// Compute the GPS location using decimal scale
extern void gps_location(loc_t *coord) {
uint8_t status = _EMPTY;
while(status != _COMPLETED) {
gpgga_t gpgga;
gprmc_t gprmc;
char buffer[256];
serial_readln(buffer, 256);
switch (nmea_get_message_type(buffer)) {
case NMEA_GPGGA:
nmea_parse_gpgga(buffer, &gpgga);
gps_convert_deg_to_dec(&(gpgga.latitude), gpgga.lat, &(gpgga.longitude), gpgga.lon);
coord->latitude = gpgga.latitude;
coord->longitude = gpgga.longitude;
coord->altitude = gpgga.altitude;
status |= NMEA_GPGGA;
break;
case NMEA_GPRMC:
nmea_parse_gprmc(buffer, &gprmc);
coord->speed = gprmc.speed;
coord->course = gprmc.course;
status |= NMEA_GPRMC;
break;
}
}
}
// Compute the GPS location using decimal scale
void gps_location(loc_t *coord) {
uint8_t status = _EMPTY;
while(status != _COMPLETED) {
gpgga_t gpgga;
gprmc_t gprmc;
char buffer[256];
rp_UartReadln(buffer, 256);
switch (rp_NmeaGetMessageType(buffer)) {
case NMEA_GPGGA:
rp_NmeaParseGpgga(buffer, &gpgga);
gps_convert_deg_to_dec(&(gpgga.latitude), gpgga.lat, &(gpgga.longitude), gpgga.lon);
coord->latitude = gpgga.latitude;
coord->longitude = gpgga.longitude;
coord->altitude = gpgga.altitude;
status |= NMEA_GPGGA;
break;
case NMEA_GPRMC:
rp_NmeaParseGprmc(buffer, &gprmc);
coord->speed = gprmc.speed;
coord->course = gprmc.course;
status |= NMEA_GPRMC;
break;
}
}
}
// Compute the GPS location using decimal scale
void gps_location(loc_t *coord, char *buffer) {
coord->type = nmea_get_message_type(buffer);
switch (coord->type) {
case NMEA_GPGGA:
nmea_parse_gpgga(buffer, coord);
gps_convert_deg_to_dec(&(coord->latitude), coord->lat, &(coord->longitude), coord->lon);
break;
case NMEA_GPRMC:
nmea_parse_gprmc(buffer, coord);
break;
case NMEA_UNKNOWN:
// unknown message type
break;
}
}
// Compute the GPS location using decimal scale
extern void gps_location(loc_t *coord) {
uint8_t status = _EMPTY;
while(status != _COMPLETED) {
gpgga_t gpgga;
gprmc_t gprmc;
char buffer[1000];
//mraa_uart_read(uart, buffer, 256);
serial_readln(buffer, 256);
//printf("%s\n", buffer);
//printf("%d\n",nmea_get_message_type(buffer));
switch (nmea_get_message_type(buffer)) {
case NMEA_GPGGA:
nmea_parse_gpgga(buffer, &gpgga);
//printf("%d\n", gpgga.latitude);
gps_convert_deg_to_dec(&(gpgga.latitude), gpgga.lat, &(gpgga.longitude), gpgga.lon);
// printf("%d\n", gpgga.latitude);
coord->latitude = gpgga.latitude;
coord->longitude = gpgga.longitude;
coord->altitude = gpgga.altitude;
status |= NMEA_GPGGA;
break;
case NMEA_GPRMC:
nmea_parse_gprmc(buffer, &gprmc);
coord->speed = gprmc.speed;
coord->course = gprmc.course;
//printf("%dspeed\n", gprmc.speed);
//coord->magnetic = gprmc.magnetic;
//coord->mag = gprmc.mag;
//printf("%d\n", gprmc.magnetic);
status |= NMEA_GPRMC;
break;
}
}
}
int main()
{
mraa_uart_context gps;
load_device_tree("ADAFRUIT-UART1");
gps = mraa_uart_init_raw("/dev/ttyO1");
mraa_uart_set_baudrate(gps, 9600);
char buf[1000];
char search[7];
gprmc_t readGPS;
// char *p = buf;
while(1){//gprmc_t readGPS;
int i=0;
mraa_uart_read(gps, search, 1);
if(search[0] == '$'){
for(i=1; i<7;i++){
mraa_uart_read(gps, search+i, 1);
}
if(strstr(search, "$GPRMC,")){
for(i=0; i<100;i++){
mraa_uart_read(gps, buf+i, 1);
if(buf[i] == '\n'){
buf[i]='\0';
break;
}
}
// printf("%s\n", buf);
nmea_parse_gprmc(buf, &readGPS);
gps_convert_deg_to_dec(&(readGPS.latitude), readGPS.lat, &(readGPS.longitude), readGPS.lon);
printf("%d\n", readGPS.state);
printf("%f\n", readGPS.latitude);
printf("%f\n", readGPS.longitude);
}
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// printf("%s\n",buf);
// if(buf[0]=='$')
// {
// printf("%s\n", buf);
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
// }
// if (strchr(buf, '$GPRMC')!=NULL){
// //buf = strchr(buf, ',')+1;
// //printf("%s\n", buf);
// }
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
//mraa_uart_read(gps, buf, 1);
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// mraa_uart_read(gps, buf+17, 1);
//int i=0;
//for(i = 0; i<100)
// if(nmea_get_message_type(buf)==NMEA_GPRMC){
// nmea_parse_gprmc(buf, &readGPS);
// printf("%d\n", readGPS.speed);}
// }
}
}
}
