148 lines
4.6 KiB
C
148 lines
4.6 KiB
C
/****************************************************************************
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* apps/examples/gps/gps_main.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <wchar.h>
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#include <syslog.h>
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#include <unistd.h>
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#include <minmea/minmea.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define MINMEA_MAX_LENGTH 256
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* gps_main
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****************************************************************************/
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int main(int argc, FAR char *argv[])
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{
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int fd;
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int cnt;
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char ch;
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char line[MINMEA_MAX_LENGTH];
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/* Open the GPS serial port */
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fd = open("/dev/ttyS1", O_RDONLY);
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if (fd < 0)
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{
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printf("Unable to open file /dev/ttyS1\n");
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}
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/* Run forever */
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for (; ; )
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{
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/* Read until we complete a line */
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cnt = 0;
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do
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{
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read(fd, &ch, 1);
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if (ch != '\r' && ch != '\n')
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{
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line[cnt++] = ch;
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}
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}
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while (ch != '\r' && ch != '\n');
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line[cnt] = '\0';
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switch (minmea_sentence_id(line, false))
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{
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case MINMEA_SENTENCE_RMC:
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{
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struct minmea_sentence_rmc frame;
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if (minmea_parse_rmc(&frame, line))
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{
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printf("Fixed-point Latitude...........: %d\n",
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minmea_rescale(&frame.latitude, 1000));
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printf("Fixed-point Longitude..........: %d\n",
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minmea_rescale(&frame.longitude, 1000));
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printf("Fixed-point Speed..............: %d\n",
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minmea_rescale(&frame.speed, 1000));
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printf("Floating point degree latitude.: %2.6f\n",
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minmea_tocoord(&frame.latitude));
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printf("Floating point degree longitude: %2.6f\n",
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minmea_tocoord(&frame.longitude));
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printf("Floating point speed...........: %2.6f\n",
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minmea_tocoord(&frame.speed));
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}
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else
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{
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printf("$xxRMC sentence is not parsed\n");
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}
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}
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break;
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case MINMEA_SENTENCE_GGA:
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{
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struct minmea_sentence_gga frame;
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if (minmea_parse_gga(&frame, line))
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{
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printf("Fix quality....................: %d\n",
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frame.fix_quality);
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printf("Altitude.......................: %d\n",
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frame.altitude.value);
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printf("Tracked satellites.............: %d\n",
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frame.satellites_tracked);
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}
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else
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{
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printf("$xxGGA sentence is not parsed\n");
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}
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}
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break;
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case MINMEA_INVALID:
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case MINMEA_UNKNOWN:
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case MINMEA_SENTENCE_GSA:
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case MINMEA_SENTENCE_GLL:
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case MINMEA_SENTENCE_GST:
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case MINMEA_SENTENCE_GSV:
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case MINMEA_SENTENCE_GBS:
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case MINMEA_SENTENCE_VTG:
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case MINMEA_SENTENCE_ZDA:
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{
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}
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break;
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}
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}
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return 0;
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}
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