X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=bertos%2Fnet%2Fnmea.h;h=184a7a0aa1e4d07faf30df923807af84e56c29c4;hb=911d2706a86d326786bfe721dcc3d63aeade7f28;hp=8c28b65800d5a44ae913a3601223f9de1ec298de;hpb=5ccf8a1433d28ad1f858b590830e76186cccd926;p=bertos.git

diff --git a/bertos/net/nmea.h b/bertos/net/nmea.h
index 8c28b658..184a7a0a 100644
--- a/bertos/net/nmea.h
+++ b/bertos/net/nmea.h
@@ -29,13 +29,13 @@
  * 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
@@ -45,7 +45,9 @@
 
 #include <net/nmeap/inc/nmeap.h>
 
-#include <kern/kfile.h>
+#include <io/kfile.h>
+
+#include <time.h>
 
 /*
  * Implemented NMEA parser strings.
@@ -56,45 +58,48 @@
 #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;
 
 /**
@@ -102,35 +107,28 @@ typedef struct 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);
@@ -140,4 +138,14 @@ int nmea_gpvtg(nmeap_context_t *context, nmeap_sentence_t *sentence);
 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 */