152 lines
5.3 KiB
C
152 lines
5.3 KiB
C
/**
|
|
* \file
|
|
* <!--
|
|
* This file is part of BeRTOS.
|
|
*
|
|
* Bertos is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*
|
|
* As a special exception, you may use this file as part of a free software
|
|
* library without restriction. Specifically, if other files instantiate
|
|
* templates or use macros or inline functions from this file, or you compile
|
|
* this file and link it with other files to produce an executable, this
|
|
* file does not by itself cause the resulting executable to be covered by
|
|
* the GNU General Public License. This exception does not however
|
|
* invalidate any other reasons why the executable file might be covered by
|
|
* the GNU General Public License.
|
|
*
|
|
* Copyright 2009 Develer S.r.l. (http://www.develer.com/)
|
|
*
|
|
* -->
|
|
* \brief NMEA Parser.
|
|
*
|
|
* \author Daniele Basile <asterix@develer.com>
|
|
*
|
|
* $WIZ$ module_name = "nmea"
|
|
* $WIZ$ module_configuration = "bertos/cfg/cfg_nmea.h"
|
|
* $WIZ$ module_depends = "kfile", "nmeap01"
|
|
*/
|
|
|
|
#ifndef NET_NMEA_H
|
|
#define NET_NMEA_H
|
|
|
|
#include "cfg/cfg_nmea.h"
|
|
|
|
#include <net/nmeap/inc/nmeap.h>
|
|
|
|
#include <io/kfile.h>
|
|
|
|
#include <time.h>
|
|
|
|
/*
|
|
* Implemented NMEA parser strings.
|
|
*/
|
|
#define NMEA_GPGGA 1 // GGA MESSAGE ID
|
|
#define NMEA_GPRMC 2 // RMC MESSAGE ID
|
|
#define NMEA_GPVTG 3 // VTG MESSAGE ID
|
|
#define NMEA_GPGSV 4 // GSV MESSAGE ID
|
|
|
|
// Standart type to rappresent fiels.
|
|
typedef int32_t udegree_t; // Micro degrees
|
|
typedef int32_t mdegree_t; // Milli degrees
|
|
typedef int16_t degree_t; // Degrees
|
|
|
|
|
|
/**
|
|
* Global Positioning System Fix Data.
|
|
* Extracted data from a GGA message
|
|
*
|
|
* Note: time member contains the seconds elapsed from 00:00:00 1/1/1970,
|
|
* because from nmea sentence we read only the time of UTC position, we
|
|
* have not any reference of date (day, month and year) so time is referred to
|
|
* the start of unix time.
|
|
*/
|
|
typedef struct NmeaGga
|
|
{
|
|
udegree_t latitude; /* Latitude (micro degree) */
|
|
udegree_t longitude; /* Longitude (micro degree) */
|
|
int32_t altitude; /* Altitude (Meter) */
|
|
time_t time; /* UTC of position (Unix time) */
|
|
uint16_t satellites; /* Satellites are in view */
|
|
uint16_t quality; /* Fix Quality: 0 = Invalid; 1 = GPS fix; 2 = DGPS fix; */
|
|
uint16_t hdop; /* Relative accuracy of horizontal position (hdop * 10) */
|
|
int16_t geoid; /* Height of geoid above WGS84 ellipsoid (Meter) */
|
|
} NmeaGga;
|
|
|
|
/**
|
|
* Recommended minimum specific GPS/Transit data.
|
|
* Extracted data from an RMC message
|
|
*
|
|
* Note: RMC sentences contain also date stamp so, time contains real seconds elapsed
|
|
* from 0:00:00 1/1/1970.
|
|
*/
|
|
typedef struct NmeaRmc
|
|
{
|
|
time_t time; /* UTC of position (Unix time) */
|
|
char warn; /* Navigation receiver warning A = OK, V = warning */
|
|
udegree_t latitude; /* Latitude (micro degree) */
|
|
udegree_t longitude; /* Longitude (micro degree) */
|
|
uint16_t speed; /* Speed over ground (knots) */
|
|
degree_t course; /* Track made good in degrees True (degree) */
|
|
degree_t mag_var; /* Magnetic variation degrees (degree) */
|
|
} NmeaRmc;
|
|
|
|
/**
|
|
* Extracted data from an vtg message
|
|
*/
|
|
typedef struct NmeaVtg
|
|
{
|
|
degree_t track_good; /* True track made good (degree) */
|
|
uint16_t knot_speed; /* Speed over ground (knots) */
|
|
uint16_t km_speed; /* Speed over ground in kilometers/hour */
|
|
} NmeaVtg;
|
|
|
|
/**
|
|
* Extracted data from an gsv message
|
|
*/
|
|
struct SvInfo
|
|
{
|
|
uint16_t sv_prn; /* SV PRN number */
|
|
degree_t elevation; /* Elevation in degrees, 90 maximum */
|
|
degree_t azimut; /* Azimuth, degrees from true north, 000 to 359 */
|
|
uint16_t snr; /* SNR, 00-99 dB (null when not tracking) */
|
|
};
|
|
|
|
typedef struct NmeaGsv
|
|
{
|
|
uint16_t tot_message; /* Total number of messages of this type in this cycle */
|
|
uint16_t message_num; /* Message number */
|
|
uint16_t tot_svv; /* Total number of SVs in view */
|
|
struct SvInfo info[4]; /* Stanrd gsv nmea report up to 4 sv info */
|
|
} NmeaGsv;
|
|
|
|
void nmea_poll(nmeap_context_t *context, KFile *channel);
|
|
|
|
int nmea_gpgsv(nmeap_context_t *context, nmeap_sentence_t *sentence);
|
|
int nmea_gpvtg(nmeap_context_t *context, nmeap_sentence_t *sentence);
|
|
int nmea_gprmc(nmeap_context_t *context, nmeap_sentence_t *sentence);
|
|
int nmea_gpgga(nmeap_context_t *context, nmeap_sentence_t *sentence);
|
|
|
|
// Example of callout
|
|
void gpgga_callout(nmeap_context_t *context, void *data, void *user_data);
|
|
void gprmc_callout(nmeap_context_t *context, void *data, void *user_data);
|
|
void gpgsv_callout(nmeap_context_t *context, void *data, void *user_data);
|
|
void gpvtg_callout(nmeap_context_t *context, void *data, void *user_data);
|
|
|
|
int nmea_testSetup(void);
|
|
int nmea_testTearDown(void);
|
|
int nmea_testRun(void);
|
|
|
|
#endif /* NET_NMEA_H */
|