Nmea0813协议解析代码，C语言版，直接贴代码。
文章代码是参照git一位大佬的改了一下，git源码链接：
https://gitee.com/boo0ood/NMEA_GPS_parse.git
目录
- 一、nmea.h
- 一、nmea.c
- 三、main.c
一、nmea.h
#ifndef __NMEA_H__
#define __NMEA_H__#include <stdio.h>
#include <stdlib.h>
#include <string.h>// 根据实际的数据修改ID
#define PRE_GGA "$GNGGA"
#define PRE_GLL "$GNGLL"
#define PRE_GSA "$GNGSA"
#define PRE_GPGSV "$GPGSV"
#define PRE_GNGSV "$GNGSV"
#define PRE_GLGSV "$GLGSV"
#define PRE_RMC "$GNRMC"
#define PRE_VTG "$GNVTG"// 语句解析控制 1：使能，0：禁用
#define ENABLE_GGA 1
#define ENABLE_GLL 1
#define ENABLE_GSA 1
#define ENABLE_GSV 1
#define ENABLE_RMC 1
#define ENABLE_VTG 1
#define ENABLE_UTC 1// 最多卫星数量
#define MAX_SATELLITES 32
// 最大信道数量
#define MAX_GSA_CHANNELS 36#if ENABLE_GGA
// GGA字段结构体（GPS定位数据）
typedef struct
{char utc[11]; // UTC时间，格式为hhmmss.sssdouble lat; // 纬度，格式为ddmm.mmmmchar lat_dir; // 纬度半球，N或Sdouble lon; // 经度，格式为dddmm.mmmmchar lon_dir; // 经度半球，E或Wunsigned char quality; // 0=定位无效，1=定位有效unsigned char sats; // 使用卫星数量，从00到12double hdop; // 水平精确度，0.5到99.9，单位mdouble alt; // 海平面的高度，-9999.9到9999.9米double undulation; // 大地水准面高度，-9999.9到9999.9米unsigned char age; // 差分时间unsigned short stn_ID; // 差分站ID号0000 - 1023
} GGA;
#endif#if ENABLE_GLL
// GPGLL数据结构体（地理定位信息）
typedef struct
{double lat; // 纬度，格式为ddmm.mmmmchar lat_dir; // 纬度半球，N或Sdouble lon; // 经度，格式为dddmm.mmmmchar lon_dir; // 经度半球，E或Wchar utc[11]; // UTC时间，格式为hhmmss.ssschar data_status; // 状态标志位，A：有效，V无效
}GLL;
#endif#if ENABLE_GSA
#pragma pack(1) // 便于指针偏移取值
// 信道信息结构体
typedef struct
{unsigned char total; // 总信道个数unsigned char prn_ID; // prn信道unsigned char prn; // PRN 码（伪随机噪声码）
}GSA_PRN;
#pragma pack()//GPGSA数据结构体（当前卫星信息）
typedef struct
{unsigned char mode_MA; // 定位模式(选择2D/3D)，A=自动选择，M=手动选择unsigned char mode_123; // 定位类型，1=未定位，2=2D定位，3=3D定位double pdop; // PDOP综合位置精度因子（0.5 - 99.9）double hdop; // HDOP水平精度因子（0.5 - 99.9）double vdop; // VDOP垂直精度因子（0.5 - 99.9）GSA_PRN gsa_prn[MAX_GSA_CHANNELS]; // 存放信道信息
}GSA;
#endif#if ENABLE_GSV
#pragma pack(1) // 便于指针偏移取值
// 可见卫星信息结构体
typedef struct
{unsigned char prn; // PRN 码（伪随机噪声码）unsigned char elev; // 卫星仰角（00 - 90）度unsigned short azimuth; // 卫星方位角（00 - 359）度unsigned char SNR; // 信噪比
}SAT_INFO;
#pragma pack()// GPGSV数据结构体(可见卫星信息)
typedef struct
{unsigned char msgs; // 本次GSV语句的总数目（1 - 3）unsigned char msg; // 本条GSV语句是本次GSV语句的第几条（1 - 3）unsigned char sats; // 当前可见卫星总数（00 - 12）SAT_INFO sat_info[MAX_SATELLITES]; // 卫星信息
}GSV;
#endif#if ENABLE_RMC
//RMC数据结构体（推荐定位信息数据格式）
typedef struct
{char utc[11]; // UTC时间，hhmmss.sss格式char pos_status; // 状态，A=定位，V=未定位double lat; // 纬度ddmm.mmmm，度分格式char lat_dir; // 纬度N（北纬）或S（南纬）double lon; // 经度dddmm.mmmm，度分格式char lon_dir; // 经度E（东经）或W（西经）double speed_Kn; // 速度double track_true; // 方位角，度char date[7]; // UTC日期，DDMMYY格式double mag_var; // 磁偏角，（000 - 180）度char var_dir; // 磁偏角方向，E=东,W=西char mode_ind; // 模式，A=自动，D=差分，E=估测，N=数据无效（3.0协议内容）
}RMC;
#endif#if ENABLE_VTG
//VTG数据结构体（地面速度信息）
typedef struct
{double track_true; // 运动角度，000 - 359，真北参照系double track_mag; // 运动角度，000 - 359，磁北参照系double speed_Kn; // 水平运动速度（0.00），节，Knotsdouble speed_Km; // 水平运动速度（0.00）, 公里/时，km/h
}VTG;
#endif#if ENABLE_UTC
//UTC时间结构体
typedef struct
{unsigned char YY; // 年unsigned char DD; // 日unsigned char MM; // 月unsigned char hh; // 时unsigned char mm; // 分unsigned char ss; // 秒unsigned short ds; // 毫秒
}UTC;
#endif//定义GPS结构体
typedef struct
{char gps_buffer_data[1024];
#if ENABLE_GGAGGA gga_data;
#endif
#if ENABLE_GLLGLL gll_data;
#endif
#if ENABLE_GSAGSA gsa_data;
#endif
#if ENABLE_GSVGSV gpgsv_data;GSV gngsv_data;GSV glgsv_data;
#endif
#if ENABLE_RMCRMC rmc_data;
#endif
#if ENABLE_VTGVTG vtg_data;
#endif
#if ENABLE_UTCUTC utc;
#endif
}GPS;void gps_data_parse(const char* gps_src, const unsigned short gps_src_len, GPS* gps_data);#endif //__NMEA_H__一、nmea.c
#include "nmea.h"static char gps_src_backup[1024];
#if 0
#if ENABLE_GGA
GGA default_gga_data = {"\0",0.0,'N',0.0,'S',0,0,0,0,0,0,0};
#endif#if ENABLE_GLL
GLL default_gll_data = {0.0,'\0',0.0,'\0',"\0",'\0'};
#endif#if ENABLE_GSA
//GSA_PRN default_gsa_prn_data = {0,0,0};
GSA default_gsa_data = {'\0','\0',0.0,0.0,0.0,{0,0,0}};
#endif
#if ENABLE_RMC
RMC default_rmc_data = {"\0",'\0',0.0,'\0',0.0,'\0',0.0,0.0,"\0",0.0,'\0','\0'};
#endif#if ENABLE_VTG
VTG default_vtg_data = {0.0,0.0,0.0,0.0};
#endif#if ENABLE_GSV
//SAT_INFO default_sat_info_data = {0,0,0,0};
GSV default_gsv_data = {0, 0, 0, {0,0,0,0}};
#endif
#endif// 数据分割，可以分割两个连续的分隔符
static char* strsplit(char** stringp, const char* delim)
{char* start = *stringp;char* p;p = (start != NULL) ? strpbrk(start, delim) : NULL;if (p == NULL){*stringp = NULL;}else{*p = '\0';*stringp = p + 1;}return start;
}// 统计字符串在另一个字符串中出现的次数
static int strstr_cnt(char *str, char *substr)
{char *srcStr = str;int count = 0;do{srcStr = strstr(srcStr, substr);if(srcStr != NULL){count++;srcStr = srcStr + strlen(substr);}else{break;}}while (*srcStr != '\0');return count;
}#if ENABLE_GGA
// GGA数据解析
static GGA gga_data_parse(char *gga_data)
{GGA gga;unsigned char times = 0;char *p;char end[16];p = strsplit(&gga_data, ",");while (p){switch (times){case 1: // UTCstrcpy(gga.utc, p);break;case 2: // latgga.lat = strtod(p, NULL);break;case 3: // lat dirgga.lat_dir = p[0];break;case 4: // longga.lon = strtod(p, NULL);break;case 5: // lon dirgga.lon_dir = p[0];break;case 6: // qualitygga.quality = (unsigned char)strtol(p, NULL, 10);break;case 7: // satsgga.sats = (unsigned char)strtol(p, NULL, 10);break;case 8: // hdopgga.hdop = strtod(p, NULL);;break;case 9: // altgga.alt = strtod(p, NULL);break;case 11: // undulationgga.undulation = strtod(p, NULL);break;case 13: // agegga.age = (unsigned char)strtol(p, NULL, 10);break;case 14: // stn_IDstrncpy(end, p, strlen(p)-3);end[strlen(p)-3] = '\0';gga.stn_ID = (unsigned short )strtol(end, NULL, 10);break;default:break;}p = strsplit(&gga_data, ",");times++;}return gga;
}
#endif#if ENABLE_GLL
// GLL数据解析
static GLL gll_data_parse(char *gll_data)
{GLL gll;unsigned char times = 0;char *p;char *s = gll_data;p = strsplit(&s, ",");while (p){switch (times){case 1: // latgll.lat = strtod(p, NULL);break;case 2: // lat dirgll.lat_dir = p[0];break;case 3: // longll.lon = strtod(p, NULL);break;case 4: // lon dirgll.lon_dir = p[0];break;case 5: // lon dirstrcpy(gll.utc, p);break;case 6: // data statusgll.data_status = p[0];break;default:break;}p = strsplit(&s, ",");times++;}return gll;
}
#endif#if ENABLE_GSA
// 得到GSA数据中的信道信息
static void get_prn_data(char *gps_data, GSA_PRN *gsa_prn)
{unsigned char times = 0;unsigned char i;unsigned char sentences_index = 0; // 累计找到gsa字段的个数char *p;char gsa_data_buffer[128];char *s = gsa_data_buffer;char *sentences;int gsa_count;// 统计GSA字段的个数gsa_count = strstr_cnt(gps_data, PRE_GSA);(void)memset(gsa_prn, 0, sizeof(GSA_PRN) * MAX_GSA_CHANNELS);sentences = strtok(gps_data, "\r\n");while (sentences){if (strstr(sentences, PRE_GSA)){sentences_index++;s = gsa_data_buffer;(void)memcpy(s, sentences, strlen(sentences));p = strsplit(&s, ",");while (p){if (times == 2){for (i=0; i<12; i++){p = strsplit(&s, ",");(gsa_prn+i+(sentences_index-1)*12)->total = (unsigned char)gsa_count * 12;(gsa_prn+i+(sentences_index-1)*12)->prn_ID = i + (sentences_index - 1) * 12;(gsa_prn+i+(sentences_index-1)*12)->prn = (unsigned char)strtol(p, NULL, 10);}}p = strsplit(&s, ",");times++;}times = 0;}sentences = strtok(NULL, "\r\n");}
}// GSA数据解析
static GSA gsa_data_parse(char *gsa_data, char *gpsdata)
{GSA gsa;unsigned char times = 0;char *p;char end[16];char *s = gsa_data;char *alldata = gpsdata;p = strsplit(&s, ",");while (p){switch (times){case 1: // mode_MAgsa.mode_MA = p[0];break;case 2: // mode_123gsa.mode_123 = p[0];break;case 3: // prnget_prn_data(alldata, gsa.gsa_prn);break;case 15: // pdopgsa.pdop = strtod(p, NULL);break;case 16: // hdopgsa.hdop = strtod(p, NULL);break;case 17: // vdopstrncpy(end, p, strlen(p)-3);end[strlen(p)-3] = '\0';gsa.vdop = strtod(end, NULL);default:break;}p = strsplit(&s, ",");times++;}return gsa;
}
#endif#if ENABLE_RMC
// RMC数据解析
static RMC rmc_data_parse(char *rmc_data)
{RMC rmc;unsigned char times = 0;char *p;char *s = rmc_data;p = strsplit(&s, ",");while (p){switch (times){case 1: // UTCstrcpy(rmc.utc, p);break;case 2: // pos statusrmc.pos_status = p[0];break;case 3: // latrmc.lat = strtod(p, NULL);break;case 4: // lat dirrmc.lat_dir = p[0];break;case 5: // lonrmc.lon = strtod(p, NULL);break;case 6: // lon dirrmc.lon_dir = p[0];break;case 7: // speen Knrmc.speed_Kn = strtod(p, NULL);break;case 8: // track truermc.track_true = strtod(p, NULL);break;case 9: // datestrcpy(rmc.date, p);break;case 10: // mag varrmc.mag_var = strtod(p, NULL);break;case 11: // var dirrmc.var_dir = p[0];break;case 12: // mode indrmc.mode_ind = p[0];break;default:break;}p = strsplit(&s, ",");times++;}return rmc;
}
#endif#if ENABLE_VTG
// VTG数据解析
static VTG vtg_data_parse(char *vtg_data)
{VTG vtg;unsigned char times = 0;char *p;char *s = vtg_data;p = strsplit(&s, ",");while (p){switch (times){case 1: // track truevtg.track_true = strtod(p, NULL);break;case 3: // track magvtg.track_mag = strtod(p, NULL);break;case 5: // speed Knvtg.speed_Kn = strtod(p, NULL);break;case 7: // speed Kmvtg.speed_Km = strtod(p, NULL);break;default:break;}p = strsplit(&s, ",");times++;}return vtg;
}
#endif#if ENABLE_GSV
/** function: 获取GSV字段中的GPS信息* gps_data: 最原始的GPS字符串* stas: 卫星数量* prefix: GSV信息字段前缀* sats_info: 存放卫星信息
*/
static void get_sats_info(char *gps_data, unsigned char sats, char *prefix, SAT_INFO *sats_info)
{unsigned char times = 0;unsigned char msgs = 0;unsigned char msg = 0;unsigned char for_times;unsigned char i;char *p;char gsv_data_buffer[128];char *s = gsv_data_buffer;char *sentences;//(void)memset(sats_info, 0, sizeof(SAT_INFO) * (sats+1));sentences = strtok(gps_data, "\r\n");while (sentences){if (strstr(sentences, prefix)){s = gsv_data_buffer;(void)memcpy(s, sentences, strlen(sentences));p = strsplit(&s, ",");while (p){switch (times){case 1: // msgsmsgs = (unsigned char) strtol(p, NULL, 10);break;case 2: // msgmsg = (unsigned char) strtol(p, NULL, 10);break;case 3: // sat infofor_times = (msgs == msg) ? ((sats % 4) ? sats % 4 : 4) : 4;for (i = 0; i < for_times; i++){p = strsplit(&s, ",");(sats_info+(msg-1)*4+i)->prn = (unsigned char) strtol(p, NULL, 10);p = strsplit(&s, ",");(sats_info+(msg-1)*4+i)->elev = (unsigned char) strtol(p, NULL, 10);p = strsplit(&s, ",");(sats_info+(msg-1)*4+i)->azimuth = (unsigned short) strtol(p, NULL, 10);p = strsplit(&s, ",");(sats_info+(msg-1)*4+i)->SNR = (unsigned char) strtol(p, NULL, 10);}break;default:break;}p = strsplit(&s, ",");times++;}times = 0;}sentences = strtok(NULL, "\r\n");}
}// GSV数据解析
static GSV gsv_data_parse(char *gsv_data, char *gps_data, char *prefix)
{GSV gsv;unsigned char times = 0;char *p;char *s = gsv_data;char *src_data = gps_data;p = strsplit(&s, ",");while (p){switch (times){case 1: // msgsgsv.msgs = (unsigned char)strtol(p, NULL, 10);break;case 2: // msggsv.msg = (unsigned char)strtol(p, NULL, 10);break;case 3: // satsgsv.sats = (unsigned char)strtol(p, NULL, 10);get_sats_info(src_data, gsv.sats, prefix, gsv.sat_info);break;default:break;}p = strsplit(&s, ",");times++;}return gsv;
}
#endif#if ENABLE_UTC
// UTC数据解析
static UTC utc_parse(char *date, char *time)
{UTC utc_data;unsigned int date_int;double time_float;date_int = (unsigned int)strtol(date, NULL, 10);utc_data.DD = date_int / 10000;utc_data.MM = date_int % 10000 / 100;utc_data.YY = date_int % 100;time_float = strtod(time, NULL);utc_data.hh = (unsigned int)time_float / 10000;utc_data.mm = (unsigned int)time_float % 10000 / 100;utc_data.ss = (unsigned int)time_float % 100;utc_data.ds = (unsigned short)(time_float - (unsigned int)time_float);return utc_data;
}
#endif// 解析全部的GPS数据
void gps_data_parse(const char* gps_src, const unsigned short gps_src_len, GPS* gps_data)
{if((NULL == gps_src) || (0 == gps_src_len) || (NULL == gps_data)){return;}// GGA数据解析
#if ENABLE_GGAif(NULL != strstr(gps_src, PRE_GGA)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);gps_data->gga_data = gga_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GGA), "\r\n"));}
#endif// GLL数据解析
#if ENABLE_GLLif(NULL != strstr(gps_src, PRE_GLL)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);gps_data->gll_data = gll_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GLL), "\r\n"));}
#endif// GSA数据解析
#if ENABLE_GSAif(NULL != strstr(gps_src, PRE_GSA)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_src_backup, gps_src, gps_src_len);(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);gps_data->gsa_data = gsa_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GSA), "\r\n"), gps_src_backup);}
#endif// RMC数据解析
#if ENABLE_RMCif(NULL != strstr(gps_src, PRE_RMC)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);gps_data->rmc_data = rmc_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_RMC), "\r\n"));}
#endif// VTG数据解析
#if ENABLE_VTGif(NULL != strstr(gps_src, PRE_VTG)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);gps_data->vtg_data = vtg_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_VTG), "\r\n"));}
#endif// GSV数据解析
#if ENABLE_GSV// GPGSV数据段解析if(NULL != strstr(gps_src, PRE_GPGSV)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);(void)memcpy(gps_src_backup, gps_src, gps_src_len);gps_data->gpgsv_data = gsv_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GPGSV), "\r\n"), gps_src_backup, PRE_GPGSV);}// GNGSV数据段解析if(NULL != strstr(gps_src, PRE_GNGSV)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);(void)memcpy(gps_src_backup, gps_src, gps_src_len);gps_data->gngsv_data = gsv_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GNGSV), "\r\n"), gps_src_backup, PRE_GNGSV);}// GLGSV数据段解析if(NULL != strstr(gps_src, PRE_GLGSV)){(void)memset(gps_data->gps_buffer_data, 0u, sizeof(gps_data->gps_buffer_data));(void)memcpy(gps_data->gps_buffer_data, gps_src, gps_src_len);(void)memcpy(gps_src_backup, gps_src, gps_src_len);gps_data->glgsv_data = gsv_data_parse(strtok(strstr(gps_data->gps_buffer_data, PRE_GLGSV), "\r\n"), gps_src_backup, PRE_GLGSV);}
#endif// UTC数据解析，UTC数据取自RMC段数据
#if ENABLE_UTC && ENABLE_RMCgps_data->utc = utc_parse(gps_data->rmc_data.date, gps_data->rmc_data.utc);
#endifreturn;
}三、main.c
#include <stdio.h>
#include "nmea.h"GPS gps;int main()
{unsigned char i;char gps_data[] = "$GNRMC,013300.00,A,2240.84105,N,11402.70763,E,0.007,,220319,,,D*69\r\n""$GNVTG,,T,,M,0.007,N,0.014,K,D*3A\r\n""$GNGGA,013300.00,2240.84105,N,11402.70763,E,2,12,0.59,70.5,M,-2.5,M,,0000*68\r\n""$GNGSA,A,3,10,12,14,20,25,31,32,26,29,40,41,22,1.09,0.59,0.91*1F\r\n""$GNGSA,A,3,74,70,73,80,69,,,,,,,,1.09,0.59,0.91*17\r\n""$GPGSV,4,1,16,01,00,300,,10,56,178,51,12,12,038,38,14,47,345,48*79\r\n""$GPGSV,4,2,16,16,00,207,,18,06,275,30,20,28,165,43,22,10,319,43*76\r\n""$GPGSV,4,3,16,25,46,050,47,26,29,205,44,29,13,108,45,31,50,296,52*7E\r\n""$GPGSV,4,4,16,32,56,010,52,40,20,257,40,41,46,237,48,42,46,123,42*77\r\n""$GLGSV,2,1,06,69,27,136,49,70,76,057,50,71,34,338,50,73,64,276,55*6B\r\n""$GLGSV,2,2,06,74,24,231,46,80,35,019,46*60\r\n""$GNGLL,2240.84105,N,11402.70763,E,013300.00,A,D*7C\r\n";gps_data_parse(gps_data, sizeof(gps_data), &gps);#if ENABLE_GGAprintf("----------GGA DATA----------\n");printf("utc:%s\n", gps.gga_data.utc);printf("lat:%f\n", gps.gga_data.lat);printf("lat_dir:%c\n", gps.gga_data.lat_dir);printf("lon:%f\n", gps.gga_data.lon);printf("lon_dir:%c\n", gps.gga_data.lon_dir);printf("quality:%d\n", gps.gga_data.quality);printf("sats:%d\n", gps.gga_data.sats);printf("hdop:%f\n", gps.gga_data.hdop);printf("alt:%f\n", gps.gga_data.alt);printf("undulation:%f\n", gps.gga_data.undulation);printf("age:%d\n", gps.gga_data.age);printf("stn_ID:%d\n", gps.gga_data.stn_ID);
#endif
#if ENABLE_GLLprintf("----------GLL DATA----------\n");printf("utc:%s\n", gps.gll_data.utc);printf("lat:%f\n", gps.gll_data.lat);printf("lat_dir:%c\n", gps.gll_data.lat_dir);printf("lon:%f\n", gps.gll_data.lon);printf("lon_dir:%c\n", gps.gll_data.lon_dir);printf("data_status:%c\n", gps.gll_data.data_status);
#endif
#if ENABLE_GSAprintf("----------GSA DATA----------\n");printf("mode_MA:%c\n", gps.gsa_data.mode_MA);printf("mode_123:%c\n", gps.gsa_data.mode_123);printf("total:%d\n", gps.gsa_data.gsa_prn[0].total);for (i=0; i<gps.gsa_data.gsa_prn[0].total; i++){printf("prn%d:%d\n", (i+1), gps.gsa_data.gsa_prn[i].prn);}printf("pdop:%f\n", gps.gsa_data.pdop);printf("hdop:%f\n", gps.gsa_data.hdop);printf("vdop:%f\n", gps.gsa_data.vdop);
#endif
#if ENABLE_RMCprintf("----------RMC DATA----------\n");printf("utc:%s\n", gps.rmc_data.utc);printf("pos_status:%c\n", gps.rmc_data.pos_status);printf("lat:%f\n", gps.rmc_data.lat);printf("lat_dir:%c\n", gps.rmc_data.lat_dir);printf("lon:%f\n", gps.rmc_data.lon);printf("lon_dir:%c\n", gps.rmc_data.lon_dir);printf("speed_Kn:%f\n", gps.rmc_data.speed_Kn);printf("track_true:%f\n", gps.rmc_data.track_true);printf("date:%s\n", gps.rmc_data.date);printf("mag_var:%f\n", gps.rmc_data.mag_var);printf("var_dir:%c\n", gps.rmc_data.var_dir);printf("mode_ind:%c\n", gps.rmc_data.mode_ind);
#endif
#if ENABLE_VTGprintf("----------VTG DATA----------\n");printf("track_true:%f\n", gps.vtg_data.track_true);printf("track_mag:%f\n", gps.vtg_data.track_mag);printf("speen_Kn:%f\n", gps.vtg_data.speed_Kn);printf("speed_Km:%f\n", gps.vtg_data.speed_Km);
#endif
#if ENABLE_GSVprintf("----------GPGSV DATA----------\n");printf("msgs:%d\n", gps.gpgsv_data.msgs);printf("msg:%d\n", gps.gpgsv_data.msg);printf("sats:%d\n", gps.gpgsv_data.sats);for (i=0;i<gps.gpgsv_data.sats; i++){printf("prn%d:%d\n", i+1, gps.gpgsv_data.sat_info[i].prn);printf("evel%d:%d\n", i+1, gps.gpgsv_data.sat_info[i].elev);printf("azimuth%d:%d\n", i+1, gps.gpgsv_data.sat_info[i].azimuth);printf("SNR%d:%d\n", i+1, gps.gpgsv_data.sat_info[i].SNR);}printf("----------GNGSV DATA----------\n");printf("msgs:%d\n", gps.gngsv_data.msgs);printf("msg:%d\n", gps.gngsv_data.msg);printf("sats:%d\n", gps.gngsv_data.sats);for (i=0; i<gps.gngsv_data.sats; i++){printf("prn%d:%d\n", i+1, gps.gngsv_data.sat_info[i].prn);printf("evel%d:%d\n", i+1, gps.gngsv_data.sat_info[i].elev);printf("azimuth%d:%d\n", i+1, gps.gngsv_data.sat_info[i].azimuth);printf("SNR%d:%d\n", i+1, gps.gngsv_data.sat_info[i].SNR);}printf("----------GLGSV DATA----------\n");printf("msgs:%d\n", gps.glgsv_data.msgs);printf("msg:%d\n", gps.glgsv_data.msg);printf("sats:%d\n", gps.glgsv_data.sats);for (i=0;i<gps.glgsv_data.sats; i++){printf("prn%d:%d\n", i+1, gps.glgsv_data.sat_info[i].prn);printf("evel%d:%d\n", i+1, gps.glgsv_data.sat_info[i].elev);printf("azimuth%d:%d\n", i+1, gps.glgsv_data.sat_info[i].azimuth);printf("SNR%d:%d\n", i+1, gps.glgsv_data.sat_info[i].SNR);}
#endif
#if ENABLE_UTC && ENABLE_RMCprintf("----------UTC DATA----------\n");printf("year:20%02d\n", gps.utc.YY);printf("month:%02d\n", gps.utc.MM);printf("date:%02d\n", gps.utc.DD);printf("hour:%02d\n", gps.utc.hh);printf("minutes:%02d\n", gps.utc.mm);printf("second:%02d\n", gps.utc.ss);printf("ds:%02d\n", gps.utc.ds);
#endifreturn 0;
}
