Toshihisa T
Skytraq S1315F-RAW-EVK Logger
Diff: libT/portable/NMEA_parse.c
- Revision:
- 0:e0ec137da369
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/libT/portable/NMEA_parse.c Sat Dec 18 11:17:21 2010 +0000
@@ -0,0 +1,594 @@
+
+#include "NMEA_parse.h"
+
+#ifndef NULL
+# define NULL ((void *)0)
+#endif
+
+/*
+ nmealib GM-316 FV-M11
+ GGA Global Positioning System Fix Data. O O O
+ GSA GNSS DOP and Active Satellites O O O
+ GSV GNSS Satellites in View O O O
+ RMC Recommended Minimum Navigation Information O O O
+ VTG Course Over Ground and Ground Speed O O O
+ GGL Geographic Position – Latitude / Longitude X O O
+ ZDA Time & Date X O(synchronized to PPS) O
+ */
+
+static unsigned char _libNMEA_atoi(unsigned char c)
+{
+ if((c >= (unsigned char)('0')) && (c <= (unsigned char)('9')))
+ return (c - (unsigned char)('0'));
+ if((c >= (unsigned char)('A')) && (c <= (unsigned char)('F')))
+ return (c - (unsigned char)('A')) + 10;
+ return (c - (unsigned char)('a')) + 10;
+}
+short libNMEA_Parse1Char(unsigned char c,libNMEA_data_t *buffer)
+{
+ register short cnewst = 0;
+
+ /* It does again at the time of beginning after one line is obtained it. */
+ /* It does again after the syntax error at the time of beginning. */
+ /* １行を得た後ならば，再度初めから */
+ /* パースエラーの後も，再度初めから */
+ if((buffer->cjobst >= LIBNMEA_PARSE_COMPLETE) || (buffer->cjobst < LIBNMEA_PARSE_NONE)){
+ buffer->cjobst = LIBNMEA_PARSE_NONE;
+ }
+
+ if(buffer->cjobst == LIBNMEA_PARSE_NONE){ /* Wait '$' */
+ if((c != (unsigned char)('$')) && (c != (unsigned char)('!'))){
+ return buffer->cjobst;
+ }
+ buffer->rawLength = 0;
+ buffer->sum = 0;
+ }
+
+ /* The size check is previously done because it stores it here in the buffer now. */
+ if(buffer->rawLength >= (sizeof(buffer->raw)-2)){
+ buffer->cjobst = -3; /* Buffer size overflow */
+ return buffer->cjobst;
+ }
+
+ buffer->raw[buffer->rawLength] = c;
+ buffer->rawLength += 1;
+ buffer->raw[buffer->rawLength] = (unsigned char)('\0');
+
+ cnewst = -1; /* Syntax error (It initializes it by the default value.) */
+
+ switch(buffer->cjobst){
+ case LIBNMEA_PARSE_NONE:
+ cnewst = 1;
+ break;
+ case 1: /* データ待ち */
+ cnewst = buffer->cjobst;
+ if(c == (unsigned char)('*')){
+ cnewst += 1; /* チェックサム１文字目を得る */
+ } else {
+ buffer->sum = buffer->sum ^ c; /* チェックサム計算 */
+ }
+ break;
+ case 2: /* チェックサム１文字目 */
+ buffer->sumwk = _libNMEA_atoi(c);
+ buffer->sumwk = buffer->sumwk << 4;
+ cnewst = buffer->cjobst + 1; /* チェックサム２文字目を得る */
+ break;
+ case 3: /* チェックサム２文字目 */
+ if((buffer->sumwk |= _libNMEA_atoi(c)) == buffer->sum){
+ cnewst = LIBNMEA_PARSE_SUMOK; /* CR待ち */
+ } else {
+ //printf("SUM:%02x/%02x\n",buffer->sumwk,buffer->sum);
+ cnewst = -2; /* チェックサムエラー */
+ }
+ break;
+ case LIBNMEA_PARSE_SUMOK: /* CR 待ち */
+ if(c == (unsigned char)0x0d){
+ cnewst = buffer->cjobst + 1; /* LF待ち */
+ }
+ break;
+ case LIBNMEA_PARSE_SUMOK+1: /* LF 待ち */
+ if(c == (unsigned char)0x0a){
+ cnewst = LIBNMEA_PARSE_COMPLETE; /* センテンス完了 */
+ }
+ break;
+ }
+
+ buffer->cjobst = cnewst;
+ return buffer->cjobst;
+}
+
+/* 10進数固定 */
+short libNMEA_atol(unsigned char *numstr,long *val,long *length,unsigned char **nextptr)
+{
+ long retval = 0;
+ int i = 0;
+ int mi = 0;
+ unsigned char c;
+
+ *length = 1;
+
+ if(*(numstr + i) == (unsigned char)('-')){
+ mi = 1;
+ i++;
+ }
+
+ for(;*(numstr + i) != (unsigned char)('\0');i++){
+ c = *(numstr + i);
+ if((c >= (unsigned char)('0')) && (c <= (unsigned char)('9'))){
+ c = c - (unsigned char)('0');
+ retval = (retval * 10) + c;
+ *length = *length * 10;
+ } else {
+ break;
+ }
+ }
+ if((nextptr != NULL) && (*nextptr != NULL)){
+ *nextptr = numstr + i;
+ }
+ *val = (mi) ? (0-retval) : retval;
+ return 0;
+}
+
+short libNMEA_atod(unsigned char *numstr,libNMEA_realnum_t *val,unsigned char **nextptr)
+{
+ long lval = 0;
+ libNMEA_realnum_t e = 0.0;
+ libNMEA_realnum_t f = 0.0;
+ unsigned char *nptr;
+ long length;
+
+ /* TODO:符号チェックを入れる事 */
+
+ /* 整数部 */
+ libNMEA_atol(numstr,&lval,&length,&nptr);
+ e = (libNMEA_realnum_t)lval;
+
+ /* 小数部 */
+ if(*nptr == (unsigned char)('.')){
+ nptr++;
+ libNMEA_atol(nptr,&lval,&length,&nptr);
+ f = ((libNMEA_realnum_t)lval) / ((libNMEA_realnum_t)length);
+ }
+
+ if((nextptr != NULL) && (*nextptr != NULL)){
+ *nextptr = nptr;
+ }
+ *val = e + f;
+ return 0;
+}
+
+/* GPS の緯度経度 ddmm.mmmm(dddmm.mmmm) 形式の文字列を，
+ dd.dddd の libNMEA_realnum_t 形式に変換する． */
+/* http://www.circuitcellar.com/library/print/1000/Stefan123/4.htm */
+short libNMEA_atodeg(unsigned char *numstr,libNMEA_realnum_t *val)
+{
+ volatile long wk = 0;
+ volatile long deg_l = 0;
+ long length = 0;
+ libNMEA_realnum_t mm_d = 0;
+ unsigned char *nextptr;
+
+ /* ddmm 部を取り出す */
+ libNMEA_atol(numstr,(long *)&wk,&length,&nextptr);
+
+ /* dd を得る */
+ deg_l = wk / 100;
+
+ /* .mmmm 部を取り出す */
+ libNMEA_atod(nextptr,&mm_d,&nextptr);
+
+ /* mm.mmmm にする */
+ mm_d = ((libNMEA_realnum_t)(wk % 100)) + mm_d;
+ /* 0.dddd に変換する */
+ mm_d = (mm_d / 60.0);
+ /* 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，
+ GPS の緯度経度値として適切ではない */
+ if(mm_d > 1.0){
+ return -1;
+ }
+
+ *val = ((libNMEA_realnum_t)deg_l) + mm_d; /* dd.dddd 形式に変換 */
+
+ return 0;
+}
+
+#if 0
+static short _libNMEA_print_args(libNMEA_data_t *buffer)
+{
+ int i;
+ extern int printf(const char *format, ...);
+
+ printf("ARGC %5d:",buffer->argc);
+ for(i=0;i < buffer->argc;i++){
+ printf("[%s]",buffer->raw + buffer->argv[i]);
+ }
+ printf("\n");
+ return 0;
+}
+#endif
+
+static void _libNMEA_String2Time(unsigned char *numstr,libNMEA_gps_info_t *GPSinfo)
+{
+ long wk;
+ long length;
+ unsigned char *nextptr;
+
+ libNMEA_atol(numstr,&wk,&length,&nextptr);
+ GPSinfo->time.sec = wk % 100;
+ wk = wk/100;
+ GPSinfo->time.min = wk % 100;
+ wk = wk/100;
+ GPSinfo->time.hour = wk % 100;
+ GPSinfo->time.msec = 0;
+ if((nextptr != NULL) && (*nextptr == (unsigned char)('.'))){
+ libNMEA_atol(nextptr+1,&wk,&length,(unsigned char **)NULL);
+ GPSinfo->time.msec = wk;
+ }
+}
+
+static void _libNMEA_setInvalid(libNMEA_gps_info_t *GPSinfo)
+{
+ GPSinfo->valid.status = 0;
+
+ GPSinfo->valid.positioning = 0;
+ GPSinfo->valid.active = 0;
+}
+
+/* Recommended Minimum Course Response Message */
+static short _libNMEA_Parse1Line_GPRMC(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo)
+{
+ unsigned char *nextptr;
+
+ if(buffer->argc != 13){
+ return -2; /* データの数がおかしい */
+ }
+ //_libNMEA_print_args(buffer);
+
+ /* まず，真っ先に見るのは，GPS データのステータス(妥当性) */
+ if(*(buffer->raw+buffer->argv[2]+0) != (unsigned char)('A')){
+ /* GPS データ妥当性無し */
+ GPSinfo->valid.status = 0;
+ /* 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 */
+ return 0;
+ }
+
+ /* 測位状態を得る */
+ switch(*(buffer->raw+buffer->argv[12]+0)){
+ case (unsigned char)('A'): /* 単独測位 */
+ case (unsigned char)('D'): /* DGPS */
+ GPSinfo->status.positioning = *(buffer->raw+buffer->argv[12]+0);
+ GPSinfo->valid.positioning = 1;
+ break;
+ default:
+ GPSinfo->status.positioning = (unsigned char)('N');
+ _libNMEA_setInvalid(GPSinfo);
+ return 0; /* 無効な測位状態なので返る */
+ }
+
+ /* *** 妥当性のあるデータ *** */
+
+ /* 緯度を得る */
+ libNMEA_atodeg( buffer->raw+buffer->argv[3]
+ ,&(GPSinfo->latlon.latitude) );
+ GPSinfo->latlon.lat_unit = *(buffer->raw+buffer->argv[4]);
+ GPSinfo->valid.latitude = 1;
+
+ /* 経度を得る */
+ libNMEA_atodeg( buffer->raw+buffer->argv[5]
+ ,&(GPSinfo->latlon.longitude ) );
+ GPSinfo->latlon.lon_unit = *(buffer->raw+buffer->argv[6]);
+ GPSinfo->valid.longitude = 1;
+
+ /* 対地速度（ノット）を得る */
+ libNMEA_atod( buffer->raw+buffer->argv[7],
+ &(GPSinfo->speed.ground),
+ &nextptr);
+ GPSinfo->valid.speed = 1;
+
+ /* 進行方向（度，真北）を得る */
+ libNMEA_atod( buffer->raw+buffer->argv[8],
+ &(GPSinfo->direction.trueNorth.deg),
+ &nextptr);
+ GPSinfo->valid.direction = 1;
+
+ GPSinfo->valid.timeRMC = 0;
+ if(1){
+ /* 現在時刻／日付を得る．*/
+ long wk;
+ long length;
+
+ _libNMEA_String2Time(buffer->raw+buffer->argv[1],GPSinfo);
+
+ libNMEA_atol(buffer->raw+buffer->argv[9],&wk,&length,&nextptr);
+ /* GPRMC は，西暦は下2桁しかないので，2000を加算する． */
+ GPSinfo->date.year = (wk % 100) + 2000; /* after year 2000. */
+ wk = wk/100;
+ GPSinfo->date.mon = wk % 100;
+ wk = wk/100;
+ GPSinfo->date.day = wk % 100;
+ GPSinfo->valid.timeRMC = 1;
+ }
+
+ /* ステータスは有効 */
+ GPSinfo->valid.status = 1;
+
+ return 0;
+}
+
+static short _libNMEA_Parse1Line_GPZDA(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo)
+{
+ long wk;
+ long length;
+ unsigned char *nextptr;
+
+ if(buffer->argc != 7){
+ return -2;
+ }
+
+ GPSinfo->valid.timeZDA = 0;
+
+ _libNMEA_String2Time(buffer->raw+buffer->argv[1],GPSinfo);
+
+ libNMEA_atol(buffer->raw+buffer->argv[2],&wk,&length,&nextptr);
+ GPSinfo->date.day = wk;
+ libNMEA_atol(buffer->raw+buffer->argv[3],&wk,&length,&nextptr);
+ GPSinfo->date.mon = wk;
+ libNMEA_atol(buffer->raw+buffer->argv[4],&wk,&length,&nextptr);
+ GPSinfo->date.year = wk;
+
+ GPSinfo->valid.timeZDA = 1;
+
+ return 0;
+}
+
+/* GPGSA - GNSS DOP and Active Satellites */
+/* 0:[$GPGSA],1:[A],2:[3],3:[05],4:[02],5:[26],6:[27],7:[09],8:[04],9:[15],10:[],11:[],12:[],13:[],14:[],15:[1.8],16:[1.0],17:[1.5]*11 */
+static short _libNMEA_Parse1Line_GPGSA(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo)
+{
+ if(buffer->argc != 18){
+ return -2;
+ }
+
+ switch( *(buffer->raw+buffer->argv[2]) ){
+ case '2': /* 2D */
+ case '3': /* 3D */
+ GPSinfo->status.active = *(buffer->raw+buffer->argv[2]);
+ GPSinfo->valid.active = 1;
+ break;
+ default: /* Fix not available */
+ _libNMEA_setInvalid(GPSinfo);
+ return 0; /* 無効な測位状態なので返る */
+ }
+
+ GPSinfo->valid.accuracy_pdop = 0;
+ libNMEA_atod( buffer->raw+buffer->argv[15],
+ &(GPSinfo->accuracy.p.dop),
+ (unsigned char **)NULL);
+ GPSinfo->valid.accuracy_pdop = 1;
+
+ GPSinfo->valid.accuracy_hdop = 0;
+ libNMEA_atod( buffer->raw+buffer->argv[16],
+ &(GPSinfo->accuracy.h.dop),
+ (unsigned char **)NULL);
+ GPSinfo->valid.accuracy_hdop = 1;
+
+ GPSinfo->valid.accuracy_vdop = 0;
+ libNMEA_atod( buffer->raw+buffer->argv[17],
+ &(GPSinfo->accuracy.v.dop),
+ (unsigned char **)NULL);
+ GPSinfo->valid.accuracy_vdop = 1;
+
+ return 0;
+}
+
+static short _libNMEA_Parse1Line_GP(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo)
+{
+ unsigned char *sentenceID = (unsigned char *)0;
+
+ sentenceID = buffer->raw+buffer->argv[0];
+ sentenceID += 3; /* "$GP" をスキップ */
+
+ if( (*(sentenceID+0) == (unsigned char)('R'))
+ && (*(sentenceID+1) == (unsigned char)('M'))
+ && (*(sentenceID+2) == (unsigned char)('C'))){
+ return _libNMEA_Parse1Line_GPRMC(buffer,GPSinfo);
+ } else if( (*(sentenceID+0) == (unsigned char)('Z'))
+ && (*(sentenceID+1) == (unsigned char)('D'))
+ && (*(sentenceID+2) == (unsigned char)('A'))){
+ return _libNMEA_Parse1Line_GPZDA(buffer,GPSinfo);
+ } else if((*(sentenceID+0) == (unsigned char)('G'))
+ && (*(sentenceID+1) == (unsigned char)('S'))
+ && (*(sentenceID+2) == (unsigned char)('A'))){
+ return _libNMEA_Parse1Line_GPGSA(buffer,GPSinfo);
+ }
+
+ return -2; /* このセンテンスは処理しませんでした */
+}
+
+#ifdef DEBUG /* { */
+static short max_argc = 0;
+#endif /* } */
+
+short libNMEA_Parse1Line(libNMEA_data_t *buffer,libNMEA_gps_info_t *GPSinfo)
+{
+ int i;
+ unsigned char *tokerID = (unsigned char *)0;
+
+ buffer->argc = 0;
+ buffer->argv[buffer->argc+0] = 0;
+ buffer->argv[buffer->argc+1] = -1;
+ buffer->argc++;
+
+ /* まず，NMEA センテンスをトークンで分解する．*/
+ /* 後で変換作業をしやすくするため */
+ for(i = 0;buffer->raw[i] != (unsigned char)('\0');i++){
+ if((buffer->raw[i] == (unsigned char)('*'))
+ || (buffer->raw[i] == (unsigned char)(0x0d))
+ || (buffer->raw[i] == (unsigned char)(0x0a))){
+ buffer->raw[i] = (unsigned char)('\0');
+ buffer->argv[buffer->argc] = -1;
+ break;
+ }
+ if(buffer->raw[i] == (unsigned char)(',')){
+ buffer->raw[i] = (unsigned char)('\0');
+ if(buffer->raw[i+1] != (unsigned char)('\0')){
+ buffer->argv[buffer->argc+0] = i+1;
+ buffer->argv[buffer->argc+1] = -1;
+ buffer->argc++;
+ if(buffer->argc >= LIBNMEA_NUMSOFARRAY(buffer->argv)){
+ return -1;
+ }
+#ifdef DEBUG
+ if(buffer->argc > max_argc){
+ max_argc = buffer->argc;
+ }
+#endif
+ }
+ }
+ }
+
+ tokerID = buffer->raw+buffer->argv[0];
+ if(*(tokerID+0) == (unsigned char)('$')){
+ if(*(tokerID+1) == (unsigned char)('P')){
+ /* P センテンスは無視する */
+ } else {
+ if((*(tokerID+1) == (unsigned char)('G'))
+ || (*(tokerID+2) == (unsigned char)('P'))){
+ /* GP for a GPS unit */
+ return _libNMEA_Parse1Line_GP(buffer,GPSinfo);
+ } else {
+ /* 不明なトーカーは無視する */
+ }
+ }
+ } else {
+ /* '$' から始まらないセンテンスは無視する */
+ }
+
+ return -2; /* このセンテンスは処理しませんでした */
+}
+
+#ifdef __SELFTEST__
+#include <stdio.h>
+
+char *sample[] = {
+ "$GPGGA,123519.00,4807.038247,N,01131.324523,E,1,08,0.9,545.42,M,46.93,M,5.0,1012*42\x0d\x0a",
+ "$GPGLL,4916.452349,N,12311.123215,W,225444.00,A,A*6A\x0d\x0a",
+ "$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39\x0d\x0a",
+ "$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75\x0d\x0a",
+ "$GPRMC,225446.00,A,4916.452653,N,12311.123747,W,000.5,054.7,191194,06.2,W,A*68\x0d\x0a",
+ NULL
+};
+
+int main(int argc,char *argv[])
+{
+ int i,j;
+ libNMEA_data_t sts;
+ int ret;
+ libNMEA_gps_info_t GPSinfo;
+ unsigned char *nextptr;
+ unsigned char *text;
+ libNMEA_realnum_t val;
+
+
+ /* x86 版 Linux だと，sizeof(libNMEA_gps_info_t) = 124 である．*/
+ printf("sizeof(libNMEA_gps_info_t) = %lu\n\n",sizeof(libNMEA_gps_info_t));
+ printf("sizeof(libNMEA_gps_time_t) = %lu\n\n",sizeof(libNMEA_gps_time_t));
+
+ text = "123.4567"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "123.4567ABC"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "9876"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "98765ABC"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "98765.123"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "98765.00123"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "1.0000123DEF"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "1.000987XYZDEF"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = "12."; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ text = ".9876"; libNMEA_atod(text,&val,&nextptr);
+ printf("test=[%-20s]/val=%20.10f/ptr=[%s]\n",text,val,nextptr);
+ if(libNMEA_atodeg(text,&val) == 0){ printf("dd.dddd[%10.7f]\n\n",val); } else {printf("ERROR\n\n"); }
+
+ for(i = 0;sample[i] != NULL;i++){
+ sts.cjobst = 0;
+ for(j = 0;*(sample[i]+j) != (char)('\0');j++){
+ ret = libNMEA_Parse1Char(*(sample[i]+j),&sts);
+ if(ret < 0){
+ printf("ret = %d (char:\'%c\')\n",ret,*(sample[i]+j));
+ }
+ if(ret == LIBNMEA_PARSE_COMPLETE){
+ printf("mes:[%s]\n",sample[i]);
+ printf("get:[%s]\n",sts.raw);
+ libNMEA_Parse1Line(&sts,&GPSinfo);
+ }
+ }
+ }
+ return 0;
+}
+#endif
+
+#ifdef __SELFTEST2__
+#include <stdio.h>
+#include <unistd.h>
+
+int main(int argc,char *argv[])
+{
+ libNMEA_data_t sts;
+ int ret;
+ char buf;
+ libNMEA_gps_info_t GPSinfo;
+
+ sts.cjobst = 0;
+ while(read(fileno(stdin),&buf,sizeof(buf)) == sizeof(buf)){
+ ret = libNMEA_Parse1Char(buf,&sts);
+ if(ret < 0){
+ printf("ret = %d (char:\'%c\')\n",ret,buf);
+ printf("err:[%s]\n",sts.raw);
+ return 1;
+ }
+ if(ret == LIBNMEA_PARSE_SUMOK){
+ //printf("get:[%s]\n",sts.raw);
+GPSinfo.valid.status = 0;
+ libNMEA_Parse1Line(&sts,&GPSinfo);
+ if(GPSinfo.valid.status != 0){
+ printf("lat:%c %8.5f\nlon:%c %8.5f\n",
+ GPSinfo.latlon.lat_unit,
+ GPSinfo.latlon.latitude,
+ GPSinfo.latlon.lon_unit,
+ GPSinfo.latlon.longitude );
+ } else {
+ //printf("lat:- ---.-----\nlon:- ---.-----\n");
+ }
+
+ sts.cjobst = 0;
+ }
+ }
+ printf("max_argc = %d\n",max_argc);
+ return 0;
+}
+#endif