#include <net/nmeap/inc/nmeap.h>
#include <ctype.h>
+#include <time.h>
+#include <string.h>
static uint32_t tokenToInt(const char *s)
return ew * lot;
}
-static cm_t nmea_altitude(const char *palt, const char *punits)
+static uint16_t nmea_altitude(const char *palt, const char *punits)
{
uint32_t alt;
return alt;
}
+static time_t timestampToSec(uint32_t time_stamp, uint32_t date_stamp)
+{
+ struct tm t;
+ uint16_t msec;
+ uint16_t tmr[3];
+ uint16_t date[3];
+
+ memset(&t, 0, sizeof(t));
+ memset(&tmr, 0, sizeof(tmr));
+ memset(&date, 0, sizeof(date));
+
+ LOG_INFO("time_s[%u],date[%u]\n", time_stamp, date_stamp);
+ uint32_t res = time_stamp / 1000;
+ uint32_t all = time_stamp;
+ msec = all - res * 1000;
+ for (int i = 0; i < 3; i++)
+ {
+ all = res;
+ res = all / 100;
+ tmr[i] = all - res * 100;
+ LOG_INFO("t[%d]%d\n", tmr[i],i);
+ }
+
+ t.tm_sec = tmr[0] + (ROUND_UP(msec, 1000) / 1000);
+ t.tm_min = tmr[1];
+ t.tm_hour = tmr[2];
+ t.tm_mday = 1;
+ t.tm_mon = 1;
+ t.tm_year = 70;
+
+ if (date_stamp)
+ {
+ res = all = date_stamp;
+ for (int i = 0; i < 3; i++)
+ {
+ all = res;
+ res = all / 100;
+ date[i] = all - res * 100;
+ LOG_INFO("d[%d]%d\n", date[i],i);
+ }
+ t.tm_mday = date[2];
+ t.tm_mon = date[1] - 1; // time struct count month from 0 to 11;
+ // we should specific number of years from 1900, but the year field
+ // is only two cipher, so we sum 100 (2000 - 1900)..
+ t.tm_year = date[0] + 100;
+ }
+ LOG_INFO("times=%d,%d,%d,%d,%d,%d\n",t.tm_sec, t.tm_min, t.tm_hour, t.tm_year, t.tm_mon, t.tm_mday);
+
+ return mktime(&t);
+}
+
+
/**
* standard GPGGA sentence parser
*/
gga->latitude = nmea_latitude(context->token[2],context->token[3]);
gga->longitude = nmea_longitude(context->token[4],context->token[5]);
gga->altitude = nmea_altitude(context->token[9],context->token[10]);
- gga->time = tokenToInt(context->token[1]);
+ gga->time = timestampToSec(tokenToInt(context->token[1]), 0);
gga->satellites = tokenToInt(context->token[7]);
gga->quality = tokenToInt(context->token[6]);
gga->hdop = tokenToInt(context->token[8]);
* if the sentence has a callout, call it
*/
if (sentence->callout != 0)
- (*sentence->callout)(context,gga,context->user_data);
+ (*sentence->callout)(context, gga, context->user_data);
return NMEA_GPGGA;
}
/*
* extract data from the tokens
*/
- rmc->time = tokenToInt(context->token[1]);
+ rmc->time = timestampToSec(tokenToInt(context->token[1]), tokenToInt(context->token[9]));
rmc->warn = *context->token[2];
rmc->latitude = nmea_latitude(context->token[3],context->token[4]);
rmc->longitude = nmea_longitude(context->token[5],context->token[6]);
- rmc->speed = tokenToInt(context->token[7]) * 100;
- rmc->course = tokenToInt(context->token[8]) * 100;
- rmc->date = tokenToInt(context->token[9]);
+ rmc->speed = tokenToInt(context->token[7]);
+ rmc->course = tokenToInt(context->token[8]);
rmc->mag_var = tokenToInt(context->token[10]);
}
* if the sentence has a callout, call it
*/
if (sentence->callout != 0)
- (*sentence->callout)(context,rmc,context->user_data);
+ (*sentence->callout)(context, rmc, context->user_data);
return NMEA_GPRMC;
}
/*
* extract data from the tokens
*/
- vtg->track_good = tokenToInt(context->token[1]) * 100;
- vtg->knot_speed = tokenToInt(context->token[5]) * 100;
- vtg->km_speed = tokenToInt(context->token[7]) * 100;
+ vtg->track_good = tokenToInt(context->token[1]);
+ vtg->knot_speed = tokenToInt(context->token[5]);
+ vtg->km_speed = tokenToInt(context->token[7]);
}
/*
* if the sentence has a callout, call it
*/
if (sentence->callout != 0)
- (*sentence->callout)(context,vtg,context->user_data);
+ (*sentence->callout)(context, vtg, context->user_data);
return NMEA_GPVTG;
}
#include <kern/kfile.h>
+#include <time.h>
+
/*
* Implemented NMEA parser strings.
*/
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
/**
+ * Global Positioning System Fix Data.
* Extracted data from a GGA message
+ *
+ * Note: time membert containt the second elapsed from 00:00:00 1/1/1970,
+ * becouse from nmea sentence we read only the time of UTC position, we
+ * not have any reference of date (day, month and year) so time is refered 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) */
+ uint16_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) */
+ uint16_t geoid; /* Height of geoid above WGS84 ellipsoid (Meter) */
} NmeaGga;
/**
+ * Recommended minimum specific GPS/Transit data.
* Extracted data from an RMC message
+ *
+ * Note: RMC sentece contain also date stamp so, time contain real second 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;
/**
*/
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;
+ uint16_t message_num;
+ uint16_t tot_svv;
+ uint16_t sv_prn;
+ degree_t elevation;
+ degree_t azimut;
+ uint16_t snr;
+ uint16_t sv_prn2;
+ degree_t elevation2;
+ degree_t azimut2;
+ uint16_t snr2;
+ uint16_t sv_prn3;
+ degree_t elevation3;
+ degree_t azimut3;
+ uint16_t snr3;
+ uint16_t sv_prn4;
+ degree_t elevation4;
+ degree_t azimut4;
+ uint16_t snr4;
} NmeaGsv;
void nmea_poll(nmeap_context_t *context, KFile *channel);
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