【智能无线小车系列十一】利用GPS 模块定位我的小车

本章介绍一个额外的扩展模块：GPS定位模块，借助该模块我们可以实现小车的地理位置定位的功能。

使用从淘宝上淘得一个GPS模块，拿来测试一下：

下面直接贴一下关键的代码实现，仅供参考：

get_gps_msg.c:获取GPS数据：

#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<sys/types.h>
#include<sys/stat.h>
#include<fcntl.h>
#include<unistd.h>
#include<termios.h>

struct GPS_INFO{
    char status;
    double latitude;
    double longtitude;
}gps;
int set_opt(int fd,int nSpeed, int nBits, char nEvent, int nStop)
{
    struct termios newtio,oldtio;
    if  ( tcgetattr( fd,&oldtio)  !=  0) { 
        perror("SetupSerial 1");
        return -1;
    }
    bzero( &newtio, sizeof( newtio ) );
    newtio.c_cflag  |=  CLOCAL | CREAD;
    newtio.c_cflag &= ~CSIZE;

    switch( nBits )
    {
    case 7:
        newtio.c_cflag |= CS7;
        break;
    case 8:
        newtio.c_cflag |= CS8;
        break;
    }

    switch( nEvent )
    {
        case 'O':
        newtio.c_cflag |= PARENB;
        newtio.c_cflag |= PARODD;
        newtio.c_iflag |= (INPCK | ISTRIP);
        break;
        case 'E': 
        newtio.c_iflag |= (INPCK | ISTRIP);
        newtio.c_cflag |= PARENB;
        newtio.c_cflag &= ~PARODD;
        break;
        case 'N':  
        newtio.c_cflag &= ~PARENB;
        break;
    }

    switch( nSpeed )
    {
        case 2400:
        cfsetispeed(&newtio, B2400);
        cfsetospeed(&newtio, B2400);
        break;
        case 4800:
        cfsetispeed(&newtio, B4800);
        cfsetospeed(&newtio, B4800);
        break;
        case 9600:
        cfsetispeed(&newtio, B9600);
        cfsetospeed(&newtio, B9600);
        break;
        case 115200:
        cfsetispeed(&newtio, B115200);
        cfsetospeed(&newtio, B115200);
        break;
        case 460800:
        cfsetispeed(&newtio, B460800);
        cfsetospeed(&newtio, B460800);
        break;
        default:
        cfsetispeed(&newtio, B9600);
        cfsetospeed(&newtio, B9600);
        break;
    }
    if( nStop == 1 )
        newtio.c_cflag &=  ~CSTOPB;
    else if ( nStop == 2 )
        newtio.c_cflag |=  CSTOPB;
    newtio.c_cc[VTIME]  = 0;
    newtio.c_cc[VMIN] = 0;
    tcflush(fd,TCIFLUSH);
    if((tcsetattr(fd,TCSANOW,&newtio))!=0)
    {
        perror("com set error");
        return -1;
    }
    printf("set done!\n\r");
    return 0;
}


double get_locate(double temp)
{
    int m;
    double  n;
    m=(int)temp/100;
    n=(temp-m*100)/60;
    n=n+m;
    return n;
}


int GetComma(int num,char *str)
{
    int i,j=0;
    int len=strlen(str);
    for(i=0;i<len;i++)
    {
        if(str[i]==',')
        {
             j++;
        }

        if(j==num)
            return i+1;
    }
    return 0;
}

double get_double_number(char *s)
{
    char buf[128];
    int i;
    double rev;
    i=GetComma(1,s);
    strncpy(buf,s,i);
    buf[i]=0;
    rev=atof(buf);
    return rev;
}

void gps_parse(char buf[],int n)
{
    int tmp;
    char c;
    c = buf[5];
    if(c=='C')
    {
        //"GPRMC"
        gps.status      = buf[GetComma(2,buf)];
        gps.latitude = get_locate(get_double_number(&buf[GetComma(3,buf)]));
        //gps.NS       = buf[GetComma(4,buf)];
        gps.longtitude= get_locate(get_double_number(&buf[GetComma(5,buf)]));
        //gps.EW       = buf[GetComma(6,buf)];
    }
 }
 
struct GPS_INFO get_gps(void)
{
    int fd,nset1,nread;
    char buf[1024];
    //int i;
    fd = open("/dev/ttyACM0", O_RDWR|O_NONBLOCK);
    if (fd == -1)
    {
        printf("Cannot open gps device\n");
        close(fd);
        exit(1);
    }
    nset1 = set_opt(fd,9600, 8, 'N', 1);
    if (nset1 == -1)
        exit(1);
    while    (1)
    //for(i=0;i<3;i++)
    {
        memset(buf,0,1024);    
        nread = read(fd, buf, 1024);
        if (nread > 0)
        {
            buf[nread] = '\0';
            gps_parse(buf,1024);
            if(gps.status=='A')
            {
            printf("%f    %f\n",gps.latitude,gps.longtitude);
            return gps;
            }
        /*    printf("\nDATALen=%d\n",nread); 
            printf( "GPS %s\n", buf);    */
        }
        sleep(2);
    }
    close(fd);
    //return 0;
}

GPS_modular.c:GPS模块信息

1 /*
  2  ============================================================================
  3  Name        : GPS_modular.c
  4  Author      : Lou
  5  Version     :
  6  Copyright   : copyright reserved
  7  Description : Hello World in C, Ansi-style
  8  ============================================================================
  9  */
 10 #include<stdio.h>
 11 #include<stdlib.h>
 12 #include<string.h>
 13 #include<sys/types.h>
 14 #include<sys/stat.h>
 15 #include<fcntl.h>
 16 #include<unistd.h>
 17 #include<termios.h>
 18 
 19 struct GPS_INFO{
 20     char status;
 21     double latitude;
 22     double longtitude;
 23 }gps;
 24 int set_opt(int fd,int nSpeed, int nBits, char nEvent, int nStop)
 25 {
 26     struct termios newtio,oldtio;
 27     if  ( tcgetattr( fd,&oldtio)  !=  0) { 
 28         perror("SetupSerial 1");
 29         return -1;
 30     }
 31     bzero( &newtio, sizeof( newtio ) );
 32     newtio.c_cflag  |=  CLOCAL | CREAD;
 33     newtio.c_cflag &= ~CSIZE;
 34 
 35     switch( nBits )
 36     {
 37     case 7:
 38         newtio.c_cflag |= CS7;
 39         break;
 40     case 8:
 41         newtio.c_cflag |= CS8;
 42         break;
 43     }
 44 
 45     switch( nEvent )
 46     {
 47         case 'O':
 48         newtio.c_cflag |= PARENB;
 49         newtio.c_cflag |= PARODD;
 50         newtio.c_iflag |= (INPCK | ISTRIP);
 51         break;
 52         case 'E': 
 53         newtio.c_iflag |= (INPCK | ISTRIP);
 54         newtio.c_cflag |= PARENB;
 55         newtio.c_cflag &= ~PARODD;
 56         break;
 57         case 'N':  
 58         newtio.c_cflag &= ~PARENB;
 59         break;
 60     }
 61 
 62     switch( nSpeed )
 63     {
 64         case 2400:
 65         cfsetispeed(&newtio, B2400);
 66         cfsetospeed(&newtio, B2400);
 67         break;
 68         case 4800:
 69         cfsetispeed(&newtio, B4800);
 70         cfsetospeed(&newtio, B4800);
 71         break;
 72         case 9600:
 73         cfsetispeed(&newtio, B9600);
 74         cfsetospeed(&newtio, B9600);
 75         break;
 76         case 115200:
 77         cfsetispeed(&newtio, B115200);
 78         cfsetospeed(&newtio, B115200);
 79         break;
 80         case 460800:
 81         cfsetispeed(&newtio, B460800);
 82         cfsetospeed(&newtio, B460800);
 83         break;
 84         default:
 85         cfsetispeed(&newtio, B9600);
 86         cfsetospeed(&newtio, B9600);
 87         break;
 88     }
 89     if( nStop == 1 )
 90         newtio.c_cflag &=  ~CSTOPB;
 91     else if ( nStop == 2 )
 92         newtio.c_cflag |=  CSTOPB;
 93     newtio.c_cc[VTIME]  = 0;
 94     newtio.c_cc[VMIN] = 0;
 95     tcflush(fd,TCIFLUSH);
 96     if((tcsetattr(fd,TCSANOW,&newtio))!=0)
 97     {
 98         perror("com set error");
 99         return -1;
100     }
101     printf("set done!\n\r");
102     return 0;
103 }
104 
105 
106 double get_locate(double temp)
107 {
108     int m;
109     double  n;
110     m=(int)temp/100;
111     n=(temp-m*100)/60;
112     n=n+m;
113     return n;
114 }
115 
116 
117 int GetComma(int num,char *str)
118 {
119     int i,j=0;
120     int len=strlen(str);
121     for(i=0;i<len;i++)
122     {
123         if(str[i]==',')
124         {
125              j++;
126         }
127 
128         if(j==num)
129             return i+1;
130     }
131     return 0;
132 }
133 
134 double get_double_number(char *s)
135 {
136     char buf[128];
137     int i;
138     double rev;
139     i=GetComma(1,s);
140     strncpy(buf,s,i);
141     buf[i]=0;
142     rev=atof(buf);
143     return rev;
144 }
145 
146 void gps_parse(char buf[],int n)
147 {
148     int tmp;
149     char c;
150     c = buf[5];
151     if(c=='C')
152     {
153         //"GPRMC"
154         gps.status      = buf[GetComma(2,buf)];
155         gps.latitude = get_locate(get_double_number(&buf[GetComma(3,buf)]));
156         //gps.NS       = buf[GetComma(4,buf)];
157         gps.longtitude= get_locate(get_double_number(&buf[GetComma(5,buf)]));
158         //gps.EW       = buf[GetComma(6,buf)];
159     }
160  }
161  
162 struct GPS_INFO get_gps(void)
163 {
164     int fd,nset1,nread;
165     char buf[1024];
166     //int i;
167     fd = open("/dev/ttyACM0", O_RDWR|O_NONBLOCK);
168     if (fd == -1)
169     {
170         printf("Cannot open gps device\n");
171         close(fd);
172         exit(1);
173     }
174     nset1 = set_opt(fd,9600, 8, 'N', 1);
175     if (nset1 == -1)
176         exit(1);
177     while    (1)
178     //for(i=0;i<3;i++)
179     {
180         memset(buf,0,1024);    
181         nread = read(fd, buf, 1024);
182         if (nread > 0)
183         {
184             buf[nread] = '\0';
185             gps_parse(buf,1024);
186             if(gps.status=='A')
187             {
188             printf("%f    %f\n",gps.latitude,gps.longtitude);
189             return gps;
190             }
191         /*    printf("\nDATALen=%d\n",nread); 
192             printf( "GPS %s\n", buf);    */
193         }
194         sleep(2);
195     }
196     close(fd);
197     //return 0;
198 }
199 
200 int main(void) {
201     
202     gps=get_gps();
203     printf("%lf\n,%lf\n",gps.latitude,gps.longtitude);
204     return 0;
205 }

GPS.c:GPS定义

  1 #include<stdio.h>
  2 #include<stdlib.h>
  3 #include<string.h>
  4 #include<sys/types.h>
  5 #include<sys/stat.h>
  6 #include<fcntl.h>
  7 #include<unistd.h>
  8 #include<termios.h>
  9 #include<string.h>
 10 
 11 int set_opt(int fd,int nSpeed, int nBits, char nEvent, int nStop)
 12 {
 13     struct termios newtio,oldtio;
 14     if  ( tcgetattr( fd,&oldtio)  !=  0) { 
 15         perror("SetupSerial 1");
 16         return -1;
 17     }
 18     bzero( &newtio, sizeof( newtio ) );
 19     newtio.c_cflag  |=  CLOCAL | CREAD;
 20     newtio.c_cflag &= ~CSIZE;
 21 
 22     switch( nBits )
 23     {
 24     case 7:
 25         newtio.c_cflag |= CS7;
 26         break;
 27     case 8:
 28         newtio.c_cflag |= CS8;
 29         break;
 30     }
 31 
 32     switch( nEvent )
 33     {
 34     case 'O':
 35         newtio.c_cflag |= PARENB;
 36         newtio.c_cflag |= PARODD;
 37         newtio.c_iflag |= (INPCK | ISTRIP);
 38         break;
 39     case 'E': 
 40         newtio.c_iflag |= (INPCK | ISTRIP);
 41         newtio.c_cflag |= PARENB;
 42         newtio.c_cflag &= ~PARODD;
 43         break;
 44     case 'N':  
 45         newtio.c_cflag &= ~PARENB;
 46         break;
 47     }
 48 
 49     switch( nSpeed )
 50     {
 51     case 2400:
 52         cfsetispeed(&newtio, B2400);
 53         cfsetospeed(&newtio, B2400);
 54         break;
 55     case 4800:
 56         cfsetispeed(&newtio, B4800);
 57         cfsetospeed(&newtio, B4800);
 58         break;
 59     case 9600:
 60         cfsetispeed(&newtio, B9600);
 61         cfsetospeed(&newtio, B9600);
 62         break;
 63     case 115200:
 64         cfsetispeed(&newtio, B115200);
 65         cfsetospeed(&newtio, B115200);
 66         break;
 67     case 460800:
 68         cfsetispeed(&newtio, B460800);
 69         cfsetospeed(&newtio, B460800);
 70         break;
 71     default:
 72         cfsetispeed(&newtio, B9600);
 73         cfsetospeed(&newtio, B9600);
 74         break;
 75     }
 76     if( nStop == 1 )
 77         newtio.c_cflag &=  ~CSTOPB;
 78     else if ( nStop == 2 )
 79     newtio.c_cflag |=  CSTOPB;
 80     newtio.c_cc[VTIME]  = 0;//重要
 81     newtio.c_cc[VMIN] = 100;//返回的最小值  重要
 82     tcflush(fd,TCIFLUSH);
 83     if((tcsetattr(fd,TCSANOW,&newtio))!=0)
 84     {
 85         perror("com set error");
 86         return -1;
 87     }
 88 //    printf("set done!\n\r");
 89     return 0;
 90 }
 91 
 92 int main(void)
 93 {
 94     int fd1,nset1,nread;
 95     char buf[1024];
 96 
 97     fd1 = open("/dev/ttyACM0", O_RDWR|O_NONBLOCK);//打开串口
 98     if (fd1 == -1)
 99                 {printf("open error\n");
100         exit(1);}
101 
102     nset1 = set_opt(fd1,4800, 8, 'N', 1);//设置串口属性
103     if (nset1 == -1)
104         exit(1);
105 
106     while    (1)
107 
108     {
109         memset(buf,0,1024);    
110         nread = read(fd1, buf, 1024);//读串口
111         if (nread > 0){
112             printf("\n GPS DATALen=%d\n",nread); 
113             buf[nread] = '\0';
114             printf( "GPS %s\n", buf); //输出所读数据
115         }
116         sleep(2);//睡眠，等待数据多一点
117  
118     }
119     close(fd1);
120         return 0;
121 }