex ,pnmea->starts[3].snr);\r
                        break;\r
         // time and date\r
         //\r
@@ -701,7 +777,9 @@ static int make_date_time(gps_data_t* pdata, unsigned int date, unsigned int tim
 \r
     // get GPS week and time\r
     pdata->date_time.week = ret / AP_SEC_PER_WEEK;\r
-    \r
+    pdata->date_time.hour=hour;\r
+       pdata->date_time.minute=min;\r
+       pdata->date_time.second=sec;\r
     return 1;\r
 } \r
 char* get_gps_status_str(gps_status status)\r
@@ -808,10 +886,13 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen
        if (tmpbuf == NULL) return;\r
 #ifndef NOUTILS\r
        memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
-       sprintf_s(tmpbuf,DUMP_BUF_SIZE,"20%02d-%02d-%02d,\n定位状态(%s)\n",\r
+       sprintf_s(tmpbuf,DUMP_BUF_SIZE,"20%02d-%02d-%02d %02d:%02d:%02d,\n定位状态(%s)\n",\r
     locationdata->date_time.year,\r
     locationdata->date_time.month,\r
     locationdata->date_time.day,\r
+    locationdata->date_time.hour,\r
+    locationdata->date_time.minute,\r
+    locationdata->date_time.second,\r
     get_gps_status_str(locationdata->status)\r
     );\r
        strcat_s(buf,max_buflen,tmpbuf);\r
@@ -825,24 +906,124 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen
        locationdata->vdop\r
     );\r
        strcat_s(buf,max_buflen,tmpbuf);\r
-       if (locationdata->startnum>0)\r
+       sprintf_s(tmpbuf,DUMP_BUF_SIZE,"xx卫星[卫星数](strid,snr):\n");\r
+       if (locationdata->starcountP>0)\r
+       {\r
+               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GPS_L1C_A[%d]",\r
+               locationdata->starcountP);\r
+               strcat_s(buf,max_buflen,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsP[i].starID>0)\r
+                       {\r
+                               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+                               sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
+                                       locationdata->startsP[i].starID,\r
+                                       locationdata->startsP[i].snr);\r
+                               strcat_s(buf,max_buflen,tmpbuf);\r
+                       }\r
+               }\r
+               strcat_s(buf,max_buflen,"\n");\r
+       }\r
+       if (locationdata->starcountB>0)\r
+       {\r
+               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"BDS_Bli[%d]",\r
+               locationdata->starcountB);\r
+               strcat_s(buf,max_buflen,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsB[i].starID>0)\r
+                       {\r
+                               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+                               sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
+                                       locationdata->startsB[i].starID,\r
+                                       locationdata->startsB[i].snr);\r
+                               strcat_s(buf,max_buflen,tmpbuf);\r
+                       }\r
+               }\r
+               strcat_s(buf,max_buflen,"\n");\r
+       }\r
+       if (locationdata->starcountN>0)\r
+       {\r
+               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GNSS[%d]",\r
+               locationdata->starcountN);\r
+               strcat_s(buf,max_buflen,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsN[i].starID>0)\r
+                       {\r
+                               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+                               sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
+                                       locationdata->startsN[i].starID,\r
+                                       locationdata->startsN[i].snr);\r
+                               strcat_s(buf,max_buflen,tmpbuf);\r
+                       }\r
+               }\r
+               strcat_s(buf,max_buflen,"\n");\r
+       }\r
+       if (locationdata->starcountL>0)\r
+       {\r
+               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GLONASS_L1OF[%d]",\r
+               locationdata->starcountL);\r
+               strcat_s(buf,max_buflen,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsL[i].starID>0)\r
+                       {\r
+                               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+                               sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
+                                       locationdata->startsL[i].starID,\r
+                                       locationdata->startsL[i].snr);\r
+                               strcat_s(buf,max_buflen,tmpbuf);\r
+                       }\r
+               }\r
+               strcat_s(buf,max_buflen,"\n");\r
+       }\r
+       if (locationdata->starcountQ>0)\r
+       {\r
+               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"QZSS_L1C_A[%d]",\r
+               locationdata->starcountQ);\r
+               strcat_s(buf,max_buflen,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsQ[i].starID>0)\r
+                       {\r
+                               memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
+                               sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
+                                       locationdata->startsQ[i].starID,\r
+                                       locationdata->startsQ[i].snr);\r
+                               strcat_s(buf,max_buflen,tmpbuf);\r
+                       }\r
+               }\r
+               strcat_s(buf,max_buflen,"\n");\r
+       }\r
+       if (locationdata->starcountA>0)\r
        {\r
                memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
-               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"卫星数[%d](strid,snr)",locationdata->startnum);\r
+               sprintf_s(tmpbuf,DUMP_BUF_SIZE,"Galileo_E1C[%d]",\r
+               locationdata->starcountA);\r
                strcat_s(buf,max_buflen,tmpbuf);\r
-               for(int i=0;i<20;i++)\r
+               for(int i=0;i<5;i++)\r
                {\r
-                       if (i< locationdata->startnum)\r
+                       if (i< locationdata->startsA[i].starID>0)\r
                        {\r
                                memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
                                sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)",\r
-                                       locationdata->starts[i].starID,\r
-                                       locationdata->starts[i].snr);\r
+                                       locationdata->startsA[i].starID,\r
+                                       locationdata->startsA[i].snr);\r
                                strcat_s(buf,max_buflen,tmpbuf);\r
                        }\r
                }\r
                strcat_s(buf,max_buflen,"\n");\r
-       }else{\r
+\r
+       }\r
+       if ((locationdata->starcountA+locationdata->starcountB+locationdata->starcountL+locationdata->starcountN+locationdata->starcountP+locationdata->starcountQ) == 0)\r
+       {\r
                strcat_s(buf,max_buflen,"无卫星数据\n");\r
        }\r
        memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE);\r
@@ -858,10 +1039,13 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen
 #else\r
        strcat(buf,"\r\n");\r
        memset(tmpbuf,0,DUMP_BUF_SIZE);\r
-       sprintf(tmpbuf,"20%02d-%02d-%02d,\r\n定位状态(%s)\r\n",\r
+       sprintf(tmpbuf,"20%02d-%02d-%02d %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
+    locationdata->date_time.hour,\r
+    locationdata->date_time.minute,\r
+    locationdata->date_time.second,\r
     get_gps_status_str(locationdata->status)\r
     );\r
        strcat(buf,tmpbuf);\r
@@ -876,29 +1060,131 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen
        locationdata->vdop\r
     );\r
        strcat(buf,tmpbuf);\r
-       if (locationdata->startnum>0)\r
+       \r
+       sprintf(tmpbuf,"xx卫星[卫星数](strid,snr):\n");\r
+       if (locationdata->starcountP>0)\r
        {\r
                memset(tmpbuf,0,DUMP_BUF_SIZE);\r
-               sprintf(tmpbuf,"卫星数[%d](strid,snr)",locationdata->startnum);\r
+               sprintf(tmpbuf,"GPS_L1C_A[%d]",\r
+               locationdata->starcountP);\r
                strcat(buf,tmpbuf);\r
-               for(int i=0;i<20;i++)\r
+               for(int i=0;i<5;i++)\r
                {\r
-                       if (i< locationdata->startnum)\r
+                       if (i< locationdata->startsP[i].starID>0)\r
                        {\r
                                memset(tmpbuf,0,DUMP_BUF_SIZE);\r
                                sprintf(tmpbuf,",(%d,%d)",\r
-                                       locationdata->starts[i].starID,\r
-                                       locationdata->starts[i].snr);\r
+                                       locationdata->startsP[i].starID,\r
+                                       locationdata->startsP[i].snr);\r
                                strcat(buf,tmpbuf);\r
                        }\r
                }\r
-               strcat(buf,"\r\n");\r
-       }else{\r
-               strcat(buf,"无卫星数据\r\n");\r
+               strcat(buf,"\n");\r
        }\r
-       strcat(buf,"\r\n");\r
+       if (locationdata->starcountB>0)\r
+       {\r
+               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+               sprintf(tmpbuf,"BDS_Bli[%d]",\r
+               locationdata->starcountB);\r
+               strcat(buf,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsB[i].starID>0)\r
+                       {\r
+                               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+                               sprintf(tmpbuf,",(%d,%d)",\r
+                                       locationdata->startsB[i].starID,\r
+                                       locationdata->startsB[i].snr);\r
+                               strcat(buf,tmpbuf);\r
+                       }\r
+               }\r
+               strcat(buf,"\n");\r
+       }\r
+       if (locationdata->starcountN>0)\r
+       {\r
+               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+               sprintf(tmpbuf,"GNSS[%d]",\r
+               locationdata->starcountN);\r
+               strcat(buf,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsN[i].starID>0)\r
+                       {\r
+                               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+                               sprintf(tmpbuf,",(%d,%d)",\r
+                                       locationdata->startsN[i].starID,\r
+                                       locationdata->startsN[i].snr);\r
+                               strcat(buf,tmpbuf);\r
+                       }\r
+               }\r
+               strcat(buf,"\n");\r
+       }\r
+       if (locationdata->starcountL>0)\r
+       {\r
+               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+               sprintf(tmpbuf,"GLONASS_L1OF[%d]",\r
+               locationdata->starcountL);\r
+               strcat(buf,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsL[i].starID>0)\r
+                       {\r
+                               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+                               sprintf(tmpbuf,",(%d,%d)",\r
+                                       locationdata->startsL[i].starID,\r
+                                       locationdata->startsL[i].snr);\r
+                               strcat(buf,tmpbuf);\r
+                       }\r
+               }\r
+               strcat(buf,"\n");\r
+       }\r
+       if (locationdata->starcountQ>0)\r
+       {\r
+               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+               sprintf(tmpbuf,"QZSS_L1C_A[%d]",\r
+               locationdata->starcountQ);\r
+               strcat(buf,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsQ[i].starID>0)\r
+                       {\r
+                               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+                               sprintf(tmpbuf,",(%d,%d)",\r
+                                       locationdata->startsQ[i].starID,\r
+                                       locationdata->startsQ[i].snr);\r
+                               strcat(buf,tmpbuf);\r
+                       }\r
+               }\r
+               strcat(buf,"\n");\r
+       }\r
+       if (locationdata->starcountA>0)\r
+       {\r
+               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+               sprintf(tmpbuf,"Galileo_E1C[%d]",\r
+               locationdata->starcountA);\r
+               strcat(buf,tmpbuf);\r
+               for(int i=0;i<5;i++)\r
+               {\r
+                       if (i< locationdata->startsA[i].starID>0)\r
+                       {\r
+                               memset(tmpbuf,0,DUMP_BUF_SIZE);\r
+                               sprintf(tmpbuf,",(%d,%d)",\r
+                                       locationdata->startsA[i].starID,\r
+                                       locationdata->startsA[i].snr);\r
+                               strcat(buf,tmpbuf);\r
+                       }\r
+               }\r
+               strcat(buf,"\n");\r
+\r
+       }\r
+       if ((locationdata->starcountA+locationdata->starcountB+locationdata->starcountL+locationdata->starcountN+locationdata->starcountP+locationdata->starcountQ) == 0)\r
+       {\r
+               strcat(buf,"无卫星数据\n");\r
+       }\r
+\r
+       // strcat(buf,"\r\n");\r
        memset(tmpbuf,0,DUMP_BUF_SIZE);\r
-       sprintf(tmpbuf,"定位质量信息,失败原因(%s),精度(%f),跟踪星(%d),有效星(%d)\r\n",\r
+       sprintf(tmpbuf,"定位质量信息,失败原因(%s),精度(%f),跟踪星(%d),有效星(%d)\n",\r
                locationdata->th001_errorcode==1?"跟踪数量不足":(locationdata->th001_errorcode==2?"有效星历数量不足":(locationdata->th001_errorcode==3?"定位精度不足":"无")),\r
                locationdata->th001_quality,\r
                locationdata->th001_trace_star_count,\r

diff --git a/code/sdk/zhihui/services/gnss/src/decodenmea.c b/code/sdk/zhihui/services/gnss/src/decodenmea.c
index c7c8343..b45018b 100644 (file)
--- a/code/sdk/zhihui/services/gnss/src/decodenmea.c
+++ b/code/sdk/zhihui/services/gnss/src/decodenmea.c
@@ -55,11 +55,19 @@ char nmealines1[]={
 
 NMEA0183 g_nmeadata={0};
 
+
+char tmpbuf[1024]={0};
+int count = 0;
 int decode_nmea(char c)
 {
+    tmpbuf[count]=c;
+    count++;
         // printf("%c",c);
     if(nmea_decode(&g_nmeadata,c) ==1) ///调用解析函数
     {
+        printf("%s\r\n",tmpbuf);
+        memset(tmpbuf,0,sizeof(tmpbuf));
+        count=0;
         dump_nmea_str(&(g_nmeadata.gpsParse));
         if (g_nmeadata.gpsParse.sentence_type == GPS_SENTENCE_TH002)
         {
@@ -82,7 +90,7 @@ int main(int argc, char** argv)
    while (fread(&tmpc, 1,1, (FILE*)fp))
    {
         decode_nmea(tmpc);
-        printf("%c",tmpc);
+        // printf("%c",tmpc);
    }
    fclose(fp);
     

diff --git a/code/sdk/zhihui/services/gnss/src/nmealist.txt b/code/sdk/zhihui/services/gnss/src/nmealist.txt
index 81fd574..55412e6 100644 (file)
--- a/code/sdk/zhihui/services/gnss/src/nmealist.txt
+++ b/code/sdk/zhihui/services/gnss/src/nmealist.txt
@@ -1,1126 +1,2276 @@
 $Achilles,H7S1,Q35,F1P26.0,0*72\r
 $Achilles,H7S1,Q35,F1P26.0,0*72\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,7,,,,,1,1*27\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
+$GNGGA,,,,,,0,,,,,,,,*78\r
+$GNGLL,,,,,,V,N*7A\r
+$GNGSA,A,1,,,,,,,,,,,,,,,*00\r
+$GPGSV,1,1,02,07,,,42,30,,,41,1*61\r
+$GNRMC,,V,,,,,,,,,E,N,V*72\r
+$GNVTG,,T,,M,,N,,K,N*32\r
+$GNZDA,,,,,00,00*56\r
+$PNTH000,2,,-58,3359,,,,,1,1*2C\r
+$PNTH001,0.000000,0.00,0.00,300000.00,1,2,0*1F\r
 $PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-88,10,,,,,1,1*1C\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
+$GNGGA,,,,,,0,,,,,,,,*78\r
+$GNGLL,,,,,,V,N*7A\r
+$GNGSA,A,1,,,,,,,,,,,,,,,*00\r
+$GPGSV,1,1,02,07,,,47,30,,,35,1*67\r
+$GLGSV,1,1,01,81,,,36,1*75\r
+$GBGSV,1,1,02,16,,,38,26,,,41,1*79\r
+$GNRMC,,V,,,,,,,,,E,N,V*72\r
+$GNVTG,,T,,M,,N,,K,N*32\r
+$GNZDA,,,,,00,00*56\r
+$PNTH000,2,,-58,3576,,,,,1,1*27\r
+$PNTH001,0.000000,0.00,0.00,300000.00,2,5,0*1B\r
 $PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,5,,,,,1,1*25\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
+$GNGGA,,,,,,0,,,,,,,,*78\r
+$GNGLL,,,,,,V,N*7A\r
+$GNGSA,A,1,,,,,,,,,,,,,,,*00\r
+$GPGSV,1,1,02,07,,,47,30,,,39,1*6B\r
+$GLGSV,1,1,01,81,,,38,1*7B\r
+$GBGSV,1,1,02,16,,,33,26,,,35,1*71\r
+$GNRMC,,V,,,,,,,,,E,N,V*72\r
+$GNVTG,,T,,M,,N,,K,N*32\r
+$GNZDA,,,,,00,00*56\r
+$PNTH000,2,,-58,3572,,,,,1,1*23\r
+$PNTH001,0.000000,0.00,0.00,300000.00,2,5,0*1B\r
 $PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,6,,,,,1,1*25\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-定位�$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-�态($GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-84,11,,,,,1,1*11\r
-定位质量信息,失败原因(跟踪数量不足),$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-hdop(0),vdop$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-定位质量信息,$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-失败$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-原因(跟踪数量不足),精度(3000$PNTH000,13,,-86,2,,,,,1,1*21\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-定位质量信息,失败原因(跟踪数量不足),精度(300000.000000),跟踪$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-87,4,,,,,1,1*26\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,0,,,,,1,1*20\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-87,2,,,,,1,1*20\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-定位状态(接收到GPS信息$PNTH000,13,,-87,1,,,,,1,1*23\r
-定位质量信息,失败原�$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-定位状态(接收�$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,26,1*63\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,3,,,,,1,1*23\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,27,1*62\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,4,,,,,1,1*27\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,29,1*6C\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,10,,,,,1,1*11\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,28,1*6D\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,4,,,,,1,1*27\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,27,1*62\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,1,,,,,1,1*22\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,28,1*6D\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-84,2,,,,,1,1*23\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,28,1*6D\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-85,5,,,,,1,1*25\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,28,1*6D\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,3,,,,,1,1*20\r
-AP$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,,,,,,0,,,,,,,,*66\r
-$GPGLL,,,,,,V,N*64\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,29,1*6C\r
-$GPRMC,,V,,,,,,,,,E,N,V*6C\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,,,,,00,00*48\r
-$PNTH000,13,,-86,6,,,,,1,1*25\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,,N,0.000000,0,0,0.000000,0,0.000000*50\r
-$GPGGA,075620.53,,,,,0,,,,,,,,*48\r
-$GPGLL,,,,,075620.53,V,N*4A\r
-$GPGSA,A,1,,,,,,,,,,,,,,,*1E\r
-$GPGSV,1,1,01,02,,,29,1*6C\r
-$GPRMC,075620.53,V,,,,,,,311221,,E,N,V*40\r
-$GPVTG,,T,,M,,N,,K,N*2C\r
-$GPZDA,075620.53,31,12,2021,00,00*66\r
-$PNTH000,13,,-86,6,,,,,1,1*25\r
-$PNTH001,0.000000,0.00,0.00,300000.00,1,1,0*1C\r
-$PNTH002,075620.53,N,0.000000,0,0,0.000000,0,0.000000*7E\r
-$GPGGA,075621.53,,,,,0,,,,,,,,*49\r
-$GPGLL,,,,,075621.53,V,N*4B\r
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\ No newline at end of file