components/minmea/minmea.h

   1 /*
   2  * Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
   3  * This program is free software. It comes without any warranty, to the extent
   4  * permitted by applicable law. You can redistribute it and/or modify it under
   5  * the terms of the Do What The Fuck You Want To Public License, Version 2, as
   6  * published by Sam Hocevar. See the COPYING file for more details.
   7  */
   8
   9 #ifndef MINMEA_H
  10 #define MINMEA_H
  11
  12 #ifdef __cplusplus
  13 extern "C" {
  14 #endif
  15
  16 #include <ctype.h>
  17 #include <stdint.h>
  18 #include <stdbool.h>
  19 #include <time.h>
  20 #include <math.h>
  21 #ifdef MINMEA_INCLUDE_COMPAT
  22 #include <minmea_compat.h>
  23 #endif
  24
  25 #ifndef MINMEA_MAX_SENTENCE_LENGTH
  26 #define MINMEA_MAX_SENTENCE_LENGTH 80
  27 #endif
  28
  29 #define FRAME_TXT_MAX_LEN (79)
  30
  31 enum minmea_sentence_id {
  32     MINMEA_INVALID = -1,
  33     MINMEA_UNKNOWN = 0,
  34     MINMEA_SENTENCE_GBS,
  35     MINMEA_SENTENCE_GGA,
  36     MINMEA_SENTENCE_GLL,
  37     MINMEA_SENTENCE_GSA,
  38     MINMEA_SENTENCE_GST,
  39     MINMEA_SENTENCE_GSV,
  40     MINMEA_SENTENCE_RMC,
  41     MINMEA_SENTENCE_VTG,
  42     MINMEA_SENTENCE_ZDA,
  43     MINMEA_SENTENCE_TXT,
  44
  45     MINMEA_SENTENCE_MAX_ID
  46 };
  47
  48 struct minmea_float {
  49     int_least32_t value;
  50     int_least32_t scale;
  51 };
  52
  53 struct minmea_date {
  54     int day;
  55     int month;
  56     int year;
  57 };
  58
  59 struct minmea_time {
  60     int hours;
  61     int minutes;
  62     int seconds;
  63     int microseconds;
  64 };
  65
  66 struct minmea_sentence_gbs {
  67     struct minmea_time time;
  68     struct minmea_float err_latitude;
  69     struct minmea_float err_longitude;
  70     struct minmea_float err_altitude;
  71     int svid;
  72     struct minmea_float prob;
  73     struct minmea_float bias;
  74     struct minmea_float stddev;
  75 };
  76
  77 struct minmea_sentence_rmc {
  78     struct minmea_time time;
  79     bool valid;
  80     struct minmea_float latitude;
  81     struct minmea_float longitude;
  82     struct minmea_float speed;
  83     struct minmea_float course;
  84     struct minmea_date date;
  85     struct minmea_float variation;
  86 };
  87
  88 struct minmea_sentence_gga {
  89     struct minmea_time time;
  90     struct minmea_float latitude;
  91     struct minmea_float longitude;
  92     int fix_quality;
  93     int satellites_tracked;
  94     struct minmea_float hdop;
  95     struct minmea_float altitude; char altitude_units;
  96     struct minmea_float height; char height_units;
  97     struct minmea_float dgps_age;
  98 };
  99
 100 enum minmea_gll_status {
 101     MINMEA_GLL_STATUS_DATA_VALID = 'A',
 102     MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
 103 };
 104
 105 // FAA mode added to some fields in NMEA 2.3.
 106 enum minmea_faa_mode {
 107     MINMEA_FAA_MODE_AUTONOMOUS = 'A',
 108     MINMEA_FAA_MODE_DIFFERENTIAL = 'D',
 109     MINMEA_FAA_MODE_ESTIMATED = 'E',
 110     MINMEA_FAA_MODE_MANUAL = 'M',
 111     MINMEA_FAA_MODE_SIMULATED = 'S',
 112     MINMEA_FAA_MODE_NOT_VALID = 'N',
 113     MINMEA_FAA_MODE_PRECISE = 'P',
 114 };
 115
 116 struct minmea_sentence_gll {
 117     struct minmea_float latitude;
 118     struct minmea_float longitude;
 119     struct minmea_time time;
 120     char status;
 121     char mode;
 122 };
 123
 124 struct minmea_sentence_gst {
 125     struct minmea_time time;
 126     struct minmea_float rms_deviation;
 127     struct minmea_float semi_major_deviation;
 128     struct minmea_float semi_minor_deviation;
 129     struct minmea_float semi_major_orientation;
 130     struct minmea_float latitude_error_deviation;
 131     struct minmea_float longitude_error_deviation;
 132     struct minmea_float altitude_error_deviation;
 133 };
 134
 135 enum minmea_gsa_mode {
 136     MINMEA_GPGSA_MODE_AUTO = 'A',
 137     MINMEA_GPGSA_MODE_FORCED = 'M',
 138 };
 139
 140 enum minmea_gsa_fix_type {
 141     MINMEA_GPGSA_FIX_NONE = 1,
 142     MINMEA_GPGSA_FIX_2D = 2,
 143     MINMEA_GPGSA_FIX_3D = 3,
 144 };
 145
 146 struct minmea_sentence_gsa {
 147     char mode;
 148     int fix_type;
 149     int sats[12];
 150     struct minmea_float pdop;
 151     struct minmea_float hdop;
 152     struct minmea_float vdop;
 153     int sysid;
 154 };
 155
 156 struct minmea_sat_info {
 157     int nr;
 158     int elevation;
 159     int azimuth;
 160     int snr;
 161 };
 162
 163 struct minmea_sentence_gsv {
 164     int total_msgs;
 165     int msg_nr;
 166     int total_sats;
 167     struct minmea_sat_info sats[4];
 168 };
 169
 170 struct minmea_sentence_vtg {
 171     struct minmea_float true_track_degrees;
 172     struct minmea_float magnetic_track_degrees;
 173     struct minmea_float speed_knots;
 174     struct minmea_float speed_kph;
 175     enum minmea_faa_mode faa_mode;
 176 };
 177
 178 struct minmea_sentence_zda {
 179     struct minmea_time time;
 180     struct minmea_date date;
 181     int hour_offset;
 182     int minute_offset;
 183 };
 184
 185 struct minmea_sentence_txt {
 186     int count;
 187     int index;
 188     char txt[FRAME_TXT_MAX_LEN + 1];
 189 };
 190
 191 /**
 192  * Calculate raw sentence checksum. Does not check sentence integrity.
 193  */
 194 uint8_t minmea_checksum(const char *sentence);
 195
 196 /**
 197  * Check sentence validity and checksum. Returns true for valid sentences.
 198  */
 199 bool minmea_check(const char *sentence, bool strict);
 200
 201 /**
 202  * Determine talker identifier.
 203  */
 204 bool minmea_talker_id(char talker[3], const char *sentence);
 205
 206 /**
 207  * Determine sentence identifier.
 208  */
 209 enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict);
 210
 211 /**
 212  * Scanf-like processor for NMEA sentences. Supports the following formats:
 213  * c - single character (char *)
 214  * d - direction, returned as 1/-1, default 0 (int *)
 215  * f - fractional, returned as value + scale (struct minmea_float *)
 216  * i - decimal, default zero (int *)
 217  * s - string (char *)
 218  * t - talker identifier and type (char *)
 219  * D - date (struct minmea_date *)
 220  * T - time stamp (struct minmea_time *)
 221  * _ - ignore this field
 222  * ; - following fields are optional
 223  * Returns true on success. See library source code for details.
 224  */
 225 bool minmea_scan(const char *sentence, const char *format, ...);
 226
 227 /*
 228  * Parse a specific type of sentence. Return true on success.
 229  */
 230 bool minmea_parse_gbs(struct minmea_sentence_gbs *frame, const char *sentence);
 231 bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence);
 232 bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence);
 233 bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
 234 bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence);
 235 bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
 236 bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence);
 237 bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence);
 238 bool minmea_parse_zda(struct minmea_sentence_zda *frame, const char *sentence);
 239 bool minmea_parse_txt(struct minmea_sentence_txt *frame, const char *sentence);
 240
 241 /**
 242  * Convert GPS UTC date/time representation to a UNIX calendar time.
 243  */
 244 int minmea_getdatetime(struct tm *tm, const struct minmea_date *date, const struct minmea_time *time_);
 245
 246 /**
 247  * Convert GPS UTC date/time representation to a UNIX timestamp.
 248  */
 249 int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_);
 250
 251 /**
 252  * Rescale a fixed-point value to a different scale. Rounds towards zero.
 253  */
 254 static inline int_least32_t minmea_rescale(const struct minmea_float *f, int_least32_t new_scale)
 255 {
 256     if (f->scale == 0)
 257         return 0;
 258     if (f->scale == new_scale)
 259         return f->value;
 260     if (f->scale > new_scale)
 261         return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale/new_scale/2) / (f->scale/new_scale);
 262     else
 263         return f->value * (new_scale/f->scale);
 264 }
 265
 266 /**
 267  * Convert a fixed-point value to a floating-point value.
 268  * Returns NaN for "unknown" values.
 269  */
 270 static inline float minmea_tofloat(const struct minmea_float *f)
 271 {
 272     if (f->scale == 0)
 273         return 0;
 274     return (float) f->value / (float) f->scale;
 275 }
 276
 277 /**
 278  * Convert a raw coordinate to a floating point DD.DDD... value.
 279  * Returns NaN for "unknown" values.
 280  */
 281 static inline float minmea_tocoord(const struct minmea_float *f)
 282 {
 283     if (f->scale == 0)
 284         return 0;
 285     if (f->scale  > (INT_LEAST32_MAX / 100))
 286         return 0;
 287     if (f->scale < (INT_LEAST32_MIN / 100))
 288         return 0;
 289     int_least32_t degrees = f->value / (f->scale * 100);
 290     int_least32_t minutes = f->value % (f->scale * 100);
 291     return (float) degrees + (float) minutes / (60 * f->scale);
 292 }
 293
 294 /**
 295  * Convert a raw coordinate to a floating point DD.DDD... value.
 296  * Returns NaN for "unknown" values.
 297  */
 298 static inline uint32_t minmea_tocoord2(const struct minmea_float *f)
 299 {
 300     if (f->scale == 0)
 301         return 0;
 302     if (f->scale  > (INT_LEAST32_MAX / 100))
 303         return 0;
 304     if (f->scale < (INT_LEAST32_MIN / 100))
 305         return 0;
 306     int_least32_t degrees = f->value / (f->scale * 100);
 307     int_least32_t minutes = f->value % (f->scale * 100);
 308     uint32_t ret = degrees * 10000000 + (uint32_t)(((float) minutes / (60 * f->scale)) * 10000000);
 309     return ret;
 310 }
 311
 312 /**
 313  * Check whether a character belongs to the set of characters allowed in a
 314  * sentence data field.
 315  */
 316 static inline bool minmea_isfield(char c) {
 317     return isprint((unsigned char) c) && c != ',' && c != '*';
 318 }
 319
 320
 321 // 扩展
 322
 323 #define RECV_BUFF_SIZE (2048)
 324 #define FRAME_GSA_MAX   (7)
 325 #define FRAME_GSV_MAX   (24)
 326 #define FRAME_TXT_MAX   (80)
 327
 328
 329 #define LUAT_LIBGNSS_MAX_LINE (128)
 330
 331 int luat_libgnss_init(int clear);
 332 int luat_libgnss_parse_data(const char* data, size_t len);
 333 int luat_libgnss_parse_nmea(const char* line);
 334 void luat_libgnss_uart_recv_cb(int uart_id, uint32_t data_len);
 335 int luat_libgnss_state_onchanged(int state);
 336
 337 int luat_libgnss_on_rawdata(const char* data, size_t len, int type);
 338
 339 enum GNSS_STATE {
 340     GNSS_STATE_INIT = 0,
 341     GNSS_STATE_FIXED,
 342     GNSS_STATE_LOSE,
 343     GNSS_STATE_OPEN,
 344     GNSS_STATE_CLOSE
 345 };
 346
 347 // typedef union
 348 // {
 349 //     struct minmea_sentence_rmc frame_rmc;
 350 //     struct minmea_sentence_gga frame_gga;
 351 //     struct minmea_sentence_gll frame_gll;
 352 //     struct minmea_sentence_gst frame_gst;
 353 //     struct minmea_sentence_gsv frame_gsv;
 354 //     struct minmea_sentence_vtg frame_vtg;
 355 //     struct minmea_sentence_gsa frame_gsa;
 356 //     struct minmea_sentence_zda frame_zda;
 357 //     struct minmea_sentence_txt txt;
 358 // }minmea_data_t;
 359
 360 typedef struct minmea_data {
 361     char data[LUAT_LIBGNSS_MAX_LINE];
 362     uint64_t tm;
 363 }minmea_data_t;
 364
 365 typedef struct luat_libgnss
 366 {
 367     uint32_t fix_at_ticks;
 368     struct minmea_sentence_rmc frame_rmc;
 369     minmea_data_t* rmc;
 370     minmea_data_t *gga;
 371     minmea_data_t *gll;
 372     minmea_data_t *gst;
 373     minmea_data_t *vtg;
 374     minmea_data_t *zda;
 375     minmea_data_t *gsv[FRAME_GSV_MAX];
 376     minmea_data_t *gsa[FRAME_GSA_MAX];
 377     minmea_data_t* txt;
 378     uint8_t debug;
 379     uint8_t rtc_auto;
 380     uint8_t gsa_offset;
 381 } luat_libgnss_t;
 382
 383 int luat_libgnss_data_check(minmea_data_t* data, uint32_t timeout, uint64_t tnow);
 384
 385
 386 #ifdef __cplusplus
 387 }
 388 #endif
 389
 390 #endif /* MINMEA_H */
 391
 392 /* vim: set ts=4 sw=4 et: */