From: SnickerSun <snickersun@163.com>
Date: Sun, 22 Dec 2024 14:00:32 +0000 (+0800)
Subject: 添加nmea0183协议解析
X-Git-Url: http://git.snicker.com.cn/?a=commitdiff_plain;h=5deee5f0e026d2910c4b1c7b5d42f43312a342ea;p=mirrors%2FFD230.git

添加nmea0183协议解析
---

diff --git a/code/sdk/zhihui/services/gnss/CMakeLists.txt b/code/sdk/zhihui/services/gnss/CMakeLists.txt
index 35b4049a3..85161725c 100644
--- a/code/sdk/zhihui/services/gnss/CMakeLists.txt
+++ b/code/sdk/zhihui/services/gnss/CMakeLists.txt
@@ -11,6 +11,7 @@ set(SOURCES
     # ${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
     ${TIOT_SRC_LIST}
 )
 set(PUBLIC_HEADER
@@ -23,7 +24,7 @@ set(PUBLIC_DEFINES
     CONFIG_GNSS_WAKEUP_TYPE_UART=1
     CONFIG_GNSS_TCXO_FREQ_26M=1
     CONFIG_GNSS_UART_BAUDRATE=115200
-    CONFIG_GNSS_UART_WITH_FLOWCTRL
+    # CONFIG_GNSS_UART_WITH_FLOWCTRL
     CONFIG_FILE_BY_ARRAY=1
     CONFIG_FIRMWARE_CFG_HANDLE_PRIV=1
     CONFIG_FIRMWARE_FILE_READ_BUF_LEN=1029
diff --git a/code/sdk/zhihui/services/gnss/inc/NMEA0183.h b/code/sdk/zhihui/services/gnss/inc/NMEA0183.h
new file mode 100644
index 000000000..17febca97
--- /dev/null
+++ b/code/sdk/zhihui/services/gnss/inc/NMEA0183.h
@@ -0,0 +1,234 @@
+/*
+*				GPS NMEA0183协议简要解析框架 
+*	
+*	支持解析 RMC、GGA、VTG、HDT等消息字段信息，由于解析框架比较明了，
+*   移植源码者可自行考虑添加新的解析代码。
+*   解析方式采用逐个字段解析的方式，能很大程度上节省消耗内存空间。 
+*   重新编写数据转换函数，不依赖外部库，移植时一般只需包含NMEA0183.h
+*   文件即可。 
+*
+*   代码示例：
+*   	
+		char nmea[] = \
+		"$GNRMC,102219.00,A,2239.11578,N,11406.59325,E,0.009,,291018,,,D*62\r\n"\
+		"$GNVTG,,T,,M,0.009,N,0.017,K,D*37\r\n"\
+		"$GNGGA,102220.00,2239.11583,N,11406.59338,E,2,09,1.30,112.7,M,-2.3,M,,0000*52\r\n";
+		
+$GPGGA,,,,,,0,,,,,,,,*66
+
+$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
+
+
+		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 
+		gps_data gps_data1;       /// GPS解析得到的最终数据，用户可使用 
+		unsigned int index = 0;
+		
+		for(index=0; index<sizeof(nmea); ++index)
+		{
+			if(nmea_decode(&gps_nmea_temp, &gps_data1, nmea[index])) ///调用解析函数
+			{
+				/// 解析消息段成功 
+				... 
+			} 
+		} 
+		
+*   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。
+*   ( 如有Bug，望能反馈 ! QQ: 2281280195 ) 
+*       
+*   作者： ouyanglei      	时间：2018-11-16
+*/
+
+
+#ifndef NMEA0183_H
+#define NMEA0183_H
+
+/*************** 宏定义  *******************/ 
+#define current_time_ms() 1
+
+#define GPS_LEAPSECONDS_MILLIS 18000UL
+#define AP_SEC_PER_WEEK   (7UL * 86400UL)
+
+/* 检查字符串是否为数字0-9 */ 
+#define IS_DIGITAL(x) ( ((x)>='0'&&(x)<='9')||(x)=='-'||(x)=='.' )
+#define CHAR_TO_DIGITAL(x) ((x)-'0')
+#define DIGITAL_TO_CHAR(x) ( (x)+'0' )
+
+/**************** 枚举量定义 ***************/
+    typedef enum _sentence_types 
+	{   /* 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 */ 
+        GPS_SENTENCE_RMC = 32,     /* RMC字段 推荐的最少专用导航数据。*/
+        GPS_SENTENCE_GGA = (32*2),		/* GGA字段 接收机定位数据。*/
+        GPS_SENTENCE_GSV = (32*3),		/* GSV字段 可见卫星数据。*/
+        GPS_SENTENCE_GSA = (32*4),		/* GSA字段 有效卫星与精度因子数据。*/
+        GPS_SENTENCE_GLL = (32*5),		/* GLL字段 接收机地理位置数据。*/
+        GPS_SENTENCE_VTG = (32*6),		/* VTG字段 对地速度与航向数据。*/
+        // GPS_SENTENCE_HDT = (32*7),    /* HDT字段 */
+        GPS_SENTENCE_ZDA = (32*7),		/* ZDA字段 时间与日期数据。*/
+		GPS_SENTENCE_TH000 = (32*8),	/* 接收机前端增益信息。*/
+		GPS_SENTENCE_TH001 = (32*9),	/* 接收机定位质量信息。*/
+		GPS_SENTENCE_TH002 = (32*10),	/* 接收机功耗模式信息。*/
+        GPS_SENTENCE_OTHER = 0     /* 默认没有字段 */
+    }sentence_types;
+
+/**************** 结构体定义 ***************/    
+    /* GPS定位状态枚举量 */ 
+    typedef enum _gps_status
+	{
+        NO_GPS = 0,              /* 无GPS */
+        NO_FIX,                  /* 接收到GPS信息，但没有定位 */
+        GPS_OK_FIX_2D,           /* 2D定位 */
+        GPS_OK_FIX_3D,           /* 3D定位 */ 
+        GPS_OK_FIX_3D_DGPS,      /* 优于3D定位 */ 
+        GPS_OK_FIX_3D_RTK_FLOAT, /* RTK浮点解状态 */ 
+        GPS_OK_FIX_3D_RTK_FIXED, /* RTK固定解状态 */
+    }gps_status;
+    
+
+/**
+ * 
+BDS, // 	GB
+GPS, // 	GP
+Galileo,// 	GA
+GLONASS,// 	GL
+QZSS,// 	GQ
+
+signal 			systemID 		signalID
+GPS L1C/A 		1 				1 
+GLONASS L1OF 	2 				1 
+Galileo E1C 	3 				7 
+BDS B1i			4 				1 
+QZSS L1C/A 		5 				1
+
+卫星编号
+
+GNSS 			"NMEA svid range" "GNSS PRN range" "PRN to svid"
+GPS L1C/A 		1～32 				1～32 			PRN+0
+GLONASS L1OF 	65～88 				1～24 			PRN+64
+Galileo E1C 	1～36 				1～36 			PRN+0
+BDS B1i 		1～50 				1～50 			PRN+0
+QZSS L1C/A 		1～4 				193～196 		PRN-192
+
+*/
+	typedef enum _location_system
+	{
+		GNSS, 			//GN
+		GPS_L1C_A=1, 	//GP
+		GLONASS_L1OF, 	//GL
+		Galileo_E1C, 	//GA
+		BDS_Bli, 		//GB
+		QZSS_L1C_A, 	//GQ
+		MAX_LOCATION_SYSTEM
+	} location_system_t;
+
+	typedef struct _start
+	{
+		unsigned char starID;
+		unsigned char snr;
+	}start_stat_t;
+
+    /* GPS点位置 */ 
+    typedef struct _location 
+	{
+	    int alt:24;         /* 海拔高度 meters * 100  单位为厘米 */
+	    float lat;            /* 纬度 *  暂时不乘以10**7，原始保存*/
+	    float lng;            /* 精度 *  暂时不乘以10**7，原始保存*/
+	}Location;
+    
+    /* 数据解析状态结构体定义 */
+    typedef struct _gps_nmea
+    {
+    	/* 数据解析状态 */ 
+    	unsigned char parity;    		   /* 校验计算和 */ 
+    	unsigned char is_checksum_term;    /* 当前字段域为校验字 */
+    	char term[15];           		   /* 当前字段域缓冲区，','为字段域分割符 */
+		unsigned char location_system; 		/* 字段类别，location_system_t gps_type， 北斗，GPS，GNSS，GLONASS 等*/
+    	unsigned char term_number;         /* 当前字段域序号 */
+    	unsigned char term_offset;         /* 字段域数据偏移量 */
+    	unsigned char gps_data_good;       /* GPS数据有效状态 */
+    	unsigned int  sentence_type;       /* 字段类别，见枚举 sentence_types*/
+    	/* 数据解析结果 */
+    	unsigned int new_time;                  /* UTC时间 */
+    	unsigned int new_date;                  /* UTC日期 */
+    	float new_latitude;             		/* 纬度 */
+    	float new_longitude;            		/* 经度 */
+    	int new_altitude;             			/* 海拔高度 cm*/
+    	float new_speed;                		/* 地速 km/h */
+    	float new_course;               		/* RMC、VTG字段磁偏角信息*/
+    	float new_gps_yaw;              		/* HDT航向信息 */
+    	unsigned short new_hdop;                /* 水平精度 *100 */
+    	unsigned char new_satellite_count;      /* 当前使用卫星的颗数 */
+    	unsigned char new_quality_indicator;    /* 定位状态 */
+    	unsigned int last_RMC_ms;         	    /* 最后更新字段时间 */
+    	unsigned int last_GGA_ms;
+    	unsigned int last_VTG_ms;
+   		unsigned int last_HDT_ms;
+   		unsigned int last_GSV_ms;
+   		unsigned int last_GSA_ms;
+   		unsigned int last_GLL_ms;
+   		unsigned int last_ZDA_ms;
+		start_stat_t starts[20];
+		unsigned int gsvpagecount;
+		unsigned int gsvpage;
+		unsigned int startnum;
+	}gps_nmea;
+	
+	/* 时间结构体 */ 
+	typedef struct _time
+	{
+		unsigned char year;
+		unsigned short int month : 4;
+		unsigned short int  : 4;
+		unsigned short int day : 5;
+		unsigned short int week : 3;
+	}DateTime;
+	
+	/* GPS数据区域，供上层应用调用 */ 
+	typedef struct _gps_data {
+        unsigned char instance; 		   /* GPS实例个数 */ 
+        gps_status status;                 /* GPS定位状态 */
+        Location location;                 /* GPS定位到的当前位置 */
+        DateTime date_time; 
+		start_stat_t starts[20];
+		unsigned int startnum;
+        float ground_speed;                /* 地速  m/s */
+        float ground_course;               /* 地速航向  度  顺时针 0-360 */ 
+        float gps_yaw;                     /* GPHDT字段航向信息 一般用于双天线测向 */
+        unsigned short hdop;               /* 水平精度  cm */
+        unsigned short vdop;               /* 垂直精度  cm */
+        unsigned char num_sats;            /* 可见卫星颗数 */
+        unsigned char have_gps_yaw;        /* GPHDT航向字段有效 */
+        unsigned int last_gps_time_ms;     /* 最后获取GPS信息时的时间  ms */
+    }gps_data;
+    
+    /* NMEA0183结构体对象 */
+    typedef struct _nmea0183
+	{
+		gps_nmea gpsParse;
+		gps_data gpsData;
+		unsigned char (*nmea_decode)(struct _nmea0183* pnmea, char c);		
+	}NMEA0183; 
+    
+/**************** 函数定义 ***************/
+
+unsigned char nmea_decode(NMEA0183* pnmea, char c);
+char* get_gps_status_str(gps_status status);
+char* get_gps_sentence_type_str(sentence_types sentencetype);
+void dump_location_data(gps_data *locationdata);
+
+#endif
+
+
diff --git a/code/sdk/zhihui/services/gnss/sample/gnss_sample/gnss_sample.c b/code/sdk/zhihui/services/gnss/sample/gnss_sample/gnss_sample.c
index 18e1d8a71..b2ee187b5 100644
--- a/code/sdk/zhihui/services/gnss/sample/gnss_sample/gnss_sample.c
+++ b/code/sdk/zhihui/services/gnss/sample/gnss_sample/gnss_sample.c
@@ -109,7 +109,7 @@ static int32_t QryVersion(tiot_handle handle)
 
 static const GnssSamplesCfgTable g_gnssSamplesCfg[] = {
     {COLDSTART_FIXMODEGPS_NMEAALL_SAMPLE,        CfgColdStartFixModeGpsNmeaAll},
-    {AUTOSTART_FIXMODEALL_NMEADEF_SAMPLE,        CfgAutoStartFixModeAllNmeaDefault}
+    // {AUTOSTART_FIXMODEALL_NMEADEF_SAMPLE,        CfgAutoStartFixModeAllNmeaDefault}
 };
 
 static int32_t StartGnss(tiot_handle handle)
@@ -139,6 +139,27 @@ static int32_t StopGnss(tiot_handle handle)
     return 1;
 }
 
+#include "NMEA0183.h"
+NMEA0183 g_nmeadata={0};
+gps_data g_global_gpsData={0};
+static int decode_nmea(char c)
+{
+    int ret=0;
+    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
+            memcpy_s(&g_global_gpsData,sizeof(gps_data),&(g_nmeadata.gpsData),sizeof(gps_data));
+            ret = 1;
+            memset(&g_nmeadata,0,sizeof(g_nmeadata));
+        }
+    } 
+
+    return ret;
+}
+
 static void ListenGnssData(tiot_handle handle)
 {
     int32_t i = 0;
@@ -150,8 +171,16 @@ static void ListenGnssData(tiot_handle handle)
             uint16_t *type = (uint16_t *)g_gnssServiceBuff;
             if (type[0] == MSG_TYPE_ASCII) {
                 g_gnssServiceBuff[ret] = '\0';
-                printf("%s\n", (char *)&g_gnssServiceBuff[MSG_CONTENT_IDX]);
-                fprintf(g_gnssLogFp, "%s\n", (char *)&g_gnssServiceBuff[MSG_CONTENT_IDX]);
+                char* pbuf=(char *)&g_gnssServiceBuff[MSG_CONTENT_IDX];
+                printf("%s\n", pbuf);
+                fprintf(g_gnssLogFp, "%s\n", pbuf);
+                for (int index=0;index < ret ;index++)
+                {
+                    if (decode_nmea(pbuf[index]))
+                    {
+                        dump_location_data(&g_global_gpsData);
+                    }
+                }
             }
             i++;
         }
diff --git a/code/sdk/zhihui/services/gnss/src/NMEA0183.c b/code/sdk/zhihui/services/gnss/src/NMEA0183.c
index 959db4482..b772c41fc 100644
--- a/code/sdk/zhihui/services/gnss/src/NMEA0183.c
+++ b/code/sdk/zhihui/services/gnss/src/NMEA0183.c
@@ -1,6 +1,6 @@
 
 #include "NMEA0183.h"
-
+#include <stdio.h>
 static short int from_hex(char a);
 static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata);
 static int sring_to_int(const char* pstr, unsigned char* b);
@@ -12,7 +12,7 @@ static double string_to_float(const char* pstr, unsigned char* b);
 static int sring_to_int(const char* pstr, unsigned char* b); 
 static int make_date_time(gps_data* pdata, unsigned int date, unsigned int time);
 
-/* GPSÊý¾Ý½âÎö */ 
+/* GPS数据解析 */ 
 unsigned char nmea_decode(NMEA0183* nmea, char c)
 {
     unsigned char valid_sentence = 0;
@@ -21,7 +21,7 @@ unsigned char nmea_decode(NMEA0183* nmea, char c)
 
     switch (c) 
 	{
-	    case ',':  /* ×Ö¶ÎÓò·Ö¸î·ûºÅ */ 
+	    case ',':  /* 字段域分割符号 */ 
 	        nmea->gpsParse.parity ^= c;
 	        /* no break */
 	    case '\r':
@@ -34,10 +34,10 @@ unsigned char nmea_decode(NMEA0183* nmea, char c)
 	        }
 	        ++nmea->gpsParse.term_number;
 	        nmea->gpsParse.term_offset = 0;
-	        nmea->gpsParse.is_checksum_term = (c == '*');   /* ºóÃæÁ½¸ö×Ö½ÚΪУÑé×ֶΠ*/ 
+	        nmea->gpsParse.is_checksum_term = (c == '*');   /* 后面两个字节为校验字段 */ 
 	        return valid_sentence;
 	
-	    case '$': /* ×Ö¶ÎÐÅÏ¢¿ªÊ¼ */ 
+	    case '$': /* 字段信息开始 */ 
 	        nmea->gpsParse.term_number = nmea->gpsParse.term_offset = 0;
 	        nmea->gpsParse.parity = 0;
 	        nmea->gpsParse.sentence_type = GPS_SENTENCE_OTHER;
@@ -46,7 +46,7 @@ unsigned char nmea_decode(NMEA0183* nmea, char c)
 	        return valid_sentence;
     }
 
-    /* ±£´æ×Ö¶ÎÓòÊý¾Ý */
+    /* 保存字段域数据 */
     if (nmea->gpsParse.term_offset < sizeof(nmea->gpsParse.term) - 1)
         nmea->gpsParse.term[nmea->gpsParse.term_offset++] = c;
     if (!nmea->gpsParse.is_checksum_term)
@@ -55,7 +55,7 @@ unsigned char nmea_decode(NMEA0183* nmea, char c)
     return valid_sentence;
 }
 
-/* µ¥¸öÊ®Áù½øÖÆ×Ö·ûת»»ÎªÊ®½øÖÆ */
+/* 单个十六进制字符转换为十进制 */
 static short int from_hex(char a)
 {
     if (a >= 'A' && a <= 'F')
@@ -66,7 +66,7 @@ static short int from_hex(char a)
         return a - '0';
 }
 
-/* ´¦Àíµ¥¸ö×Ö¶ÎÓòÊý¾Ý */
+/* 处理单个字段域数据 */
 static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
 {
 	if((void*)0==pnmea || (void*)0==pdata) return 0;
@@ -75,7 +75,7 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
 	{
         unsigned char checksum = 16 * from_hex(pnmea->term[0]) + from_hex(pnmea->term[1]);
         
-        /* ¼ìÑéÐÅÏ¢¶ÎÊÇ·ñÍêÕûÎÞ´í£¬Èç¹ûУÑéͨ¹ý£¬Ôò½«½âÎöµÃµ½µÄÊý¾Ý±£´æ£¬²¢Ìṩ¸øÓû§µ÷ÓÃ*/
+        /* 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*/
         if (checksum == pnmea->parity) 
 		{
             if (pnmea->gps_data_good) 
@@ -138,11 +138,38 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
 
 	                    // VTG has no fix indicator, can't change fix status
 	                    break;
-	                case GPS_SENTENCE_HDT:
-						 pnmea->last_HDT_ms = now;
-//						 pdata->gps_yaw = wrap_360(pnmea->new_gps_yaw*0.01f);
-						 pdata->have_gps_yaw = 1;
-						 break;
+// 	                case GPS_SENTENCE_HDT:
+// 						 pnmea->last_HDT_ms = now;
+// //						 pdata->gps_yaw = wrap_360(pnmea->new_gps_yaw*0.01f);
+// 						 pdata->have_gps_yaw = 1;
+// 						 break;
+					case GPS_SENTENCE_GSA:
+	                    pnmea->last_GSA_ms = now;
+	                    //time                        = _new_time;
+	                    //date                        = _new_date;
+	                    // pdata->location.lat     = pnmea->new_latitude;
+	                    // pdata->location.lng     = pnmea->new_longitude;
+	                    // pdata->ground_speed     = pnmea->new_speed;
+	                    // pdata->ground_course    = pnmea->new_course;
+						// make_date_time(pdata, pnmea->new_date, pnmea->new_time);
+	                    // pdata->last_gps_time_ms = now;
+						break;
+					case GPS_SENTENCE_GSV:
+	                    pnmea->last_GSV_ms = now;
+						for (int j=0;j<20;j++)
+						{
+							pdata->starts[j].snr=pnmea->starts[j].snr;
+							pdata->starts[j].starID=pnmea->starts[j].starID;
+						}
+						pdata->startnum = pnmea->startnum;
+						printf("gsv startnum copy to pdata %d\r\n",pdata->startnum );
+						break;
+					case GPS_SENTENCE_GLL:
+	                    pnmea->last_GLL_ms = now;
+						break;
+					case GPS_SENTENCE_ZDA:
+	                    pnmea->last_ZDA_ms = now;
+						break;
                 }
             } else {
                 switch (pnmea->sentence_type) {
@@ -173,15 +200,52 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
             pnmea->sentence_type = GPS_SENTENCE_OTHER;
             return 0;
         }
+		switch(pnmea->term[1])
+		{
+			case 'B':
+				pnmea->location_system = BDS_Bli;
+				break;
+			case 'L':
+				pnmea->location_system = GLONASS_L1OF;
+				break;
+			case 'P':
+				pnmea->location_system = GPS_L1C_A;
+				break;
+			case 'Q':
+				pnmea->location_system = QZSS_L1C_A;
+				break;
+			case 'A':
+				pnmea->location_system = Galileo_E1C;
+				break;
+			case 'N':
+				pnmea->location_system = GNSS;
+				break;
+			default:
+				pnmea->location_system = MAX_LOCATION_SYSTEM;
+				break;
+		}
+
+
         const char *term_type = &pnmea->term[2];
         if (strcmp(term_type, "RMC") == 0) {
             pnmea->sentence_type = GPS_SENTENCE_RMC;
         } else if (strcmp(term_type, "GGA") == 0) {;
             pnmea->sentence_type = GPS_SENTENCE_GGA;
-        }else if (strcmp(term_type, "HDT") == 0) {
-            pnmea->sentence_type = GPS_SENTENCE_HDT;
-            // HDT doesn't have a data qualifier
-            pnmea->gps_data_good = 1;
+        } else if (strcmp(term_type, "GSV") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_GSV;
+        } else if (strcmp(term_type, "GSA") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_GSA;
+        } else if (strcmp(term_type, "GLL") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_GLL;
+        } else if (strcmp(term_type, "ZDA") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_ZDA;
+        } else if (strcmp(term_type, "TH000") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_TH000;
+        } else if (strcmp(term_type, "TH001") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_TH001;
+        } else if (strcmp(term_type, "TH002") == 0) {;
+            pnmea->sentence_type = GPS_SENTENCE_TH002;
+        
         }else if (strcmp(term_type, "VTG") == 0) {
             pnmea->sentence_type = GPS_SENTENCE_VTG;
             // VTG may not contain a data qualifier, presume the solution is good
@@ -192,7 +256,9 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
         }
         return 0;
     }
-
+	
+	
+	unsigned char startindex;
     // 32 = RMC, 64 = GGA, 96 = VTG
     if (pnmea->sentence_type != GPS_SENTENCE_OTHER && pnmea->term[0]) {
         switch (pnmea->sentence_type + pnmea->term_number) {
@@ -214,7 +280,67 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
         case GPS_SENTENCE_GGA + 8: // HDOP (GGA)
             pnmea->new_hdop = (unsigned short)(string_to_float((const char*)pnmea->term, (void*)0)*100);
             break;
-
+		case GPS_SENTENCE_GSV + 1: // GSV numMsg 2 GSV 语句总数。
+			pnmea->gsvpagecount =  (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv pagecount %d\r\n",pnmea->gsvpagecount );
+			pnmea->gps_data_good=1;
+			break;
+		case GPS_SENTENCE_GSV + 2: // GSV msgNo GSV 语句编号。
+			pnmea->gsvpage =  (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv gsvpage %d\r\n",pnmea->gsvpage );
+			break;
+		case GPS_SENTENCE_GSV + 3: // GSV numSV 可见卫星总数。
+			pnmea->startnum =  (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startnum %d\r\n",pnmea->startnum );
+			break;
+		case GPS_SENTENCE_GSV + 4: // GSV svid  卫星编号
+			startindex=4*(pnmea->gsvpage-1);
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);
+			break;
+		case GPS_SENTENCE_GSV + 7: // GSV cn0 载噪比：0～99，无效时为空
+			startindex=4*(pnmea->gsvpage-1);
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);
+			break;
+		case GPS_SENTENCE_GSV + 8: // GSV svid  卫星编号 N*4
+			startindex=4*(pnmea->gsvpage-1)+1;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);
+			break;
+		case GPS_SENTENCE_GSV + 11: // GSV cn0 载噪比：0～99，无效时为空
+			startindex=4*(pnmea->gsvpage-1)+1;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);
+			break;
+		case GPS_SENTENCE_GSV + 12: // GSV svid  卫星编号
+			startindex=4*(pnmea->gsvpage-1)+2;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);
+			break;
+		case GPS_SENTENCE_GSV + 15: // GSV cn0 载噪比：0～99，无效时为空
+			startindex=4*(pnmea->gsvpage-1)+2;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);
+			break;
+		case GPS_SENTENCE_GSV + 16: // GSV svid  卫星编号
+			startindex=4*(pnmea->gsvpage-1)+3;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d startid %d\r\n",startindex ,pnmea->starts[startindex].starID);
+			break;
+		case GPS_SENTENCE_GSV + 19: // GSV cn0 载噪比：0～99，无效时为空
+			startindex=4*(pnmea->gsvpage-1)+3;
+			if (startindex>=pnmea->startnum) break;
+			pnmea->starts[startindex].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0);
+			printf("gsv startindex %d snr %d\r\n",startindex ,pnmea->starts[startindex].snr);
+			break;
         // time and date
         //
         case GPS_SENTENCE_RMC + 1: // Time (RMC)
@@ -262,9 +388,9 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
         	pnmea->new_speed = string_to_float((const char*)pnmea->term, (void*)0);       //km/h
            break;
         
-        case GPS_SENTENCE_HDT + 1: // Course (HDT)
-			 pnmea->new_gps_yaw = string_to_float((const char*)pnmea->term, (void*)0);
-			 break;
+        // case GPS_SENTENCE_HDT + 1: // Course (HDT)
+		// 	 pnmea->new_gps_yaw = string_to_float((const char*)pnmea->term, (void*)0);
+		// 	 break;
         case GPS_SENTENCE_RMC + 8: // Course (GPRMC)
         case GPS_SENTENCE_VTG + 1: // Course (VTG)
             pnmea->new_course = string_to_float((const char*)pnmea->term, (void*)0);
@@ -275,7 +401,7 @@ static unsigned char nmea_term_complete(gps_nmea* pnmea, gps_data* pdata)
     return 0;
 }
 
-/* ¶à´Î·½ */
+/* 多次方 */
 static int int_pow(int value, unsigned int count)
 {
 	int v = 1;
@@ -294,7 +420,7 @@ static double double_pow(double value, unsigned int count)
 	return v;
 }
 
-/* ¼ì²é×Ö·û´®ÊÇ·ñΪÊý×Ö×Ö·û´®£¬ÊÇ·µ»Ø1£¬·ñÔò·µ»Ø0 */ 
+/* 检查字符串是否为数字字符串，是返回1，否则返回0 */ 
 static unsigned char string_check_digital(const char* pc)
 {
 	const char* p;
@@ -309,13 +435,13 @@ static unsigned char string_check_digital(const char* pc)
 	return 1;	
 } 
 
-/* Êý×Ö×Ö·û´®´¦Àíº¯Êý,ʶ±ð·ûºÅ²¢ÇÒ²»¼ì²éÒç³ö
-*  Èç¹ûÊÇСÊý£¬ÔòÖ»·µ»ØÕûÊý²¿·Ö,Èç¹ûת»»³ö´í£¬·µ»Ø0 
-*  ´«Èë²ÎÊý£º ԭʼ×Ö·û´®£¬ ת»»³É¹¦±êÖ¾ 0-´íÎó  1-ÕýÈ· 
+/* 数字字符串处理函数,识别符号并且不检查溢出
+*  如果是小数，则只返回整数部分,如果转换出错，返回0 
+*  传入参数： 原始字符串， 转换成功标志 0-错误  1-正确 
 */
 static int sring_to_int(const char* pstr, unsigned char* b)
 {
-	char nega = 1;    /* ¸ºÊýΪ1£¬ ÕýÊýΪ1 */ 
+	char nega = 1;    /* 负数为1， 正数为1 */ 
 	const char* psrc = (void*)0;
 	int value = 0;
 	
@@ -332,7 +458,7 @@ static int sring_to_int(const char* pstr, unsigned char* b)
 	}
 	
 	psrc = pstr;
-	if('-'==*psrc)  /* ·ûºÅλ */ 
+	if('-'==*psrc)  /* 符号位 */ 
 	{
 		nega = -1;
 		++psrc;
@@ -350,14 +476,14 @@ static int sring_to_int(const char* pstr, unsigned char* b)
 	return value;
 } 
 
-/* ×Ö·û´®×ª»»³ÉСÊý */
+/* 字符串转换成小数 */
 static double string_to_float(const char* pstr, unsigned char* b) 
 {
-	char nega = 1;    /* ¸ºÊýΪ1£¬ ÕýÊýΪ1 */ 
+	char nega = 1;    /* 负数为1， 正数为1 */ 
 	const char* psrc = (void*)0;
 	double value = 0.0;
-	double lvalue = 0.0; /* СÊýµãºóÃæÊý×Ö */ 
-	unsigned char dotflag = 0;  /* СÊýµã±ê¼Ç  1Ϊ֮ǰ³öÏÖ¹ýСÊýµã */ 
+	double lvalue = 0.0; /* 小数点后面数字 */ 
+	unsigned char dotflag = 0;  /* 小数点标记  1为之前出现过小数点 */ 
 	unsigned char j = 0;
 	
 	if( (void*)0==pstr ) 
@@ -373,7 +499,7 @@ static double string_to_float(const char* pstr, unsigned char* b)
 		return 0;
 	}
 	
-	if('-'==*psrc)  /* ·ûºÅλ */ 
+	if('-'==*psrc)  /* 符号位 */ 
 	{
 		nega = -1;
 		++psrc;
@@ -406,9 +532,9 @@ static double string_to_float(const char* pstr, unsigned char* b)
 	return value;
 }
 
-/* ¸¡µãÊýת»»Îª×Ö·û´®£¬°üÀ¨ÕûÊýת»»Îª×Ö·û´® 
-*  intgrÖ¸¶¨ÕûÊýλ¸öÊý£¬decÖ¸¶¨Ð¡Êýλ¸öÊý 
-*  ×Ô¶¯È¥³ýÇ°ÃæµÄ0£¬Ð¡ÊýµãºóÃæµÄ0²»»áÉáÈ¥ 
+/* 浮点数转换为字符串，包括整数转换为字符串 
+*  intgr指定整数位个数，dec指定小数位个数 
+*  自动去除前面的0，小数点后面的0不会舍去 
 */ 
 static unsigned char float_to_string(double value, char* pdest, unsigned int intgr, unsigned int dec)
 {
@@ -456,7 +582,7 @@ static unsigned char float_to_string(double value, char* pdest, unsigned int int
 	if( !zeroflag ) *pstr++ = '0';
 		
 		
-	/* Èç¹ûСÊýλÊýΪ0£¬Ôò·µ»ØÕûÊý²¿·Ö */
+	/* 如果小数位数为0，则返回整数部分 */
 	if(0==dec)
 	{
 		*pstr = '\0';
@@ -479,13 +605,13 @@ static unsigned char float_to_string(double value, char* pdest, unsigned int int
 } 
 
 
-/* ÕûÊýת»»³É×Ö·û´®£¬ÄÚ²¿Æäʵµ÷ÓÃÁË float_to_string */
+/* 整数转换成字符串，内部其实调用了 float_to_string */
 static unsigned char int_to_string(int value, char* pdest, unsigned int intgr) 
 {
 	return float_to_string((double)value, pdest, intgr,0);
 }
 
-/* ʱ¼ä´¦Àí  ´«Èë²ÎÊýΪÈÕÔÂÄêºÍºÁÃë*/ 
+/* 时间处理  传入参数为日月年和毫秒*/ 
 static int make_date_time(gps_data* pdata, unsigned int date, unsigned int time)
 {
 	
@@ -531,4 +657,155 @@ static int make_date_time(gps_data* pdata, unsigned int date, unsigned int time)
     
     return 1;
 } 
+char* get_gps_status_str(gps_status status)
+{
+	char* ret="NO_GPS";
+	switch(status)
+	{
+		case NO_GPS:
+			ret = "无卫星";
+			break;
+		case NO_FIX:
+			ret = "接收到GPS信息，但没有定位";
+			break;
+		case GPS_OK_FIX_2D:
+			ret = "2D定位";
+			break;
+		case GPS_OK_FIX_3D:
+			ret = "3D定位";
+			break;
+		case GPS_OK_FIX_3D_DGPS:
+			ret = "优于3D定位";
+			break;
+		case GPS_OK_FIX_3D_RTK_FLOAT:
+			ret = "RTK浮点解状态";
+			break;
+		case GPS_OK_FIX_3D_RTK_FIXED:
+			ret = "RTK固定解状态";
+			break;
+		
+		default:
+			ret = "未知卫星状态";
+	}
+	return ret;
+}
+
+char* get_gps_sentence_type_str(sentence_types sentencetype)
+{
+   switch(sentencetype)
+   {
+		case GPS_SENTENCE_RMC:
+			return "RMC字段 推荐的最少专用导航数据。";
+		case GPS_SENTENCE_GGA:
+			return "GGA字段 接收机定位数据。";
+		case GPS_SENTENCE_GSV:
+			return "GSV字段 可见卫星数据。";
+		case GPS_SENTENCE_GSA:
+			return "GSA字段 有效卫星与精度因子数据。";
+		case GPS_SENTENCE_GLL:
+			return "GLL字段 接收机地理位置数据。";
+		case GPS_SENTENCE_VTG:
+			return "VTG字段 对地速度与航向数据。";
+		// case GPS_SENTENCE_HDT:
+		// 	return "HDT字段";
+		case GPS_SENTENCE_ZDA:
+			return "ZDA字段 时间与日期数据";
+		case GPS_SENTENCE_TH000:
+			return "接收机前端增益信息。";
+		case GPS_SENTENCE_TH001:
+			return "接收机定位质量信息。";
+		case GPS_SENTENCE_TH002:
+			return "接收机功耗模式信息。";
+		case GPS_SENTENCE_OTHER:
+			return "其他字段";
+		default:
+			return "unknown_type";
+   } 
+}
+char* get_gps_location_system_str(location_system_t lsystem)
+{
+switch(lsystem)
+   {
+		case GNSS:
+			return "全球导航卫星系统";
+		case GPS_L1C_A:
+			return "全球定位系统";
+		case GLONASS_L1OF:
+			return "全球导航卫星系统(俄)";
+		case Galileo_E1C:
+			return "伽利略卫星定位系统";
+		case BDS_Bli:
+			return "北斗卫星导航系统";
+		case QZSS_L1C_A:
+			return "准天顶卫星系统";
+		default:
+			return "未知定位系统或自定义系统指令";
+   } 
+}
+
+void dump_nmea_str(gps_nmea *nmeadata)
+{
+
+	printf("\r\n");
+	printf("%s\r\n",get_gps_location_system_str(nmeadata->location_system));
+	printf("%s\r\n",get_gps_sentence_type_str(nmeadata->sentence_type));
+	printf("\r\n");
+}
+void dump_location_data(gps_data*locationdata)
+{
+
+	printf("\r\n");
+	printf("20%02d-%02d-%02d,\r\n定位状态(%s)\r\n",
+    locationdata->date_time.year,
+    locationdata->date_time.month,
+    locationdata->date_time.day,
+    get_gps_status_str(locationdata->status)
+    );
+	printf("可见卫星颗数(%d),\r\n坐标(%f,%f,%d),\r\nhdop(%d),vdop(%d)\r\n",
+	locationdata->num_sats,
+    locationdata->location.lat,
+    locationdata->location.lng,
+    locationdata->location.alt,
+	locationdata->hdop,
+	locationdata->vdop
+    );
+	if (locationdata->startnum>0)
+	{
+		printf("卫星数[%d]",locationdata->startnum);
+		for(int i=0;i<20;i++)
+		{
+			if (i< locationdata->startnum)
+			{
+				printf(",(%d,%d)",
+					locationdata->starts[i].starID,
+					locationdata->starts[i].snr);
+
+			}
+		}
+		printf("\r\n");
+	}else{
+		printf("无卫星数据\r\n");
+	}
+	printf("\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;
+// }
diff --git a/code/sdk/zhihui/services/gnss/src/NMEA0183.h b/code/sdk/zhihui/services/gnss/src/NMEA0183.h
deleted file mode 100644
index 9a48388b2..000000000
--- a/code/sdk/zhihui/services/gnss/src/NMEA0183.h
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-*				GPS NMEA0183ЭÒé¼òÒª½âÎö¿ò¼Ü 
-*	
-*	Ö§³Ö½âÎö RMC¡¢GGA¡¢VTG¡¢HDTµÈÏûÏ¢×Ö¶ÎÐÅÏ¢£¬ÓÉÓÚ½âÎö¿ò¼Ü±È½ÏÃ÷ÁË£¬
-*   ÒÆÖ²Ô´ÂëÕß¿É×ÔÐп¼ÂÇÌí¼ÓеĽâÎö´úÂë¡£
-*   ½âÎö·½Ê½²ÉÓÃÖð¸ö×ֶνâÎöµÄ·½Ê½£¬Äܴܺó³Ì¶ÈÉϽÚÊ¡ÏûºÄÄÚ´æ¿Õ¼ä¡£ 
-*   ÖØбàдÊý¾Ýת»»º¯Êý£¬²»ÒÀÀµÍⲿ¿â£¬ÒÆֲʱһ°ãÖ»Ðè°üº¬NMEA0183.h
-*   Îļþ¼´¿É¡£ 
-*
-*   ´úÂëʾÀý£º
-*   	
-		char nmea[] = \
-		"$GNRMC,102219.00,A,2239.11578,N,11406.59325,E,0.009,,291018,,,D*62\r\n"\
-		"$GNVTG,,T,,M,0.009,N,0.017,K,D*37\r\n"\
-		"$GNGGA,102220.00,2239.11583,N,11406.59338,E,2,09,1.30,112.7,M,-2.3,M,,0000*52\r\n";
-		
-		gps_nmea gps_nmea_temp;   /// ¶¨Òå½âÎöʱÓõ½µÄÔÝ´æ״̬Êý¾Ý,Ö»¹©½âÎöʱʹÓà 
-		gps_data gps_data1;       /// GPS½âÎöµÃµ½µÄ×îÖÕÊý¾Ý£¬Óû§¿ÉʹÓà 
-		unsigned int index = 0;
-		
-		for(index=0; index<sizeof(nmea); ++index)
-		{
-			if(nmea_decode(&gps_nmea_temp, &gps_data1, nmea[index])) ///µ÷ÓýâÎöº¯Êý
-			{
-				/// ½âÎöÏûÏ¢¶Î³É¹¦ 
-				... 
-			} 
-		} 
-		
-*   NMEA0183½âÎö´úÂë˼ÏëÀ´Ô´ÓÚ¿ªÔ´·É¿Ø´úÂë(Ardupilot)£¬ËùÒԸ÷ݴúÂ뿪Դ£¬¿ÉÃâ·ÑʹÓá£
-*   ( ÈçÓÐBug£¬ÍûÄÜ·´À¡ ! QQ: 2281280195 ) 
-*       
-*   ×÷Õߣº ouyanglei      	ʱ¼ä£º2018-11-16
-*/
-
-
-#ifndef NMEA0183_H
-#define NMEA0183_H
-
-/*************** ºê¶¨Òå  *******************/ 
-#define current_time_ms() 1
-
-#define GPS_LEAPSECONDS_MILLIS 18000UL
-#define AP_SEC_PER_WEEK   (7UL * 86400UL)
-
-/* ¼ì²é×Ö·û´®ÊÇ·ñΪÊý×Ö0-9 */ 
-#define IS_DIGITAL(x) ( ((x)>='0'&&(x)<='9')||(x)=='-'||(x)=='.' )
-#define CHAR_TO_DIGITAL(x) ((x)-'0')
-#define DIGITAL_TO_CHAR(x) ( (x)+'0' )
-
-/**************** ö¾ÙÁ¿¶¨Òå ***************/
-	/* ½âÎö×Ö¶Îö¾ÙÁ¿ */ 
-    typedef enum _sentence_types 
-	{   /* ÿ¸öö¾ÙÁ¿±íʾ¸Ã×ֶεÄÆðʼλÖã¬ÓÐЩÌØÊâ×Ö¶ÎÐèÒª10¸ö×Ö¶ÎÓò */ 
-        GPS_SENTENCE_RMC = 32,     /* RMC×ֶΠ*/
-        GPS_SENTENCE_GGA = 64,		/* GGA×ֶΠ*/
-        GPS_SENTENCE_VTG = 96,		/* VTG×ֶΠ*/
-        GPS_SENTENCE_HDT = 128,    /* HDT×ֶΠ*/
-        GPS_SENTENCE_OTHER = 0     /* ĬÈÏûÓÐ×ֶΠ*/
-    }sentence_types;
-
-/**************** ½á¹¹Ì嶨Òå ***************/    
-    /* GPS¶¨Î»×´Ì¬Ã¶¾ÙÁ¿ */ 
-    typedef enum _gps_status
-	{
-        NO_GPS = 0,              /* ÎÞGPS */
-        NO_FIX,                  /* ½ÓÊÕµ½GPSÐÅÏ¢£¬µ«Ã»Óж¨Î» */
-        GPS_OK_FIX_2D,           /* 2D¶¨Î» */
-        GPS_OK_FIX_3D,           /* 3D¶¨Î» */ 
-        GPS_OK_FIX_3D_DGPS,      /* ÓÅÓÚ3D¶¨Î» */ 
-        GPS_OK_FIX_3D_RTK_FLOAT, /* RTK¸¡µã½â״̬ */ 
-        GPS_OK_FIX_3D_RTK_FIXED, /* RTK¹Ì¶¨½â״̬ */
-    }gps_status;
-    
-    /* GPSµãλÖà */ 
-    typedef struct _location 
-	{
-	    int alt:24;         /* º£°Î¸ß¶È meters * 100  µ¥Î»ÎªÀåÃ× */
-	    float lat;            /* γ¶È *  ÔÝʱ²»³ËÒÔ10**7£¬Ô­Ê¼±£´æ*/
-	    float lng;            /* ¾«¶È *  ÔÝʱ²»³ËÒÔ10**7£¬Ô­Ê¼±£´æ*/
-	}Location;
-    
-    /* Êý¾Ý½âÎö״̬½á¹¹Ì嶨Òå */
-    typedef struct _gps_nmea
-    {
-    	/* Êý¾Ý½âÎö״̬ */ 
-    	unsigned char parity;    		   /* УÑé¼ÆËãºÍ */ 
-    	unsigned char is_checksum_term;    /* µ±Ç°×Ö¶ÎÓòΪУÑé×Ö */
-    	char term[15];           		   /* µ±Ç°×Ö¶ÎÓò»º³åÇø£¬','Ϊ×Ö¶ÎÓò·Ö¸î·û */
-    	unsigned char sentence_type;       /* ×Ö¶ÎÀà±ð£¬¼ûö¾Ù sentence_types*/
-    	unsigned char term_number;         /* µ±Ç°×Ö¶ÎÓòÐòºÅ */
-    	unsigned char term_offset;         /* ×Ö¶ÎÓòÊý¾ÝÆ«ÒÆÁ¿ */
-    	unsigned char gps_data_good;       /* GPSÊý¾ÝÓÐЧ״̬ */
-    	
-    	/* Êý¾Ý½âÎö½á¹û */
-    	unsigned int new_time;                  /* UTCʱ¼ä */
-    	unsigned int new_date;                  /* UTCÈÕÆÚ */
-    	float new_latitude;             		/* γ¶È */
-    	float new_longitude;            		/* ¾­¶È */
-    	int new_altitude;             			/* º£°Î¸ß¶È cm*/
-    	float new_speed;                		/* µØËÙ km/h */
-    	float new_course;               		/* RMC¡¢VTG×ֶδÅÆ«½ÇÐÅÏ¢*/
-    	float new_gps_yaw;              		/* HDTº½ÏòÐÅÏ¢ */
-    	unsigned short new_hdop;                /* ˮƽ¾«¶È *100 */
-    	unsigned char new_satellite_count;      /* µ±Ç°Ê¹ÓÃÎÀÐǵĿÅÊý */
-    	unsigned char new_quality_indicator;    /* ¶¨Î»×´Ì¬ */
-
-    	unsigned int last_RMC_ms;         	    /* ×îºó¸üÐÂ×Ö¶Îʱ¼ä */
-    	unsigned int last_GGA_ms;
-    	unsigned int last_VTG_ms;
-   		unsigned int last_HDT_ms;
-	}gps_nmea;
-	
-	/* ʱ¼ä½á¹¹Ìå */ 
-	typedef struct _time
-	{
-		unsigned char year;
-		unsigned short int month : 4;
-		unsigned short int  : 4;
-		unsigned short int day : 5;
-		unsigned short int week : 3;
-	}DateTime;
-	
-	/* GPSÊý¾ÝÇøÓò£¬¹©ÉϲãÓ¦Óõ÷Óà */ 
-	typedef struct _gps_data {
-        unsigned char instance; 		   /* GPSʵÀý¸öÊý */ 
-        gps_status status;                 /* GPS¶¨Î»×´Ì¬ */
-        Location location;                 /* GPS¶¨Î»µ½µÄµ±Ç°Î»Öà */
-        DateTime date_time; 
-        float ground_speed;                /* µØËÙ  m/s */
-        float ground_course;               /* µØËÙº½Ïò  ¶È  ˳ʱÕë 0-360 */ 
-        float gps_yaw;                     /* GPHDT×ֶκ½ÏòÐÅÏ¢ Ò»°ãÓÃÓÚË«ÌìÏß²âÏò */
-        unsigned short hdop;               /* ˮƽ¾«¶È  cm */
-        unsigned short vdop;               /* ´¹Ö±¾«¶È  cm */
-        unsigned char num_sats;            /* ¿É¼ûÎÀÐÇ¿ÅÊý */
-        unsigned char have_gps_yaw;        /* GPHDTº½Ïò×Ö¶ÎÓÐЧ */
-        unsigned int last_gps_time_ms;     /* ×îºó»ñÈ¡GPSÐÅϢʱµÄʱ¼ä  ms */
-    }gps_data;
-    
-    /* NMEA0183½á¹¹Ìå¶ÔÏó */
-    typedef struct _nmea0183
-	{
-		gps_nmea gpsParse;
-		gps_data gpsData;
-		unsigned char (*nmea_decode)(struct _nmea0183* pnmea, char c);		
-	}NMEA0183; 
-    
-/**************** º¯Êý¶¨Òå ***************/
-
-unsigned char nmea_decode(NMEA0183* pnmea, char c);
-
-#endif
-
-
diff --git a/code/sdk/zhihui/services/gnss/src/decodenmea.c b/code/sdk/zhihui/services/gnss/src/decodenmea.c
new file mode 100644
index 000000000..dbbaec492
--- /dev/null
+++ b/code/sdk/zhihui/services/gnss/src/decodenmea.c
@@ -0,0 +1,95 @@
+/**
+ * 
+ * 
+$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