// 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_invalid_nmea_gpgga_parse)
{
gpgga_t *loc = (gpgga_t *)malloc(sizeof(gpgga_t));
nmea_parse_gpgga("$GPGGA,080919.091,,,,,0,0,,,M,,M,,*49", loc);
char buf[48];
snprintf(buf, sizeof(buf), "The readed latitude is: %f", loc->latitude);
ck_assert_double_eq(0, loc->latitude, buf);
snprintf(buf, sizeof(buf), "The readed lat is: %c", loc->lat);
ck_assert_msg(loc->lat == '\0', buf);
snprintf(buf, sizeof(buf), "The readed longitude is: %f", loc->longitude);
ck_assert_double_eq(0, loc->longitude, buf);
snprintf(buf, sizeof(buf), "The readed lon is: %c", loc->lon);
ck_assert_msg(loc->lon == '\0', buf);
snprintf(buf, sizeof(buf), "The readed quality is: %d", loc->quality);
ck_assert_msg(loc->quality == 0, buf);
snprintf(buf, sizeof(buf), "The readed satellites is: %d", loc->satellites);
ck_assert_msg(loc->satellites == 0, buf);
snprintf(buf, sizeof(buf), "The readed altitude is: %lf", loc->altitude);
ck_assert_double_eq(0, loc->altitude, buf);
}
void nmea_parse_uart(uint8_t *data)
{
uint8_t *c = data;
while(1)
{
if (*c == '$') {
flagRead = 1;
wordIdx = 0;
prevIdx = 0;
nowIdx = 0;
}
if (flagRead) {
if (*c == '\r' || *c == '\n') {
words[wordIdx][nowIdx-prevIdx] = 0;
wordIdx++;
flagRead = 0;
nmea_parse_gpgga();
break;
} else {
words[wordIdx][nowIdx - prevIdx] = *c;
if (*c == ',') {
words[wordIdx][nowIdx - prevIdx] = 0;
wordIdx++;
prevIdx = nowIdx;
}
nowIdx++;
}
}
c++; //next character in buffer
}
}
// 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 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;
}
