mirror of
https://github.com/DarkFlippers/unleashed-firmware
synced 2024-12-22 10:43:11 +00:00
296 lines
7.7 KiB
C
296 lines
7.7 KiB
C
|
/*
|
||
|
* Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
|
||
|
* This program is free software. It comes without any warranty, to the extent
|
||
|
* permitted by applicable law. You can redistribute it and/or modify it under
|
||
|
* the terms of the Do What The Fuck You Want To Public License, Version 2, as
|
||
|
* published by Sam Hocevar. See the COPYING file for more details.
|
||
|
*/
|
||
|
|
||
|
#ifndef MINMEA_H
|
||
|
#define MINMEA_H
|
||
|
|
||
|
#ifdef __cplusplus
|
||
|
extern "C" {
|
||
|
#endif
|
||
|
|
||
|
#include <ctype.h>
|
||
|
#include <stdint.h>
|
||
|
#include <stdbool.h>
|
||
|
#include <time.h>
|
||
|
#include <math.h>
|
||
|
#ifdef MINMEA_INCLUDE_COMPAT
|
||
|
#include <minmea_compat.h>
|
||
|
#endif
|
||
|
|
||
|
#ifndef MINMEA_MAX_SENTENCE_LENGTH
|
||
|
#define MINMEA_MAX_SENTENCE_LENGTH 80
|
||
|
#endif
|
||
|
|
||
|
enum minmea_sentence_id {
|
||
|
MINMEA_INVALID = -1,
|
||
|
MINMEA_UNKNOWN = 0,
|
||
|
MINMEA_SENTENCE_GBS,
|
||
|
MINMEA_SENTENCE_GGA,
|
||
|
MINMEA_SENTENCE_GLL,
|
||
|
MINMEA_SENTENCE_GSA,
|
||
|
MINMEA_SENTENCE_GST,
|
||
|
MINMEA_SENTENCE_GSV,
|
||
|
MINMEA_SENTENCE_RMC,
|
||
|
MINMEA_SENTENCE_VTG,
|
||
|
MINMEA_SENTENCE_ZDA,
|
||
|
};
|
||
|
|
||
|
struct minmea_float {
|
||
|
int_least32_t value;
|
||
|
int_least32_t scale;
|
||
|
};
|
||
|
|
||
|
struct minmea_date {
|
||
|
int day;
|
||
|
int month;
|
||
|
int year;
|
||
|
};
|
||
|
|
||
|
struct minmea_time {
|
||
|
int hours;
|
||
|
int minutes;
|
||
|
int seconds;
|
||
|
int microseconds;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gbs {
|
||
|
struct minmea_time time;
|
||
|
struct minmea_float err_latitude;
|
||
|
struct minmea_float err_longitude;
|
||
|
struct minmea_float err_altitude;
|
||
|
int svid;
|
||
|
struct minmea_float prob;
|
||
|
struct minmea_float bias;
|
||
|
struct minmea_float stddev;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_rmc {
|
||
|
struct minmea_time time;
|
||
|
bool valid;
|
||
|
struct minmea_float latitude;
|
||
|
struct minmea_float longitude;
|
||
|
struct minmea_float speed;
|
||
|
struct minmea_float course;
|
||
|
struct minmea_date date;
|
||
|
struct minmea_float variation;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gga {
|
||
|
struct minmea_time time;
|
||
|
struct minmea_float latitude;
|
||
|
struct minmea_float longitude;
|
||
|
int fix_quality;
|
||
|
int satellites_tracked;
|
||
|
struct minmea_float hdop;
|
||
|
struct minmea_float altitude;
|
||
|
char altitude_units;
|
||
|
struct minmea_float height;
|
||
|
char height_units;
|
||
|
struct minmea_float dgps_age;
|
||
|
};
|
||
|
|
||
|
enum minmea_gll_status {
|
||
|
MINMEA_GLL_STATUS_DATA_VALID = 'A',
|
||
|
MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
|
||
|
};
|
||
|
|
||
|
// FAA mode added to some fields in NMEA 2.3.
|
||
|
enum minmea_faa_mode {
|
||
|
MINMEA_FAA_MODE_AUTONOMOUS = 'A',
|
||
|
MINMEA_FAA_MODE_DIFFERENTIAL = 'D',
|
||
|
MINMEA_FAA_MODE_ESTIMATED = 'E',
|
||
|
MINMEA_FAA_MODE_MANUAL = 'M',
|
||
|
MINMEA_FAA_MODE_SIMULATED = 'S',
|
||
|
MINMEA_FAA_MODE_NOT_VALID = 'N',
|
||
|
MINMEA_FAA_MODE_PRECISE = 'P',
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gll {
|
||
|
struct minmea_float latitude;
|
||
|
struct minmea_float longitude;
|
||
|
struct minmea_time time;
|
||
|
char status;
|
||
|
char mode;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gst {
|
||
|
struct minmea_time time;
|
||
|
struct minmea_float rms_deviation;
|
||
|
struct minmea_float semi_major_deviation;
|
||
|
struct minmea_float semi_minor_deviation;
|
||
|
struct minmea_float semi_major_orientation;
|
||
|
struct minmea_float latitude_error_deviation;
|
||
|
struct minmea_float longitude_error_deviation;
|
||
|
struct minmea_float altitude_error_deviation;
|
||
|
};
|
||
|
|
||
|
enum minmea_gsa_mode {
|
||
|
MINMEA_GPGSA_MODE_AUTO = 'A',
|
||
|
MINMEA_GPGSA_MODE_FORCED = 'M',
|
||
|
};
|
||
|
|
||
|
enum minmea_gsa_fix_type {
|
||
|
MINMEA_GPGSA_FIX_NONE = 1,
|
||
|
MINMEA_GPGSA_FIX_2D = 2,
|
||
|
MINMEA_GPGSA_FIX_3D = 3,
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gsa {
|
||
|
char mode;
|
||
|
int fix_type;
|
||
|
int sats[12];
|
||
|
struct minmea_float pdop;
|
||
|
struct minmea_float hdop;
|
||
|
struct minmea_float vdop;
|
||
|
};
|
||
|
|
||
|
struct minmea_sat_info {
|
||
|
int nr;
|
||
|
int elevation;
|
||
|
int azimuth;
|
||
|
int snr;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_gsv {
|
||
|
int total_msgs;
|
||
|
int msg_nr;
|
||
|
int total_sats;
|
||
|
struct minmea_sat_info sats[4];
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_vtg {
|
||
|
struct minmea_float true_track_degrees;
|
||
|
struct minmea_float magnetic_track_degrees;
|
||
|
struct minmea_float speed_knots;
|
||
|
struct minmea_float speed_kph;
|
||
|
enum minmea_faa_mode faa_mode;
|
||
|
};
|
||
|
|
||
|
struct minmea_sentence_zda {
|
||
|
struct minmea_time time;
|
||
|
struct minmea_date date;
|
||
|
int hour_offset;
|
||
|
int minute_offset;
|
||
|
};
|
||
|
|
||
|
/**
|
||
|
* Calculate raw sentence checksum. Does not check sentence integrity.
|
||
|
*/
|
||
|
uint8_t minmea_checksum(const char* sentence);
|
||
|
|
||
|
/**
|
||
|
* Check sentence validity and checksum. Returns true for valid sentences.
|
||
|
*/
|
||
|
bool minmea_check(const char* sentence, bool strict);
|
||
|
|
||
|
/**
|
||
|
* Determine talker identifier.
|
||
|
*/
|
||
|
bool minmea_talker_id(char talker[3], const char* sentence);
|
||
|
|
||
|
/**
|
||
|
* Determine sentence identifier.
|
||
|
*/
|
||
|
enum minmea_sentence_id minmea_sentence_id(const char* sentence, bool strict);
|
||
|
|
||
|
/**
|
||
|
* Scanf-like processor for NMEA sentences. Supports the following formats:
|
||
|
* c - single character (char *)
|
||
|
* d - direction, returned as 1/-1, default 0 (int *)
|
||
|
* f - fractional, returned as value + scale (struct minmea_float *)
|
||
|
* i - decimal, default zero (int *)
|
||
|
* s - string (char *)
|
||
|
* t - talker identifier and type (char *)
|
||
|
* D - date (struct minmea_date *)
|
||
|
* T - time stamp (struct minmea_time *)
|
||
|
* _ - ignore this field
|
||
|
* ; - following fields are optional
|
||
|
* Returns true on success. See library source code for details.
|
||
|
*/
|
||
|
bool minmea_scan(const char* sentence, const char* format, ...);
|
||
|
|
||
|
/*
|
||
|
* Parse a specific type of sentence. Return true on success.
|
||
|
*/
|
||
|
bool minmea_parse_gbs(struct minmea_sentence_gbs* frame, const char* sentence);
|
||
|
bool minmea_parse_rmc(struct minmea_sentence_rmc* frame, const char* sentence);
|
||
|
bool minmea_parse_gga(struct minmea_sentence_gga* frame, const char* sentence);
|
||
|
bool minmea_parse_gsa(struct minmea_sentence_gsa* frame, const char* sentence);
|
||
|
bool minmea_parse_gll(struct minmea_sentence_gll* frame, const char* sentence);
|
||
|
bool minmea_parse_gst(struct minmea_sentence_gst* frame, const char* sentence);
|
||
|
bool minmea_parse_gsv(struct minmea_sentence_gsv* frame, const char* sentence);
|
||
|
bool minmea_parse_vtg(struct minmea_sentence_vtg* frame, const char* sentence);
|
||
|
bool minmea_parse_zda(struct minmea_sentence_zda* frame, const char* sentence);
|
||
|
|
||
|
/**
|
||
|
* Convert GPS UTC date/time representation to a UNIX calendar time.
|
||
|
*/
|
||
|
int minmea_getdatetime(
|
||
|
struct tm* tm,
|
||
|
const struct minmea_date* date,
|
||
|
const struct minmea_time* time_);
|
||
|
|
||
|
/**
|
||
|
* Convert GPS UTC date/time representation to a UNIX timestamp.
|
||
|
*/
|
||
|
int minmea_gettime(
|
||
|
struct timespec* ts,
|
||
|
const struct minmea_date* date,
|
||
|
const struct minmea_time* time_);
|
||
|
|
||
|
/**
|
||
|
* Rescale a fixed-point value to a different scale. Rounds towards zero.
|
||
|
*/
|
||
|
static inline int_least32_t minmea_rescale(const struct minmea_float* f, int_least32_t new_scale) {
|
||
|
if(f->scale == 0) return 0;
|
||
|
if(f->scale == new_scale) return f->value;
|
||
|
if(f->scale > new_scale)
|
||
|
return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale / new_scale / 2) /
|
||
|
(f->scale / new_scale);
|
||
|
else
|
||
|
return f->value * (new_scale / f->scale);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Convert a fixed-point value to a floating-point value.
|
||
|
* Returns NaN for "unknown" values.
|
||
|
*/
|
||
|
static inline float minmea_tofloat(const struct minmea_float* f) {
|
||
|
if(f->scale == 0) return NAN;
|
||
|
return (float)f->value / (float)f->scale;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Convert a raw coordinate to a floating point DD.DDD... value.
|
||
|
* Returns NaN for "unknown" values.
|
||
|
*/
|
||
|
static inline float minmea_tocoord(const struct minmea_float* f) {
|
||
|
if(f->scale == 0) return NAN;
|
||
|
if(f->scale > (INT_LEAST32_MAX / 100)) return NAN;
|
||
|
if(f->scale < (INT_LEAST32_MIN / 100)) return NAN;
|
||
|
int_least32_t degrees = f->value / (f->scale * 100);
|
||
|
int_least32_t minutes = f->value % (f->scale * 100);
|
||
|
return (float)degrees + (float)minutes / (60 * f->scale);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* Check whether a character belongs to the set of characters allowed in a
|
||
|
* sentence data field.
|
||
|
*/
|
||
|
static inline bool minmea_isfield(char c) {
|
||
|
return isprint((unsigned char)c) && c != ',' && c != '*';
|
||
|
}
|
||
|
|
||
|
#ifdef __cplusplus
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
#endif /* MINMEA_H */
|
||
|
|
||
|
/* vim: set ts=4 sw=4 et: */
|