概述
1、接上模块通过USB连接，需要插上SIM卡，查看设备如下
root@ATK-IMX6U:~# ls /dev/ttyUSB*
/dev/ttyUSB0 /dev/ttyUSB1 /dev/ttyUSB2 /dev/ttyUSB32、使能GPS信息输出
echo -e "AT+QGPS=1nr" > /dev/ttyUSB2通过命令查看信息
root@ATK-IMX6U:~# cat /dev/ttyUSB1没定位到的情况
$GPVTG,,T,,M,,N,,K,N*2C
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPGGA,,,,,,0,,,,,,,,*66
$GPRMC,,V,,,,,,,,,,N*53
定位到的情况
$GPGSV,6,1,21,10,75,334,26,12,35,087,45,18,14,185,28,23,62,132,43*7D
$GPGSV,6,2,21,24,21,042,26,25,41,129,44,31,23,230,34,32,41,313,43*76
$GPGSV,6,3,21,15,02,090,,21,01,319,,33,,,34,38,,,34*72
$GPGSV,6,4,21,39,,,34,40,,,34,41,,,41,42,,,34*77
$GPGSV,6,5,21,45,,,41,46,,,34,48,,,34,50,,,41*73
$GPGSV,6,6,21,51,,,35*78
$GPGGA,090652.00,2813.804270,N,11256.758714,E,1,07,0.9,127.6,M,-14.0,M,,*48
$GPVTG,0.0,T,3.0,M,0.0,N,0.0,K,A*20
$GPRMC,090652.00,A,2813.804270,N,11256.758714,E,0.0,0.0,230921,3.0,W,A*2F
$GPGSA,A,3,10,12,18,23,24,25,32,,,,,,1.2,0.9,0.8*3A
GPS信息解析
gps.c
//
// Created by ihz on 2020/6/4.
//
#include "gps.h"
// 数据分割，可以分割两个连续的分隔符
static char* strsplit(char** stringp, const char* delim)
{
char* start = *stringp;
char* p;
p = (start != NULL) ? strpbrk(start, delim) : NULL;
if (p == NULL)
{
*stringp = NULL;
}
else
{
*p = ' ';
*stringp = p + 1;
}
return start;
}
// 统计字符串在另一个字符串中出现的次数
static int strstr_cnt(char *str, char *substr)
{
char *srcStr = str;
int count = 0;
do
{
srcStr = strstr(srcStr, substr);
if(srcStr != NULL)
{
count++;
srcStr = srcStr + strlen(substr);
}
else
{
break;
}
}while (*srcStr != ' ');
return count;
}
#if ENABLE_GGA
// GGA数据解析
static GGA gga_data_parse(char *gga_data)
{
GGA gga;
unsigned char times = 0;
char *p;
char *end;
char *s = strdup(gga_data);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // UTC
strcpy(gga.utc, p);
break;
case 2: // lat
gga.lat = strtod(p, NULL);
break;
case 3: // lat dir
gga.lat_dir = p[0];
break;
case 4: // lon
gga.lon = strtod(p, NULL);
break;
case 5: // lon dir
gga.lon_dir = p[0];
break;
case 6: // quality
gga.quality = (unsigned char)strtol(p, NULL, 10);
break;
case 7: // sats
gga.sats = (unsigned char)strtol(p, NULL, 10);
break;
case 8: // hdop
gga.hdop = (unsigned char)strtol(p, NULL, 10);
break;
case 9: // alt
gga.alt = strtof(p, NULL);
break;
case 11: // undulation
gga.undulation = strtof(p, NULL);
break;
case 13: // age
gga.age = (unsigned char)strtol(p, NULL, 10);
break;
case 14: // stn_ID
end = (char *)malloc(sizeof(p));
strncpy(end, p, strlen(p)-3);
end[strlen(p)-3] = ' ';
gga.stn_ID = (unsigned short )strtol(end, NULL, 10);
free(end);
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return gga;
}
#endif
#if ENABLE_GLL
// GLL数据解析
static GLL gll_data_parse(char *gll_data)
{
GLL gll;
unsigned char times = 0;
char *p;
char *s = strdup(gll_data);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // lat
gll.lat = strtod(p, NULL);
break;
case 2: // lat dir
gll.lat_dir = p[0];
break;
case 3: // lon
gll.lon = strtod(p, NULL);
break;
case 4: // lon dir
gll.lon_dir = p[0];
break;
case 5: // lon dir
strcpy(gll.utc, p);
break;
case 6: // data status
gll.data_status = p[0];
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return gll;
}
#endif
#if ENABLE_GSA
// 得到GSA数据中的信道信息
static GSA_PRN *get_prn_data(char *gps_data)
{
GSA_PRN *gsa_prn;
unsigned char times = 0;
unsigned char i;
unsigned char sentences_index = 0; // 累计找到gsa字段的个数
char *p;
char *s;
char *sentences;
int gsa_count;
// 统计GSA字段的个数
gsa_count = strstr_cnt(gps_data, PRE_GSA);
gsa_prn = (GSA_PRN *)malloc(sizeof(GSA_PRN) * (gsa_count * 12 + 1));
memset(gsa_prn, 0, sizeof(GSA_PRN) * (gsa_count * 12 + 1));
sentences = strtok(gps_data, "rn");
while (sentences)
{
if (strstr(sentences, PRE_GSA))
{
sentences_index++;
s = strdup(sentences);
p = strsplit(&s, ",");
while (p)
{
if (times == 2)
{
for (i=0; i<12; i++)
{
p = strsplit(&s, ",");
(gsa_prn+i+(sentences_index-1)*12)->total = (unsigned char)gsa_count * 12;
(gsa_prn+i+(sentences_index-1)*12)->prn_ID = i + (sentences_index - 1) * 12;
(gsa_prn+i+(sentences_index-1)*12)->prn = (unsigned char)strtol(p, NULL, 10);
}
}
p = strsplit(&s, ",");
times++;
}
times = 0;
}
sentences = strtok(NULL, "rn");
}
free(s);
return gsa_prn;
}
// GSA数据解析
static GSA gsa_data_parse(char *gsa_data, char *gpsdata)
{
GSA gsa;
unsigned char times = 0;
char *p;
char *end;
char *s = strdup(gsa_data);
char *alldata = strdup(gpsdata);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // mode_MA
gsa.mode_MA = p[0];
break;
case 2: // mode_123
gsa.mode_123 = p[0];
break;
case 3: // prn
gsa.gsa_prn = get_prn_data(alldata);
break;
case 15: // pdop
gsa.pdop = strtod(p, NULL);
break;
case 16: // hdop
gsa.hdop = strtod(p, NULL);
break;
case 17: // vdop
end = (char *)malloc(sizeof(p));
strncpy(end, p, strlen(p)-3);
end[strlen(p)-3] = ' ';
gsa.vdop = strtod(end, NULL);
free(end);
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return gsa;
}
#endif
#if ENABLE_RMC
// RMC数据解析
static RMC rmc_data_parse(char *rmc_data)
{
RMC rmc;
unsigned char times = 0;
char *p;
char *s = strdup(rmc_data);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // UTC
strcpy(rmc.utc, p);
break;
case 2: // pos status
rmc.pos_status = p[0];
break;
case 3: // lat
rmc.lat = strtod(p, NULL);
break;
case 4: // lat dir
rmc.lat_dir = p[0];
break;
case 5: // lon
rmc.lon = strtod(p, NULL);
break;
case 6: // lon dir
rmc.lon_dir = p[0];
break;
case 7: // speen Kn
rmc.speed_Kn = strtod(p, NULL);
break;
case 8: // track true
rmc.track_true = strtod(p, NULL);
break;
case 9: // date
strcpy(rmc.date, p);
break;
case 10: // mag var
rmc.mag_var = strtod(p, NULL);
break;
case 11: // var dir
rmc.var_dir = p[0];
break;
case 14: // mode ind
rmc.mode_ind = p[0];
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return rmc;
}
#endif
#if ENABLE_VTG
// VTG数据解析
static VTG vtg_data_parse(char *vtg_data)
{
VTG vtg;
unsigned char times = 0;
char *p;
char *s = strdup(vtg_data);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // track true
vtg.track_true = strtod(p, NULL);
break;
case 3: // track mag
vtg.track_mag = strtod(p, NULL);
break;
case 5: // speed Kn
vtg.speed_Kn = strtod(p, NULL);
break;
case 7: // speed Km
vtg.speed_Km = strtod(p, NULL);
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return vtg;
}
#endif
#if ENABLE_GSV
/*
* function: 获取GSV字段中的GPS信息
* gps_data: 最原始的GPS字符串
* stas: 卫星数量
* prefix: GSV信息字段前缀
*/
static SAT_INFO *get_sats_info(char *gps_data, unsigned char sats, char *prefix)
{
SAT_INFO *sats_info;
unsigned char times = 0;
unsigned char msgs = 0;
unsigned char msg = 0;
unsigned char for_times;
unsigned char i;
char *p;
char *s;
char *sentences;
sats_info = (SAT_INFO *)malloc(sizeof(SAT_INFO) * (sats+1));
memset(sats_info, 0, sizeof(SAT_INFO) * (sats+1));
sentences = strtok(gps_data, "rn");
while (sentences)
{
if (strstr(sentences, prefix))
{
s = strdup(sentences);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // msgs
msgs = (unsigned char) strtol(p, NULL, 10);
break;
case 2: // msg
msg = (unsigned char) strtol(p, NULL, 10);
break;
case 3: // sat info
for_times = (msgs == msg) ? ((sats % 4) ? sats % 4 : 4) : 4;
for (i = 0; i < for_times; i++)
{
p = strsplit(&s, ",");
(sats_info+(msg-1)*4+i)->prn = (unsigned char) strtol(p, NULL, 10);
p = strsplit(&s, ",");
(sats_info+(msg-1)*4+i)->elev = (unsigned char) strtol(p, NULL, 10);
p = strsplit(&s, ",");
(sats_info+(msg-1)*4+i)->azimuth = (unsigned short) strtol(p, NULL, 10);
p = strsplit(&s, ",");
(sats_info+(msg-1)*4+i)->SNR = (unsigned char) strtol(p, NULL, 10);
}
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
times = 0;
}
sentences = strtok(NULL, "rn");
}
free(s);
return sats_info;
}
// GSV数据解析
static GSV gsv_data_parse(char *gsv_data, char *gps_data, char *prefix)
{
GSV gsv;
unsigned char times = 0;
char *p;
char *s = strdup(gsv_data);
char *src_data = strdup(gps_data);
p = strsplit(&s, ",");
while (p)
{
switch (times)
{
case 1: // msgs
gsv.msgs = (unsigned char)strtol(p, NULL, 10);
break;
case 2: // msg
gsv.msg = (unsigned char)strtol(p, NULL, 10);
break;
case 3: // sats
gsv.sats = (unsigned char)strtol(p, NULL, 10);
gsv.sat_info = get_sats_info(src_data, gsv.sats, prefix);
break;
default:
break;
}
p = strsplit(&s, ",");
times++;
}
free(s);
return gsv;
}
#endif
#if ENABLE_UTC
// UTC数据解析
static UTC utc_parse(char *date, char *time)
{
UTC utc_data;
unsigned int date_int;
double time_float;
date_int = (unsigned int)strtol(date, NULL, 10);
utc_data.DD = date_int / 10000;
utc_data.MM = date_int % 10000 / 100;
utc_data.YY = date_int % 100;
time_float = strtod(time, NULL);
utc_data.hh = (unsigned int)time_float / 10000;
utc_data.mm = (unsigned int)time_float % 10000 / 100;
utc_data.ss = (unsigned int)time_float % 100;
utc_data.ds = (unsigned short)(time_float - (unsigned int)time_float);
return utc_data;
}
#endif
// 解析全部的GPS数据
GPS gps_data_parse(char* gps_src)
{
GPS gps_all;
char *str_buffer = strdup(gps_src);
// GGA数据解析
#if ENABLE_GGA
GGA default_gga_data = {" ",0.0,'N',0.0,'S',0,0,0,0,0,0,0};
gps_src = strdup(str_buffer);
gps_all.gga_data = strstr(gps_src, PRE_GGA) ? gga_data_parse(strtok(strstr(gps_src, PRE_GGA), "rn")) : default_gga_data;
#endif
// GLL数据解析
#if ENABLE_GLL
GLL default_gll_data = {0.0,' ',0.0,' '," ",' '};
gps_src = strdup(str_buffer);
gps_all.gll_data = strstr(gps_src, PRE_GLL) ? gll_data_parse(strtok(strstr(gps_src, PRE_GLL), "rn")) : default_gll_data;
#endif
// GSA数据解析
#if ENABLE_GSA
GSA_PRN default_gsa_prn_data = {0,0,0};
GSA default_gsa_data = {' ',' ',0.0,0.0,0.0,&default_gsa_prn_data};
gps_src = strdup(str_buffer);
gps_all.gsa_data = strstr(gps_src, PRE_GSA) ? gsa_data_parse(strtok(strstr(gps_src, PRE_GSA), "rn"), str_buffer) : default_gsa_data;
#endif
// RMC数据解析
#if ENABLE_RMC
RMC default_rmc_data = {" ",' ',0.0,' ',0.0,' ',0.0,0.0," ",0.0,' ',' '};
gps_src = strdup(str_buffer);
gps_all.rmc_data = strstr(gps_src, PRE_RMC) ? rmc_data_parse(strtok(strstr(gps_src, PRE_RMC), "rn")) : default_rmc_data;
#endif
// VTG数据解析
#if ENABLE_VTG
VTG default_vtg_data = {0.0,0.0,0.0,0.0};
gps_src = strdup(str_buffer);
gps_all.vtg_data = strstr(gps_src, PRE_VTG) ? vtg_data_parse(strtok(strstr(gps_src, PRE_VTG), "rn")) : default_vtg_data;
#endif
// GSV数据解析
#if ENABLE_GSV
SAT_INFO default_sat_info_data = {0,0,0,0};
GSV default_gsv_data = {0,0,0,&default_sat_info_data};
// GPGSV数据段解析
gps_src = strdup(str_buffer);
gps_all.gpgsv_data = strstr(gps_src, PRE_GPGSV) ? gsv_data_parse(strtok(strstr(gps_src, PRE_GPGSV), "rn"), str_buffer, PRE_GPGSV) : default_gsv_data;
// GNGSV数据段解析
gps_src = strdup(str_buffer);
gps_all.gngsv_data = strstr(gps_src, PRE_GNGSV) ? gsv_data_parse(strtok(strstr(gps_src, PRE_GNGSV), "rn"), str_buffer, PRE_GNGSV) : default_gsv_data;
// GLGSV数据段解析
gps_src = strdup(str_buffer);
gps_all.glgsv_data = strstr(gps_src, PRE_GLGSV) ? gsv_data_parse(strtok(strstr(gps_src, PRE_GLGSV), "rn"), str_buffer, PRE_GLGSV) : default_gsv_data;
#endif
// UTC数据解析，UTC数据取自RMC段数据
#if ENABLE_UTC && ENABLE_RMC
gps_all.utc = utc_parse(gps_all.rmc_data.date, gps_all.rmc_data.utc);
#endif
free(str_buffer);
free(gps_src);
return gps_all;
}
gps.h
//
// Created by ihz on 2020/6/4.
//
#ifndef __GPS_H__
#define __GPS_H__
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
// 根据实际的数据修改ID
#define PRE_GGA "$GPGGA"
#define PRE_GLL "$GNGLL" //EC20 没有
#define PRE_GSA "$GPGSA"
#define PRE_GPGSV "$GPGSV"
#define PRE_GNGSV "$GPGSV"
#define PRE_GLGSV "$GLGSV" //EC20 没有
#define PRE_RMC "$GPRMC"
#define PRE_VTG "$GPVTG"
// 语句解析控制 1：使能，0：禁用
#define ENABLE_GGA 0
#define ENABLE_GLL 0
#define ENABLE_GSA 0
#define ENABLE_GSV 0
#define ENABLE_RMC 1
#define ENABLE_VTG 0
#define ENABLE_UTC 0
#if ENABLE_GGA
// GGA字段结构体（GPS定位数据）
typedef struct
{
char utc[11]; // UTC时间，格式为hhmmss.sss
double lat; // 纬度，格式为ddmm.mmmm
char lat_dir; // 纬度半球，N或S
double lon; // 经度，格式为dddmm.mmmm
char lon_dir; // 经度半球，E或W
unsigned char quality; // 0=定位无效，1=定位有效
unsigned char sats; // 使用卫星数量，从00到12
double hdop; // 水平精确度，0.5到99.9，单位m
double alt; // 海平面的高度，-9999.9到9999.9米
double undulation; // 大地水准面高度，-9999.9到9999.9米
unsigned char age; // 差分时间
unsigned short stn_ID; // 差分站ID号0000 - 1023
} GGA;
#endif
#if ENABLE_GLL
// GPGLL数据结构体（地理定位信息）
typedef struct
{
double lat; // 纬度，格式为ddmm.mmmm
char lat_dir; // 纬度半球，N或S
double lon; // 经度，格式为dddmm.mmmm
char lon_dir; // 经度半球，E或W
char utc[11]; // UTC时间，格式为hhmmss.sss
char data_status; // 状态标志位，A：有效，V无效
}GLL;
#endif
#if ENABLE_GSA
#pragma pack(1) // 便于指针偏移取值
// 信道信息结构体
typedef struct
{
unsigned char total; // 总信道个数
unsigned char prn_ID; // prn信道
unsigned char prn; // PRN 码（伪随机噪声码）
}GSA_PRN;
#pragma pack()
//GPGSA数据结构体（当前卫星信息）
typedef struct
{
unsigned char mode_MA; // 定位模式(选择2D/3D)，A=自动选择，M=手动选择
unsigned char mode_123; // 定位类型，1=未定位，2=2D定位，3=3D定位
double pdop; // PDOP综合位置精度因子（0.5 - 99.9）
double hdop; // HDOP水平精度因子（0.5 - 99.9）
double vdop; // VDOP垂直精度因子（0.5 - 99.9）
GSA_PRN *gsa_prn; // 存放信道信息
}GSA;
#endif
#if ENABLE_GSV
#pragma pack(1) // 便于指针偏移取值
// 可见卫星信息结构体
typedef struct
{
unsigned char prn; // PRN 码（伪随机噪声码）
unsigned char elev; // 卫星仰角（00 - 90）度
unsigned short azimuth; // 卫星方位角（00 - 359）度
unsigned char SNR; // 信噪比
}SAT_INFO;
#pragma pack()
// GPGSV数据结构体(可见卫星信息)
typedef struct
{
unsigned char msgs; // 本次GSV语句的总数目（1 - 3）
unsigned char msg; // 本条GSV语句是本次GSV语句的第几条（1 - 3）
unsigned char sats; // 当前可见卫星总数（00 - 12）
SAT_INFO *sat_info; // 卫星信息
}GSV;
#endif
#if ENABLE_RMC
//RMC数据结构体（推荐定位信息数据格式）
typedef struct
{
char utc[11]; // UTC时间，hhmmss.sss格式
unsigned char pos_status; // 状态，A=定位，V=未定位
double lat; // 纬度ddmm.mmmm，度分格式
char lat_dir; // 纬度N（北纬）或S（南纬）
double lon; // 经度dddmm.mmmm，度分格式
char lon_dir; // 经度E（东经）或W（西经）
double speed_Kn; // 速度
double track_true; // 方位角，度
char date[7]; // UTC日期，DDMMYY格式
double mag_var; // 磁偏角，（000 - 180）度
char var_dir; // 磁偏角方向，E=东W=西
char mode_ind; // 模式，A=自动，D=差分，E=估测，N=数据无效（3.0协议内容）
}RMC;
#endif
#if ENABLE_VTG
//VTG数据结构体（地面速度信息）
typedef struct
{
double track_true; // 运动角度，000 - 359，真北参照系
double track_mag; // 运动角度，000 - 359，磁北参照系
double speed_Kn; // 水平运动速度（0.00），节，Knots
double speed_Km; // 水平运动速度（0.00）, 公里/时，km/h
}VTG;
#endif
#if ENABLE_UTC
//UTC时间结构体
typedef struct
{
unsigned char YY; // 年
unsigned char DD; // 日
unsigned char MM; // 月
unsigned char hh; // 时
unsigned char mm; // 分
unsigned char ss; // 秒
unsigned short ds; // 毫秒
}UTC;
#endif
//定义GPS结构体
typedef struct
{
#if ENABLE_GGA
GGA gga_data;
#endif
#if ENABLE_GLL
GLL gll_data;
#endif
#if ENABLE_GSA
GSA gsa_data;
#endif
#if ENABLE_GSV
GSV gpgsv_data;
GSV gngsv_data;
GSV glgsv_data;
#endif
#if ENABLE_RMC
RMC rmc_data;
#endif
#if ENABLE_VTG
VTG vtg_data;
#endif
#if ENABLE_UTC
UTC utc;
#endif
}GPS;
GPS gps_data_parse(char* gps_src);
#endif //__GPS_H__
main.c
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <string.h>
#include "gps.h"
#define GPS_LEN 1024
//#define ENABLE_RMC
int main()
{
GPS gps;
unsigned char i;
// char gps_data[] = "$GNRMC,013300.00,A,2240.84105,N,11402.70763,E,0.007,,220319,,,D*69rn"
// "$GNVTG,,T,,M,0.007,N,0.014,K,D*3Arn"
// "$GNGGA,013300.00,2240.84105,N,11402.70763,E,2,12,0.59,70.5,M,-2.5,M,,0000*68rn"
// "$GNGSA,A,3,10,12,14,20,25,31,32,26,29,40,41,22,1.09,0.59,0.91*1Frn"
// "$GNGSA,A,3,74,70,73,80,69,,,,,,,,1.09,0.59,0.91*17rn"
// "$GPGSV,4,1,16,01,00,300,,10,56,178,51,12,12,038,38,14,47,345,48*79rn"
// "$GPGSV,4,2,16,16,00,207,,18,06,275,30,20,28,165,43,22,10,319,43*76rn"
// "$GPGSV,4,3,16,25,46,050,47,26,29,205,44,29,13,108,45,31,50,296,52*7Ern"
// "$GPGSV,4,4,16,32,56,010,52,40,20,257,40,41,46,237,48,42,46,123,42*77rn"
// "$GLGSV,2,1,06,69,27,136,49,70,76,057,50,71,34,338,50,73,64,276,55*6Brn"
// "$GLGSV,2,2,06,74,24,231,46,80,35,019,46*60rn"
// "$GNGLL,2240.84105,N,11402.70763,E,013300.00,A,D*7Crn";
// gps = gps_data_parse(gps_data);
int fd=0;
int n=0;
char buff[1024];
char *dev_name="/dev/ttyUSB1";
//if((fd=open(dev_name,O_RDWR|O_NOCTTY|O_NDELAY))<0)
if((fd=open(dev_name,O_RDWR))<0)
{
perror("Can't Open the ttyUSB0 Serial Port");
return -1;
}
while(1)
{
usleep(1000);
if((n=read(fd,buff,sizeof(buff)))<0)
{
perror("read error");
return -1;
}
gps = gps_data_parse(buff);
if(gps.rmc_data.pos_status == 0)
continue;
#if ENABLE_GGA
printf("----------GGA DATA----------n");
printf("utc:%sn", gps.gga_data.utc);
printf("lat:%fn", gps.gga_data.lat);
printf("lat_dir:%cn", gps.gga_data.lat_dir);
printf("lon:%fn", gps.gga_data.lon);
printf("lon_dir:%cn", gps.gga_data.lon_dir);
printf("quality:%dn", gps.gga_data.quality);
printf("sats:%dn", gps.gga_data.sats);
printf("hdop:%fn", gps.gga_data.hdop);
printf("alt:%fn", gps.gga_data.alt);
printf("undulation:%fn", gps.gga_data.undulation);
printf("age:%dn", gps.gga_data.age);
printf("stn_ID:%dn", gps.gga_data.stn_ID);
#endif
#if ENABLE_GLL
printf("----------GLL DATA----------n");
printf("utc:%sn", gps.gll_data.utc);
printf("lat:%fn", gps.gll_data.lat);
printf("lat_dir:%cn", gps.gll_data.lat_dir);
printf("lon:%fn", gps.gll_data.lon);
printf("lon_dir:%cn", gps.gll_data.lon_dir);
printf("data_status:%cn", gps.gll_data.data_status);
#endif
#if ENABLE_GSA
printf("----------GSA DATA----------n");
printf("mode_MA:%cn", gps.gsa_data.mode_MA);
printf("mode_123:%cn", gps.gsa_data.mode_123);
printf("total:%dn", gps.gsa_data.gsa_prn[0].total);
for (i=0; i<gps.gsa_data.gsa_prn[0].total; i++)
{
printf("prn%d:%dn", (i+1), gps.gsa_data.gsa_prn[i].prn);
}
printf("pdop:%fn", gps.gsa_data.pdop);
printf("hdop:%fn", gps.gsa_data.hdop);
printf("vdop:%fn", gps.gsa_data.vdop);
// gps.gsa_data.gsa_prn是动态分配的内存，用完记得释放,否则会造成内存泄漏
free(gps.gsa_data.gsa_prn);
#endif
#if ENABLE_RMC
printf("----------RMC DATA----------n");
printf("utc:%sn", gps.rmc_data.utc);
printf("lat:%fn", gps.rmc_data.lat);
printf("lat_dir:%cn", gps.rmc_data.lat_dir);
printf("lon:%fn", gps.rmc_data.lon);
printf("lon_dir:%cn", gps.rmc_data.lon_dir);
printf("speed_Kn:%fn", gps.rmc_data.speed_Kn);
printf("track_true:%fn", gps.rmc_data.track_true);
printf("date:%sn", gps.rmc_data.date);
printf("mag_var:%fn", gps.rmc_data.mag_var);
printf("var_dir:%cn", gps.rmc_data.var_dir);
printf("mode_ind:%cn", gps.rmc_data.mode_ind);
#endif
#if ENABLE_VTG
printf("----------VTG DATA----------n");
printf("track_true:%fn", gps.vtg_data.track_true);
printf("track_mag:%fn", gps.vtg_data.track_mag);
printf("speen_Kn:%fn", gps.vtg_data.speed_Kn);
printf("speed_Km:%fn", gps.vtg_data.speed_Km);
#endif
#if ENABLE_GSV
printf("----------GPGSV DATA----------n");
printf("msgs:%dn", gps.gpgsv_data.msgs);
printf("msg:%dn", gps.gpgsv_data.msg);
printf("sats:%dn", gps.gpgsv_data.sats);
for (i=0;i<gps.gpgsv_data.sats; i++)
{
printf("prn%d:%dn", i+1, gps.gpgsv_data.sat_info[i].prn);
printf("evel%d:%dn", i+1, gps.gpgsv_data.sat_info[i].elev);
printf("azimuth%d:%dn", i+1, gps.gpgsv_data.sat_info[i].azimuth);
printf("SNR%d:%dn", i+1, gps.gpgsv_data.sat_info[i].SNR);
}
// 用完释放gps.gpgsv_data.sat_info内存
if (gps.gpgsv_data.sats) free(gps.gpgsv_data.sat_info);
printf("----------GNGSV DATA----------n");
printf("msgs:%dn", gps.gngsv_data.msgs);
printf("msg:%dn", gps.gngsv_data.msg);
printf("sats:%dn", gps.gngsv_data.sats);
for (i=0; i<gps.gngsv_data.sats; i++)
{
printf("prn%d:%dn", i+1, gps.gngsv_data.sat_info[i].prn);
printf("evel%d:%dn", i+1, gps.gngsv_data.sat_info[i].elev);
printf("azimuth%d:%dn", i+1, gps.gngsv_data.sat_info[i].azimuth);
printf("SNR%d:%dn", i+1, gps.gngsv_data.sat_info[i].SNR);
}
if (gps.gngsv_data.sats) free(gps.gngsv_data.sat_info);
printf("----------GLGSV DATA----------n");
printf("msgs:%dn", gps.glgsv_data.msgs);
printf("msg:%dn", gps.glgsv_data.msg);
printf("sats:%dn", gps.glgsv_data.sats);
for (i=0;i<gps.glgsv_data.sats; i++)
{
printf("prn%d:%dn", i+1, gps.glgsv_data.sat_info[i].prn);
printf("evel%d:%dn", i+1, gps.glgsv_data.sat_info[i].elev);
printf("azimuth%d:%dn", i+1, gps.glgsv_data.sat_info[i].azimuth);
printf("SNR%d:%dn", i+1, gps.glgsv_data.sat_info[i].SNR);
}
if (gps.glgsv_data.sats) free(gps.glgsv_data.sat_info);
#endif
#if ENABLE_UTC && ENABLE_RMC
printf("----------UTC DATA----------n");
printf("year:20%02dn", gps.utc.YY);
printf("month:%02dn", gps.utc.MM);
printf("date:%02dn", gps.utc.DD);
printf("hour:%02dn", gps.utc.hh);
printf("minutes:%02dn", gps.utc.mm);
printf("second:%02dn", gps.utc.ss);
printf("ds:%02dn", gps.utc.ds);
#endif
}
return 0;
}
Makefile
objs= gps.o main.o
srcs= gps.c main.c
gps_test: $(objs)
$(CC) -o gps_test $(objs)
@make clean
main.o: $(srcs) gps.h
$(CC) -c $(srcs)
gps.o: gps.c gps.h
$(CC) -c gps.c
clean:
rm *.o参考文件连接
C解析GPS数据_一杯凉白开-CSDN博客
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