nuttx-apps/examples/gps/gps_main.c

/****************************************************************************
 * examples/hello/gps_main.c
 *
 *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
 *   Author: Alan Carvalho de Assis <acassis@gmail.com>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdio.h>
#include <fcntl.h>
#include <wchar.h>
#include <syslog.h>

#include "gpsutils/minmea.h"

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * gps_main
 ****************************************************************************/

#ifdef CONFIG_BUILD_LOADABLE
int main(int argc, FAR char *argv[])
#else
int gps_main(int argc, char *argv[])
#endif
{
  int fd;
  int cnt;
  char ch;
  char line[MINMEA_MAX_LENGTH];

  /* Open the GPS serial port */

  fd = open("/dev/ttyS1", O_RDONLY);
  if (fd < 0)
    {
      printf("Unable to open file /dev/ttyS1\n");
    }

  /* Run forever */

  for (; ; )
    {
      /* Read until we complete a line */

      cnt = 0;
      do
        {
          read(fd, &ch, 1);
          if (ch != '\r' && ch != '\n')
            {
              line[cnt++] = ch;
            }
        }
      while (ch != '\r' && ch != '\n');

      line[cnt] = '\0';

      switch (minmea_sentence_id(line, false))
        {
          case MINMEA_SENTENCE_RMC:
            {
              struct minmea_sentence_rmc frame;

              if (minmea_parse_rmc(&frame, line))
                {
                  printf("Fixed-point Latitude...........: %d\n",
                         minmea_rescale(&frame.latitude, 1000));
                  printf("Fixed-point Longitude..........: %d\n",
                         minmea_rescale(&frame.longitude, 1000));
                  printf("Fixed-point Speed..............: %d\n",
                         minmea_rescale(&frame.speed, 1000));
                  printf("Floating point degree latitude.: %2.6f\n",
                         minmea_tocoord(&frame.latitude));
                  printf("Floating point degree longitute: %2.6f\n",
                         minmea_tocoord(&frame.longitude));
                  printf("Floating point speed...........: %2.6f\n",
                         minmea_tocoord(&frame.speed));
                }
              else
                {
                    printf("$xxRMC sentence is not parsed\n");
                }
            }
            break;

          case MINMEA_SENTENCE_GGA:
            {
              struct minmea_sentence_gga frame;

              if (minmea_parse_gga(&frame, line))
                {
                  printf("Fix quality....................: %d\n",
                         frame.fix_quality);
                  printf("Altitude.......................: %d\n",
                         frame.altitude.value);
                  printf("Tracked satellites.............: %d\n",
                         frame.satellites_tracked);
                }
              else
                {
                  printf("$xxGGA sentence is not parsed\n");
                }
            }
            break;

          case MINMEA_INVALID:
          case MINMEA_UNKNOWN:
          case MINMEA_SENTENCE_GSA:
          case MINMEA_SENTENCE_GLL:
          case MINMEA_SENTENCE_GST:
          case MINMEA_SENTENCE_GSV:
            {
            }
            break;
        }
    }

  return 0;
}