* Copyright 2009 Develer S.r.l. (http://www.develer.com/)
*
* -->
- * \brief NMEA Parser
+ * \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"
+ * $WIZ$ module_depends = "kfile", "nmeap01"
*/
#ifndef NET_NMEA_H
#include <net/nmeap/inc/nmeap.h>
-#include <kern/kfile.h>
+#include <io/kfile.h>
+
+#include <time.h>
/*
* Implemented NMEA parser strings.
#define NMEA_GPGSV 4 // GSV MESSAGE ID
// Standart type to rappresent fiels.
-typedef uint32_t udegree_t; // Micro degrees
-typedef uint32_t mdegree_t; // Milli degrees
-typedef uint16_t degree_t; // Degrees
-typedef uint16_t cm_t; // Centimeter
-typedef uint32_t sec_t; // Seconds
-typedef uint32_t str_time_t; // Time format HH:MM:SS
-typedef uint32_t mknots_t; // Milli knots
-typedef uint32_t mkh_t; // Milli kilometers/hour
-typedef uint16_t number_t; // Pure number
+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;
- udegree_t longitude;
- cm_t altitude;
- sec_t time;
- number_t satellites;
- number_t quality;
- udegree_t hdop;
- udegree_t geoid;
+ 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
{
- str_time_t time;
- char warn;
- udegree_t latitude;
- udegree_t longitude;
- mknots_t speed;
- mdegree_t course;
- str_time_t date;
- mdegree_t mag_var;
+ 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;
/**
*/
typedef struct NmeaVtg
{
- mdegree_t track_good;
- mknots_t knot_speed;
- mkh_t km_speed;
+ 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
{
- number_t tot_message;
- number_t message_num;
- number_t tot_svv;
- number_t sv_prn;
- degree_t elevation;
- degree_t azimut;
- number_t snr;
- number_t sv_prn2;
- degree_t elevation2;
- degree_t azimut2;
- number_t snr2;
- number_t sv_prn3;
- degree_t elevation3;
- degree_t azimut3;
- number_t snr3;
- number_t sv_prn4;
- degree_t elevation4;
- degree_t azimut4;
- number_t snr4;
+ 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_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 */
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