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29 * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
32 * \brief NMEA implementation.
34 * \author Daniele Basile <asterix@develer.com>
40 #include "cfg/cfg_nmea.h"
42 #include <cfg/debug.h>
44 #define LOG_LEVEL NMEA_LOG_LEVEL
45 #define LOG_FORMAT NMEA_LOG_FORMAT
48 #include <net/nmeap/inc/nmeap.h>
55 static uint32_t tokenToInt(const char *s)
62 for(i = 0; i < NMEAP_MAX_TOKENS; i++)
69 if (c == '\0' || !isdigit(c))
80 static udegree_t nmea_latitude(const char *plat, const char *phem)
96 /* north lat is +, south lat is - */
106 lat = tokenToInt(plat);
108 min = lat - deg * 1000000;
109 lat = deg * 1000000 + ((min * 5) + 1) / 3;
114 static udegree_t nmea_longitude(const char *plot, const char *phem)
130 /* west long is negative, east long is positive */
139 lot = tokenToInt(plot);
141 min = lot - deg * 1000000;
142 lot = deg * 1000000 + ((min * 5) + 1) / 3;
147 static uint16_t nmea_altitude(const char *palt, const char *punits)
156 alt = tokenToInt(palt);
160 /* convert to feet */
161 /* alt = alt * 3.2808399 */
162 alt = alt * 3 + /* 3.0 */
163 (alt >> 2) + /* 0.25 */
164 (alt >> 6) + /* 0.015625 */
165 (alt >> 7) + /* 0.0078125 */
166 (alt >> 8); /* 0,00390625 */
173 static time_t timestampToSec(uint32_t time_stamp, uint32_t date_stamp)
180 memset(&t, 0, sizeof(t));
181 memset(&tmr, 0, sizeof(tmr));
182 memset(&date, 0, sizeof(date));
184 LOG_INFO("time_s[%u],date[%u]\n", time_stamp, date_stamp);
185 uint32_t res = time_stamp / 1000;
186 uint32_t all = time_stamp;
187 msec = all - res * 1000;
188 for (int i = 0; i < 3; i++)
192 tmr[i] = all - res * 100;
193 LOG_INFO("t[%d]%d\n", tmr[i],i);
196 t.tm_sec = tmr[0] + (ROUND_UP(msec, 1000) / 1000);
205 res = all = date_stamp;
206 for (int i = 0; i < 3; i++)
210 date[i] = all - res * 100;
211 LOG_INFO("d[%d]%d\n", date[i],i);
214 t.tm_mon = date[1] - 1; // time struct count month from 0 to 11;
215 // we should specific number of years from 1900, but the year field
216 // is only two cipher, so we sum 100 (2000 - 1900)..
217 t.tm_year = date[0] + 100;
219 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);
226 * standard GPGGA sentence parser
228 int nmea_gpgga(nmeap_context_t *context, nmeap_sentence_t *sentence)
231 * get pointer to sentence data
233 NmeaGga *gga = (NmeaGga *)sentence->data;
236 * if there is a data element, extract data from the tokens
240 gga->latitude = nmea_latitude(context->token[2],context->token[3]);
241 gga->longitude = nmea_longitude(context->token[4],context->token[5]);
242 gga->altitude = nmea_altitude(context->token[9],context->token[10]);
243 gga->time = timestampToSec(tokenToInt(context->token[1]), 0);
244 gga->satellites = tokenToInt(context->token[7]);
245 gga->quality = tokenToInt(context->token[6]);
246 gga->hdop = tokenToInt(context->token[8]);
247 gga->geoid = nmea_altitude(context->token[11],context->token[12]);
253 * if the sentence has a callout, call it
255 if (sentence->callout != 0)
256 (*sentence->callout)(context, gga, context->user_data);
262 * standard GPRMCntence parser
264 int nmea_gprmc(nmeap_context_t *context, nmeap_sentence_t *sentence)
268 * get pointer to sentence data
270 NmeaRmc *rmc = (NmeaRmc *)sentence->data;
273 * if there is a data element, use it
278 * extract data from the tokens
280 rmc->time = timestampToSec(tokenToInt(context->token[1]), tokenToInt(context->token[9]));
281 rmc->warn = *context->token[2];
282 rmc->latitude = nmea_latitude(context->token[3],context->token[4]);
283 rmc->longitude = nmea_longitude(context->token[5],context->token[6]);
284 rmc->speed = tokenToInt(context->token[7]);
285 rmc->course = tokenToInt(context->token[8]);
286 rmc->mag_var = tokenToInt(context->token[10]);
290 * if the sentence has a callout, call it
292 if (sentence->callout != 0)
293 (*sentence->callout)(context, rmc, context->user_data);
300 * standard GPVTG sentence parser
302 int nmea_gpvtg(nmeap_context_t *context, nmeap_sentence_t *sentence)
306 * get pointer to sentence data
308 NmeaVtg *vtg = (NmeaVtg *)sentence->data;
311 * if there is a data element, use it
316 * extract data from the tokens
318 vtg->track_good = tokenToInt(context->token[1]);
319 vtg->knot_speed = tokenToInt(context->token[5]);
320 vtg->km_speed = tokenToInt(context->token[7]);
324 * if the sentence has a callout, call it
326 if (sentence->callout != 0)
327 (*sentence->callout)(context, vtg, context->user_data);
333 * standard GPGDSV sentence parser
335 int nmea_gpgsv(nmeap_context_t *context, nmeap_sentence_t *sentence)
339 * get pointer to sentence data
341 NmeaGsv *gsv = (NmeaGsv *)sentence->data;
344 * if there is a data element, use it
349 * extract data from the tokens
351 gsv->tot_message = tokenToInt(context->token[1]);
352 gsv->message_num = tokenToInt(context->token[2]);
353 gsv->tot_svv = tokenToInt(context->token[3]);
354 gsv->sv_prn = tokenToInt(context->token[4]);
355 gsv->elevation = tokenToInt(context->token[5]);
356 gsv->azimut = tokenToInt(context->token[6]);
357 gsv->snr = tokenToInt(context->token[7]);
358 gsv->sv_prn2 = tokenToInt(context->token[8]);
359 gsv->elevation2 = tokenToInt(context->token[9]);
360 gsv->azimut2 = tokenToInt(context->token[10]);
361 gsv->snr2 = tokenToInt(context->token[11]);
362 gsv->sv_prn3 = tokenToInt(context->token[12]);
363 gsv->elevation3 = tokenToInt(context->token[13]);
364 gsv->azimut3 = tokenToInt(context->token[14]);
365 gsv->snr3 = tokenToInt(context->token[15]);
366 gsv->sv_prn4 = tokenToInt(context->token[16]);
367 gsv->elevation4 = tokenToInt(context->token[17]);
368 gsv->azimut4 = tokenToInt(context->token[18]);
369 gsv->snr4 = tokenToInt(context->token[19]);
374 * if the sentence has a callout, call it
376 if (sentence->callout != 0)
377 (*sentence->callout)(context,gsv,context->user_data);
382 void nmea_poll(nmeap_context_t *context, KFile *channel)
385 while ((c = kfile_getc(channel)) != EOF)
387 if (nmeap_parse(context, c) == -1)