1、接上模块通过USB连接，需要插上SIM卡，查看设备如下
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2root@ATK-IMX6U:~# ls /dev/ttyUSB* /dev/ttyUSB0 /dev/ttyUSB1 /dev/ttyUSB2 /dev/ttyUSB3
2、使能GPS信息输出
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1echo -e "AT+QGPS=1nr" > /dev/ttyUSB2
通过命令查看信息
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1root@ATK-IMX6U:~# cat /dev/ttyUSB1
没定位到的情况
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8$GPVTG,,T,,M,,N,,K,N*2C $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPGGA,,,,,,0,,,,,,,,*66 $GPRMC,,V,,,,,,,,,,N*53
定位到的情况
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20$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
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542// // 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
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183// // 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
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168#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
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16objs= 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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