GPS NMEA-0183数据解析代码

//============================================================= // 文件名称： gps.c // 功能描述： GPS数据解析 // 维护记录： 2010-01-31 V1.0 //============================================================= #include <string.h> #include <stdlib.h> #include "2440addr.h" #include "2440lib.h" #include "def.h" #include "gps.h" #include "uart.h" #include "algorithm.h" #define UART2_CH0 0 #define UART2_CH1 1 #define LEDOFF rGPFDAT = 0xFF #define LED1ON rGPFDAT &= ~(0x01) #define LED2ON rGPFDAT &= ~(0x02) #define LED3ON rGPFDAT &= ~(0x04) #define LED1OFF rGPFDAT |= 0x01 #define LED2OFF rGPFDAT |= 0x02 #define LED3OFF rGPFDAT |= 0x04 #define REV_YES LED1ON #define REV_NO LED1OFF #define RMC_YES LED2ON #define RMC_NO LED2OFF #define GGA_YES LED3ON #define GGA_NO LED3OFF extern unsigned int PCLK; GPS_INFO *GPS; //GPS结构体 volatile U32 isRxInt; //串口接收标志 volatile U32 gps_rGPHCON,gps_rGPHDAT,gps_rGPHUP; volatile U32 gps_ULCON2,gps_UCON2,gps_UFCON2,gps_UMCON2,gps_UBRDIV2; char rev_buf[80]; //接收缓存 U8 rev_start,rev_stop,gps_flag; //开始接收，停止接收，gps开始处理 U8 num = 0; void __sub_Uart2_RxInt(void); void __sub_Uart2_RxErrInt(void); void __irq Uart2_RxIntOrErr(void); void UTC2BTC(DATE_TIME *); void Select_Device(char Device) { rGPHCON |= 1<<(UART2_CH1<<1); rGPHCON &= ~(1<<(UART2_CH1<<1)+1); rGPHCON |= 1<<(UART2_CH0<<1); rGPHCON &= ~(1<<(UART2_CH0<<1)+1); //设置为输出口 rGPHUP &=(~(0x03)); rGPHDAT =(rGPHDAT&0xfffffffc)|(Device); } void GPS_Port_Set(void) { gps_rGPHCON=rGPHCON; gps_rGPHDAT=rGPHDAT; gps_rGPHUP=rGPHUP; rGPHCON&=0x3c0fff; rGPHCON|=0x2a000; rGPHUP|=0x1c0; //Push Uart control registers gps_ULCON2=rULCON2; gps_UCON2 =rUCON2; gps_UFCON2=rUFCON2; gps_UMCON2=rUMCON2; gps_UBRDIV2=rUBRDIV2; } void GPS_Port_Return(void) { rGPHCON=gps_rGPHCON; rGPHDAT=gps_rGPHDAT; rGPHUP =gps_rGPHUP; //Pop Uart control registers rULCON2=gps_ULCON2; rUCON2 =gps_UCON2; rUFCON2=gps_UFCON2; rUMCON2=gps_UMCON2; rUBRDIV2=gps_UBRDIV2; } void __irq Uart2_RxIntOrErr(void) { rINTSUBMSK|=(BIT_SUB_RXD2|BIT_SUB_TXD2|BIT_SUB_ERR2); if(rSUBSRCPND&BIT_SUB_RXD2) __sub_Uart2_RxInt(); else __sub_Uart2_RxErrInt(); ClearPending(BIT_UART2); rSUBSRCPND=(BIT_SUB_RXD2|BIT_SUB_ERR2); // Clear Sub int pending rINTSUBMSK&=~(BIT_SUB_RXD2|BIT_SUB_ERR2); } void __sub_Uart2_RxInt(void) //串口接收中断 { U8 ch; ch = RdURXH2(); if ((ch == '$') && (gps_flag == 0)) //如果收到字符'$'，便开始接收 { rev_start = 1; rev_stop = 0; } if (rev_start == 1) //标志位为1，开始接收 { rev_buf[num++] = ch; //字符存到数组中 if (ch == '\n') //如果接收到换行 { rev_buf[num] = '\0'; rev_start = 0; rev_stop = 1; gps_flag = 1; num = 0; } } isRxInt = 0; } void __sub_Uart2_RxErrInt(void) { switch(rUERSTAT2)//to clear and check the status of register bits { case 1: Uart_Printf("Overrun error\n"); break; case 2: Uart_Printf("Parity error\n"); break; case 4: Uart_Printf("Frame error\n"); break; case 8: Uart_Printf("Breake detect\n"); break; default : break; } isRxInt=0; } void Uart2_Init(int pclk, int baud) { if(pclk == 0) pclk = PCLK; rUFCON2=0x0; rUMCON2=0x0; rULCON2=0x3; // rUCON2=0x245; rUCON2 |= (TX_INTTYPE<<9)|(RX_INTTYPE<<8)|(0<<7)|(0<<6)|(0<<5)|(0<<4)|(1<<2)|(1); rUBRDIV2=((int)(pclk/(baud*16))-1); pISR_UART2 =(unsigned)Uart2_RxIntOrErr; ClearPending(BIT_UART2); rINTMSK=~(BIT_UART2); rSUBSRCPND=(BIT_SUB_RXD2|BIT_SUB_ERR2); rINTSUBMSK=~(BIT_SUB_RXD2|BIT_SUB_ERR2); // rSUBSRCPND=(BIT_SUB_RXD2); // rINTSUBMSK=~(BIT_SUB_RXD2); } void GPS_Init(void) { GPS_Port_Set(); rGPFCON = (rGPFCON | 0xFFFF) & 0xFFFFFF55; //GPF0--GPF3设置为output rGPFUP = rGPFUP & 0xFFF0; //使能GPF上拉电阻 rGPFDAT = 0x0F; //GPF低4位初始化为1 // Uart_Printf("baud=9600\n"); Uart_Printf("[GPS For Arm 测试程序]\n"); Uart_Printf("GPS模块初化中，正在搜索定位卫星.....\n"); Uart2_Init(0, 9600); Delay(200); if (GPS_GSV_Parse(rev_buf)) { Uart_Printf("可用卫星数量: %2d\r", GPS->satellite); } } //====================================================================// // 语法格式：int GPS_RMC_Parse(char *line, GPS_INFO *GPS) // 实现功能：把gps模块的GPRMC信息解析为可识别的数据 // 参 数：存放原始信息字符数组、存储可识别数据的结构体 // 返 回 值： // 1: 解析GPRMC完毕 // 0: 没有进行解析，或数据无效 //====================================================================// int GPS_RMC_Parse(char *line) { U8 ch, status, tmp; float lati_cent_tmp, lati_second_tmp; float long_cent_tmp, long_second_tmp; float speed_tmp; char *buf = line; ch = buf[5]; status = buf[GetComma(2, buf)]; if (ch == 'C') //如果第五个字符是C，($GPRMC) { if (status == 'A') //如果数据有效，则分析 { GPS -> NS = buf[GetComma(4, buf)]; GPS -> EW = buf[GetComma(6, buf)]; GPS->latitude = Get_Double_Number(&buf[GetComma(3, buf)]); GPS->longitude = Get_Double_Number(&buf[GetComma( 5, buf)]); GPS->latitude_Degree = (int)GPS->latitude / 100; //分离纬度 lati_cent_tmp = (GPS->latitude - GPS->latitude_Degree * 100); GPS->latitude_Cent = (int)lati_cent_tmp; lati_second_tmp = (lati_cent_tmp - GPS->latitude_Cent) * 60; GPS->latitude_Second = (int)lati_second_tmp; GPS->longitude_Degree = (int)GPS->longitude / 100; //分离经度 long_cent_tmp = (GPS->longitude - GPS->longitude_Degree * 100); GPS->longitude_Cent = (int)long_cent_tmp; long_second_tmp = (long_cent_tmp - GPS->longitude_Cent) * 60; GPS->longitude_Second = (int)long_second_tmp; speed_tmp = Get_Float_Number(&buf[GetComma(7, buf)]); //速度(单位：海里/时) GPS->speed = speed_tmp * 1.85; //1海里=1.85公里 GPS->direction = Get_Float_Number(&buf[GetComma(8, buf)]); //角度 GPS->D.hour = (buf[7] - '0') * 10 + (buf[8] - '0'); //时间 GPS->D.minute = (buf[9] - '0') * 10 + (buf[10] - '0'); GPS->D.second = (buf[11] - '0') * 10 + (buf[12] - '0'); tmp = GetComma(9, buf); GPS->D.day = (buf[tmp + 0] - '0') * 10 + (buf[tmp + 1] - '0'); //日期 GPS->D.month = (buf[tmp + 2] - '0') * 10 + (buf[tmp + 3] - '0'); GPS->D.year = (buf[tmp + 4] - '0') * 10 + (buf[tmp + 5] - '0')+2000; UTC2BTC(&GPS->D); return 1; } } return 0; } //====================================================================// // 语法格式：int GPS_GGA_Parse(char *line, GPS_INFO *GPS) // 实现功能：把gps模块的GPGGA信息解析为可识别的数据 // 参 数：存放原始信息字符数组、存储可识别数据的结构体 // 返 回 值： // 1: 解析GPGGA完毕 // 0: 没有进行解析，或数据无效 //====================================================================// int GPS_GGA_Parse(char *line) { U8 ch, status; char *buf = line; ch = buf[4]; status = buf[GetComma(2, buf)]; if (ch == 'G') //$GPGGA { if (status != ',') { GPS->height_sea = Get_Float_Number(&buf[GetComma(9, buf)]); GPS->height_ground = Get_Float_Number(&buf[GetComma(11, buf)]); return 1; } } return 0; } //====================================================================// // 语法格式：int GPS_GSV_Parse(char *line, GPS_INFO *GPS) // 实现功能：把gps模块的GPGSV信息解析为可识别的数据 // 参 数：存放原始信息字符数组、存储可识别数据的结构体 // 返 回 值： // 1: 解析GPGGA完毕 // 0: 没有�