// 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;
}
}
}
END_TEST
START_TEST (test_nmea_gprmc_parse)
{
gprmc_t *loc = (gprmc_t *)malloc(sizeof(gprmc_t));
nmea_parse_gprmc("$GPRMC,081836,A,3751.65,S,14507.36,E,000.05,360.0,130998,011.3,E*62", loc);
char buf[48];
snprintf(buf, sizeof(buf), "The readed latitude is: %f", loc->latitude);
ck_assert_double_eq(3751.65, loc->latitude, buf);
snprintf(buf, sizeof(buf), "The readed lat is: %c", loc->lat);
ck_assert_msg(loc->lat == 'S', buf);
snprintf(buf, sizeof(buf), "The readed longitude is: %f", loc->longitude);
ck_assert_double_eq(14507.36, loc->longitude, buf);
snprintf(buf, sizeof(buf), "The readed lon is: %c", loc->lon);
ck_assert_msg(loc->lon == 'E', buf);
snprintf(buf, sizeof(buf), "The readed speed is: %lf", loc->speed);
ck_assert_double_eq(0.05, loc->speed, buf);
snprintf(buf, sizeof(buf), "The readed course/angle is: %lf", loc->course);
ck_assert_msg(loc->course == 360, buf);
}
// 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);}
// }
}
}
}
int MtkGps::parse_nmea(const char *str)
{
if (!nmea_is_valid(str))
return -1;
int ret, nmea_type = nmea_get_type(str);
if (nmea_type == NMEA_SEN_GGA) {
ret = nmea_parse_gpgga(str, &gga);
if (ret == 0) {
fix_time = gga.time;
fix_msec = gga.millisec;
valid |= NMEA_SEN_GGA;
}
return ret;
}
if (nmea_type == NMEA_SEN_RMC) {
ret = nmea_parse_gprmc(str, &rmc);
if (ret == 0) {
double frac;
latitude = rmc.latitude / 100.0;
frac = modf(latitude, &latitude);
latitude += frac/0.6;
if (rmc.flags & NMEA_LAT_SOUTH)
latitude = -latitude;
longitude = rmc.longitude / 100.0;
frac = modf(longitude, &longitude);
longitude += frac/0.6;
if (rmc.flags & NMEA_LON_WEST)
longitude = -longitude;
fix_time = rmc.time;
fix_msec = rmc.millisec;
fix_date = rmc.date;
valid |= NMEA_SEN_RMC;
}
return ret;
}
if (nmea_type == NMEA_SEN_GLL) {
ret = nmea_parse_gpgll(str, &gll);
if (ret == 0) {
fix_time = gll.time;
fix_msec = gll.millisec;
valid |= NMEA_SEN_GLL;
}
return ret;
}
if (nmea_type == NMEA_SEN_VTG) {
ret = nmea_parse_gpvtg(str, &vtg);
if (ret == 0)
valid |= NMEA_SEN_VTG;
return ret;
}
if (nmea_type == NMEA_SEN_GSA) {
ret = nmea_parse_gpgsa(str, &gsa);
if (ret == 0)
valid |= NMEA_SEN_GSA;
return ret;
}
if (nmea_type == NMEA_SEN_ZDA) {
ret = nmea_parse_gpzda(str, &zda);
if (ret == 0) {
fix_date = zda.date;
fix_time = zda.time;
fix_msec = zda.millisec;
valid |= NMEA_SEN_ZDA;
}
return ret;
}
if (nmea_type == NMEA_SEN_GSV) {
ret = nmea_parse_gpgsv(str, gsv, &ngsv, &igsv);
if (ret == 0)
valid |= NMEA_SEN_GSV;
return ret;
}
if (nmea_type == NMEA_SEN_MCHN) {
ret = nmea_parse_mtkchn(str, chn);
if (ret == 0)
valid |= NMEA_SEN_MCHN;
return ret;
}
// firmware release info
if (nmea_type == NMEA_SEN_MTK) {
int type = getMtkPType(nmea);
if (type == PMTK_DT_RELEASE) {
if (release != NULL)
free((void *)release);
char *end = strchr(nmea, '*');
if (end)
*end = '\0';
release = strdup(nmea + 9);
return 0;
}
}
return 0;
}
