Toshihisa T
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NMEA_parse.c
00001 /* 00002 * Copyright (c) 2011 Toshihisa T 00003 * Released under the MIT License: http://mbed.org/license/mit 00004 */ 00005 00006 #include "NMEA_parse.h" 00007 00008 #ifndef NULL 00009 # define NULL ((void *)0) 00010 #endif 00011 00012 /* 00013 nmealib GM-316 FV-M11 00014 GGA Global Positioning System Fix Data. O O O 00015 GSA GNSS DOP and Active Satellites O O O 00016 GSV GNSS Satellites in View O O O 00017 RMC Recommended Minimum Navigation Information O O O 00018 VTG Course Over Ground and Ground Speed O O O 00019 GGL Geographic Position – Latitude / Longitude X O O 00020 ZDA Time & Date X O(synchronized to PPS) O 00021 */ 00022 00023 static unsigned char _libNMEA_atoi(unsigned char c) 00024 { 00025 if((c >= (unsigned char)('0')) && (c <= (unsigned char)('9'))) 00026 return (c - (unsigned char)('0')); 00027 if((c >= (unsigned char)('A')) && (c <= (unsigned char)('F'))) 00028 return (c - (unsigned char)('A')) + 10; 00029 return (c - (unsigned char)('a')) + 10; 00030 } 00031 short libNMEA_Parse1Char(unsigned char c,libNMEA_data_t *buffer) 00032 { 00033 register short cnewst = 0; 00034 00035 /* It does again at the time of beginning after one line is obtained it. */ 00036 /* It does again after the syntax error at the time of beginning. */ 00037 /* １行を得た後ならば，再度初めから */ 00038 /* パースエラーの後も，再度初めから */ 00039 if((buffer->cjobst >= LIBNMEA_PARSE_COMPLETE) || (buffer->cjobst < LIBNMEA_PARSE_NONE)){ 00040 buffer->cjobst = LIBNMEA_PARSE_NONE; 00041 } 00042 00043 if(buffer->cjobst == LIBNMEA_PARSE_NONE){ /* Wait '$' */ 00044 if((c != (unsigned char)('$')) && (c != (unsigned char)('!'))){ 00045 return buffer->cjobst; 00046 } 00047 buffer->rawLength = 0; 00048 buffer->sum = 0; 00049 } 00050 00051 /* The size check is previously done because it stores it here in the buffer now. */ 00052 if(buffer->rawLength >= (sizeof(buffer->raw)-2)){ 00053 buffer->cjobst = -3; /* Buffer size overflow */ 00054 return buffer->cjobst; 00055 } 00056 00057 buffer->raw[buffer->rawLength] = c; 00058 buffer->rawLength += 1; 00059 buffer->raw[buffer->rawLength] = (unsigned char)('\0'); 00060 00061 cnewst = -1; /* Syntax error (It initializes it by the default value.) */ 00062 00063 switch(buffer->cjobst){ 00064 case LIBNMEA_PARSE_NONE: 00065 cnewst = 1; 00066 break; 00067 case 1: /* データ待ち */ 00068 cnewst = buffer->cjobst; 00069 if(c == (unsigned char)('*')){ 00070 cnewst += 1; /* チェックサム１文字目を得る */ 00071 } else { 00072 buffer->sum = buffer->sum ^ c; /* チェックサム計算 */ 00073 } 00074 break; 00075 case 2: /* チェックサム１文字目 */ 00076 buffer->sumwk = _libNMEA_atoi(c); 00077 buffer->sumwk = buffer->sumwk << 4; 00078 cnewst = buffer->cjobst + 1; /* チェックサム２文字目を得る */ 00079 break; 00080 case 3: /* チェックサム２文字目 */ 00081 if((buffer->sumwk |= _libNMEA_atoi(c)) == buffer->sum){ 00082 cnewst = LIBNMEA_PARSE_SUMOK; /* CR待ち */ 00083 } else { 00084 //printf("SUM:%02x/%02x\n",buffer->sumwk,buffer->sum); 00085 cnewst = -2; /* チェックサムエラー */ 00086 } 00087 break; 00088 case LIBNMEA_PARSE_SUMOK: /* CR 待ち */ 00089 if(c == (unsigned char)0x0d){ 00090 cnewst = buffer->cjobst + 1; /* LF待ち */ 00091 } 00092 break; 00093 case LIBNMEA_PARSE_SUMOK+1: /* LF 待ち */ 00094 if(c == (unsigned char)0x0a){ 00095 cnewst = LIBNMEA_PARSE_COMPLETE; /* センテンス完了 */ 00096 } 00097 break; 00098 } 00099 00100 buffer->cjobst = cnewst; 00101 return buffer->cjobst; 00102 } 00103 00104 /* 10進数固定 */ 00105 short libNMEA_atol(unsigned char *numstr,long *val,long *length,unsigned char **nextptr) 00106 { 00107 long retval = 0; 00108 int i = 0; 00109 int mi = 0; 00110 unsigned char c; 00111 00112 *length = 1; 00113 00114 if(*(numstr + i) == (unsigned char)('-')){ 00115 mi = 1; 00116 i++; 00117 } 00118 00119 for(;*(numstr + i) != (unsigned char)('\0');i++){ 00120 c = *(numstr + i); 00121 if((c >= (unsigned char)('0')) && (c <= (unsigned char)('9'))){ 00122 c = c - (unsigned char)('0'); 00123 retval = (retval * 10) + c; 00124 *length = *length * 10; 00125 } else { 00126 break; 00127 } 00128 } 00129 if((nextptr != NULL) && (*nextptr != NULL)){ 00130 *nextptr = numstr + i; 00131 } 00132 *val = (mi) ? (0-retval) : retval; 00133 return 0; 00134 } 00135 00136 short libNMEA_atod(unsigned char *numstr,libNMEA_realnum_t *val,unsigned char **nextptr) 00137 { 00138 long lval = 0; 00139 libNMEA_realnum_t e = 0.0; 00140 libNMEA_realnum_t f = 0.0; 00141 unsigned char *nptr; 00142 long length; 00143 00144 /* TODO:符号チェックを入れる事 */ 00145 00146 /* 整数部 */ 00147 libNMEA_atol(numstr,&lval,&length,&nptr); 00148 e = (libNMEA_realnum_t)lval; 00149 00150 /* 小数部 */ 00151 if(*nptr == (unsigned char)('.')){ 00152 nptr++; 00153 libNMEA_atol(nptr,&lval,&length,&nptr); 00154 f = ((libNMEA_realnum_t)lval) / ((libNMEA_realnum_t)length); 00155 } 00156 00157 if((nextptr != NULL) && (*nextptr != NULL)){ 00158 *nextptr = nptr; 00159 } 00160 *val = e + f; 00161 return 0; 00162 } 00163 00164 /* GPS の緯度経度 ddmm.mmmm(dddmm.mmmm) 形式の文字列を， 00165 dd.dddd の libNMEA_realnum_t 形式に変換する． */ 00166 /* http://www.circuitcellar.com/library/print/1000/Stefan123/4.htm */ 00167 short libNMEA_atodeg(unsigned char *numstr,libNMEA_realnum_t *val) 00168 { 00169 volatile long wk = 0; 00170 volatile long deg_l = 0; 00171 long length = 0; 00172 libNMEA_realnum_t mm_d = 0; 00173 unsigned char *nextptr; 00174 00175 /* ddmm 部を取り出す */ 00176 libNMEA_atol(numstr,(long *)&wk,&length,&nextptr); 00177 00178 /* dd を得る */ 00179 deg_l = wk / 100; 00180 00181 /* .mmmm 部を取り出す */ 00182 libNMEA_atod(nextptr,&mm_d,&nextptr); 00183 00184 /* mm.mmmm にする */ 00185 mm_d = ((libNMEA_realnum_t)(wk % 100)) + mm_d; 00186 /* 0.dddd に変換する */ 00187 mm_d = (mm_d / 60.0); 00188 /* もし，mm_d が 1.0 よりも大きい場合，mm.mmmm は60分を超える値であり， 00189 GPS の緯度経度値として適切ではない */ 00190 if(mm_d > 1.0){ 00191 return -1; 00192 } 00193 00194 *val = ((libNMEA_realnum_t)deg_l) + mm_d; /* dd.dddd 形式に変換 */ 00195 00196 return 0; 00197 } 00198 00199 #if 0 00200 static short _libNMEA_print_args(libNMEA_data_t *buffer) 00201 { 00202 int i; 00203 extern int printf(const char *format, ...); 00204 00205 printf("ARGC %5d:",buffer->argc); 00206 for(i=0;i < buffer->argc;i++){ 00207 printf("[%s]",buffer->raw + buffer->argv[i]); 00208 } 00209 printf("\n"); 00210 return 0; 00211 } 00212 #endif 00213 00214 static void _libNMEA_String2Time(unsigned char *numstr,libNMEA_gps_info_t *GPSinfo) 00215 { 00216 long wk; 00217 long length; 00218 unsigned char *nextptr; 00219 00220 libNMEA_atol(numstr,&wk,&length,&nextptr); 00221 GPSinfo->time.sec = wk % 100; 00222 wk = wk/100; 00223 GPSinfo->time.min = wk % 100; 00224 wk = wk/100; 00225 GPSinfo->time.hour = wk % 100; 00226 GPSinfo->time.msec = 0; 00227 if((nextptr != NULL) && (*nextptr == (unsigned char)('.'))){ 00228 libNMEA_atol(nextptr+1,&wk,&length,(unsigned char **)NULL); 00229 GPSinfo->time.msec = wk; 00230 } 00231 } 00232 00233 static void _libNMEA_setInvalid(libNMEA_gps_info_t *GPSinfo) 00234 { 00235 GPSinfo->valid.status = 0; 00236 00237 GPSinfo->valid.positioning = 0; 00238 GPSinfo->valid.active = 0; 00239 } 00240 00241 /* Recommended Minimum Course Response Message */ 00242 static short _libNMEA_Parse1Line_GPRMC(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo) 00243 { 00244 unsigned char *nextptr; 00245 00246 if(buffer->argc != 13){ 00247 return -2; /* データの数がおかしい */ 00248 } 00249 //_libNMEA_print_args(buffer); 00250 00251 /* まず，真っ先に見るのは，GPS データのステータス(妥当性) */ 00252 if(*(buffer->raw+buffer->argv[2]+0) != (unsigned char)('A')){ 00253 /* GPS データ妥当性無し */ 00254 GPSinfo->valid.status = 0; 00255 /* 妥当性が無いので，これ以上解析する必要は無いので終わる */ 00256 return 0; 00257 } 00258 00259 /* 測位状態を得る */ 00260 switch(*(buffer->raw+buffer->argv[12]+0)){ 00261 case (unsigned char)('A'): /* 単独測位 */ 00262 case (unsigned char)('D'): /* DGPS */ 00263 GPSinfo->status.positioning = *(buffer->raw+buffer->argv[12]+0); 00264 GPSinfo->valid.positioning = 1; 00265 break; 00266 default: 00267 GPSinfo->status.positioning = (unsigned char)('N'); 00268 _libNMEA_setInvalid(GPSinfo); 00269 return 0; /* 無効な測位状態なので返る */ 00270 } 00271 00272 /* *** 妥当性のあるデータ *** */ 00273 00274 /* 緯度を得る */ 00275 libNMEA_atodeg( buffer->raw+buffer->argv[3] 00276 ,&(GPSinfo->latlon.latitude) ); 00277 GPSinfo->latlon.lat_unit = *(buffer->raw+buffer->argv[4]); 00278 GPSinfo->valid.latitude = 1; 00279 00280 /* 経度を得る */ 00281 libNMEA_atodeg( buffer->raw+buffer->argv[5] 00282 ,&(GPSinfo->latlon.longitude ) ); 00283 GPSinfo->latlon.lon_unit = *(buffer->raw+buffer->argv[6]); 00284 GPSinfo->valid.longitude = 1; 00285 00286 /* 対地速度（ノット）を得る */ 00287 libNMEA_atod( buffer->raw+buffer->argv[7], 00288 &(GPSinfo->speed.ground), 00289 &nextptr); 00290 GPSinfo->valid.speed = 1; 00291 00292 /* 進行方向（度，真北）を得る */ 00293 libNMEA_atod( buffer->raw+buffer->argv[8], 00294 &(GPSinfo->direction.trueNorth.deg), 00295 &nextptr); 00296 GPSinfo->valid.direction = 1; 00297 00298 GPSinfo->valid.timeRMC = 0; 00299 if(1){ 00300 /* 現在時刻／日付を得る．*/ 00301 long wk; 00302 long length; 00303 00304 _libNMEA_String2Time(buffer->raw+buffer->argv[1],GPSinfo); 00305 00306 libNMEA_atol(buffer->raw+buffer->argv[9],&wk,&length,&nextptr); 00307 /* GPRMC は，西暦は下2桁しかないので，2000を加算する． */ 00308 GPSinfo->date.year = (wk % 100) + 2000; /* after year 2000. */ 00309 wk = wk/100; 00310 GPSinfo->date.mon = wk % 100; 00311 wk = wk/100; 00312 GPSinfo->date.day = wk % 100; 00313 GPSinfo->valid.timeRMC = 1; 00314 } 00315 00316 /* ステータスは有効 */ 00317 GPSinfo->valid.status = 1; 00318 00319 return 0; 00320 } 00321 00322 static short _libNMEA_Parse1Line_GPZDA(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo) 00323 { 00324 long wk; 00325 long length; 00326 unsigned char *nextptr; 00327 00328 if(buffer->argc != 7){ 00329 return -2; 00330 } 00331 00332 GPSinfo->valid.timeZDA = 0; 00333 00334 _libNMEA_String2Time(buffer->raw+buffer->argv[1],GPSinfo); 00335 00336 libNMEA_atol(buffer->raw+buffer->argv[2],&wk,&length,&nextptr); 00337 GPSinfo->date.day = wk; 00338 libNMEA_atol(buffer->raw+buffer->argv[3],&wk,&length,&nextptr); 00339 GPSinfo->date.mon = wk; 00340 libNMEA_atol(buffer->raw+buffer->argv[4],&wk,&length,&nextptr); 00341 GPSinfo->date.year = wk; 00342 00343 GPSinfo->valid.timeZDA = 1; 00344 00345 return 0; 00346 } 00347 00348 /* GPGSA - GNSS DOP and Active Satellites */ 00349 /* 0:[$GPGSA],1:[A],2:[3],3:[05],4:[02],5:[26],6:[27],7:[09],8:[04],9:[15],10:[],11:[],12:[],13:[],14:[],15:[1.8],16:[1.0],17:[1.5]*11 */ 00350 static short _libNMEA_Parse1Line_GPGSA(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo) 00351 { 00352 if(buffer->argc != 18){ 00353 return -2; 00354 } 00355 00356 switch( *(buffer->raw+buffer->argv[2]) ){ 00357 case '2': /* 2D */ 00358 case '3': /* 3D */ 00359 GPSinfo->status.active = *(buffer->raw+buffer->argv[2]); 00360 GPSinfo->valid.active = 1; 00361 break; 00362 default: /* Fix not available */ 00363 _libNMEA_setInvalid(GPSinfo); 00364 return 0; /* 無効な測位状態なので返る */ 00365 } 00366 00367 GPSinfo->valid.accuracy_pdop = 0; 00368 libNMEA_atod( buffer->raw+buffer->argv[15], 00369 &(GPSinfo->accuracy.p.dop), 00370 (unsigned char **)NULL); 00371 GPSinfo->valid.accuracy_pdop = 1; 00372 00373 GPSinfo->valid.accuracy_hdop = 0; 00374 libNMEA_atod( buffer->raw+buffer->argv[16], 00375 &(GPSinfo->accuracy.h.dop), 00376 (unsigned char **)NULL); 00377 GPSinfo->valid.accuracy_hdop = 1; 00378 00379 GPSinfo->valid.accuracy_vdop = 0; 00380 libNMEA_atod( buffer->raw+buffer->argv[17], 00381 &(GPSinfo->accuracy.v.dop), 00382 (unsigned char **)NULL); 00383 GPSinfo->valid.accuracy_vdop = 1; 00384 00385 return 0; 00386 } 00387 00388 static short _libNMEA_Parse1Line_GP(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo) 00389 { 00390 unsigned char *sentenceID = (unsigned char *)0; 00391 00392 sentenceID = buffer->raw+buffer->argv[0]; 00393 sentenceID += 3; /* "$GP" をスキップ */ 00394 00395 if( (*(sentenceID+0) == (unsigned char)('R')) 00396 && (*(sentenceID+1) == (unsigned char)('M')) 00397 && (*(sentenceID+2) == (unsigned char)('C'))){ 00398 return _libNMEA_Parse1Line_GPRMC(buffer,GPSinfo); 00399 } else if( (*(sentenceID+0) == (unsigned char)('Z')) 00400 && (*(sentenceID+1) == (unsigned char)('D')) 00401 && (*(sentenceID+2) == (unsigned char)('A'))){ 00402 return _libNMEA_Parse1Line_GPZDA(buffer,GPSinfo); 00403 } else if((*(sentenceID+0) == (unsigned char)('G')) 00404 && (*(sentenceID+1) == (unsigned char)('S')) 00405 && (*(sentenceID+2) == (unsigned char)('A'))){ 00406 return _libNMEA_Parse1Line_GPGSA(buffer,GPSinfo); 00407 } 00408 00409 return -2; /* このセンテンスは処理しませんでした */ 00410 } 00411 00412 #ifdef DEBUG /* { */ 00413 static short max_argc = 0; 00414 #endif /* } */ 00415 00416 short libNMEA_Parse1Line(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo) 00417 { 00418 int i; 00419 unsigned char *tokerID = (unsigned char *)0; 00420 00421 buffer->argc = 0; 00422 buffer->argv[buffer->argc+0] = 0; 00423 buffer->argv[buffer->argc+1] = -1; 00424 buffer->argc++; 00425 00426 /* まず，NMEA センテンスをトークンで分解する．*/ 00427 /* 後で変換作業をしやすくするため */ 00428 for(i = 0;buffer->raw[i] != (unsigned char)('\0');i++){ 00429 if((buffer->raw[i] == (unsigned char)('*')) 00430 || (buffer->raw[i] == (unsigned char)(0x0d)) 00431 || (buffer->raw[i] == (unsigned char)(0x0a))){ 00432 buffer->raw[i] = (unsigned char)('\0'); 00433 buffer->argv[buffer->argc] = -1; 00434 break; 00435 } 00436 if(buffer->raw[i] == (unsigned char)(',')){ 00437 buffer->raw[i] = (unsigned char)('\0'); 00438 if(buffer->raw[i+1] != (unsigned char)('\0')){ 00439 buffer->argv[buffer->argc+0] = i+1; 00440 buffer->argv[buffer->argc+1] = -1; 00441 buffer->argc++; 00442 if(buffer->argc >= LIBNMEA_NUMSOFARRAY(buffer->argv)){ 00443 return -1; 00444 } 00445 #ifdef DEBUG 00446 if(buffer->argc > max_argc){ 00447 max_argc = buffer->argc; 00448 } 00449 #endif 00450 } 00451 } 00452 } 00453 00454 tokerID = buffer->raw+buffer->argv[0]; 00455 if(*(tokerID+0) == (unsigned char)('$')){ 00456 if(*(tokerID+1) == (unsigned char)('P')){ 00457 /* P センテンスは無視する */ 00458 } else { 00459 if((*(tokerID+1) == (unsigned char)('G')) 00460 || (*(tokerID+2) == (unsigned char)('P'))){ 00461 /* GP for a GPS unit */ 00462 return _libNMEA_Parse1Line_GP(buffer,GPSinfo); 00463 } else { 00464 /* 不明なトーカーは無視する */ 00465 } 00466 } 00467 } else { 00468 /* '$' から始まらないセンテンスは無視する */ 00469 } 00470 00471 return -2; /* このセンテンスは処理しませんでした */ 00472 } 00473 00474 #ifdef __SELFTEST__ 00475 #include <stdio.h> 00476 00477 char *sample[] = { 00478 "$GPGGA,123519.00,4807.038247,N,01131.324523,E,1,08,0.9,545.42,M,46.93,M,5.0,1012*42\x0d\x0a", 00479 "$GPGLL,4916.452349,N,12311.123215,W,225444.00,A,A*6A\x0d\x0a", 00480 "$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39\x0d\x0a", 00481 "$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75\x0d\x0a", 00482 "$GPRMC,225446.00,A,4916.452653,N,12311.123747,W,000.5,054.7,191194,06.2,W,A*68\x0d\x0a", 00483 NULL 00484 }; 00485 00486 int main(int argc,char *argv[]) 00487 { 00488 int i,j; 00489 libNMEA_data_t sts; 00490 int ret; 00491 libNMEA_gps_info_t GPSinfo; 00492 unsigned char *nextptr; 00493 unsigned char *text; 00494 libNMEA_realnum_t val; 00495 00496 00497 /* x86 版 Linux だと，sizeof(libNMEA_gps_info_t) = 124 である．*/ 00498 printf("sizeof(libNMEA_gps_info_t) = %lu\n\n",sizeof(libNMEA_gps_info_t)); 00499 printf("sizeof(libNMEA_gps_time_t) = %lu\n\n",sizeof(libNMEA_gps_time_t)); 00500 00501 text = "123.4567"; libNMEA_atod(text,&val,&nextptr); 00502 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00503 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00504 00505 text = "123.4567ABC"; libNMEA_atod(text,&val,&nextptr); 00506 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00507 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00508 00509 text = "9876"; libNMEA_atod(text,&val,&nextptr); 00510 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00511 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00512 00513 text = "98765ABC"; libNMEA_atod(text,&val,&nextptr); 00514 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00515 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00516 00517 text = "98765.123"; libNMEA_atod(text,&val,&nextptr); 00518 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00519 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00520 00521 text = "98765.00123"; libNMEA_atod(text,&val,&nextptr); 00522 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00523 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00524 00525 text = "1.0000123DEF"; libNMEA_atod(text,&val,&nextptr); 00526 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00527 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00528 00529 text = "1.000987XYZDEF"; libNMEA_atod(text,&val,&nextptr); 00530 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00531 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00532 00533 text = "12."; libNMEA_atod(text,&val,&nextptr); 00534 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00535 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00536 00537 text = ".9876"; libNMEA_atod(text,&val,&nextptr); 00538 printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr); 00539 if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); } 00540 00541 for(i = 0;sample[i] != NULL;i++){ 00542 sts.cjobst = 0; 00543 for(j = 0;*(sample[i]+j) != (char)('\0');j++){ 00544 ret = libNMEA_Parse1Char(*(sample[i]+j),&sts); 00545 if(ret < 0){ 00546 printf("ret = %d (char:\'%c\')\n",ret,*(sample[i]+j)); 00547 } 00548 if(ret == LIBNMEA_PARSE_COMPLETE){ 00549 printf("mes:[%s]\n",sample[i]); 00550 printf("get:[%s]\n",sts.raw); 00551 libNMEA_Parse1Line(&sts,&GPSinfo); 00552 } 00553 } 00554 } 00555 return 0; 00556 } 00557 #endif 00558 00559 #ifdef __SELFTEST2__ 00560 #include <stdio.h> 00561 #include <unistd.h> 00562 00563 int main(int argc,char *argv[]) 00564 { 00565 libNMEA_data_t sts; 00566 int ret; 00567 char buf; 00568 libNMEA_gps_info_t GPSinfo; 00569 00570 sts.cjobst = 0; 00571 while(read(fileno(stdin),&buf,sizeof(buf)) == sizeof(buf)){ 00572 ret = libNMEA_Parse1Char(buf,&sts); 00573 if(ret < 0){ 00574 printf("ret = %d (char:\'%c\')\n",ret,buf); 00575 printf("err:[%s]\n",sts.raw); 00576 return 1; 00577 } 00578 if(ret == LIBNMEA_PARSE_SUMOK){ 00579 //printf("get:[%s]\n",sts.raw); 00580 GPSinfo.valid.status = 0; 00581 libNMEA_Parse1Line(&sts,&GPSinfo); 00582 if(GPSinfo.valid.status != 0){ 00583 printf("lat:%c %8.5f\nlon:%c %8.5f\n", 00584 GPSinfo.latlon.lat_unit, 00585 GPSinfo.latlon.latitude, 00586 GPSinfo.latlon.lon_unit, 00587 GPSinfo.latlon.longitude ); 00588 } else { 00589 //printf("lat:- ---.-----\nlon:- ---.-----\n"); 00590 } 00591 00592 sts.cjobst = 0; 00593 } 00594 } 00595 printf("max_argc = %d\n",max_argc); 00596 return 0; 00597 } 00598 #endif
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