forked from xuos/xiuos
Add nuttx to the system framework, which is 10.1.0
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TangYiwen123
309
Ubiquitous/Nuttx/apps/include/gpsutils/minmea.h
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309
Ubiquitous/Nuttx/apps/include/gpsutils/minmea.h
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/****************************************************************************
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* apps/include/gpsutils/minmea.h
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*
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* Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
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*
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* Released under the NuttX BSD license with permission from the author:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __APPS_INCLUDE_GPSUTILS_MINMEA_H
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#define __APPS_INCLUDE_GPSUTILS_MINMEA_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <stdio.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <errno.h>
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#include <time.h>
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#include <math.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define MINMEA_MAX_LENGTH 80
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/****************************************************************************
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* Public Types
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****************************************************************************/
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enum minmea_sentence_id
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{
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MINMEA_INVALID = -1,
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MINMEA_UNKNOWN = 0,
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MINMEA_SENTENCE_RMC,
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MINMEA_SENTENCE_GGA,
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MINMEA_SENTENCE_GSA,
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MINMEA_SENTENCE_GLL,
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MINMEA_SENTENCE_GST,
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MINMEA_SENTENCE_GSV,
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};
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struct minmea_float
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{
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int_least32_t value;
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int_least32_t scale;
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};
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struct minmea_date
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{
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int day;
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int month;
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int year;
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};
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struct minmea_time
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{
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int hours;
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int minutes;
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int seconds;
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int microseconds;
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};
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struct minmea_sentence_rmc
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{
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struct minmea_time time;
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bool valid;
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struct minmea_float latitude;
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struct minmea_float longitude;
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struct minmea_float speed;
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struct minmea_float course;
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struct minmea_date date;
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struct minmea_float variation;
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};
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struct minmea_sentence_gga
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{
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struct minmea_time time;
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struct minmea_float latitude;
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struct minmea_float longitude;
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int fix_quality;
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int satellites_tracked;
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struct minmea_float hdop;
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struct minmea_float altitude;
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char altitude_units;
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struct minmea_float height;
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char height_units;
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int dgps_age;
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};
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enum minmea_gll_status
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{
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MINMEA_GLL_STATUS_DATA_VALID = 'A',
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MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
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};
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enum minmea_gll_mode
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{
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MINMEA_GLL_MODE_AUTONOMOUS = 'A',
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MINMEA_GLL_MODE_DPGS = 'D',
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MINMEA_GLL_MODE_DR = 'E',
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};
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struct minmea_sentence_gll
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{
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struct minmea_float latitude;
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struct minmea_float longitude;
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struct minmea_time time;
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char status;
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char mode;
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};
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struct minmea_sentence_gst
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{
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struct minmea_time time;
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struct minmea_float rms_deviation;
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struct minmea_float semi_major_deviation;
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struct minmea_float semi_minor_deviation;
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struct minmea_float semi_major_orientation;
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struct minmea_float latitude_error_deviation;
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struct minmea_float longitude_error_deviation;
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struct minmea_float altitude_error_deviation;
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};
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enum minmea_gsa_mode
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{
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MINMEA_GPGSA_MODE_AUTO = 'A',
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MINMEA_GPGSA_MODE_FORCED = 'M',
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};
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enum minmea_gsa_fix_type
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{
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MINMEA_GPGSA_FIX_NONE = 1,
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MINMEA_GPGSA_FIX_2D = 2,
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MINMEA_GPGSA_FIX_3D = 3,
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};
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struct minmea_sentence_gsa
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{
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char mode;
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int fix_type;
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int sats[12];
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struct minmea_float pdop;
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struct minmea_float hdop;
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struct minmea_float vdop;
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};
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struct minmea_sat_info
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{
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int nr;
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int elevation;
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int azimuth;
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int snr;
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};
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struct minmea_sentence_gsv
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{
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int total_msgs;
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int msg_nr;
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int total_sats;
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struct minmea_sat_info sats[4];
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};
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/* Calculate raw sentence checksum. Does not check sentence integrity. */
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uint8_t minmea_checksum(FAR const char *sentence);
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/* Check sentence validity and checksum. Returns true for valid sentences. */
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bool minmea_check(FAR const char *sentence, bool strict);
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/* Determine talker identifier. */
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bool minmea_talker_id(char talker[3], FAR const char *sentence);
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/* Determine sentence identifier. */
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enum minmea_sentence_id minmea_sentence_id(FAR const char *sentence,
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bool strict);
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/* Scanf-like processor for NMEA sentences. Supports the following formats:
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* c - single character (char *)
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* d - direction, returned as 1/-1, default 0 (int *)
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* f - fractional, returned as value + scale (int *, int *)
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* i - decimal, default zero (int *)
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* s - string (char *)
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* t - talker identifier and type (char *)
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* T - date/time stamp (int *, int *, int *)
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* Returns true on success. See library source code for details.
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*/
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bool minmea_scan(const char *sentence, const char *format, ...);
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/* Parse a specific type of sentence. Return true on success. */
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bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence);
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bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence);
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bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
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bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence);
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bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
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bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence);
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/* Convert GPS UTC date/time representation to a UNIX timestamp. */
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int minmea_gettime(FAR struct timespec *ts,
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FAR const struct minmea_date *date,
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FAR const struct minmea_time *time_);
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/* Rescale a fixed-point value to a different scale. Rounds towards zero. */
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static inline int_least32_t minmea_rescale(FAR struct minmea_float *f,
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int_least32_t new_scale)
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{
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if (f->scale == 0)
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{
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return 0;
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}
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if (f->scale == new_scale)
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{
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return f->value;
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}
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if (f->scale > new_scale)
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{
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return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale /
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new_scale / 2) / (f->scale / new_scale);
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}
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else
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{
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return f->value * (new_scale / f->scale);
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}
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}
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/* Convert a fixed-point value to a floating-point value.
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* Returns NaN for "unknown" values.
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*/
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static inline float minmea_tofloat(FAR struct minmea_float *f)
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{
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if (f->scale == 0)
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{
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return NAN;
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}
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return (float) f->value / (float) f->scale;
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}
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/* Convert a raw coordinate to a floating point DD.DDD... value.
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* Returns NaN for "unknown" values.
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*/
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static inline float minmea_tocoord(FAR struct minmea_float *f)
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{
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if (f->scale == 0)
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{
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return NAN;
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}
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int_least32_t degrees = f->value / (f->scale * 100);
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int_least32_t minutes = f->value % (f->scale * 100);
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return (float) degrees + (float) minutes / (60 * f->scale);
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}
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#ifdef __cplusplus
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}
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#endif
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#endif /* __APPS_INCLUDE_GPSUTILS_MINMEA_H */
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