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bertos/net/nmea.h

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+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2009 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ * \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", "nmeap01"
+ */
+
+#ifndef NET_NMEA_H
+#define NET_NMEA_H
+
+#include "cfg/cfg_nmea.h"
+
+#include <net/nmeap/inc/nmeap.h>
+
+#include <io/kfile.h>
+
+#include <time.h>
+
+/*
+ * Implemented NMEA parser strings.
+ */
+#define NMEA_GPGGA 1   // GGA MESSAGE ID
+#define NMEA_GPRMC 2   // RMC MESSAGE ID
+#define NMEA_GPVTG 3   // VTG MESSAGE ID
+#define NMEA_GPGSV 4   // GSV MESSAGE ID
+
+// Standart type to rappresent fiels.
+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;   /* 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
+{
+	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;
+
+/**
+ * Extracted data from an vtg message
+ */
+typedef struct NmeaVtg
+{
+	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
+{
+	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_gpgsv(nmeap_context_t *context, nmeap_sentence_t *sentence);
+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 */