From: SnickerSun Date: Mon, 6 Jan 2025 16:34:52 +0000 (+0800) Subject: GNSS更新GSV解析每种卫星最多显示5颗信号最强的卫星。 X-Git-Url: http://git.snicker.com.cn/?a=commitdiff_plain;h=ca681ddca03d01943e334980df72d539c00a4125;p=mirrors%2FFD230.git 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 34bb3aa3d..32c18e3a1 100644 --- 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; unsigned int last_GLL_ms; unsigned int last_ZDA_ms; - start_stat_t starts[20]; + start_stat_t starts[4]; + unsigned char starcount; + unsigned char gsvpage_starcount; //单条卫星数 unsigned int gsvpagecount; unsigned int gsvpage; - unsigned int startnum; }gps_nmea_t; /* 时间结构体 */ @@ -202,6 +203,9 @@ QZSS L1C/A 1～4 193～196 PRN-192 unsigned short int : 4; unsigned short int day : 5; unsigned short int week : 3; + unsigned char hour; + unsigned char minute; + unsigned char second; }DateTime; /* GPS数据区域，供上层应用调用 */ @@ -210,8 +214,18 @@ QZSS L1C/A 1～4 193～196 PRN-192 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; + start_stat_t startsB[5]; + start_stat_t startsL[5]; + start_stat_t startsP[5]; + start_stat_t startsQ[5]; + start_stat_t startsA[5]; + start_stat_t startsN[5]; + unsigned char starcountB; + unsigned char starcountL; + unsigned char starcountP; + unsigned char starcountQ; + unsigned char starcountA; + unsigned char starcountN; 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 */ diff --git a/code/sdk/zhihui/services/gnss/src/NMEA0183.c b/code/sdk/zhihui/services/gnss/src/NMEA0183.c index d276f3ce4..7dbf6fda0 100644 --- 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); static int make_date_time(gps_data_t* pdata, unsigned int date, unsigned int time); + +void add_start_to_gpsbuf(gps_nmea_t* pnmea, gps_data_t* pdata) +{ + if (pnmea==NULL || pdata == NULL ) return; + start_stat_t *p_data_star=NULL; + start_stat_t *p_nmea_star=NULL; + + p_nmea_star = pnmea->starts; + + switch(pnmea->location_system) + { + case GNSS_: //GN + p_data_star = pdata->startsN; + pdata->starcountN = pnmea->starcount; + break; + case GPS_L1C_A: //GP + p_data_star = pdata->startsP; + pdata->starcountP = pnmea->starcount; + break; + case GLONASS_L1OF: //GL + p_data_star = pdata->startsL; + pdata->starcountL = pnmea->starcount; + break; + case Galileo_E1C: //GA + p_data_star = pdata->startsA; + pdata->starcountA = pnmea->starcount; + break; + case BDS_Bli: //GB + p_data_star = pdata->startsB; + pdata->starcountB = pnmea->starcount; + break; + case QZSS_L1C_A: //GQ + p_data_star = pdata->startsQ; + pdata->starcountQ = pnmea->starcount; + break; + } + + + + start_stat_t tmp={0}; + for (int i = 0;i < pnmea->gsvpage_starcount ; i++) + { + for (int j=0;j<5;j++) + { + //找到空位直接赋值 + if(p_data_star[j].snr==0 && p_data_star[j].starID==0) + { + p_data_star[j].snr = p_nmea_star[i].snr; + p_data_star[j].starID = p_nmea_star[i].starID; + break; + }else + { + if (p_data_star[j].snr < p_nmea_star[i].snr) + { + tmp.snr=p_data_star[j].snr; + tmp.starID=p_data_star[j].starID; + p_data_star[j].snr = p_nmea_star[i].snr; + p_data_star[j].starID = p_nmea_star[i].starID; + p_nmea_star[i].snr = tmp.snr; + p_nmea_star[i].starID = tmp.starID; + } + } + } + } + +} /* GPS数据解析 */ unsigned char nmea_decode(NMEA0183* nmea, char c) { @@ -162,13 +228,15 @@ static unsigned char nmea_term_complete(gps_nmea_t* pnmea, gps_data_t* pdata) 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 ); + // for (int j=0;j<20;j++) + // { + // pdata->starts[j].snr=pnmea->starts[j].snr; + // pdata->starts[j].starID=pnmea->starts[j].starID; + // } + // pdata->starcount = pnmea->starcount; + add_start_to_gpsbuf(pnmea,pdata); + printf("gsv starcount copy to pdata \r\n"); + break; case GPS_SENTENCE_GLL: pnmea->last_GLL_ms = now; @@ -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 ); 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 ); + { + pnmea->starcount = (unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv starcount %d\r\n",pnmea->starcount ); + if (pnmea->gsvpage==pnmea->gsvpagecount) + { //最后一页星的数量 + //非最后一页的中间任意一页一定是4颗星 + pnmea->gsvpage_starcount = pnmea->starcount - (pnmea->gsvpagecount -1) * 4; + }else + { + pnmea->gsvpage_starcount = 4; + } + } 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); + pnmea->starts[0].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 0 startindex %d startid %d\r\n",startindex ,pnmea->starts[0].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); + pnmea->starts[0].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 0 startindex %d snr %d\r\n",startindex ,pnmea->starts[0].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); + if (1>=pnmea->gsvpage_starcount) break; + pnmea->starts[1].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 1 startindex %d startid %d\r\n",startindex ,pnmea->starts[1].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); + if (1>=pnmea->gsvpage_starcount) break; + pnmea->starts[1].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 1 startindex %d snr %d\r\n",startindex ,pnmea->starts[1].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); + if (2>=pnmea->gsvpage_starcount) break; + pnmea->starts[2].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 2 startindex %d startid %d\r\n",startindex ,pnmea->starts[2].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); + if (2>=pnmea->gsvpage_starcount) break; + pnmea->starts[2].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 2 startindex %d snr %d\r\n",startindex ,pnmea->starts[2].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); + if (3>=pnmea->gsvpage_starcount) break; + pnmea->starts[3].starID=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 3 startindex %d startid %d\r\n",startindex ,pnmea->starts[3].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); + if (3>=pnmea->gsvpage_starcount) break; + pnmea->starts[3].snr=(unsigned char)sring_to_int((const char*)pnmea->term, (void*)0); + printf("gsv 3 startindex %d snr %d\r\n",startindex ,pnmea->starts[3].snr); break; // time and date // @@ -701,7 +777,9 @@ static int make_date_time(gps_data_t* pdata, unsigned int date, unsigned int tim // get GPS week and time pdata->date_time.week = ret / AP_SEC_PER_WEEK; - + pdata->date_time.hour=hour; + pdata->date_time.minute=min; + pdata->date_time.second=sec; return 1; } char* get_gps_status_str(gps_status status) @@ -808,10 +886,13 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen if (tmpbuf == NULL) return; #ifndef NOUTILS memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); - sprintf_s(tmpbuf,DUMP_BUF_SIZE,"20%02d-%02d-%02d,\n定位状态(%s)\n", + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"20%02d-%02d-%02d %02d:%02d:%02d,\n定位状态(%s)\n", locationdata->date_time.year, locationdata->date_time.month, locationdata->date_time.day, + locationdata->date_time.hour, + locationdata->date_time.minute, + locationdata->date_time.second, get_gps_status_str(locationdata->status) ); strcat_s(buf,max_buflen,tmpbuf); @@ -825,24 +906,124 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen locationdata->vdop ); strcat_s(buf,max_buflen,tmpbuf); - if (locationdata->startnum>0) + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"xx卫星[卫星数](strid,snr):\n"); + if (locationdata->starcountP>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GPS_L1C_A[%d]", + locationdata->starcountP); + strcat_s(buf,max_buflen,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsP[i].starID>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", + locationdata->startsP[i].starID, + locationdata->startsP[i].snr); + strcat_s(buf,max_buflen,tmpbuf); + } + } + strcat_s(buf,max_buflen,"\n"); + } + if (locationdata->starcountB>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"BDS_Bli[%d]", + locationdata->starcountB); + strcat_s(buf,max_buflen,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsB[i].starID>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", + locationdata->startsB[i].starID, + locationdata->startsB[i].snr); + strcat_s(buf,max_buflen,tmpbuf); + } + } + strcat_s(buf,max_buflen,"\n"); + } + if (locationdata->starcountN>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GNSS[%d]", + locationdata->starcountN); + strcat_s(buf,max_buflen,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsN[i].starID>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", + locationdata->startsN[i].starID, + locationdata->startsN[i].snr); + strcat_s(buf,max_buflen,tmpbuf); + } + } + strcat_s(buf,max_buflen,"\n"); + } + if (locationdata->starcountL>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"GLONASS_L1OF[%d]", + locationdata->starcountL); + strcat_s(buf,max_buflen,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsL[i].starID>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", + locationdata->startsL[i].starID, + locationdata->startsL[i].snr); + strcat_s(buf,max_buflen,tmpbuf); + } + } + strcat_s(buf,max_buflen,"\n"); + } + if (locationdata->starcountQ>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"QZSS_L1C_A[%d]", + locationdata->starcountQ); + strcat_s(buf,max_buflen,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsQ[i].starID>0) + { + memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", + locationdata->startsQ[i].starID, + locationdata->startsQ[i].snr); + strcat_s(buf,max_buflen,tmpbuf); + } + } + strcat_s(buf,max_buflen,"\n"); + } + if (locationdata->starcountA>0) { memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); - sprintf_s(tmpbuf,DUMP_BUF_SIZE,"卫星数[%d](strid,snr)",locationdata->startnum); + sprintf_s(tmpbuf,DUMP_BUF_SIZE,"Galileo_E1C[%d]", + locationdata->starcountA); strcat_s(buf,max_buflen,tmpbuf); - for(int i=0;i<20;i++) + for(int i=0;i<5;i++) { - if (i< locationdata->startnum) + if (i< locationdata->startsA[i].starID>0) { memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); sprintf_s(tmpbuf,DUMP_BUF_SIZE,",(%d,%d)", - locationdata->starts[i].starID, - locationdata->starts[i].snr); + locationdata->startsA[i].starID, + locationdata->startsA[i].snr); strcat_s(buf,max_buflen,tmpbuf); } } strcat_s(buf,max_buflen,"\n"); - }else{ + + } + if ((locationdata->starcountA+locationdata->starcountB+locationdata->starcountL+locationdata->starcountN+locationdata->starcountP+locationdata->starcountQ) == 0) + { strcat_s(buf,max_buflen,"无卫星数据\n"); } memset_s(tmpbuf,DUMP_BUF_SIZE,0,DUMP_BUF_SIZE); @@ -858,10 +1039,13 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen #else strcat(buf,"\r\n"); memset(tmpbuf,0,DUMP_BUF_SIZE); - sprintf(tmpbuf,"20%02d-%02d-%02d,\r\n定位状态(%s)\r\n", + sprintf(tmpbuf,"20%02d-%02d-%02d %02d:%02d:%02d,\r\n定位状态(%s)\r\n", locationdata->date_time.year, locationdata->date_time.month, locationdata->date_time.day, + locationdata->date_time.hour, + locationdata->date_time.minute, + locationdata->date_time.second, get_gps_status_str(locationdata->status) ); strcat(buf,tmpbuf); @@ -876,29 +1060,131 @@ void dump_location_data_to_buf(gps_data_t *locationdata,char* buf,int max_buflen locationdata->vdop ); strcat(buf,tmpbuf); - if (locationdata->startnum>0) + + sprintf(tmpbuf,"xx卫星[卫星数](strid,snr):\n"); + if (locationdata->starcountP>0) { memset(tmpbuf,0,DUMP_BUF_SIZE); - sprintf(tmpbuf,"卫星数[%d](strid,snr)",locationdata->startnum); + sprintf(tmpbuf,"GPS_L1C_A[%d]", + locationdata->starcountP); strcat(buf,tmpbuf); - for(int i=0;i<20;i++) + for(int i=0;i<5;i++) { - if (i< locationdata->startnum) + if (i< locationdata->startsP[i].starID>0) { memset(tmpbuf,0,DUMP_BUF_SIZE); sprintf(tmpbuf,",(%d,%d)", - locationdata->starts[i].starID, - locationdata->starts[i].snr); + locationdata->startsP[i].starID, + locationdata->startsP[i].snr); strcat(buf,tmpbuf); } } - strcat(buf,"\r\n"); - }else{ - strcat(buf,"无卫星数据\r\n"); + strcat(buf,"\n"); } - strcat(buf,"\r\n"); + if (locationdata->starcountB>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,"BDS_Bli[%d]", + locationdata->starcountB); + strcat(buf,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsB[i].starID>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,",(%d,%d)", + locationdata->startsB[i].starID, + locationdata->startsB[i].snr); + strcat(buf,tmpbuf); + } + } + strcat(buf,"\n"); + } + if (locationdata->starcountN>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,"GNSS[%d]", + locationdata->starcountN); + strcat(buf,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsN[i].starID>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,",(%d,%d)", + locationdata->startsN[i].starID, + locationdata->startsN[i].snr); + strcat(buf,tmpbuf); + } + } + strcat(buf,"\n"); + } + if (locationdata->starcountL>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,"GLONASS_L1OF[%d]", + locationdata->starcountL); + strcat(buf,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsL[i].starID>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,",(%d,%d)", + locationdata->startsL[i].starID, + locationdata->startsL[i].snr); + strcat(buf,tmpbuf); + } + } + strcat(buf,"\n"); + } + if (locationdata->starcountQ>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,"QZSS_L1C_A[%d]", + locationdata->starcountQ); + strcat(buf,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsQ[i].starID>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,",(%d,%d)", + locationdata->startsQ[i].starID, + locationdata->startsQ[i].snr); + strcat(buf,tmpbuf); + } + } + strcat(buf,"\n"); + } + if (locationdata->starcountA>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,"Galileo_E1C[%d]", + locationdata->starcountA); + strcat(buf,tmpbuf); + for(int i=0;i<5;i++) + { + if (i< locationdata->startsA[i].starID>0) + { + memset(tmpbuf,0,DUMP_BUF_SIZE); + sprintf(tmpbuf,",(%d,%d)", + locationdata->startsA[i].starID, + locationdata->startsA[i].snr); + strcat(buf,tmpbuf); + } + } + strcat(buf,"\n"); + + } + if ((locationdata->starcountA+locationdata->starcountB+locationdata->starcountL+locationdata->starcountN+locationdata->starcountP+locationdata->starcountQ) == 0) + { + strcat(buf,"无卫星数据\n"); + } + + // strcat(buf,"\r\n"); memset(tmpbuf,0,DUMP_BUF_SIZE); - 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", + 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", 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")), locationdata->th001_quality, locationdata->th001_trace_star_count, diff --git a/code/sdk/zhihui/services/gnss/src/decodenmea.c b/code/sdk/zhihui/services/gnss/src/decodenmea.c index c7c83430f..b45018bf7 100644 --- 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 81fd574cc..55412e6de 100644 --- 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 $Achilles,H7S1,Q35,F1P26.0,0*72 -$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,,-85,7,,,,,1,1*27 -$PNTH001,0.000000,0.00,0.00,300000.00,1,0,0*1D +$GNGGA,,,,,,0,,,,,,,,*78 +$GNGLL,,,,,,V,N*7A +$GNGSA,A,1,,,,,,,,,,,,,,,*00 +$GPGSV,1,1,02,07,,,42,30,,,41,1*61 +$GNRMC,,V,,,,,,,,,E,N,V*72 +$GNVTG,,T,,M,,N,,K,N*32 +$GNZDA,,,,,00,00*56 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