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nuttx-apps/include/gpsutils/minmea.h

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/****************************************************************************
* apps/include/gpsutils/minmea.h
*
* Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
*
* Released under the NuttX BSD license with permission from the author:
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __APPS_INCLUDE_GPSUTILS_MINMEA_H
#define __APPS_INCLUDE_GPSUTILS_MINMEA_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <errno.h>
#include <time.h>
#include <math.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define MINMEA_MAX_LENGTH 80
/****************************************************************************
* Public Types
****************************************************************************/
enum minmea_sentence_id
{
MINMEA_INVALID = -1,
MINMEA_UNKNOWN = 0,
MINMEA_SENTENCE_RMC,
MINMEA_SENTENCE_GGA,
MINMEA_SENTENCE_GSA,
MINMEA_SENTENCE_GLL,
MINMEA_SENTENCE_GST,
MINMEA_SENTENCE_GSV,
};
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_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;
int dgps_age;
};
enum minmea_gll_status
{
MINMEA_GLL_STATUS_DATA_VALID = 'A',
MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
};
enum minmea_gll_mode
{
MINMEA_GLL_MODE_AUTONOMOUS = 'A',
MINMEA_GLL_MODE_DPGS = 'D',
MINMEA_GLL_MODE_DR = 'E',
};
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];
};
#ifdef __cplusplus
extern "C"
{
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/* Calculate raw sentence checksum. Does not check sentence integrity. */
uint8_t minmea_checksum(FAR const char *sentence);
/* Check sentence validity and checksum. Returns true for valid sentences. */
bool minmea_check(FAR const char *sentence, bool strict);
/* Determine talker identifier. */
bool minmea_talker_id(char talker[3], FAR const char *sentence);
/* Determine sentence identifier. */
enum minmea_sentence_id minmea_sentence_id(FAR 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 (int *, int *)
* i - decimal, default zero (int *)
* s - string (char *)
* t - talker identifier and type (char *)
* T - date/time stamp (int *, int *, int *)
* 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_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);
/* Convert GPS UTC date/time representation to a UNIX timestamp. */
int minmea_gettime(FAR struct timespec *ts,
FAR const struct minmea_date *date,
FAR const struct minmea_time *time_);
/* Rescale a fixed-point value to a different scale. Rounds towards zero. */
static inline int_least32_t minmea_rescale(FAR 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(FAR 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(FAR struct minmea_float *f)
{
if (f->scale == 0)
{
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);
}
#ifdef __cplusplus
}
#endif
#endif /* __APPS_INCLUDE_GPSUTILS_MINMEA_H */
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