文章目录
一、获取GPS数据接口
支持GPS模块列表：
- ATGM336H-5N
代码结构：
- GPS_Interface.c
- GPS_Interface.h
GPS_Interface.c
#include "GPS_Interface.h"
nmea_msg GPSX;
const unsigned int BAUD_id[9]={4800,9600,19200,38400,57600,115200,230400,460800,921600};//模块支持波特率数组
//从buf里面得到第cx个逗号所在的位置
//返回值:0~0XFE,代表逗号所在位置的偏移.
// 0XFF,代表不存在第cx个逗号
unsigned char NMEA_Comma_Pos(unsigned char *buf,unsigned char cx)
{
unsigned char *p=buf;
while(cx)
{
if(*buf=='*'||*buf<' '||*buf>'z')return 0XFF;//遇到'*'或者非法字符,则不存在第cx个逗号
if(*buf==',')cx--;
buf++;
}
return buf-p;
}
//m^n函数
//返回值:m^n次方.
unsigned int NMEA_Pow(unsigned char m,unsigned char n)
{
unsigned int result=1;
while(n--)result*=m;
return result;
}
//str转换为数字,以','或者'*'结束
//buf:数字存储区
//dx:小数点位数,返回给调用函数
//返回值:转换后的数值
int NMEA_Str2num(unsigned char *buf,unsigned char*dx)
{
unsigned char *p=buf;
unsigned int ires=0,fres=0;
unsigned char ilen=0,flen=0,i;
unsigned char mask=0;
int res;
while(1) //得到整数和小数的长度
{
if(*p=='-'){mask|=0X02;p++;}//是负数
if(*p==','||(*p=='*'))break;//遇到结束了
if(*p=='.'){mask|=0X01;p++;}//遇到小数点了
else if(*p>'9'||(*p<'0')) //有非法字符
{
ilen=0;
flen=0;
break;
}
if(mask&0X01)flen++;
else ilen++;
p++;
}
if(mask&0X02)buf++; //去掉负号
for(i=0;i<ilen;i++) //得到整数部分数据
{
ires+=NMEA_Pow(10,ilen-1-i)*(buf[i]-'0');
}
if(flen>5)flen=5; //最多取5位小数
*dx=flen; //小数点位数
for(i=0;i<flen;i++) //得到小数部分数据
{
fres+=NMEA_Pow(10,flen-1-i)*(buf[ilen+1+i]-'0');
}
res=ires*NMEA_Pow(10,flen)+fres;
if(mask&0X02)res=-res;
return res;
}
//分析GPGSV信息
//gpsx:nmea信息结构体
//buf:接收到的GPS数据缓冲区首地址
void NMEA_GPGSV_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p,*p1,dx;
unsigned char len,i,j,slx=0;
unsigned char posx;
p=buf;
p1=(unsigned char*)strstr((const char *)p,"$GPGSV");
len=p1[7]-'0'; //得到GPGSV的条数
posx=NMEA_Comma_Pos(p1,3); //得到可见卫星总数
if(posx!=0XFF)gpsx->svnum=NMEA_Str2num(p1+posx,&dx);
for(i=0;i<len;i++)
{
p1=(unsigned char*)strstr((const char *)p,"$GPGSV");
for(j=0;j<4;j++)
{
posx=NMEA_Comma_Pos(p1,4+j*4);
if(posx!=0XFF)gpsx->slmsg[slx].num=NMEA_Str2num(p1+posx,&dx); //得到卫星编号
else break;
posx=NMEA_Comma_Pos(p1,5+j*4);
if(posx!=0XFF)gpsx->slmsg[slx].eledeg=NMEA_Str2num(p1+posx,&dx);//得到卫星仰角
else break;
posx=NMEA_Comma_Pos(p1,6+j*4);
if(posx!=0XFF)gpsx->slmsg[slx].azideg=NMEA_Str2num(p1+posx,&dx);//得到卫星方位角
else break;
posx=NMEA_Comma_Pos(p1,7+j*4);
if(posx!=0XFF)gpsx->slmsg[slx].sn=NMEA_Str2num(p1+posx,&dx); //得到卫星信噪比
else break;
slx++;
}
p=p1+1;//切换到下一个GPGSV信息
}
}
//分析BDGSV信息
//gpsx:nmea信息结构体
//buf:接收到的北斗数据缓冲区首地址
void NMEA_BDGSV_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p,*p1,dx;
unsigned char len,i,j,slx=0;
unsigned char posx;
p=buf;
p1=(unsigned char*)strstr((const char *)p,"$BDGSV");
len=p1[7]-'0'; //得到BDGSV的条数
posx=NMEA_Comma_Pos(p1,3); //得到可见北斗卫星总数
if(posx!=0XFF)gpsx->beidou_svnum=NMEA_Str2num(p1+posx,&dx);
for(i=0;i<len;i++)
{
p1=(unsigned char*)strstr((const char *)p,"$BDGSV");
for(j=0;j<4;j++)
{
posx=NMEA_Comma_Pos(p1,4+j*4);
if(posx!=0XFF)gpsx->beidou_slmsg[slx].beidou_num=NMEA_Str2num(p1+posx,&dx); //得到卫星编号
else break;
posx=NMEA_Comma_Pos(p1,5+j*4);
if(posx!=0XFF)gpsx->beidou_slmsg[slx].beidou_eledeg=NMEA_Str2num(p1+posx,&dx);//得到卫星仰角
else break;
posx=NMEA_Comma_Pos(p1,6+j*4);
if(posx!=0XFF)gpsx->beidou_slmsg[slx].beidou_azideg=NMEA_Str2num(p1+posx,&dx);//得到卫星方位角
else break;
posx=NMEA_Comma_Pos(p1,7+j*4);
if(posx!=0XFF)gpsx->beidou_slmsg[slx].beidou_sn=NMEA_Str2num(p1+posx,&dx); //得到卫星信噪比
else break;
slx++;
}
p=p1+1;//切换到下一个BDGSV信息
}
}
//分析GNGGA信息
//gpsx:nmea信息结构体
//buf:接收到的GPS/北斗数据缓冲区首地址
void NMEA_GNGGA_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p1,dx;
unsigned char posx;
p1=(unsigned char*)strstr((const char *)buf,"$GNGGA");
posx=NMEA_Comma_Pos(p1,6); //得到GPS状态
if(posx!=0XFF)gpsx->gpssta=NMEA_Str2num(p1+posx,&dx);
posx=NMEA_Comma_Pos(p1,7); //得到用于定位的卫星数
if(posx!=0XFF)gpsx->posslnum=NMEA_Str2num(p1+posx,&dx);
posx=NMEA_Comma_Pos(p1,9); //得到海拔高度
if(posx!=0XFF)gpsx->altitude=NMEA_Str2num(p1+posx,&dx);
}
//分析GNGSA信息
//gpsx:nmea信息结构体
//buf:接收到的GPS/北斗数据缓冲区首地址
void NMEA_GNGSA_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p1,dx;
unsigned char posx;
unsigned char i;
p1=(unsigned char*)strstr((const char *)buf,"$GNGSA");
posx=NMEA_Comma_Pos(p1,2); //得到定位类型
if(posx!=0XFF)gpsx->fixmode=NMEA_Str2num(p1+posx,&dx);
for(i=0;i<12;i++) //得到定位卫星编号
{
posx=NMEA_Comma_Pos(p1,3+i);
if(posx!=0XFF)gpsx->possl[i]=NMEA_Str2num(p1+posx,&dx);
else break;
}
posx=NMEA_Comma_Pos(p1,15); //得到PDOP位置精度因子
if(posx!=0XFF)gpsx->pdop=NMEA_Str2num(p1+posx,&dx);
posx=NMEA_Comma_Pos(p1,16); //得到HDOP位置精度因子
if(posx!=0XFF)gpsx->hdop=NMEA_Str2num(p1+posx,&dx);
posx=NMEA_Comma_Pos(p1,17); //得到VDOP位置精度因子
if(posx!=0XFF)gpsx->vdop=NMEA_Str2num(p1+posx,&dx);
}
//分析GNRMC信息
//gpsx:nmea信息结构体
//buf:接收到的GPS/北斗数据缓冲区首地址
void NMEA_GNRMC_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p1,dx;
unsigned char posx;
unsigned int temp;
float rs;
p1=(unsigned char*)strstr((const char *)buf,"GNRMC");//"$GNRMC",经常有&和GNRMC分开的情况,故只判断GPRMC.
posx=NMEA_Comma_Pos(p1,1); //得到UTC时间
if(posx!=0XFF)
{
temp=NMEA_Str2num(p1+posx,&dx)/NMEA_Pow(10,dx); //得到UTC时间,去掉ms
gpsx->utc.hour=(temp/10000)+8;
gpsx->utc.min=(temp/100)%100;
gpsx->utc.sec=temp%100;
}
posx=NMEA_Comma_Pos(p1,3); //得到纬度
if(posx!=0XFF)
{
temp=NMEA_Str2num(p1+posx,&dx);
gpsx->latitude=temp/NMEA_Pow(10,dx+2); //得到°
rs=temp%NMEA_Pow(10,dx+2); //得到'
gpsx->latitude=gpsx->latitude*NMEA_Pow(10,5)+(rs*NMEA_Pow(10,5-dx))/60;//转换为°
}
posx=NMEA_Comma_Pos(p1,4); //南纬还是北纬
if(posx!=0XFF)gpsx->nshemi=*(p1+posx);
posx=NMEA_Comma_Pos(p1,5); //得到经度
if(posx!=0XFF)
{
temp=NMEA_Str2num(p1+posx,&dx);
gpsx->longitude=temp/NMEA_Pow(10,dx+2); //得到°
rs=temp%NMEA_Pow(10,dx+2); //得到'
gpsx->longitude=gpsx->longitude*NMEA_Pow(10,5)+(rs*NMEA_Pow(10,5-dx))/60;//转换为°
}
posx=NMEA_Comma_Pos(p1,6); //东经还是西经
if(posx!=0XFF)gpsx->ewhemi=*(p1+posx);
posx=NMEA_Comma_Pos(p1,9); //得到UTC日期
if(posx!=0XFF)
{
temp=NMEA_Str2num(p1+posx,&dx); //得到UTC日期
gpsx->utc.date=temp/10000;
gpsx->utc.month=(temp/100)%100;
gpsx->utc.year=2000+temp%100;
}
}
//分析GNVTG信息
//gpsx:nmea信息结构体
//buf:接收到的GPS/北斗数据缓冲区首地址
void NMEA_GNVTG_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
unsigned char *p1,dx;
unsigned char posx;
p1=(unsigned char*)strstr((const char *)buf,"$GNVTG");
posx=NMEA_Comma_Pos(p1,7); //得到地面速率
if(posx!=0XFF)
{
gpsx->speed=NMEA_Str2num(p1+posx,&dx);
if(dx<3)gpsx->speed*=NMEA_Pow(10,3-dx); //确保扩大1000倍
}
}
//提取NMEA-0183信息
//gpsx:nmea信息结构体
//buf:接收到的GPS/北斗数据缓冲区首地址
void GPS_Analysis(nmea_msg *gpsx,unsigned char *buf)
{
NMEA_GPGSV_Analysis(gpsx,buf); //GPGSV解析
NMEA_BDGSV_Analysis(gpsx,buf); //BDGSV解析
NMEA_GNGGA_Analysis(gpsx,buf); //GNGGA解析
NMEA_GNGSA_Analysis(gpsx,buf); //GNGSA解析
NMEA_GNRMC_Analysis(gpsx,buf); //GNRMC解析
NMEA_GNVTG_Analysis(gpsx,buf); //GNVTG解析
}
char *myitoa(int value, char *string, int radix)
{
int i, d;
int flag = 0;
char *ptr = string;
/* This implementation only works for decimal numbers. */
if (radix != 10)
{
*ptr = 0;
return string;
}
if (!value)
{
*ptr++ = 0x30;
*ptr = 0;
return string;
}
/* if this is a negative value insert the minus sign. */
if (value < 0)
{
*ptr++ = '-';
/* Make the value positive. */
value *= -1;
}
for (i = 10000; i > 0; i /= 10)
{
d = value / i;
if (d || flag)
{
*ptr++ = (char)(d + 0x30);
value -= (d * i);
flag = 1;
}
}
/* Null terminate the string. */
*ptr = 0;
return string;
} /* NCL_Itoa */
GPS_Interface.h
#ifndef _GPS_INTERFACE_H_
#define _GPS_INTERFACE_H_
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include "main.h"
#include "stdarg.h"
#include "string.h"
//GPS NMEA-0183协议重要参数结构体定义
//卫星信息
__packed typedef struct
{
unsigned char num; //卫星编号
unsigned char eledeg; //卫星仰角
unsigned short azideg; //卫星方位角
unsigned char sn; //信噪比
}nmea_slmsg;
//北斗 NMEA-0183协议重要参数结构体定义
//卫星信息
__packed typedef struct
{
unsigned char beidou_num; //卫星编号
unsigned char beidou_eledeg; //卫星仰角
unsigned short beidou_azideg; //卫星方位角
unsigned char beidou_sn; //信噪比
}beidou_nmea_slmsg;
//UTC时间信息
__packed typedef struct
{
unsigned short year; //年份
unsigned char month; //月份
unsigned char date; //日期
unsigned char hour; //小时
unsigned char min; //分钟
unsigned char sec; //秒钟
}nmea_utc_time;
//NMEA 0183 协议解析后数据存放结构体
__packed typedef struct
{
unsigned char svnum; //可见GPS卫星数
unsigned char beidou_svnum; //可见北斗卫星数
nmea_slmsg slmsg[12]; //最多12颗GPS卫星
beidou_nmea_slmsg beidou_slmsg[12]; //暂且算最多12颗北斗卫星
nmea_utc_time utc; //UTC时间
unsigned int latitude; //纬度 分扩大100000倍,实际要除以100000
unsigned char nshemi; //北纬/南纬,N:北纬;S:南纬
unsigned int longitude; //经度 分扩大100000倍,实际要除以100000
unsigned char ewhemi; //东经/西经,E:东经;W:西经
unsigned char gpssta; //GPS状态:0,未定位;1,非差分定位;2,差分定位;6,正在估算.
unsigned char posslnum; //用于定位的GPS卫星数,0~12.
unsigned char possl[12]; //用于定位的卫星编号
unsigned char fixmode; //定位类型:1,没有定位;2,2D定位;3,3D定位
unsigned short pdop; //位置精度因子 0~500,对应实际值0~50.0
unsigned short hdop; //水平精度因子 0~500,对应实际值0~50.0
unsigned short vdop; //垂直精度因子 0~500,对应实际值0~50.0
int altitude; //海拔高度,放大了10倍,实际除以10.单位:0.1m
unsigned short speed; //地面速率,放大了1000倍,实际除以10.单位:0.001公里/小时
}nmea_msg;
//SkyTra S1216F8 配置波特率结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0004；
unsigned char id; //ID，固定为0X05
unsigned char com_port; //COM口，固定为0X00，即COM1
unsigned char Baud_id; //波特率（0~8,4800,9600,19200,38400,57600,115200,230400,460800,921600）
unsigned char Attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH，2临时保存
unsigned char CS; //校验值
unsigned short end; //结束符:0X0D0A
}SkyTra_baudrate;
//SkyTra S1216F8 配置输出信息结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0009；
unsigned char id; //ID，固定为0X08
unsigned char GGA; //1~255（s）,0:disable
unsigned char GSA; //1~255（s）,0:disable
unsigned char GSV; //1~255（s）,0:disable
unsigned char GLL; //1~255（s）,0:disable
unsigned char RMC; //1~255（s）,0:disable
unsigned char VTG; //1~255（s）,0:disable
unsigned char ZDA; //1~255（s）,0:disable
unsigned char Attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH，2临时保存
unsigned char CS; //校验值
unsigned short end; //结束符:0X0D0A
}SkyTra_outmsg;
//SkyTra S1216F8 配置位置更新率结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0003；
unsigned char id; //ID，固定为0X0E
unsigned char rate; //取值范围:1, 2, 4, 5, 8, 10, 20, 25, 40, 50
unsigned char Attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH，2临时保存
unsigned char CS; //校验值
unsigned short end; //结束符:0X0D0A
}SkyTra_PosRate;
//SkyTra S1216F8 配置输出脉冲(PPS)宽度结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0007；
unsigned char id; //ID，固定为0X65
unsigned char Sub_ID; //0X01
unsigned int width; //1~100000(us)
unsigned char Attributes; //配置数据保存位置 ,0保存到SRAM，1保存到SRAM&FLASH，2临时保存
unsigned char CS; //校验值
unsigned short end; //结束符:0X0D0A
}SkyTra_pps_width;
//SkyTra S1216F8 ACK结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0002；
unsigned char id; //ID，固定为0X83
unsigned char ACK_ID; //ACK ID may further consist of message ID and message sub-ID which will become 3 bytes of ACK message
unsigned char CS; //校验值
unsigned short end; //结束符
}SkyTra_ACK;
//SkyTra S1216F8 NACK结构体
__packed typedef struct
{
unsigned short sos; //启动序列，固定为0XA0A1
unsigned short PL; //有效数据长度0X0002；
unsigned char id; //ID，固定为0X84
unsigned char NACK_ID; //ACK ID may further consist of message ID and message sub-ID which will become 3 bytes of ACK message
unsigned char CS; //校验值
unsigned short end; //结束符
}SkyTra_NACK;
int NMEA_Str2num(unsigned char *buf,unsigned char*dx);
void GPS_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GPGSV_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_BDGSV_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GNGGA_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GNGSA_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GNGSA_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GNRMC_Analysis(nmea_msg *gpsx,unsigned char *buf);
void NMEA_GNVTG_Analysis(nmea_msg *gpsx,unsigned char *buf);
char *myitoa(int value, char *string, int radix);
#endif
二、使用方法
在需要的地方加入#include "GPS_Interface.h"，然后调用
nmea_msg gpsx;
GPS_Analysis(&gpsx,uartDMA_data.bits.uart_buffer);
注意：uartDMA_data.bits.uart_buffer是你串口通过dma获取到的gps模块发来的数据
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