forked from Archive/PX4-Autopilot
Merge branch 'master' into px4io-i2c
This commit is contained in:
Lorenz Meier
commit
0ffcb1b401
|
|
@ -1,3 +0,0 @@
|
|||
include
|
||||
mavlink-*
|
||||
pymavlink-*
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the GPS receiver application
|
||||
#
|
||||
|
||||
APPNAME = gps
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
CSRCS = gps.c \
|
||||
ubx.c \
|
||||
mtk.c \
|
||||
nmea_helper.c \
|
||||
nmealib/context.c \
|
||||
nmealib/generate.c \
|
||||
nmealib/generator.c \
|
||||
nmealib/gmath.c \
|
||||
nmealib/info.c \
|
||||
nmealib/parse.c \
|
||||
nmealib/parser.c \
|
||||
nmealib/sentence.c \
|
||||
nmealib/time.c \
|
||||
nmealib/tok.c
|
||||
|
||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
589
apps/gps/gps.c
589
apps/gps/gps.c
|
|
@ -1,589 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file gps.c
|
||||
* GPS app main loop.
|
||||
*/
|
||||
|
||||
#include "gps.h"
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <fcntl.h>
|
||||
#include "nmealib/nmea/nmea.h" // the nmea library
|
||||
#include "nmea_helper.h" //header files for interacting with the nmea library
|
||||
#include "mtk.h" //header files for the custom protocol for the mediatek diydrones chip
|
||||
#include "ubx.h" //header files for the ubx protocol
|
||||
#include <termios.h>
|
||||
#include <signal.h>
|
||||
#include <pthread.h>
|
||||
#include <sys/prctl.h>
|
||||
#include <errno.h>
|
||||
#include <signal.h>
|
||||
#include <v1.0/common/mavlink.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
static bool thread_should_exit; /**< Deamon status flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/**
|
||||
* GPS module readout and publishing.
|
||||
*
|
||||
* This function reads the onboard gps and publishes the vehicle_gps_positon topic.
|
||||
*
|
||||
* @see vehicle_gps_position_s
|
||||
* @ingroup apps
|
||||
*/
|
||||
__EXPORT int gps_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int gps_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
#define IMPORTANT_GPS_BAUD_RATES_N 2
|
||||
#define RETRY_INTERVAL_SECONDS 10
|
||||
|
||||
//gps_bin_ubx_state_t * ubx_state;
|
||||
bool gps_mode_try_all;
|
||||
bool gps_baud_try_all;
|
||||
bool gps_mode_success;
|
||||
bool terminate_gps_thread;
|
||||
bool gps_verbose;
|
||||
int current_gps_speed;
|
||||
|
||||
enum GPS_MODES {
|
||||
GPS_MODE_START = 0,
|
||||
GPS_MODE_UBX = 1,
|
||||
GPS_MODE_MTK = 2,
|
||||
GPS_MODE_NMEA = 3,
|
||||
GPS_MODE_END = 4
|
||||
};
|
||||
|
||||
|
||||
#define AUTO_DETECTION_COUNT 8
|
||||
const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
|
||||
const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
|
||||
|
||||
/****************************************************************************
|
||||
* Private functions
|
||||
****************************************************************************/
|
||||
int open_port(char *port);
|
||||
|
||||
void close_port(int *fd);
|
||||
|
||||
void setup_port(char *device, int speed, int *fd);
|
||||
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int gps_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("gps already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("gps",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
4096,
|
||||
gps_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tgps is running\n");
|
||||
} else {
|
||||
printf("\tgps not started\n");
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/*
|
||||
* Main function of gps app.
|
||||
*/
|
||||
int gps_thread_main(int argc, char *argv[]) {
|
||||
|
||||
/* welcome message */
|
||||
printf("[gps] Initialized. Searching for GPS receiver..\n");
|
||||
|
||||
/* default values */
|
||||
const char *commandline_usage = "\tusage: %s {start|stop|status} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n";
|
||||
char *device = "/dev/ttyS3";
|
||||
char mode[10];
|
||||
strcpy(mode, "all");
|
||||
int baudrate = -1;
|
||||
gps_mode_try_all = false;
|
||||
gps_baud_try_all = false;
|
||||
gps_mode_success = true;
|
||||
terminate_gps_thread = false;
|
||||
bool retry = false;
|
||||
gps_verbose = false;
|
||||
|
||||
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
/* read arguments */
|
||||
int i;
|
||||
|
||||
for (i = 0; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { //device set
|
||||
printf(commandline_usage, argv[0]);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
|
||||
if (argc > i + 1) {
|
||||
device = argv[i + 1];
|
||||
|
||||
} else {
|
||||
printf(commandline_usage, argv[0]);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--retry") == 0) {
|
||||
if (argc > i + 1) {
|
||||
retry = atoi(argv[i + 1]);
|
||||
|
||||
} else {
|
||||
printf(commandline_usage, argv[0]);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) {
|
||||
if (argc > i + 1) {
|
||||
baudrate = atoi(argv[i + 1]);
|
||||
|
||||
} else {
|
||||
printf(commandline_usage, argv[0]);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
|
||||
if (argc > i + 1) {
|
||||
strcpy(mode, argv[i + 1]);
|
||||
|
||||
} else {
|
||||
printf(commandline_usage, argv[0]);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
|
||||
gps_verbose = true;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* In case a baud rate is set only this baud rate will be tried,
|
||||
* otherwise a array of usual baud rates for gps receivers is used
|
||||
*/
|
||||
|
||||
|
||||
// printf("baudrate = %d\n",baudrate);
|
||||
switch (baudrate) {
|
||||
case -1: gps_baud_try_all = true; break;
|
||||
|
||||
case 0: current_gps_speed = B0; break;
|
||||
case 50: current_gps_speed = B50; break;
|
||||
case 75: current_gps_speed = B75; break;
|
||||
case 110: current_gps_speed = B110; break;
|
||||
case 134: current_gps_speed = B134; break;
|
||||
case 150: current_gps_speed = B150; break;
|
||||
case 200: current_gps_speed = B200; break;
|
||||
case 300: current_gps_speed = B300; break;
|
||||
case 600: current_gps_speed = B600; break;
|
||||
case 1200: current_gps_speed = B1200; break;
|
||||
case 1800: current_gps_speed = B1800; break;
|
||||
case 2400: current_gps_speed = B2400; break;
|
||||
case 4800: current_gps_speed = B4800; break;
|
||||
case 9600: current_gps_speed = B9600; break;
|
||||
case 19200: current_gps_speed = B19200; break;
|
||||
case 38400: current_gps_speed = B38400; break;
|
||||
case 57600: current_gps_speed = B57600; break;
|
||||
case 115200: current_gps_speed = B115200; break;
|
||||
case 230400: current_gps_speed = B230400; break;
|
||||
case 460800: current_gps_speed = B460800; break;
|
||||
case 921600: current_gps_speed = B921600; break;
|
||||
|
||||
default:
|
||||
fprintf(stderr, "[gps] ERROR: Unsupported baudrate: %d\n", baudrate);
|
||||
fflush(stdout);
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
|
||||
enum GPS_MODES current_gps_mode = GPS_MODE_UBX;
|
||||
|
||||
if (strcmp(mode, "ubx") == 0) {
|
||||
current_gps_mode = GPS_MODE_UBX;
|
||||
|
||||
} else if (strcmp(mode, "mtkcustom") == 0) {
|
||||
current_gps_mode = GPS_MODE_MTK;
|
||||
|
||||
} else if (strcmp(mode, "nmea") == 0) {
|
||||
current_gps_mode = GPS_MODE_NMEA;
|
||||
|
||||
} else if (strcmp(mode, "all") == 0) {
|
||||
gps_mode_try_all = true;
|
||||
|
||||
} else {
|
||||
fprintf(stderr, "\t[gps] Invalid mode argument\n");
|
||||
printf(commandline_usage);
|
||||
thread_running = false;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Declare file descriptor for gps here, open port later in setup_port */
|
||||
int fd;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
/* Infinite retries or break if retry == false */
|
||||
|
||||
/* Loop over all configurations of baud rate and protocol */
|
||||
for (i = 0; i < AUTO_DETECTION_COUNT; i++) {
|
||||
if (gps_mode_try_all) {
|
||||
current_gps_mode = autodetection_gpsmodes[i];
|
||||
|
||||
if (false == gps_baud_try_all && autodetection_baudrates[i] != current_gps_speed) //there is no need to try modes which are not configured to run with the selcted baud rate
|
||||
continue;
|
||||
}
|
||||
|
||||
if (gps_baud_try_all) {
|
||||
current_gps_speed = autodetection_baudrates[i];
|
||||
|
||||
if (false == gps_mode_try_all && autodetection_gpsmodes[i] != current_gps_mode) //there is no need to try baud rates which are not usual for the selected mode
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* The watchdog_thread will return and set gps_mode_success to false if no data can be parsed.
|
||||
* if the gps was once running the wtachdog thread will not return but instead try to reconfigure the gps (depending on the mode/protocol)
|
||||
*/
|
||||
|
||||
if (current_gps_mode == GPS_MODE_UBX) {
|
||||
|
||||
if (gps_verbose) printf("[gps] Trying UBX mode at %d baud\n", current_gps_speed);
|
||||
|
||||
mavlink_log_info(mavlink_fd, "[gps] trying to connect to a ubx module");
|
||||
|
||||
setup_port(device, current_gps_speed, &fd);
|
||||
|
||||
/* start ubx thread and watchdog */
|
||||
pthread_t ubx_thread;
|
||||
pthread_t ubx_watchdog_thread;
|
||||
|
||||
pthread_mutex_t ubx_mutex_d;
|
||||
ubx_mutex = &ubx_mutex_d;
|
||||
pthread_mutex_init(ubx_mutex, NULL);
|
||||
gps_bin_ubx_state_t ubx_state_d;
|
||||
ubx_state = &ubx_state_d;
|
||||
ubx_decode_init();
|
||||
|
||||
pthread_attr_t ubx_loop_attr;
|
||||
pthread_attr_init(&ubx_loop_attr);
|
||||
pthread_attr_setstacksize(&ubx_loop_attr, 3000);
|
||||
|
||||
struct arg_struct args;
|
||||
args.fd_ptr = &fd;
|
||||
args.thread_should_exit_ptr = &thread_should_exit;
|
||||
|
||||
pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
|
||||
|
||||
pthread_attr_t ubx_wd_attr;
|
||||
pthread_attr_init(&ubx_wd_attr);
|
||||
pthread_attr_setstacksize(&ubx_wd_attr, 1400);
|
||||
int pthread_create_res = pthread_create(&ubx_watchdog_thread, &ubx_wd_attr, ubx_watchdog_loop, (void *)&args);
|
||||
|
||||
if (pthread_create_res != 0) fprintf(stderr, "[gps] ERROR: could not create ubx watchdog thread, pthread_create =%d\n", pthread_create_res);
|
||||
|
||||
/* wait for threads to complete */
|
||||
pthread_join(ubx_watchdog_thread, NULL);
|
||||
|
||||
if (gps_mode_success == false) {
|
||||
if (gps_verbose) printf("[gps] no success with UBX mode and %d baud\n", current_gps_speed);
|
||||
|
||||
terminate_gps_thread = true;
|
||||
pthread_join(ubx_thread, NULL);
|
||||
|
||||
gps_mode_success = true;
|
||||
terminate_gps_thread = false;
|
||||
|
||||
/* maybe the watchdog was stopped through the thread_should_exit flag */
|
||||
} else if (thread_should_exit) {
|
||||
pthread_join(ubx_thread, NULL);
|
||||
if (gps_verbose) printf("[gps] ubx watchdog and ubx loop threads have been terminated, exiting.");
|
||||
close(mavlink_fd);
|
||||
close_port(&fd);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
close_port(&fd);
|
||||
} else if (current_gps_mode == GPS_MODE_MTK) {
|
||||
if (gps_verbose) printf("[gps] trying MTK binary mode at %d baud\n", current_gps_speed);
|
||||
|
||||
mavlink_log_info(mavlink_fd, "[gps] trying to connect to a MTK module");
|
||||
|
||||
setup_port(device, current_gps_speed, &fd);
|
||||
|
||||
/* start mtk thread and watchdog */
|
||||
pthread_t mtk_thread;
|
||||
pthread_t mtk_watchdog_thread;
|
||||
|
||||
pthread_mutex_t mtk_mutex_d;
|
||||
mtk_mutex = &mtk_mutex_d;
|
||||
pthread_mutex_init(mtk_mutex, NULL);
|
||||
|
||||
|
||||
gps_bin_mtk_state_t mtk_state_d;
|
||||
mtk_state = &mtk_state_d;
|
||||
mtk_decode_init();
|
||||
|
||||
|
||||
pthread_attr_t mtk_loop_attr;
|
||||
pthread_attr_init(&mtk_loop_attr);
|
||||
pthread_attr_setstacksize(&mtk_loop_attr, 2048);
|
||||
|
||||
struct arg_struct args;
|
||||
args.fd_ptr = &fd;
|
||||
args.thread_should_exit_ptr = &thread_should_exit;
|
||||
|
||||
pthread_create(&mtk_thread, &mtk_loop_attr, mtk_loop, (void *)&args);
|
||||
sleep(2);
|
||||
pthread_create(&mtk_watchdog_thread, NULL, mtk_watchdog_loop, (void *)&args);
|
||||
|
||||
/* wait for threads to complete */
|
||||
pthread_join(mtk_watchdog_thread, (void *)&fd);
|
||||
|
||||
if (gps_mode_success == false) {
|
||||
if (gps_verbose) printf("[gps] No success with MTK binary mode and %d baud\n", current_gps_speed);
|
||||
|
||||
terminate_gps_thread = true;
|
||||
pthread_join(mtk_thread, NULL);
|
||||
|
||||
//if(true == gps_mode_try_all)
|
||||
//strcpy(mode, "nmea");
|
||||
|
||||
gps_mode_success = true;
|
||||
terminate_gps_thread = false;
|
||||
}
|
||||
|
||||
close_port(&fd);
|
||||
|
||||
} else if (current_gps_mode == GPS_MODE_NMEA) {
|
||||
if (gps_verbose) printf("[gps] Trying NMEA mode at %d baud\n", current_gps_speed);
|
||||
|
||||
mavlink_log_info(mavlink_fd, "[gps] trying to connect to a NMEA module");
|
||||
|
||||
|
||||
setup_port(device, current_gps_speed, &fd);
|
||||
|
||||
/* start nmea thread and watchdog */
|
||||
pthread_t nmea_thread;
|
||||
pthread_t nmea_watchdog_thread;
|
||||
|
||||
pthread_mutex_t nmea_mutex_d;
|
||||
nmea_mutex = &nmea_mutex_d;
|
||||
pthread_mutex_init(nmea_mutex, NULL);
|
||||
|
||||
gps_bin_nmea_state_t nmea_state_d;
|
||||
nmea_state = &nmea_state_d;
|
||||
|
||||
pthread_attr_t nmea_loop_attr;
|
||||
pthread_attr_init(&nmea_loop_attr);
|
||||
pthread_attr_setstacksize(&nmea_loop_attr, 4096);
|
||||
|
||||
struct arg_struct args;
|
||||
args.fd_ptr = &fd;
|
||||
args.thread_should_exit_ptr = &thread_should_exit;
|
||||
|
||||
pthread_create(&nmea_thread, &nmea_loop_attr, nmea_loop, (void *)&args);
|
||||
sleep(2);
|
||||
pthread_create(&nmea_watchdog_thread, NULL, nmea_watchdog_loop, (void *)&args);
|
||||
|
||||
/* wait for threads to complete */
|
||||
pthread_join(nmea_watchdog_thread, (void *)&fd);
|
||||
|
||||
if (gps_mode_success == false) {
|
||||
if (gps_verbose) printf("[gps] No success with NMEA mode and %d baud\r\n", current_gps_speed);
|
||||
|
||||
terminate_gps_thread = true;
|
||||
pthread_join(nmea_thread, NULL);
|
||||
|
||||
gps_mode_success = true;
|
||||
terminate_gps_thread = false;
|
||||
}
|
||||
|
||||
close_port(&fd);
|
||||
}
|
||||
|
||||
/* exit quickly if stop command has been received */
|
||||
if (thread_should_exit) {
|
||||
printf("[gps] stopped, exiting.\n");
|
||||
close(mavlink_fd);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* if both, mode and baud is set by argument, we only need one loop*/
|
||||
if (gps_mode_try_all == false && gps_baud_try_all == false)
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
if (retry) {
|
||||
printf("[gps] No configuration was successful, retrying in %d seconds \n", RETRY_INTERVAL_SECONDS);
|
||||
mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, retrying...");
|
||||
fflush(stdout);
|
||||
|
||||
} else {
|
||||
fprintf(stderr, "[gps] No configuration was successful, exiting... \n");
|
||||
fflush(stdout);
|
||||
mavlink_log_info(mavlink_fd, "[gps] No configuration was successful, exiting...");
|
||||
break;
|
||||
}
|
||||
|
||||
sleep(RETRY_INTERVAL_SECONDS);
|
||||
}
|
||||
|
||||
printf("[gps] exiting.\n");
|
||||
close(mavlink_fd);
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
static void usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
fprintf(stderr, "\tusage: gps {start|status|stop} -d devicename -b baudrate -m mode\n\tmodes are:\n\t\tubx\n\t\tmtkcustom\n\t\tnmea\n\t\tall\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int open_port(char *port)
|
||||
{
|
||||
int fd; /**< File descriptor for the gps port */
|
||||
|
||||
/* Open serial port */
|
||||
fd = open(port, O_CREAT | O_RDWR | O_NOCTTY); /* O_RDWR - Read and write O_NOCTTY - Ignore special chars like CTRL-C */
|
||||
return (fd);
|
||||
}
|
||||
|
||||
|
||||
void close_port(int *fd)
|
||||
{
|
||||
/* Close serial port */
|
||||
close(*fd);
|
||||
}
|
||||
|
||||
void setup_port(char *device, int speed, int *fd)
|
||||
{
|
||||
/* open port (baud rate is set in defconfig file) */
|
||||
*fd = open_port(device);
|
||||
|
||||
if (*fd != -1) {
|
||||
if (gps_verbose) printf("[gps] Port opened: %s at %d baud\n", device, speed);
|
||||
|
||||
} else {
|
||||
fprintf(stderr, "[gps] Could not open port, exiting gps app!\n");
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
int termios_state;
|
||||
|
||||
if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
|
||||
fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\n", device, termios_state);
|
||||
close(*fd);
|
||||
}
|
||||
if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed);
|
||||
/* Set baud rate */
|
||||
cfsetispeed(&uart_config, speed);
|
||||
cfsetospeed(&uart_config, speed);
|
||||
if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
|
||||
fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\n", device);
|
||||
close(*fd);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
/*
|
||||
* gps.h
|
||||
*
|
||||
* Created on: Mar 8, 2012
|
||||
* Author: thomasgubler
|
||||
*/
|
||||
|
||||
#ifndef GPS_H_
|
||||
#define GPS_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
struct arg_struct {
|
||||
int *fd_ptr;
|
||||
bool *thread_should_exit_ptr;
|
||||
};
|
||||
|
||||
#endif /* GPS_H_ */
|
||||
432
apps/gps/mtk.c
432
apps/gps/mtk.c
|
|
@ -1,432 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Julian Oes <joes@student.ethz.ch>
|
||||
* Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file MTK custom binary (3DR) protocol implementation */
|
||||
|
||||
#include "gps.h"
|
||||
#include "mtk.h"
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/prctl.h>
|
||||
#include <pthread.h>
|
||||
#include <poll.h>
|
||||
#include <fcntl.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
|
||||
#define MTK_HEALTH_SUCCESS_COUNTER_LIMIT 2
|
||||
#define MTK_HEALTH_FAIL_COUNTER_LIMIT 2
|
||||
|
||||
// XXX decrease this substantially, it should be only a few dozen bytes max.
|
||||
#warning XXX trying 128 for now
|
||||
#define MTK_BUFFER_SIZE 128
|
||||
|
||||
pthread_mutex_t *mtk_mutex;
|
||||
gps_bin_mtk_state_t *mtk_state;
|
||||
static struct vehicle_gps_position_s *mtk_gps;
|
||||
|
||||
extern bool gps_mode_try_all;
|
||||
extern bool gps_mode_success;
|
||||
extern bool terminate_gps_thread;
|
||||
extern bool gps_baud_try_all;
|
||||
extern bool gps_verbose;
|
||||
extern int current_gps_speed;
|
||||
|
||||
|
||||
void mtk_decode_init(void)
|
||||
{
|
||||
mtk_state->ck_a = 0;
|
||||
mtk_state->ck_b = 0;
|
||||
mtk_state->rx_count = 0;
|
||||
mtk_state->decode_state = MTK_DECODE_UNINIT;
|
||||
mtk_state->print_errors = false;
|
||||
}
|
||||
|
||||
void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
|
||||
{
|
||||
*(ck_a) = *(ck_a) + b;
|
||||
*(ck_b) = *(ck_b) + *(ck_a);
|
||||
// printf("Checksum now: %d\n",*(ck_b));
|
||||
}
|
||||
|
||||
|
||||
|
||||
int mtk_parse(uint8_t b, char *gps_rx_buffer)
|
||||
{
|
||||
// printf("b=%x\n",b);
|
||||
// Debug output to telemetry port
|
||||
// PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, &b, 1);
|
||||
if (mtk_state->decode_state == MTK_DECODE_UNINIT) {
|
||||
|
||||
if (b == 0xd0) {
|
||||
mtk_state->decode_state = MTK_DECODE_GOT_CK_A;
|
||||
}
|
||||
|
||||
} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_A) {
|
||||
if (b == 0xdd) {
|
||||
mtk_state->decode_state = MTK_DECODE_GOT_CK_B;
|
||||
|
||||
} else {
|
||||
// Second start symbol was wrong, reset state machine
|
||||
mtk_decode_init();
|
||||
}
|
||||
|
||||
} else if (mtk_state->decode_state == MTK_DECODE_GOT_CK_B) {
|
||||
// Add to checksum
|
||||
if (mtk_state->rx_count < 33) mtk_checksum(b, &(mtk_state->ck_a), &(mtk_state->ck_b));
|
||||
|
||||
// Fill packet buffer
|
||||
gps_rx_buffer[mtk_state->rx_count] = b;
|
||||
(mtk_state->rx_count)++;
|
||||
// printf("Rx count: %d\n",mtk_state->rx_count);
|
||||
uint8_t ret = 0;
|
||||
|
||||
/* Packet size minus checksum */
|
||||
if (mtk_state->rx_count >= 35) {
|
||||
gps_bin_mtk_packet_t *packet = (gps_bin_mtk_packet_t *) gps_rx_buffer;
|
||||
|
||||
/* Check if checksum is valid */
|
||||
if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) {
|
||||
mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
|
||||
mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
|
||||
mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t
|
||||
mtk_gps->fix_type = packet->fix_type;
|
||||
mtk_gps->eph = packet->hdop;
|
||||
mtk_gps->epv = 65535; //unknown in mtk custom mode
|
||||
mtk_gps->vel = packet->ground_speed;
|
||||
mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2
|
||||
mtk_gps->satellites_visible = packet->satellites;
|
||||
|
||||
/* convert time and date information to unix timestamp */
|
||||
struct tm timeinfo; //TODO: test this conversion
|
||||
uint32_t timeinfo_conversion_temp;
|
||||
|
||||
timeinfo.tm_mday = packet->date * 1e-4;
|
||||
timeinfo_conversion_temp = packet->date - timeinfo.tm_mday * 1e4;
|
||||
timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
|
||||
timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
|
||||
|
||||
timeinfo.tm_hour = packet->utc_time * 1e-7;
|
||||
timeinfo_conversion_temp = packet->utc_time - timeinfo.tm_hour * 1e7;
|
||||
timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
|
||||
timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
|
||||
timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
|
||||
timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
|
||||
time_t epoch = mktime(&timeinfo);
|
||||
mtk_gps->timestamp = hrt_absolute_time();
|
||||
mtk_gps->time_gps_usec = epoch * 1e6; //TODO: test this
|
||||
mtk_gps->time_gps_usec += timeinfo_conversion_temp * 1e3;
|
||||
|
||||
mtk_gps->counter_pos_valid++;
|
||||
|
||||
mtk_gps->timestamp = hrt_absolute_time();
|
||||
|
||||
// printf("%lu; %lu; %d.%d.%d %d:%d:%d:%d\n", packet->date, packet->utc_time,timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, timeinfo_conversion_temp);
|
||||
|
||||
pthread_mutex_lock(mtk_mutex);
|
||||
// printf("Write timestamp /n");
|
||||
mtk_state->last_message_timestamp = hrt_absolute_time();
|
||||
pthread_mutex_unlock(mtk_mutex);
|
||||
|
||||
ret = 1;
|
||||
// printf("found package\n");
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] Checksum invalid\r\n");
|
||||
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
// Reset state machine to decode next packet
|
||||
mtk_decode_init();
|
||||
// printf("prepared for next state\n");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
return 0; // no valid packet found
|
||||
|
||||
}
|
||||
|
||||
int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size) // returns 1 if the thread should terminate
|
||||
{
|
||||
// printf("in read_gps_mtk\n");
|
||||
uint8_t ret = 0;
|
||||
|
||||
uint8_t c;
|
||||
|
||||
int rx_count = 0;
|
||||
int gpsRxOverflow = 0;
|
||||
|
||||
struct pollfd fds;
|
||||
fds.fd = *fd;
|
||||
fds.events = POLLIN;
|
||||
|
||||
// This blocks the task until there is something on the buffer
|
||||
while (1) {
|
||||
//check if the thread should terminate
|
||||
if (terminate_gps_thread == true) {
|
||||
// printf("terminate_gps_thread=%u ", terminate_gps_thread);
|
||||
// printf("exiting mtk thread\n");
|
||||
// fflush(stdout);
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
if (poll(&fds, 1, 1000) > 0) {
|
||||
if (read(*fd, &c, 1) > 0) {
|
||||
// printf("Read %x\n",c);
|
||||
if (rx_count >= buffer_size) {
|
||||
// The buffer is already full and we haven't found a valid NMEA sentence.
|
||||
// Flush the buffer and note the overflow event.
|
||||
gpsRxOverflow++;
|
||||
rx_count = 0;
|
||||
mtk_decode_init();
|
||||
|
||||
if (gps_verbose) printf("[gps] Buffer full\r\n");
|
||||
|
||||
} else {
|
||||
//gps_rx_buffer[rx_count] = c;
|
||||
rx_count++;
|
||||
|
||||
}
|
||||
|
||||
int msg_read = mtk_parse(c, gps_rx_buffer);
|
||||
|
||||
if (msg_read > 0) {
|
||||
// printf("Found sequence\n");
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int configure_gps_mtk(int *fd)
|
||||
{
|
||||
int success = 0;
|
||||
size_t result_write;
|
||||
result_write = write(*fd, MEDIATEK_REFRESH_RATE_10HZ, strlen(MEDIATEK_REFRESH_RATE_10HZ));
|
||||
|
||||
if (result_write != strlen(MEDIATEK_REFRESH_RATE_10HZ)) {
|
||||
printf("[gps] Set update speed to 10 Hz failed\r\n");
|
||||
success = 1;
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] Attempted to set update speed to 10 Hz..\r\n");
|
||||
}
|
||||
|
||||
//set custom mode
|
||||
result_write = write(*fd, MEDIATEK_CUSTOM_BINARY_MODE, strlen(MEDIATEK_CUSTOM_BINARY_MODE));
|
||||
|
||||
if (result_write != strlen(MEDIATEK_CUSTOM_BINARY_MODE)) {
|
||||
//global_data_send_subsystem_info(&mtk_present);
|
||||
printf("[gps] Set MTK custom mode failed\r\n");
|
||||
success = 1;
|
||||
|
||||
} else {
|
||||
//global_data_send_subsystem_info(&mtk_present_enabled);
|
||||
if (gps_verbose) printf("[gps] Attempted to set MTK custom mode..\r\n");
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
void *mtk_loop(void *args)
|
||||
{
|
||||
// int oldstate;
|
||||
// pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, oldstate);
|
||||
//
|
||||
// printf("in mtk loop\n");
|
||||
/* Set thread name */
|
||||
prctl(PR_SET_NAME, "gps mtk read", getpid());
|
||||
|
||||
/* Retrieve file descriptor and thread flag */
|
||||
struct arg_struct *arguments = (struct arg_struct *)args;
|
||||
int *fd = arguments->fd_ptr;
|
||||
bool *thread_should_exit = arguments->thread_should_exit_ptr;
|
||||
|
||||
/* Initialize gps stuff */
|
||||
// int buffer_size = 1000;
|
||||
// char * gps_rx_buffer = malloc(buffer_size*sizeof(char));
|
||||
char gps_rx_buffer[MTK_BUFFER_SIZE];
|
||||
|
||||
/* set parameters for mtk custom */
|
||||
|
||||
if (configure_gps_mtk(fd) != 0) {
|
||||
printf("[gps] Could not write serial port..\r\n");
|
||||
|
||||
/* Write shared variable sys_status */
|
||||
|
||||
//global_data_send_subsystem_info(&mtk_present);
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] Configuration finished, awaiting GPS data..\r\n");
|
||||
|
||||
|
||||
/* Write shared variable sys_status */
|
||||
|
||||
//global_data_send_subsystem_info(&mtk_present_enabled);
|
||||
}
|
||||
|
||||
/* advertise GPS topic */
|
||||
struct vehicle_gps_position_s mtk_gps_d;
|
||||
mtk_gps = &mtk_gps_d;
|
||||
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
|
||||
|
||||
while (!(*thread_should_exit)) {
|
||||
/* Parse a message from the gps receiver */
|
||||
if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
|
||||
|
||||
/* publish new GPS position */
|
||||
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
|
||||
|
||||
} else {
|
||||
/* de-advertise */
|
||||
close(gps_handle);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
close(gps_handle);
|
||||
if(gps_verbose) printf("[gps] mtk loop is going to terminate\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void *mtk_watchdog_loop(void *args)
|
||||
{
|
||||
// printf("in mtk watchdog loop\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* Set thread name */
|
||||
prctl(PR_SET_NAME, "gps mtk watchdog", getpid());
|
||||
|
||||
/* Retrieve file descriptor and thread flag */
|
||||
struct arg_struct *arguments = (struct arg_struct *)args;
|
||||
int *fd = arguments->fd_ptr;
|
||||
bool *thread_should_exit = arguments->thread_should_exit_ptr;
|
||||
|
||||
bool mtk_healthy = false;
|
||||
|
||||
uint8_t mtk_fail_count = 0;
|
||||
uint8_t mtk_success_count = 0;
|
||||
bool once_ok = false;
|
||||
|
||||
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
|
||||
while (!(*thread_should_exit)) {
|
||||
fflush(stdout);
|
||||
|
||||
/* if we have no update for a long time reconfigure gps */
|
||||
pthread_mutex_lock(mtk_mutex);
|
||||
uint64_t timestamp_now = hrt_absolute_time();
|
||||
bool all_okay = true;
|
||||
|
||||
if (timestamp_now - mtk_state->last_message_timestamp > MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
|
||||
all_okay = false;
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(mtk_mutex);
|
||||
|
||||
if (!all_okay) {
|
||||
// printf("mtk unhealthy\n");
|
||||
mtk_fail_count++;
|
||||
/* gps error */
|
||||
// if (err_skip_counter == 0)
|
||||
// {
|
||||
// printf("[gps] GPS module not connected or not responding..\n");
|
||||
// err_skip_counter = 20;
|
||||
// }
|
||||
// err_skip_counter--;
|
||||
|
||||
// printf("gps_mode_try_all =%u, mtk_fail_count=%u, mtk_healthy=%u, once_ok=%u\n", gps_mode_try_all, mtk_fail_count, mtk_healthy, once_ok);
|
||||
|
||||
/* If we have too many failures and another mode or baud should be tried, exit... */
|
||||
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) && (mtk_healthy == false) && once_ok == false) {
|
||||
if (gps_verbose) printf("[gps] Connection attempt failed, no MTK module found\r\n");
|
||||
|
||||
gps_mode_success = false;
|
||||
break;
|
||||
}
|
||||
|
||||
if (mtk_healthy && mtk_fail_count >= MTK_HEALTH_FAIL_COUNTER_LIMIT) {
|
||||
printf("[gps] ERROR: MTK GPS module stopped responding\r\n");
|
||||
// global_data_send_subsystem_info(&mtk_present_enabled);
|
||||
mavlink_log_critical(mavlink_fd, "[gps] MTK module stopped responding\n");
|
||||
mtk_healthy = false;
|
||||
mtk_success_count = 0;
|
||||
|
||||
}
|
||||
|
||||
/* trying to reconfigure the gps configuration */
|
||||
configure_gps_mtk(fd);
|
||||
fflush(stdout);
|
||||
|
||||
} else {
|
||||
/* gps healthy */
|
||||
mtk_success_count++;
|
||||
mtk_fail_count = 0;
|
||||
once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy?
|
||||
|
||||
if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) {
|
||||
printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed);
|
||||
/* MTK never has sat info */
|
||||
// XXX Check if lock makes sense here
|
||||
mtk_gps->satellite_info_available = 0;
|
||||
// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
|
||||
mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
|
||||
mtk_healthy = true;
|
||||
}
|
||||
}
|
||||
|
||||
usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
|
||||
}
|
||||
if(gps_verbose) printf("[gps] mtk watchdog is going to terminate\n");
|
||||
close(mavlink_fd);
|
||||
return NULL;
|
||||
}
|
||||
|
|
@ -1,98 +0,0 @@
|
|||
/*
|
||||
* mtk.h
|
||||
*
|
||||
* Created on: Mar 6, 2012
|
||||
* Author: thomasgubler
|
||||
*/
|
||||
|
||||
#ifndef MTK_H_
|
||||
#define MTK_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <pthread.h>
|
||||
|
||||
//Definition for mtk custom mode
|
||||
#define MEDIATEK_REFRESH_RATE_4HZ "$PMTK220,250*29\r\n" //refresh rate - 4Hz - 250 milliseconds
|
||||
#define MEDIATEK_REFRESH_RATE_5HZ "$PMTK220,200*2C\r\n"
|
||||
#define MEDIATEK_REFRESH_RATE_10HZ "$PMTK220,100*2F\r\n" //refresh rate - 10Hz - 100 milliseconds
|
||||
#define MEDIATEK_FACTORY_RESET "$PMTK104*37\r\n" //clear current settings
|
||||
#define MEDIATEK_CUSTOM_BINARY_MODE "$PGCMD,16,0,0,0,0,0*6A\r\n"
|
||||
#define MEDIATEK_FULL_COLD_RESTART "$PMTK104*37\r\n"
|
||||
//#define NMEA_GGA_ENABLE "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*27\r\n" //Set GGA messages
|
||||
|
||||
//definitions for watchdog
|
||||
#define MTK_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
|
||||
#define MTK_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
|
||||
|
||||
|
||||
|
||||
|
||||
// ************
|
||||
// the structure of the binary packet
|
||||
|
||||
typedef struct {
|
||||
uint8_t payload; ///< Number of payload bytes
|
||||
int32_t latitude; ///< Latitude in degrees * 10^7
|
||||
int32_t longitude; ///< Longitude in degrees * 10^7
|
||||
uint32_t msl_altitude; ///< MSL altitude in meters * 10^2
|
||||
uint32_t ground_speed; ///< FIXME SPEC UNCLEAR
|
||||
int32_t heading;
|
||||
uint8_t satellites;
|
||||
uint8_t fix_type;
|
||||
uint32_t date;
|
||||
uint32_t utc_time;
|
||||
uint16_t hdop;
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} __attribute__((__packed__)) type_gps_bin_mtk_packet;
|
||||
|
||||
typedef type_gps_bin_mtk_packet gps_bin_mtk_packet_t;
|
||||
|
||||
enum MTK_DECODE_STATES {
|
||||
MTK_DECODE_UNINIT = 0,
|
||||
MTK_DECODE_GOT_CK_A = 1,
|
||||
MTK_DECODE_GOT_CK_B = 2
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
union {
|
||||
uint16_t ck;
|
||||
struct {
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
};
|
||||
};
|
||||
uint8_t decode_state;
|
||||
// bool new_data;
|
||||
// uint8_t fix;
|
||||
bool print_errors;
|
||||
int16_t rx_count;
|
||||
|
||||
uint64_t last_message_timestamp;
|
||||
} __attribute__((__packed__)) type_gps_bin_mtk_state;
|
||||
|
||||
typedef type_gps_bin_mtk_state gps_bin_mtk_state_t;
|
||||
|
||||
extern pthread_mutex_t *mtk_mutex;
|
||||
extern gps_bin_mtk_state_t *mtk_state;
|
||||
|
||||
void mtk_decode_init(void);
|
||||
|
||||
void mtk_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
|
||||
|
||||
int mtk_parse(uint8_t b, char *gps_rx_buffer);
|
||||
|
||||
int read_gps_mtk(int *fd, char *gps_rx_buffer, int buffer_size);
|
||||
|
||||
int configure_gps_mtk(int *fd);
|
||||
|
||||
void *mtk_loop(void *args);
|
||||
|
||||
void *mtk_watchdog_loop(void *args);
|
||||
|
||||
#endif /* MTK_H_ */
|
||||
|
|
@ -1,345 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Julian Oes <joes@student.ethz.ch>
|
||||
* Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file NMEA protocol implementation */
|
||||
#include "gps.h"
|
||||
#include "nmea_helper.h"
|
||||
#include <sys/prctl.h>
|
||||
#include <unistd.h>
|
||||
#include <poll.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
|
||||
#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
|
||||
|
||||
#define NMEA_BUFFER_SIZE 1000
|
||||
|
||||
pthread_mutex_t *nmea_mutex;
|
||||
gps_bin_nmea_state_t *nmea_state;
|
||||
static struct vehicle_gps_position_s *nmea_gps;
|
||||
|
||||
extern bool gps_mode_try_all;
|
||||
extern bool gps_mode_success;
|
||||
extern bool terminate_gps_thread;
|
||||
extern bool gps_baud_try_all;
|
||||
extern bool gps_verbose;
|
||||
extern int current_gps_speed;
|
||||
|
||||
|
||||
int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser)
|
||||
{
|
||||
int ret = 1;
|
||||
char c;
|
||||
int start_flag = 0;
|
||||
int found_cr = 0;
|
||||
int rx_count = 0;
|
||||
int gpsRxOverflow = 0;
|
||||
|
||||
struct pollfd fds;
|
||||
fds.fd = *fd;
|
||||
fds.events = POLLIN;
|
||||
|
||||
// NMEA or SINGLE-SENTENCE GPS mode
|
||||
|
||||
|
||||
while (1) {
|
||||
//check if the thread should terminate
|
||||
if (terminate_gps_thread == true) {
|
||||
// printf("terminate_gps_thread=%u ", terminate_gps_thread);
|
||||
// printf("exiting mtk thread\n");
|
||||
// fflush(stdout);
|
||||
ret = 2;
|
||||
break;
|
||||
}
|
||||
|
||||
if (poll(&fds, 1, 1000) > 0) {
|
||||
if (read(*fd, &c, 1) > 0) {
|
||||
// detect start while acquiring stream
|
||||
// printf("Char = %c\n", c);
|
||||
if (!start_flag && (c == '$')) {
|
||||
start_flag = 1;
|
||||
found_cr = 0;
|
||||
rx_count = 0;
|
||||
|
||||
} else if (!start_flag) { // keep looking for start sign
|
||||
continue;
|
||||
}
|
||||
|
||||
if (rx_count >= buffer_size) {
|
||||
// The buffer is already full and we haven't found a valid NMEA sentence.
|
||||
// Flush the buffer and note the overflow event.
|
||||
gpsRxOverflow++;
|
||||
start_flag = 0;
|
||||
found_cr = 0;
|
||||
rx_count = 0;
|
||||
|
||||
if (gps_verbose) printf("\t[gps] Buffer full\n");
|
||||
|
||||
} else {
|
||||
// store chars in buffer
|
||||
gps_rx_buffer[rx_count] = c;
|
||||
rx_count++;
|
||||
}
|
||||
|
||||
// look for carriage return CR
|
||||
if (start_flag && c == 0x0d) {
|
||||
found_cr = 1;
|
||||
}
|
||||
|
||||
// and then look for line feed LF
|
||||
if (start_flag && found_cr && c == 0x0a) {
|
||||
// parse one NMEA line, use buffer up to rx_count
|
||||
if (nmea_parse(parser, gps_rx_buffer, rx_count, info) > 0) {
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// As soon as one NMEA message has been parsed, we break out of the loop and end here
|
||||
return(ret);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* \brief Convert NDEG (NMEA degree) to fractional degree
|
||||
*/
|
||||
float ndeg2degree(float val)
|
||||
{
|
||||
float deg = ((int)(val / 100));
|
||||
val = deg + (val - deg * 100) / 60;
|
||||
return val;
|
||||
}
|
||||
|
||||
void *nmea_loop(void *args)
|
||||
{
|
||||
/* Set thread name */
|
||||
prctl(PR_SET_NAME, "gps nmea read", getpid());
|
||||
|
||||
/* Retrieve file descriptor and thread flag */
|
||||
struct arg_struct *arguments = (struct arg_struct *)args;
|
||||
int *fd = arguments->fd_ptr;
|
||||
bool *thread_should_exit = arguments->thread_should_exit_ptr;
|
||||
|
||||
/* Initialize gps stuff */
|
||||
nmeaINFO info_d;
|
||||
nmeaINFO *info = &info_d;
|
||||
char gps_rx_buffer[NMEA_BUFFER_SIZE];
|
||||
|
||||
/* gps parser (nmea) */
|
||||
nmeaPARSER parser;
|
||||
nmea_parser_init(&parser);
|
||||
nmea_zero_INFO(info);
|
||||
|
||||
/* advertise GPS topic */
|
||||
struct vehicle_gps_position_s nmea_gps_d = {.counter=0};
|
||||
nmea_gps = &nmea_gps_d;
|
||||
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
|
||||
|
||||
while (!(*thread_should_exit)) {
|
||||
/* Parse a message from the gps receiver */
|
||||
uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
|
||||
|
||||
if (0 == read_res) {
|
||||
|
||||
/* convert data, ready it for publishing */
|
||||
|
||||
/* convert nmea utc time to usec */
|
||||
struct tm timeinfo;
|
||||
timeinfo.tm_year = info->utc.year;
|
||||
timeinfo.tm_mon = info->utc.mon;
|
||||
timeinfo.tm_mday = info->utc.day;
|
||||
timeinfo.tm_hour = info->utc.hour;
|
||||
timeinfo.tm_min = info->utc.min;
|
||||
timeinfo.tm_sec = info->utc.sec;
|
||||
|
||||
time_t epoch = mktime(&timeinfo);
|
||||
|
||||
// printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
|
||||
|
||||
nmea_gps->timestamp = hrt_absolute_time();
|
||||
nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000);
|
||||
nmea_gps->fix_type = (uint8_t)info->fix;
|
||||
nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f);
|
||||
nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f);
|
||||
nmea_gps->alt = (int32_t)(info->elv * 1000.0f);
|
||||
nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
|
||||
nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
|
||||
nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
|
||||
nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2
|
||||
nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
|
||||
|
||||
int i = 0;
|
||||
|
||||
/* Write info about individual satellites */
|
||||
for (i = 0; i < 12; i++) {
|
||||
nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id;
|
||||
nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use;
|
||||
nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv;
|
||||
nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth;
|
||||
nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig;
|
||||
}
|
||||
|
||||
if (nmea_gps->satellites_visible > 0) {
|
||||
nmea_gps->satellite_info_available = 1;
|
||||
|
||||
} else {
|
||||
nmea_gps->satellite_info_available = 0;
|
||||
}
|
||||
|
||||
nmea_gps->counter_pos_valid++;
|
||||
|
||||
nmea_gps->timestamp = hrt_absolute_time();
|
||||
nmea_gps->counter++;
|
||||
|
||||
pthread_mutex_lock(nmea_mutex);
|
||||
nmea_state->last_message_timestamp = hrt_absolute_time();
|
||||
pthread_mutex_unlock(nmea_mutex);
|
||||
|
||||
/* publish new GPS position */
|
||||
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps);
|
||||
|
||||
} else if (read_res == 2) { //termination
|
||||
/* de-advertise */
|
||||
close(gps_handle);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//destroy gps parser
|
||||
nmea_parser_destroy(&parser);
|
||||
if(gps_verbose) printf("[gps] nmea loop is going to terminate\n");
|
||||
return NULL;
|
||||
|
||||
}
|
||||
|
||||
void *nmea_watchdog_loop(void *args)
|
||||
{
|
||||
/* Set thread name */
|
||||
prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
|
||||
|
||||
bool nmea_healthy = false;
|
||||
|
||||
uint8_t nmea_fail_count = 0;
|
||||
uint8_t nmea_success_count = 0;
|
||||
bool once_ok = false;
|
||||
|
||||
/* Retrieve file descriptor and thread flag */
|
||||
struct arg_struct *arguments = (struct arg_struct *)args;
|
||||
//int *fd = arguments->fd_ptr;
|
||||
bool *thread_should_exit = arguments->thread_should_exit_ptr;
|
||||
|
||||
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
while (!(*thread_should_exit)) {
|
||||
// printf("nmea_watchdog_loop : while ");
|
||||
/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
|
||||
pthread_mutex_lock(nmea_mutex);
|
||||
uint64_t timestamp_now = hrt_absolute_time();
|
||||
bool all_okay = true;
|
||||
|
||||
if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
|
||||
all_okay = false;
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(nmea_mutex);
|
||||
|
||||
if (!all_okay) {
|
||||
/* gps error */
|
||||
nmea_fail_count++;
|
||||
// printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count);
|
||||
// fflush(stdout);
|
||||
|
||||
/* If we have too many failures and another mode or baud should be tried, exit... */
|
||||
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) {
|
||||
if (gps_verbose) printf("\t[gps] no NMEA module found\n");
|
||||
|
||||
gps_mode_success = false;
|
||||
break;
|
||||
}
|
||||
|
||||
if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) {
|
||||
printf("\t[gps] ERROR: NMEA GPS module stopped responding\n");
|
||||
// global_data_send_subsystem_info(&nmea_present_enabled);
|
||||
mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n");
|
||||
nmea_healthy = false;
|
||||
nmea_success_count = 0;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
fflush(stdout);
|
||||
sleep(1);
|
||||
|
||||
} else {
|
||||
/* gps healthy */
|
||||
// printf("\t[gps] nmea success\n");
|
||||
nmea_success_count++;
|
||||
|
||||
if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) {
|
||||
printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed);
|
||||
// global_data_send_subsystem_info(&nmea_present_enabled_healthy);
|
||||
mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n");
|
||||
nmea_healthy = true;
|
||||
nmea_fail_count = 0;
|
||||
once_ok = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
|
||||
}
|
||||
if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n");
|
||||
close(mavlink_fd);
|
||||
return NULL;
|
||||
}
|
||||
|
|
@ -1,47 +0,0 @@
|
|||
/*
|
||||
* nmea_helper.h
|
||||
*
|
||||
* Created on: Mar 15, 2012
|
||||
* Author: thomasgubler
|
||||
*/
|
||||
|
||||
#ifndef NMEA_H_
|
||||
#define NMEA_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include "nmealib/nmea/nmea.h"
|
||||
|
||||
|
||||
//definitions for watchdog
|
||||
#define NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS 2000000
|
||||
#define NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS 800000
|
||||
|
||||
typedef struct {
|
||||
uint64_t last_message_timestamp;
|
||||
} __attribute__((__packed__)) type_gps_bin_nmea_state;
|
||||
|
||||
typedef type_gps_bin_nmea_state gps_bin_nmea_state_t;
|
||||
|
||||
extern gps_bin_nmea_state_t *nmea_state;
|
||||
extern pthread_mutex_t *nmea_mutex;
|
||||
|
||||
|
||||
|
||||
int read_gps_nmea(int *fd, char *gps_rx_buffer, int buffer_size, nmeaINFO *info, nmeaPARSER *parser);
|
||||
|
||||
void *nmea_loop(void *arg);
|
||||
|
||||
void *nmea_watchdog_loop(void *arg);
|
||||
|
||||
/**
|
||||
* \brief Convert NDEG (NMEA degree) to fractional degree
|
||||
*/
|
||||
float ndeg2degree(float val);
|
||||
|
||||
void nmea_init(void);
|
||||
|
||||
|
||||
#endif /* NMEA_H_ */
|
||||
|
|
@ -1,506 +0,0 @@
|
|||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
you have the freedom to distribute copies of free software (and charge
|
||||
for this service if you wish); that you receive source code or can get
|
||||
it if you want it; that you can change the software and use pieces of
|
||||
it in new free programs; and that you are informed that you can do
|
||||
these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis
|
||||
or for a fee, you must give the recipients all the rights that we gave
|
||||
you. You must make sure that they, too, receive or can get the source
|
||||
code. If you link other code with the library, you must provide
|
||||
complete object files to the recipients, so that they can relink them
|
||||
with the library after making changes to the library and recompiling
|
||||
it. And you must show them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that
|
||||
there is no warranty for the free library. Also, if the library is
|
||||
modified by someone else and passed on, the recipients should know
|
||||
that what they have is not the original version, so that the original
|
||||
author's reputation will not be affected by problems that might be
|
||||
introduced by others.
|
||||
|
||||
Finally, software patents pose a constant threat to the existence of
|
||||
any free program. We wish to make sure that a company cannot
|
||||
effectively restrict the users of a free program by obtaining a
|
||||
restrictive license from a patent holder. Therefore, we insist that
|
||||
any patent license obtained for a version of the library must be
|
||||
consistent with the full freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the
|
||||
ordinary GNU General Public License. This license, the GNU Lesser
|
||||
General Public License, applies to certain designated libraries, and
|
||||
is quite different from the ordinary General Public License. We use
|
||||
this license for certain libraries in order to permit linking those
|
||||
libraries into non-free programs.
|
||||
|
||||
When a program is linked with a library, whether statically or using
|
||||
a shared library, the combination of the two is legally speaking a
|
||||
combined work, a derivative of the original library. The ordinary
|
||||
General Public License therefore permits such linking only if the
|
||||
entire combination fits its criteria of freedom. The Lesser General
|
||||
Public License permits more lax criteria for linking other code with
|
||||
the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it
|
||||
does Less to protect the user's freedom than the ordinary General
|
||||
Public License. It also provides other free software developers Less
|
||||
of an advantage over competing non-free programs. These disadvantages
|
||||
are the reason we use the ordinary General Public License for many
|
||||
libraries. However, the Lesser license provides advantages in certain
|
||||
special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to
|
||||
encourage the widest possible use of a certain library, so that it becomes
|
||||
a de-facto standard. To achieve this, non-free programs must be
|
||||
allowed to use the library. A more frequent case is that a free
|
||||
library does the same job as widely used non-free libraries. In this
|
||||
case, there is little to gain by limiting the free library to free
|
||||
software only, so we use the Lesser General Public License.
|
||||
|
||||
In other cases, permission to use a particular library in non-free
|
||||
programs enables a greater number of people to use a large body of
|
||||
free software. For example, permission to use the GNU C Library in
|
||||
non-free programs enables many more people to use the whole GNU
|
||||
operating system, as well as its variant, the GNU/Linux operating
|
||||
system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the
|
||||
users' freedom, it does ensure that the user of a program that is
|
||||
linked with the Library has the freedom and the wherewithal to run
|
||||
that program using a modified version of the Library.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow. Pay close attention to the difference between a
|
||||
"work based on the library" and a "work that uses the library". The
|
||||
former contains code derived from the library, whereas the latter must
|
||||
be combined with the library in order to run.
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other
|
||||
program which contains a notice placed by the copyright holder or
|
||||
other authorized party saying it may be distributed under the terms of
|
||||
this Lesser General Public License (also called "this License").
|
||||
Each licensee is addressed as "you".
|
||||
|
||||
A "library" means a collection of software functions and/or data
|
||||
prepared so as to be conveniently linked with application programs
|
||||
(which use some of those functions and data) to form executables.
|
||||
|
||||
The "Library", below, refers to any such software library or work
|
||||
which has been distributed under these terms. A "work based on the
|
||||
Library" means either the Library or any derivative work under
|
||||
copyright law: that is to say, a work containing the Library or a
|
||||
portion of it, either verbatim or with modifications and/or translated
|
||||
straightforwardly into another language. (Hereinafter, translation is
|
||||
included without limitation in the term "modification".)
|
||||
|
||||
"Source code" for a work means the preferred form of the work for
|
||||
making modifications to it. For a library, complete source code means
|
||||
all the source code for all modules it contains, plus any associated
|
||||
interface definition files, plus the scripts used to control compilation
|
||||
and installation of the library.
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running a program using the Library is not restricted, and output from
|
||||
such a program is covered only if its contents constitute a work based
|
||||
on the Library (independent of the use of the Library in a tool for
|
||||
writing it). Whether that is true depends on what the Library does
|
||||
and what the program that uses the Library does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's
|
||||
complete source code as you receive it, in any medium, provided that
|
||||
you conspicuously and appropriately publish on each copy an
|
||||
appropriate copyright notice and disclaimer of warranty; keep intact
|
||||
all the notices that refer to this License and to the absence of any
|
||||
warranty; and distribute a copy of this License along with the
|
||||
Library.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy,
|
||||
and you may at your option offer warranty protection in exchange for a
|
||||
fee.
|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion
|
||||
of it, thus forming a work based on the Library, and copy and
|
||||
distribute such modifications or work under the terms of Section 1
|
||||
above, provided that you also meet all of these conditions:
|
||||
|
||||
a) The modified work must itself be a software library.
|
||||
|
||||
b) You must cause the files modified to carry prominent notices
|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
c) You must cause the whole of the work to be licensed at no
|
||||
charge to all third parties under the terms of this License.
|
||||
|
||||
d) If a facility in the modified Library refers to a function or a
|
||||
table of data to be supplied by an application program that uses
|
||||
the facility, other than as an argument passed when the facility
|
||||
is invoked, then you must make a good faith effort to ensure that,
|
||||
in the event an application does not supply such function or
|
||||
table, the facility still operates, and performs whatever part of
|
||||
its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has
|
||||
a purpose that is entirely well-defined independent of the
|
||||
application. Therefore, Subsection 2d requires that any
|
||||
application-supplied function or table used by this function must
|
||||
be optional: if the application does not supply it, the square
|
||||
root function must still compute square roots.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Library,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Library, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote
|
||||
it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
your rights to work written entirely by you; rather, the intent is to
|
||||
exercise the right to control the distribution of derivative or
|
||||
collective works based on the Library.
|
||||
|
||||
In addition, mere aggregation of another work not based on the Library
|
||||
with the Library (or with a work based on the Library) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
the scope of this License.
|
||||
|
||||
3. You may opt to apply the terms of the ordinary GNU General Public
|
||||
License instead of this License to a given copy of the Library. To do
|
||||
this, you must alter all the notices that refer to this License, so
|
||||
that they refer to the ordinary GNU General Public License, version 2,
|
||||
instead of to this License. (If a newer version than version 2 of the
|
||||
ordinary GNU General Public License has appeared, then you can specify
|
||||
that version instead if you wish.) Do not make any other change in
|
||||
these notices.
|
||||
|
||||
Once this change is made in a given copy, it is irreversible for
|
||||
that copy, so the ordinary GNU General Public License applies to all
|
||||
subsequent copies and derivative works made from that copy.
|
||||
|
||||
This option is useful when you wish to copy part of the code of
|
||||
the Library into a program that is not a library.
|
||||
|
||||
4. You may copy and distribute the Library (or a portion or
|
||||
derivative of it, under Section 2) in object code or executable form
|
||||
under the terms of Sections 1 and 2 above provided that you accompany
|
||||
it with the complete corresponding machine-readable source code, which
|
||||
must be distributed under the terms of Sections 1 and 2 above on a
|
||||
medium customarily used for software interchange.
|
||||
|
||||
If distribution of object code is made by offering access to copy
|
||||
from a designated place, then offering equivalent access to copy the
|
||||
source code from the same place satisfies the requirement to
|
||||
distribute the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
5. A program that contains no derivative of any portion of the
|
||||
Library, but is designed to work with the Library by being compiled or
|
||||
linked with it, is called a "work that uses the Library". Such a
|
||||
work, in isolation, is not a derivative work of the Library, and
|
||||
therefore falls outside the scope of this License.
|
||||
|
||||
However, linking a "work that uses the Library" with the Library
|
||||
creates an executable that is a derivative of the Library (because it
|
||||
contains portions of the Library), rather than a "work that uses the
|
||||
library". The executable is therefore covered by this License.
|
||||
Section 6 states terms for distribution of such executables.
|
||||
|
||||
When a "work that uses the Library" uses material from a header file
|
||||
that is part of the Library, the object code for the work may be a
|
||||
derivative work of the Library even though the source code is not.
|
||||
Whether this is true is especially significant if the work can be
|
||||
linked without the Library, or if the work is itself a library. The
|
||||
threshold for this to be true is not precisely defined by law.
|
||||
|
||||
If such an object file uses only numerical parameters, data
|
||||
structure layouts and accessors, and small macros and small inline
|
||||
functions (ten lines or less in length), then the use of the object
|
||||
file is unrestricted, regardless of whether it is legally a derivative
|
||||
work. (Executables containing this object code plus portions of the
|
||||
Library will still fall under Section 6.)
|
||||
|
||||
Otherwise, if the work is a derivative of the Library, you may
|
||||
distribute the object code for the work under the terms of Section 6.
|
||||
Any executables containing that work also fall under Section 6,
|
||||
whether or not they are linked directly with the Library itself.
|
||||
|
||||
6. As an exception to the Sections above, you may also combine or
|
||||
link a "work that uses the Library" with the Library to produce a
|
||||
work containing portions of the Library, and distribute that work
|
||||
under terms of your choice, provided that the terms permit
|
||||
modification of the work for the customer's own use and reverse
|
||||
engineering for debugging such modifications.
|
||||
|
||||
You must give prominent notice with each copy of the work that the
|
||||
Library is used in it and that the Library and its use are covered by
|
||||
this License. You must supply a copy of this License. If the work
|
||||
during execution displays copyright notices, you must include the
|
||||
copyright notice for the Library among them, as well as a reference
|
||||
directing the user to the copy of this License. Also, you must do one
|
||||
of these things:
|
||||
|
||||
a) Accompany the work with the complete corresponding
|
||||
machine-readable source code for the Library including whatever
|
||||
changes were used in the work (which must be distributed under
|
||||
Sections 1 and 2 above); and, if the work is an executable linked
|
||||
with the Library, with the complete machine-readable "work that
|
||||
uses the Library", as object code and/or source code, so that the
|
||||
user can modify the Library and then relink to produce a modified
|
||||
executable containing the modified Library. (It is understood
|
||||
that the user who changes the contents of definitions files in the
|
||||
Library will not necessarily be able to recompile the application
|
||||
to use the modified definitions.)
|
||||
|
||||
b) Use a suitable shared library mechanism for linking with the
|
||||
Library. A suitable mechanism is one that (1) uses at run time a
|
||||
copy of the library already present on the user's computer system,
|
||||
rather than copying library functions into the executable, and (2)
|
||||
will operate properly with a modified version of the library, if
|
||||
the user installs one, as long as the modified version is
|
||||
interface-compatible with the version that the work was made with.
|
||||
|
||||
c) Accompany the work with a written offer, valid for at
|
||||
least three years, to give the same user the materials
|
||||
specified in Subsection 6a, above, for a charge no more
|
||||
than the cost of performing this distribution.
|
||||
|
||||
d) If distribution of the work is made by offering access to copy
|
||||
from a designated place, offer equivalent access to copy the above
|
||||
specified materials from the same place.
|
||||
|
||||
e) Verify that the user has already received a copy of these
|
||||
materials or that you have already sent this user a copy.
|
||||
|
||||
For an executable, the required form of the "work that uses the
|
||||
Library" must include any data and utility programs needed for
|
||||
reproducing the executable from it. However, as a special exception,
|
||||
the materials to be distributed need not include anything that is
|
||||
normally distributed (in either source or binary form) with the major
|
||||
components (compiler, kernel, and so on) of the operating system on
|
||||
which the executable runs, unless that component itself accompanies
|
||||
the executable.
|
||||
|
||||
It may happen that this requirement contradicts the license
|
||||
restrictions of other proprietary libraries that do not normally
|
||||
accompany the operating system. Such a contradiction means you cannot
|
||||
use both them and the Library together in an executable that you
|
||||
distribute.
|
||||
|
||||
7. You may place library facilities that are a work based on the
|
||||
Library side-by-side in a single library together with other library
|
||||
facilities not covered by this License, and distribute such a combined
|
||||
library, provided that the separate distribution of the work based on
|
||||
the Library and of the other library facilities is otherwise
|
||||
permitted, and provided that you do these two things:
|
||||
|
||||
a) Accompany the combined library with a copy of the same work
|
||||
based on the Library, uncombined with any other library
|
||||
facilities. This must be distributed under the terms of the
|
||||
Sections above.
|
||||
|
||||
b) Give prominent notice with the combined library of the fact
|
||||
that part of it is a work based on the Library, and explaining
|
||||
where to find the accompanying uncombined form of the same work.
|
||||
|
||||
8. You may not copy, modify, sublicense, link with, or distribute
|
||||
the Library except as expressly provided under this License. Any
|
||||
attempt otherwise to copy, modify, sublicense, link with, or
|
||||
distribute the Library is void, and will automatically terminate your
|
||||
rights under this License. However, parties who have received copies,
|
||||
or rights, from you under this License will not have their licenses
|
||||
terminated so long as such parties remain in full compliance.
|
||||
|
||||
9. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Library or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Library (or any work based on the
|
||||
Library), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Library or works based on it.
|
||||
|
||||
10. Each time you redistribute the Library (or any work based on the
|
||||
Library), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute, link with or modify the Library
|
||||
subject to these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties with
|
||||
this License.
|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Library at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Library by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Library.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under any
|
||||
particular circumstance, the balance of the section is intended to apply,
|
||||
and the section as a whole is intended to apply in other circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Library under this License may add
|
||||
an explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. For software which is
|
||||
copyrighted by the Free Software Foundation, write to the Free
|
||||
Software Foundation; we sometimes make exceptions for this. Our
|
||||
decision will be guided by the two goals of preserving the free status
|
||||
of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Libraries
|
||||
|
||||
If you develop a new library, and you want it to be of the greatest
|
||||
possible use to the public, we recommend making it free software that
|
||||
everyone can redistribute and change. You can do so by permitting
|
||||
redistribution under these terms (or, alternatively, under the terms of the
|
||||
ordinary General Public License).
|
||||
|
||||
To apply these terms, attach the following notices to the library. It is
|
||||
safest to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least the
|
||||
"copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the library's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library 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
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the library, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the
|
||||
library `Frob' (a library for tweaking knobs) written by James Random Hacker.
|
||||
|
||||
<signature of Ty Coon>, 1 April 1990
|
||||
Ty Coon, President of Vice
|
||||
|
||||
That's all there is to it!
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
NMEA library see: http://nmea.sourceforge.net/
|
||||
|
||||
Disclaimer
|
||||
|
||||
The National Marine Electronics Association (NMEA) has developed a specification that defines the interface between various pieces of marine electronic equipment. The standard permits marine electronics to send information to computers and to other marine equipment.
|
||||
Most computer programs that provide real time position information understand and expect data to be in NMEA format. This data includes the complete PVT (position, velocity, time) solution computed by the GPS receiver. The idea of NMEA is to send a line of data called a sentence that is totally self contained and independent from other sentences. All NMEA sentences is sequences of ACSII symbols begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators).
|
||||
|
||||
Introduction
|
||||
|
||||
We present library in 'C' programming language for work with NMEA protocol. Small and easy to use. The library build on different compilers under different platforms (see below). The code was tested in real projects. Just download and try...
|
||||
|
||||
Features
|
||||
|
||||
- Analysis NMEA sentences and granting GPS data in C structures
|
||||
- Generate NMEA sentences
|
||||
- Supported sentences: GPGGA, GPGSA, GPGSV, GPRMC, GPVTG
|
||||
- Multilevel architecture of algorithms
|
||||
- Additional functions of geographical mathematics and work with navigation data
|
||||
|
||||
Supported (tested) platforms
|
||||
|
||||
- Microsoft Windows (MS Visual Studio 8.0, GCC)
|
||||
- Windows Mobile, Windows CE (MS Visual Studio 8.0)
|
||||
- UNIX (GCC)
|
||||
|
||||
Licence: LGPL
|
||||
|
|
@ -1,67 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: context.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#include "nmea/context.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdarg.h>
|
||||
#include <stdio.h>
|
||||
|
||||
nmeaPROPERTY * nmea_property(void)
|
||||
{
|
||||
static nmeaPROPERTY prop = {
|
||||
0, 0, NMEA_DEF_PARSEBUFF
|
||||
};
|
||||
|
||||
return ∝
|
||||
}
|
||||
|
||||
void nmea_trace(const char *str, ...)
|
||||
{
|
||||
int size;
|
||||
va_list arg_list;
|
||||
char buff[NMEA_DEF_PARSEBUFF];
|
||||
nmeaTraceFunc func = nmea_property()->trace_func;
|
||||
|
||||
if(func)
|
||||
{
|
||||
va_start(arg_list, str);
|
||||
size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
|
||||
va_end(arg_list);
|
||||
|
||||
if(size > 0)
|
||||
(*func)(&buff[0], size);
|
||||
}
|
||||
}
|
||||
|
||||
void nmea_trace_buff(const char *buff, int buff_size)
|
||||
{
|
||||
nmeaTraceFunc func = nmea_property()->trace_func;
|
||||
if(func && buff_size)
|
||||
(*func)(buff, buff_size);
|
||||
}
|
||||
|
||||
void nmea_error(const char *str, ...)
|
||||
{
|
||||
int size;
|
||||
va_list arg_list;
|
||||
char buff[NMEA_DEF_PARSEBUFF];
|
||||
nmeaErrorFunc func = nmea_property()->error_func;
|
||||
|
||||
if(func)
|
||||
{
|
||||
va_start(arg_list, str);
|
||||
size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
|
||||
va_end(arg_list);
|
||||
|
||||
if(size > 0)
|
||||
(*func)(&buff[0], size);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,229 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#include "nmea/tok.h"
|
||||
#include "nmea/sentence.h"
|
||||
#include "nmea/generate.h"
|
||||
#include "nmea/units.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
|
||||
int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack)
|
||||
{
|
||||
return nmea_printf(buff, buff_sz,
|
||||
"$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d",
|
||||
pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
|
||||
pack->lat, pack->ns, pack->lon, pack->ew,
|
||||
pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units,
|
||||
pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid);
|
||||
}
|
||||
|
||||
int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack)
|
||||
{
|
||||
return nmea_printf(buff, buff_sz,
|
||||
"$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f",
|
||||
pack->fix_mode, pack->fix_type,
|
||||
pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5],
|
||||
pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11],
|
||||
pack->PDOP, pack->HDOP, pack->VDOP);
|
||||
}
|
||||
|
||||
int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack)
|
||||
{
|
||||
return nmea_printf(buff, buff_sz,
|
||||
"$GPGSV,%1d,%1d,%02d,"
|
||||
"%02d,%02d,%03d,%02d,"
|
||||
"%02d,%02d,%03d,%02d,"
|
||||
"%02d,%02d,%03d,%02d,"
|
||||
"%02d,%02d,%03d,%02d",
|
||||
pack->pack_count, pack->pack_index + 1, pack->sat_count,
|
||||
pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig,
|
||||
pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig,
|
||||
pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig,
|
||||
pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig);
|
||||
}
|
||||
|
||||
int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack)
|
||||
{
|
||||
return nmea_printf(buff, buff_sz,
|
||||
"$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C",
|
||||
pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
|
||||
pack->status, pack->lat, pack->ns, pack->lon, pack->ew,
|
||||
pack->speed, pack->direction,
|
||||
pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100,
|
||||
pack->declination, pack->declin_ew, pack->mode);
|
||||
}
|
||||
|
||||
int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack)
|
||||
{
|
||||
return nmea_printf(buff, buff_sz,
|
||||
"$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C",
|
||||
pack->dir, pack->dir_t,
|
||||
pack->dec, pack->dec_m,
|
||||
pack->spn, pack->spn_n,
|
||||
pack->spk, pack->spk_k);
|
||||
}
|
||||
|
||||
void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack)
|
||||
{
|
||||
nmea_zero_GPGGA(pack);
|
||||
|
||||
pack->utc = info->utc;
|
||||
pack->lat = fabs(info->lat);
|
||||
pack->ns = ((info->lat > 0)?'N':'S');
|
||||
pack->lon = fabs(info->lon);
|
||||
pack->ew = ((info->lon > 0)?'E':'W');
|
||||
pack->sig = info->sig;
|
||||
pack->satinuse = info->satinfo.inuse;
|
||||
pack->HDOP = info->HDOP;
|
||||
pack->elv = info->elv;
|
||||
}
|
||||
|
||||
void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack)
|
||||
{
|
||||
int it;
|
||||
|
||||
nmea_zero_GPGSA(pack);
|
||||
|
||||
pack->fix_type = info->fix;
|
||||
pack->PDOP = info->PDOP;
|
||||
pack->HDOP = info->HDOP;
|
||||
pack->VDOP = info->VDOP;
|
||||
|
||||
for(it = 0; it < NMEA_MAXSAT; ++it)
|
||||
{
|
||||
pack->sat_prn[it] =
|
||||
((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0);
|
||||
}
|
||||
}
|
||||
|
||||
int nmea_gsv_npack(int sat_count)
|
||||
{
|
||||
int pack_count = (int)ceil(((float)sat_count) / NMEA_SATINPACK);
|
||||
|
||||
if(0 == pack_count)
|
||||
pack_count = 1;
|
||||
|
||||
return pack_count;
|
||||
}
|
||||
|
||||
void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx)
|
||||
{
|
||||
int sit, pit;
|
||||
|
||||
nmea_zero_GPGSV(pack);
|
||||
|
||||
pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT;
|
||||
pack->pack_count = nmea_gsv_npack(pack->sat_count);
|
||||
|
||||
if(pack->pack_count == 0)
|
||||
pack->pack_count = 1;
|
||||
|
||||
if(pack_idx >= pack->pack_count)
|
||||
pack->pack_index = pack_idx % pack->pack_count;
|
||||
else
|
||||
pack->pack_index = pack_idx;
|
||||
|
||||
for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit)
|
||||
pack->sat_data[pit] = info->satinfo.sat[sit];
|
||||
}
|
||||
|
||||
void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack)
|
||||
{
|
||||
nmea_zero_GPRMC(pack);
|
||||
|
||||
pack->utc = info->utc;
|
||||
pack->status = ((info->sig > 0)?'A':'V');
|
||||
pack->lat = fabs(info->lat);
|
||||
pack->ns = ((info->lat > 0)?'N':'S');
|
||||
pack->lon = fabs(info->lon);
|
||||
pack->ew = ((info->lon > 0)?'E':'W');
|
||||
pack->speed = info->speed / NMEA_TUD_KNOTS;
|
||||
pack->direction = info->direction;
|
||||
pack->declination = info->declination;
|
||||
pack->declin_ew = 'E';
|
||||
pack->mode = ((info->sig > 0)?'A':'N');
|
||||
}
|
||||
|
||||
void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack)
|
||||
{
|
||||
nmea_zero_GPVTG(pack);
|
||||
|
||||
pack->dir = info->direction;
|
||||
pack->dec = info->declination;
|
||||
pack->spn = info->speed / NMEA_TUD_KNOTS;
|
||||
pack->spk = info->speed;
|
||||
}
|
||||
|
||||
int nmea_generate(
|
||||
char *buff, int buff_sz,
|
||||
const nmeaINFO *info,
|
||||
int generate_mask
|
||||
)
|
||||
{
|
||||
int gen_count = 0, gsv_it, gsv_count;
|
||||
int pack_mask = generate_mask;
|
||||
|
||||
nmeaGPGGA gga;
|
||||
nmeaGPGSA gsa;
|
||||
nmeaGPGSV gsv;
|
||||
nmeaGPRMC rmc;
|
||||
nmeaGPVTG vtg;
|
||||
|
||||
if(!buff)
|
||||
return 0;
|
||||
|
||||
while(pack_mask)
|
||||
{
|
||||
if(pack_mask & GPGGA)
|
||||
{
|
||||
nmea_info2GPGGA(info, &gga);
|
||||
gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga);
|
||||
pack_mask &= ~GPGGA;
|
||||
}
|
||||
else if(pack_mask & GPGSA)
|
||||
{
|
||||
nmea_info2GPGSA(info, &gsa);
|
||||
gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa);
|
||||
pack_mask &= ~GPGSA;
|
||||
}
|
||||
else if(pack_mask & GPGSV)
|
||||
{
|
||||
gsv_count = nmea_gsv_npack(info->satinfo.inview);
|
||||
for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it)
|
||||
{
|
||||
nmea_info2GPGSV(info, &gsv, gsv_it);
|
||||
gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv);
|
||||
}
|
||||
pack_mask &= ~GPGSV;
|
||||
}
|
||||
else if(pack_mask & GPRMC)
|
||||
{
|
||||
nmea_info2GPRMC(info, &rmc);
|
||||
gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc);
|
||||
pack_mask &= ~GPRMC;
|
||||
}
|
||||
else if(pack_mask & GPVTG)
|
||||
{
|
||||
nmea_info2GPVTG(info, &vtg);
|
||||
gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg);
|
||||
pack_mask &= ~GPVTG;
|
||||
}
|
||||
else
|
||||
break;
|
||||
|
||||
if(buff_sz - gen_count <= 0)
|
||||
break;
|
||||
}
|
||||
|
||||
return gen_count;
|
||||
}
|
||||
|
|
@ -1,399 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: generator.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#include "nmea/gmath.h"
|
||||
#include "nmea/generate.h"
|
||||
#include "nmea/generator.h"
|
||||
#include "nmea/context.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#if defined(NMEA_WIN) && defined(_MSC_VER)
|
||||
# pragma warning(disable: 4100) /* unreferenced formal parameter */
|
||||
#endif
|
||||
|
||||
float nmea_random(float min, float max)
|
||||
{
|
||||
static float rand_max = MAX_RAND;//RAND_MAX; //nuttx defines MAX_RAND instead of RAND_MAX
|
||||
float rand_val = rand();
|
||||
float bounds = max - min;
|
||||
return min + (rand_val * bounds) / rand_max;
|
||||
}
|
||||
|
||||
/*
|
||||
* low level
|
||||
*/
|
||||
|
||||
int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int RetVal = 1; int smask = info->smask;
|
||||
nmeaGENERATOR *igen = gen;
|
||||
|
||||
nmea_zero_INFO(info);
|
||||
info->smask = smask;
|
||||
|
||||
info->lat = NMEA_DEF_LAT;
|
||||
info->lon = NMEA_DEF_LON;
|
||||
|
||||
while(RetVal && igen)
|
||||
{
|
||||
if(igen->init_call)
|
||||
RetVal = (*igen->init_call)(igen, info);
|
||||
igen = igen->next;
|
||||
}
|
||||
|
||||
return RetVal;
|
||||
}
|
||||
|
||||
int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int RetVal = 1;
|
||||
|
||||
if(gen->loop_call)
|
||||
RetVal = (*gen->loop_call)(gen, info);
|
||||
|
||||
if(RetVal && gen->next)
|
||||
RetVal = nmea_gen_loop(gen->next, info);
|
||||
|
||||
return RetVal;
|
||||
}
|
||||
|
||||
int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int RetVal = 1;
|
||||
|
||||
if(gen->reset_call)
|
||||
RetVal = (*gen->reset_call)(gen, info);
|
||||
|
||||
return RetVal;
|
||||
}
|
||||
|
||||
void nmea_gen_destroy(nmeaGENERATOR *gen)
|
||||
{
|
||||
if(gen->next)
|
||||
{
|
||||
nmea_gen_destroy(gen->next);
|
||||
gen->next = 0;
|
||||
}
|
||||
|
||||
if(gen->destroy_call)
|
||||
(*gen->destroy_call)(gen);
|
||||
|
||||
free(gen);
|
||||
}
|
||||
|
||||
void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen)
|
||||
{
|
||||
if(to->next)
|
||||
nmea_gen_add(to->next, gen);
|
||||
else
|
||||
to->next = gen;
|
||||
}
|
||||
|
||||
int nmea_generate_from(
|
||||
char *buff, int buff_sz,
|
||||
nmeaINFO *info,
|
||||
nmeaGENERATOR *gen,
|
||||
int generate_mask
|
||||
)
|
||||
{
|
||||
int retval;
|
||||
|
||||
if(0 != (retval = nmea_gen_loop(gen, info)))
|
||||
retval = nmea_generate(buff, buff_sz, info, generate_mask);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*
|
||||
* NOISE generator
|
||||
*/
|
||||
|
||||
int nmea_igen_noise_init(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
int nmea_igen_noise_loop(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int it;
|
||||
int in_use;
|
||||
|
||||
info->sig = (int)nmea_random(1, 3);
|
||||
info->PDOP = nmea_random(0, 9);
|
||||
info->HDOP = nmea_random(0, 9);
|
||||
info->VDOP = nmea_random(0, 9);
|
||||
info->fix = (int)nmea_random(2, 3);
|
||||
info->lat = nmea_random(0, 100);
|
||||
info->lon = nmea_random(0, 100);
|
||||
info->speed = nmea_random(0, 100);
|
||||
info->direction = nmea_random(0, 360);
|
||||
info->declination = nmea_random(0, 360);
|
||||
info->elv = (int)nmea_random(-100, 100);
|
||||
|
||||
info->satinfo.inuse = 0;
|
||||
info->satinfo.inview = 0;
|
||||
|
||||
for(it = 0; it < 12; ++it)
|
||||
{
|
||||
info->satinfo.sat[it].id = it;
|
||||
info->satinfo.sat[it].in_use = in_use = (int)nmea_random(0, 3);
|
||||
info->satinfo.sat[it].elv = (int)nmea_random(0, 90);
|
||||
info->satinfo.sat[it].azimuth = (int)nmea_random(0, 359);
|
||||
info->satinfo.sat[it].sig = (int)(in_use?nmea_random(40, 99):nmea_random(0, 40));
|
||||
|
||||
if(in_use)
|
||||
info->satinfo.inuse++;
|
||||
if(info->satinfo.sat[it].sig > 0)
|
||||
info->satinfo.inview++;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int nmea_igen_noise_reset(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* STATIC generator
|
||||
*/
|
||||
|
||||
int nmea_igen_static_loop(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
nmea_time_now(&info->utc);
|
||||
return 1;
|
||||
};
|
||||
|
||||
int nmea_igen_static_reset(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
info->satinfo.inuse = 4;
|
||||
info->satinfo.inview = 4;
|
||||
|
||||
info->satinfo.sat[0].id = 1;
|
||||
info->satinfo.sat[0].in_use = 1;
|
||||
info->satinfo.sat[0].elv = 50;
|
||||
info->satinfo.sat[0].azimuth = 0;
|
||||
info->satinfo.sat[0].sig = 99;
|
||||
|
||||
info->satinfo.sat[1].id = 2;
|
||||
info->satinfo.sat[1].in_use = 1;
|
||||
info->satinfo.sat[1].elv = 50;
|
||||
info->satinfo.sat[1].azimuth = 90;
|
||||
info->satinfo.sat[1].sig = 99;
|
||||
|
||||
info->satinfo.sat[2].id = 3;
|
||||
info->satinfo.sat[2].in_use = 1;
|
||||
info->satinfo.sat[2].elv = 50;
|
||||
info->satinfo.sat[2].azimuth = 180;
|
||||
info->satinfo.sat[2].sig = 99;
|
||||
|
||||
info->satinfo.sat[3].id = 4;
|
||||
info->satinfo.sat[3].in_use = 1;
|
||||
info->satinfo.sat[3].elv = 50;
|
||||
info->satinfo.sat[3].azimuth = 270;
|
||||
info->satinfo.sat[3].sig = 99;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int nmea_igen_static_init(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
info->sig = 3;
|
||||
info->fix = 3;
|
||||
|
||||
nmea_igen_static_reset(gen, info);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* SAT_ROTATE generator
|
||||
*/
|
||||
|
||||
int nmea_igen_rotate_loop(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int it;
|
||||
int count = info->satinfo.inview;
|
||||
float deg = 360 / (count?count:1);
|
||||
float srt = (count?(info->satinfo.sat[0].azimuth):0) + 5;
|
||||
|
||||
nmea_time_now(&info->utc);
|
||||
|
||||
for(it = 0; it < count; ++it)
|
||||
{
|
||||
info->satinfo.sat[it].azimuth =
|
||||
(int)((srt >= 360)?srt - 360:srt);
|
||||
srt += deg;
|
||||
}
|
||||
|
||||
return 1;
|
||||
};
|
||||
|
||||
int nmea_igen_rotate_reset(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
int it;
|
||||
float deg = 360 / 8;
|
||||
float srt = 0;
|
||||
|
||||
info->satinfo.inuse = 8;
|
||||
info->satinfo.inview = 8;
|
||||
|
||||
for(it = 0; it < info->satinfo.inview; ++it)
|
||||
{
|
||||
info->satinfo.sat[it].id = it + 1;
|
||||
info->satinfo.sat[it].in_use = 1;
|
||||
info->satinfo.sat[it].elv = 5;
|
||||
info->satinfo.sat[it].azimuth = (int)srt;
|
||||
info->satinfo.sat[it].sig = 80;
|
||||
srt += deg;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int nmea_igen_rotate_init(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
info->sig = 3;
|
||||
info->fix = 3;
|
||||
|
||||
nmea_igen_rotate_reset(gen, info);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* POS_RANDMOVE generator
|
||||
*/
|
||||
|
||||
int nmea_igen_pos_rmove_init(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
info->sig = 3;
|
||||
info->fix = 3;
|
||||
info->direction = info->declination = 0;
|
||||
info->speed = 20;
|
||||
return 1;
|
||||
}
|
||||
|
||||
int nmea_igen_pos_rmove_loop(nmeaGENERATOR *gen, nmeaINFO *info)
|
||||
{
|
||||
nmeaPOS crd;
|
||||
|
||||
info->direction += nmea_random(-10, 10);
|
||||
info->speed += nmea_random(-2, 3);
|
||||
|
||||
if(info->direction < 0)
|
||||
info->direction = 359 + info->direction;
|
||||
if(info->direction > 359)
|
||||
info->direction -= 359;
|
||||
|
||||
if(info->speed > 40)
|
||||
info->speed = 40;
|
||||
if(info->speed < 1)
|
||||
info->speed = 1;
|
||||
|
||||
nmea_info2pos(info, &crd);
|
||||
nmea_move_horz(&crd, &crd, info->direction, info->speed / 3600);
|
||||
nmea_pos2info(&crd, info);
|
||||
|
||||
info->declination = info->direction;
|
||||
|
||||
return 1;
|
||||
};
|
||||
|
||||
int nmea_igen_pos_rmove_destroy(nmeaGENERATOR *gen)
|
||||
{
|
||||
return 1;
|
||||
};
|
||||
|
||||
/*
|
||||
* generator create
|
||||
*/
|
||||
|
||||
nmeaGENERATOR * __nmea_create_generator(int type, nmeaINFO *info)
|
||||
{
|
||||
nmeaGENERATOR *gen = 0;
|
||||
|
||||
switch(type)
|
||||
{
|
||||
case NMEA_GEN_NOISE:
|
||||
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
|
||||
nmea_error("Insufficient memory!");
|
||||
else
|
||||
{
|
||||
memset(gen, 0, sizeof(nmeaGENERATOR));
|
||||
gen->init_call = &nmea_igen_noise_init;
|
||||
gen->loop_call = &nmea_igen_noise_loop;
|
||||
gen->reset_call = &nmea_igen_noise_reset;
|
||||
}
|
||||
break;
|
||||
case NMEA_GEN_STATIC:
|
||||
case NMEA_GEN_SAT_STATIC:
|
||||
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
|
||||
nmea_error("Insufficient memory!");
|
||||
else
|
||||
{
|
||||
memset(gen, 0, sizeof(nmeaGENERATOR));
|
||||
gen->init_call = &nmea_igen_static_init;
|
||||
gen->loop_call = &nmea_igen_static_loop;
|
||||
gen->reset_call = &nmea_igen_static_reset;
|
||||
}
|
||||
break;
|
||||
case NMEA_GEN_SAT_ROTATE:
|
||||
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
|
||||
nmea_error("Insufficient memory!");
|
||||
else
|
||||
{
|
||||
memset(gen, 0, sizeof(nmeaGENERATOR));
|
||||
gen->init_call = &nmea_igen_rotate_init;
|
||||
gen->loop_call = &nmea_igen_rotate_loop;
|
||||
gen->reset_call = &nmea_igen_rotate_reset;
|
||||
}
|
||||
break;
|
||||
case NMEA_GEN_POS_RANDMOVE:
|
||||
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
|
||||
nmea_error("Insufficient memory!");
|
||||
else
|
||||
{
|
||||
memset(gen, 0, sizeof(nmeaGENERATOR));
|
||||
gen->init_call = &nmea_igen_pos_rmove_init;
|
||||
gen->loop_call = &nmea_igen_pos_rmove_loop;
|
||||
gen->destroy_call = &nmea_igen_pos_rmove_destroy;
|
||||
}
|
||||
break;
|
||||
case NMEA_GEN_ROTATE:
|
||||
gen = __nmea_create_generator(NMEA_GEN_SAT_ROTATE, info);
|
||||
nmea_gen_add(gen, __nmea_create_generator(NMEA_GEN_POS_RANDMOVE, info));
|
||||
break;
|
||||
};
|
||||
|
||||
return gen;
|
||||
}
|
||||
|
||||
nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info)
|
||||
{
|
||||
nmeaGENERATOR *gen = __nmea_create_generator(type, info);
|
||||
|
||||
if(gen)
|
||||
nmea_gen_init(gen, info);
|
||||
|
||||
return gen;
|
||||
}
|
||||
|
||||
void nmea_destroy_generator(nmeaGENERATOR *gen)
|
||||
{
|
||||
nmea_gen_destroy(gen);
|
||||
}
|
||||
|
||||
#if defined(NMEA_WIN) && defined(_MSC_VER)
|
||||
# pragma warning(default: 4100)
|
||||
#endif
|
||||
|
|
@ -1,376 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: gmath.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file gmath.h */
|
||||
#include "nmea/gmath.h"
|
||||
|
||||
#include <math.h>
|
||||
#include <float.h>
|
||||
|
||||
/**
|
||||
* \fn nmea_degree2radian
|
||||
* \brief Convert degree to radian
|
||||
*/
|
||||
float nmea_degree2radian(float val)
|
||||
{ return (val * NMEA_PI180); }
|
||||
|
||||
/**
|
||||
* \fn nmea_radian2degree
|
||||
* \brief Convert radian to degree
|
||||
*/
|
||||
float nmea_radian2degree(float val)
|
||||
{ return (val / NMEA_PI180); }
|
||||
|
||||
/**
|
||||
* \brief Convert NDEG (NMEA degree) to fractional degree
|
||||
*/
|
||||
float nmea_ndeg2degree(float val)
|
||||
{
|
||||
float deg = ((int)(val / 100));
|
||||
val = deg + (val - deg * 100) / 60;
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Convert fractional degree to NDEG (NMEA degree)
|
||||
*/
|
||||
float nmea_degree2ndeg(float val)
|
||||
{
|
||||
float int_part;
|
||||
float fra_part;
|
||||
fra_part = modf(val, &int_part);
|
||||
val = int_part * 100 + fra_part * 60;
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* \fn nmea_ndeg2radian
|
||||
* \brief Convert NDEG (NMEA degree) to radian
|
||||
*/
|
||||
float nmea_ndeg2radian(float val)
|
||||
{ return nmea_degree2radian(nmea_ndeg2degree(val)); }
|
||||
|
||||
/**
|
||||
* \fn nmea_radian2ndeg
|
||||
* \brief Convert radian to NDEG (NMEA degree)
|
||||
*/
|
||||
float nmea_radian2ndeg(float val)
|
||||
{ return nmea_degree2ndeg(nmea_radian2degree(val)); }
|
||||
|
||||
/**
|
||||
* \brief Calculate PDOP (Position Dilution Of Precision) factor
|
||||
*/
|
||||
float nmea_calc_pdop(float hdop, float vdop)
|
||||
{
|
||||
return sqrt(pow(hdop, 2) + pow(vdop, 2));
|
||||
}
|
||||
|
||||
float nmea_dop2meters(float dop)
|
||||
{ return (dop * NMEA_DOP_FACTOR); }
|
||||
|
||||
float nmea_meters2dop(float meters)
|
||||
{ return (meters / NMEA_DOP_FACTOR); }
|
||||
|
||||
/**
|
||||
* \brief Calculate distance between two points
|
||||
* \return Distance in meters
|
||||
*/
|
||||
float nmea_distance(
|
||||
const nmeaPOS *from_pos, /**< From position in radians */
|
||||
const nmeaPOS *to_pos /**< To position in radians */
|
||||
)
|
||||
{
|
||||
float dist = ((float)NMEA_EARTHRADIUS_M) * acos(
|
||||
sin(to_pos->lat) * sin(from_pos->lat) +
|
||||
cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon)
|
||||
);
|
||||
return dist;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Calculate distance between two points
|
||||
* This function uses an algorithm for an oblate spheroid earth model.
|
||||
* The algorithm is described here:
|
||||
* http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
|
||||
* \return Distance in meters
|
||||
*/
|
||||
float nmea_distance_ellipsoid(
|
||||
const nmeaPOS *from_pos, /**< From position in radians */
|
||||
const nmeaPOS *to_pos, /**< To position in radians */
|
||||
float *from_azimuth, /**< (O) azimuth at "from" position in radians */
|
||||
float *to_azimuth /**< (O) azimuth at "to" position in radians */
|
||||
)
|
||||
{
|
||||
/* All variables */
|
||||
float f, a, b, sqr_a, sqr_b;
|
||||
float L, phi1, phi2, U1, U2, sin_U1, sin_U2, cos_U1, cos_U2;
|
||||
float sigma, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, sqr_cos_alpha, lambda, sin_lambda, cos_lambda, delta_lambda;
|
||||
int remaining_steps;
|
||||
float sqr_u, A, B, delta_sigma;
|
||||
|
||||
/* Check input */
|
||||
//NMEA_ASSERT(from_pos != 0);
|
||||
//NMEA_ASSERT(to_pos != 0);
|
||||
|
||||
if ((from_pos->lat == to_pos->lat) && (from_pos->lon == to_pos->lon))
|
||||
{ /* Identical points */
|
||||
if ( from_azimuth != 0 )
|
||||
*from_azimuth = 0;
|
||||
if ( to_azimuth != 0 )
|
||||
*to_azimuth = 0;
|
||||
return 0;
|
||||
} /* Identical points */
|
||||
|
||||
/* Earth geometry */
|
||||
f = NMEA_EARTH_FLATTENING;
|
||||
a = NMEA_EARTH_SEMIMAJORAXIS_M;
|
||||
b = (1 - f) * a;
|
||||
sqr_a = a * a;
|
||||
sqr_b = b * b;
|
||||
|
||||
/* Calculation */
|
||||
L = to_pos->lon - from_pos->lon;
|
||||
phi1 = from_pos->lat;
|
||||
phi2 = to_pos->lat;
|
||||
U1 = atan((1 - f) * tan(phi1));
|
||||
U2 = atan((1 - f) * tan(phi2));
|
||||
sin_U1 = sin(U1);
|
||||
sin_U2 = sin(U2);
|
||||
cos_U1 = cos(U1);
|
||||
cos_U2 = cos(U2);
|
||||
|
||||
/* Initialize iteration */
|
||||
sigma = 0;
|
||||
sin_sigma = sin(sigma);
|
||||
cos_sigma = cos(sigma);
|
||||
cos_2_sigmam = 0;
|
||||
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
|
||||
sqr_cos_alpha = 0;
|
||||
lambda = L;
|
||||
sin_lambda = sin(lambda);
|
||||
cos_lambda = cos(lambda);
|
||||
delta_lambda = lambda;
|
||||
remaining_steps = 20;
|
||||
|
||||
while ((delta_lambda > 1e-12) && (remaining_steps > 0))
|
||||
{ /* Iterate */
|
||||
/* Variables */
|
||||
float tmp1, tmp2, tan_sigma, sin_alpha, cos_alpha, C, lambda_prev;
|
||||
|
||||
/* Calculation */
|
||||
tmp1 = cos_U2 * sin_lambda;
|
||||
tmp2 = cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda;
|
||||
sin_sigma = sqrt(tmp1 * tmp1 + tmp2 * tmp2);
|
||||
cos_sigma = sin_U1 * sin_U2 + cos_U1 * cos_U2 * cos_lambda;
|
||||
tan_sigma = sin_sigma / cos_sigma;
|
||||
sin_alpha = cos_U1 * cos_U2 * sin_lambda / sin_sigma;
|
||||
cos_alpha = cos(asin(sin_alpha));
|
||||
sqr_cos_alpha = cos_alpha * cos_alpha;
|
||||
cos_2_sigmam = cos_sigma - 2 * sin_U1 * sin_U2 / sqr_cos_alpha;
|
||||
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
|
||||
C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
|
||||
lambda_prev = lambda;
|
||||
sigma = asin(sin_sigma);
|
||||
lambda = L +
|
||||
(1 - C) * f * sin_alpha
|
||||
* (sigma + C * sin_sigma * (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam)));
|
||||
delta_lambda = lambda_prev - lambda;
|
||||
if ( delta_lambda < 0 ) delta_lambda = -delta_lambda;
|
||||
sin_lambda = sin(lambda);
|
||||
cos_lambda = cos(lambda);
|
||||
remaining_steps--;
|
||||
} /* Iterate */
|
||||
|
||||
/* More calculation */
|
||||
sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b;
|
||||
A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
|
||||
B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
|
||||
delta_sigma = B * sin_sigma * (
|
||||
cos_2_sigmam + B / 4 * (
|
||||
cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
|
||||
B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
|
||||
));
|
||||
|
||||
/* Calculate result */
|
||||
if ( from_azimuth != 0 )
|
||||
{
|
||||
float tan_alpha_1 = cos_U2 * sin_lambda / (cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda);
|
||||
*from_azimuth = atan(tan_alpha_1);
|
||||
}
|
||||
if ( to_azimuth != 0 )
|
||||
{
|
||||
float tan_alpha_2 = cos_U1 * sin_lambda / (-sin_U1 * cos_U2 + cos_U1 * sin_U2 * cos_lambda);
|
||||
*to_azimuth = atan(tan_alpha_2);
|
||||
}
|
||||
|
||||
return b * A * (sigma - delta_sigma);
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Horizontal move of point position
|
||||
*/
|
||||
int nmea_move_horz(
|
||||
const nmeaPOS *start_pos, /**< Start position in radians */
|
||||
nmeaPOS *end_pos, /**< Result position in radians */
|
||||
float azimuth, /**< Azimuth (degree) [0, 359] */
|
||||
float distance /**< Distance (km) */
|
||||
)
|
||||
{
|
||||
nmeaPOS p1 = *start_pos;
|
||||
int RetVal = 1;
|
||||
|
||||
distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */
|
||||
azimuth = nmea_degree2radian(azimuth);
|
||||
|
||||
end_pos->lat = asin(
|
||||
sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth));
|
||||
end_pos->lon = p1.lon + atan2(
|
||||
sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat));
|
||||
|
||||
if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon))
|
||||
{
|
||||
end_pos->lat = 0; end_pos->lon = 0;
|
||||
RetVal = 0;
|
||||
}
|
||||
|
||||
return RetVal;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Horizontal move of point position
|
||||
* This function uses an algorithm for an oblate spheroid earth model.
|
||||
* The algorithm is described here:
|
||||
* http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
|
||||
*/
|
||||
int nmea_move_horz_ellipsoid(
|
||||
const nmeaPOS *start_pos, /**< Start position in radians */
|
||||
nmeaPOS *end_pos, /**< (O) Result position in radians */
|
||||
float azimuth, /**< Azimuth in radians */
|
||||
float distance, /**< Distance (km) */
|
||||
float *end_azimuth /**< (O) Azimuth at end position in radians */
|
||||
)
|
||||
{
|
||||
/* Variables */
|
||||
float f, a, b, sqr_a, sqr_b;
|
||||
float phi1, tan_U1, sin_U1, cos_U1, s, alpha1, sin_alpha1, cos_alpha1;
|
||||
float tan_sigma1, sigma1, sin_alpha, cos_alpha, sqr_cos_alpha, sqr_u, A, B;
|
||||
float sigma_initial, sigma, sigma_prev, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, delta_sigma;
|
||||
int remaining_steps;
|
||||
float tmp1, phi2, lambda, C, L;
|
||||
|
||||
/* Check input */
|
||||
//NMEA_ASSERT(start_pos != 0);
|
||||
//NMEA_ASSERT(end_pos != 0);
|
||||
|
||||
if (fabs(distance) < 1e-12)
|
||||
{ /* No move */
|
||||
*end_pos = *start_pos;
|
||||
if ( end_azimuth != 0 ) *end_azimuth = azimuth;
|
||||
return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
|
||||
} /* No move */
|
||||
|
||||
/* Earth geometry */
|
||||
f = NMEA_EARTH_FLATTENING;
|
||||
a = NMEA_EARTH_SEMIMAJORAXIS_M;
|
||||
b = (1 - f) * a;
|
||||
sqr_a = a * a;
|
||||
sqr_b = b * b;
|
||||
|
||||
/* Calculation */
|
||||
phi1 = start_pos->lat;
|
||||
tan_U1 = (1 - f) * tan(phi1);
|
||||
cos_U1 = 1 / sqrt(1 + tan_U1 * tan_U1);
|
||||
sin_U1 = tan_U1 * cos_U1;
|
||||
s = distance;
|
||||
alpha1 = azimuth;
|
||||
sin_alpha1 = sin(alpha1);
|
||||
cos_alpha1 = cos(alpha1);
|
||||
tan_sigma1 = tan_U1 / cos_alpha1;
|
||||
sigma1 = atan2(tan_U1, cos_alpha1);
|
||||
sin_alpha = cos_U1 * sin_alpha1;
|
||||
sqr_cos_alpha = 1 - sin_alpha * sin_alpha;
|
||||
cos_alpha = sqrt(sqr_cos_alpha);
|
||||
sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b;
|
||||
A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
|
||||
B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
|
||||
|
||||
/* Initialize iteration */
|
||||
sigma_initial = s / (b * A);
|
||||
sigma = sigma_initial;
|
||||
sin_sigma = sin(sigma);
|
||||
cos_sigma = cos(sigma);
|
||||
cos_2_sigmam = cos(2 * sigma1 + sigma);
|
||||
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
|
||||
delta_sigma = 0;
|
||||
sigma_prev = 2 * NMEA_PI;
|
||||
remaining_steps = 20;
|
||||
|
||||
while ((fabs(sigma - sigma_prev) > 1e-12) && (remaining_steps > 0))
|
||||
{ /* Iterate */
|
||||
cos_2_sigmam = cos(2 * sigma1 + sigma);
|
||||
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
|
||||
sin_sigma = sin(sigma);
|
||||
cos_sigma = cos(sigma);
|
||||
delta_sigma = B * sin_sigma * (
|
||||
cos_2_sigmam + B / 4 * (
|
||||
cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
|
||||
B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
|
||||
));
|
||||
sigma_prev = sigma;
|
||||
sigma = sigma_initial + delta_sigma;
|
||||
remaining_steps --;
|
||||
} /* Iterate */
|
||||
|
||||
/* Calculate result */
|
||||
tmp1 = (sin_U1 * sin_sigma - cos_U1 * cos_sigma * cos_alpha1);
|
||||
phi2 = atan2(
|
||||
sin_U1 * cos_sigma + cos_U1 * sin_sigma * cos_alpha1,
|
||||
(1 - f) * sqrt(sin_alpha * sin_alpha + tmp1 * tmp1)
|
||||
);
|
||||
lambda = atan2(
|
||||
sin_sigma * sin_alpha1,
|
||||
cos_U1 * cos_sigma - sin_U1 * sin_sigma * cos_alpha1
|
||||
);
|
||||
C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
|
||||
L = lambda -
|
||||
(1 - C) * f * sin_alpha * (
|
||||
sigma + C * sin_sigma *
|
||||
(cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam))
|
||||
);
|
||||
|
||||
/* Result */
|
||||
end_pos->lon = start_pos->lon + L;
|
||||
end_pos->lat = phi2;
|
||||
if ( end_azimuth != 0 )
|
||||
{
|
||||
*end_azimuth = atan2(
|
||||
sin_alpha, -sin_U1 * sin_sigma + cos_U1 * cos_sigma * cos_alpha1
|
||||
);
|
||||
}
|
||||
return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Convert position from INFO to radians position
|
||||
*/
|
||||
void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos)
|
||||
{
|
||||
pos->lat = nmea_ndeg2radian(info->lat);
|
||||
pos->lon = nmea_ndeg2radian(info->lon);
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Convert radians position to INFOs position
|
||||
*/
|
||||
void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info)
|
||||
{
|
||||
info->lat = nmea_radian2ndeg(pos->lat);
|
||||
info->lon = nmea_radian2ndeg(pos->lon);
|
||||
}
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: info.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "nmea/info.h"
|
||||
|
||||
void nmea_zero_INFO(nmeaINFO *info)
|
||||
{
|
||||
memset(info, 0, sizeof(nmeaINFO));
|
||||
nmea_time_now(&info->utc);
|
||||
info->sig = NMEA_SIG_BAD;
|
||||
info->fix = NMEA_FIX_BAD;
|
||||
}
|
||||
|
|
@ -1,51 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: config.h 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_CONFIG_H__
|
||||
#define __NMEA_CONFIG_H__
|
||||
|
||||
#define NMEA_VERSION ("0.5.3")
|
||||
#define NMEA_VERSION_MAJOR (0)
|
||||
#define NMEA_VERSION_MINOR (5)
|
||||
#define NMEA_VERSION_PATCH (3)
|
||||
|
||||
#define NMEA_CONVSTR_BUF (256)
|
||||
#define NMEA_TIMEPARSE_BUF (256)
|
||||
|
||||
#if defined(WINCE) || defined(UNDER_CE)
|
||||
# define NMEA_CE
|
||||
#endif
|
||||
|
||||
#if defined(WIN32) || defined(NMEA_CE)
|
||||
# define NMEA_WIN
|
||||
#else
|
||||
# define NMEA_UNI
|
||||
#endif
|
||||
|
||||
#if defined(NMEA_WIN) && (_MSC_VER >= 1400)
|
||||
# pragma warning(disable: 4996) /* declared deprecated */
|
||||
#endif
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
# define NMEA_POSIX(x) _##x
|
||||
# define NMEA_INLINE __inline
|
||||
#else
|
||||
# define NMEA_POSIX(x) x
|
||||
# define NMEA_INLINE inline
|
||||
#endif
|
||||
|
||||
#if !defined(NDEBUG) && !defined(NMEA_CE)
|
||||
# include <assert.h>
|
||||
# define NMEA_ASSERT(x) assert(x)
|
||||
#else
|
||||
# define NMEA_ASSERT(x)
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_CONFIG_H__ */
|
||||
|
|
@ -1,44 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: context.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_CONTEXT_H__
|
||||
#define __NMEA_CONTEXT_H__
|
||||
|
||||
#include "config.h"
|
||||
|
||||
#define NMEA_DEF_PARSEBUFF (1024)
|
||||
#define NMEA_MIN_PARSEBUFF (256)
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
typedef void (*nmeaTraceFunc)(const char *str, int str_size);
|
||||
typedef void (*nmeaErrorFunc)(const char *str, int str_size);
|
||||
|
||||
typedef struct _nmeaPROPERTY
|
||||
{
|
||||
nmeaTraceFunc trace_func;
|
||||
nmeaErrorFunc error_func;
|
||||
int parse_buff_size;
|
||||
|
||||
} nmeaPROPERTY;
|
||||
|
||||
nmeaPROPERTY * nmea_property(void);
|
||||
|
||||
void nmea_trace(const char *str, ...);
|
||||
void nmea_trace_buff(const char *buff, int buff_size);
|
||||
void nmea_error(const char *str, ...);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_CONTEXT_H__ */
|
||||
|
|
@ -1,44 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: generate.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_GENERATE_H__
|
||||
#define __NMEA_GENERATE_H__
|
||||
|
||||
#include "sentence.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int nmea_generate(
|
||||
char *buff, int buff_sz, /* buffer */
|
||||
const nmeaINFO *info, /* source info */
|
||||
int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */
|
||||
);
|
||||
|
||||
int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack);
|
||||
int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack);
|
||||
int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack);
|
||||
int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack);
|
||||
int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack);
|
||||
|
||||
void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack);
|
||||
void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack);
|
||||
void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack);
|
||||
void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack);
|
||||
|
||||
int nmea_gsv_npack(int sat_count);
|
||||
void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_GENERATE_H__ */
|
||||
|
|
@ -1,79 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: generator.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_GENERATOR_H__
|
||||
#define __NMEA_GENERATOR_H__
|
||||
|
||||
#include "info.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* high level
|
||||
*/
|
||||
|
||||
struct _nmeaGENERATOR;
|
||||
|
||||
enum nmeaGENTYPE
|
||||
{
|
||||
NMEA_GEN_NOISE = 0,
|
||||
NMEA_GEN_STATIC,
|
||||
NMEA_GEN_ROTATE,
|
||||
|
||||
NMEA_GEN_SAT_STATIC,
|
||||
NMEA_GEN_SAT_ROTATE,
|
||||
NMEA_GEN_POS_RANDMOVE,
|
||||
|
||||
NMEA_GEN_LAST
|
||||
};
|
||||
|
||||
struct _nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info);
|
||||
void nmea_destroy_generator(struct _nmeaGENERATOR *gen);
|
||||
|
||||
int nmea_generate_from(
|
||||
char *buff, int buff_sz, /* buffer */
|
||||
nmeaINFO *info, /* source info */
|
||||
struct _nmeaGENERATOR *gen, /* generator */
|
||||
int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */
|
||||
);
|
||||
|
||||
/*
|
||||
* low level
|
||||
*/
|
||||
|
||||
typedef int (*nmeaNMEA_GEN_INIT)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
typedef int (*nmeaNMEA_GEN_LOOP)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
typedef int (*nmeaNMEA_GEN_RESET)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
typedef int (*nmeaNMEA_GEN_DESTROY)(struct _nmeaGENERATOR *gen);
|
||||
|
||||
typedef struct _nmeaGENERATOR
|
||||
{
|
||||
void *gen_data;
|
||||
nmeaNMEA_GEN_INIT init_call;
|
||||
nmeaNMEA_GEN_LOOP loop_call;
|
||||
nmeaNMEA_GEN_RESET reset_call;
|
||||
nmeaNMEA_GEN_DESTROY destroy_call;
|
||||
struct _nmeaGENERATOR *next;
|
||||
|
||||
} nmeaGENERATOR;
|
||||
|
||||
int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info);
|
||||
void nmea_gen_destroy(nmeaGENERATOR *gen);
|
||||
void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_GENERATOR_H__ */
|
||||
|
|
@ -1,92 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_GMATH_H__
|
||||
#define __NMEA_GMATH_H__
|
||||
|
||||
#include "info.h"
|
||||
|
||||
#define NMEA_PI (3.141592653589793) /**< PI value */
|
||||
#define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */
|
||||
#define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */
|
||||
#define NMEA_EARTHRADIUS_M (NMEA_EARTHRADIUS_KM * 1000) /**< Earth's mean radius in m */
|
||||
#define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */
|
||||
#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */
|
||||
#define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */
|
||||
#define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* degree VS radian
|
||||
*/
|
||||
|
||||
float nmea_degree2radian(float val);
|
||||
float nmea_radian2degree(float val);
|
||||
|
||||
/*
|
||||
* NDEG (NMEA degree)
|
||||
*/
|
||||
|
||||
float nmea_ndeg2degree(float val);
|
||||
float nmea_degree2ndeg(float val);
|
||||
|
||||
float nmea_ndeg2radian(float val);
|
||||
float nmea_radian2ndeg(float val);
|
||||
|
||||
/*
|
||||
* DOP
|
||||
*/
|
||||
|
||||
float nmea_calc_pdop(float hdop, float vdop);
|
||||
float nmea_dop2meters(float dop);
|
||||
float nmea_meters2dop(float meters);
|
||||
|
||||
/*
|
||||
* positions work
|
||||
*/
|
||||
|
||||
void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos);
|
||||
void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info);
|
||||
|
||||
float nmea_distance(
|
||||
const nmeaPOS *from_pos,
|
||||
const nmeaPOS *to_pos
|
||||
);
|
||||
|
||||
float nmea_distance_ellipsoid(
|
||||
const nmeaPOS *from_pos,
|
||||
const nmeaPOS *to_pos,
|
||||
float *from_azimuth,
|
||||
float *to_azimuth
|
||||
);
|
||||
|
||||
int nmea_move_horz(
|
||||
const nmeaPOS *start_pos,
|
||||
nmeaPOS *end_pos,
|
||||
float azimuth,
|
||||
float distance
|
||||
);
|
||||
|
||||
int nmea_move_horz_ellipsoid(
|
||||
const nmeaPOS *start_pos,
|
||||
nmeaPOS *end_pos,
|
||||
float azimuth,
|
||||
float distance,
|
||||
float *end_azimuth
|
||||
);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_GMATH_H__ */
|
||||
|
|
@ -1,112 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: info.h 10 2007-11-15 14:50:15Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file */
|
||||
|
||||
#ifndef __NMEA_INFO_H__
|
||||
#define __NMEA_INFO_H__
|
||||
|
||||
#include "time.h"
|
||||
|
||||
#define NMEA_SIG_BAD (0)
|
||||
#define NMEA_SIG_LOW (1)
|
||||
#define NMEA_SIG_MID (2)
|
||||
#define NMEA_SIG_HIGH (3)
|
||||
|
||||
#define NMEA_FIX_BAD (1)
|
||||
#define NMEA_FIX_2D (2)
|
||||
#define NMEA_FIX_3D (3)
|
||||
|
||||
#define NMEA_MAXSAT (12)
|
||||
#define NMEA_SATINPACK (4)
|
||||
#define NMEA_NSATPACKS (NMEA_MAXSAT / NMEA_SATINPACK)
|
||||
|
||||
#define NMEA_DEF_LAT (5001.2621)
|
||||
#define NMEA_DEF_LON (3613.0595)
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Position data in fractional degrees or radians
|
||||
*/
|
||||
typedef struct _nmeaPOS
|
||||
{
|
||||
float lat; /**< Latitude */
|
||||
float lon; /**< Longitude */
|
||||
|
||||
} nmeaPOS;
|
||||
|
||||
/**
|
||||
* Information about satellite
|
||||
* @see nmeaSATINFO
|
||||
* @see nmeaGPGSV
|
||||
*/
|
||||
typedef struct _nmeaSATELLITE
|
||||
{
|
||||
int id; /**< Satellite PRN number */
|
||||
int in_use; /**< Used in position fix */
|
||||
int elv; /**< Elevation in degrees, 90 maximum */
|
||||
int azimuth; /**< Azimuth, degrees from true north, 000 to 359 */
|
||||
int sig; /**< Signal, 00-99 dB */
|
||||
|
||||
} nmeaSATELLITE;
|
||||
|
||||
/**
|
||||
* Information about all satellites in view
|
||||
* @see nmeaINFO
|
||||
* @see nmeaGPGSV
|
||||
*/
|
||||
typedef struct _nmeaSATINFO
|
||||
{
|
||||
int inuse; /**< Number of satellites in use (not those in view) */
|
||||
int inview; /**< Total number of satellites in view */
|
||||
nmeaSATELLITE sat[NMEA_MAXSAT]; /**< Satellites information */
|
||||
|
||||
} nmeaSATINFO;
|
||||
|
||||
/**
|
||||
* Summary GPS information from all parsed packets,
|
||||
* used also for generating NMEA stream
|
||||
* @see nmea_parse
|
||||
* @see nmea_GPGGA2info, nmea_...2info
|
||||
*/
|
||||
typedef struct _nmeaINFO
|
||||
{
|
||||
int smask; /**< Mask specifying types of packages from which data have been obtained */
|
||||
|
||||
nmeaTIME utc; /**< UTC of position */
|
||||
|
||||
int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
|
||||
int fix; /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
|
||||
|
||||
float PDOP; /**< Position Dilution Of Precision */
|
||||
float HDOP; /**< Horizontal Dilution Of Precision */
|
||||
float VDOP; /**< Vertical Dilution Of Precision */
|
||||
|
||||
float lat; /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
|
||||
float lon; /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
|
||||
float elv; /**< Antenna altitude above/below mean sea level (geoid) in meters */
|
||||
float speed; /**< Speed over the ground in kilometers/hour */
|
||||
float direction; /**< Track angle in degrees True */
|
||||
float declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
|
||||
|
||||
nmeaSATINFO satinfo; /**< Satellites information */
|
||||
|
||||
} nmeaINFO;
|
||||
|
||||
void nmea_zero_INFO(nmeaINFO *info);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_INFO_H__ */
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: nmea.h 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_H__
|
||||
#define __NMEA_H__
|
||||
|
||||
#include "./config.h"
|
||||
#include "./units.h"
|
||||
#include "./gmath.h"
|
||||
#include "./info.h"
|
||||
#include "./sentence.h"
|
||||
#include "./generate.h"
|
||||
#include "./generator.h"
|
||||
#include "./parse.h"
|
||||
#include "./parser.h"
|
||||
#include "./context.h"
|
||||
|
||||
#endif /* __NMEA_H__ */
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_PARSE_H__
|
||||
#define __NMEA_PARSE_H__
|
||||
|
||||
#include "sentence.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int nmea_pack_type(const char *buff, int buff_sz);
|
||||
int nmea_find_tail(const char *buff, int buff_sz, int *res_crc);
|
||||
|
||||
int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack);
|
||||
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack);
|
||||
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack);
|
||||
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack);
|
||||
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack);
|
||||
|
||||
void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info);
|
||||
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info);
|
||||
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info);
|
||||
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info);
|
||||
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_PARSE_H__ */
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: parser.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_PARSER_H__
|
||||
#define __NMEA_PARSER_H__
|
||||
|
||||
#include "info.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* high level
|
||||
*/
|
||||
|
||||
typedef struct _nmeaPARSER
|
||||
{
|
||||
void *top_node;
|
||||
void *end_node;
|
||||
unsigned char *buffer;
|
||||
int buff_size;
|
||||
int buff_use;
|
||||
|
||||
} nmeaPARSER;
|
||||
|
||||
int nmea_parser_init(nmeaPARSER *parser);
|
||||
void nmea_parser_destroy(nmeaPARSER *parser);
|
||||
|
||||
int nmea_parse(
|
||||
nmeaPARSER *parser,
|
||||
const char *buff, int buff_sz,
|
||||
nmeaINFO *info
|
||||
);
|
||||
|
||||
/*
|
||||
* low level
|
||||
*/
|
||||
|
||||
int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz);
|
||||
int nmea_parser_top(nmeaPARSER *parser);
|
||||
int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr);
|
||||
int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr);
|
||||
int nmea_parser_drop(nmeaPARSER *parser);
|
||||
int nmea_parser_buff_clear(nmeaPARSER *parser);
|
||||
int nmea_parser_queue_clear(nmeaPARSER *parser);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_PARSER_H__ */
|
||||
|
|
@ -1,128 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file */
|
||||
|
||||
#ifndef __NMEA_SENTENCE_H__
|
||||
#define __NMEA_SENTENCE_H__
|
||||
|
||||
#include "info.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* NMEA packets type which parsed and generated by library
|
||||
*/
|
||||
enum nmeaPACKTYPE
|
||||
{
|
||||
GPNON = 0x0000, /**< Unknown packet type. */
|
||||
GPGGA = 0x0001, /**< GGA - Essential fix data which provide 3D location and accuracy data. */
|
||||
GPGSA = 0x0002, /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */
|
||||
GPGSV = 0x0004, /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */
|
||||
GPRMC = 0x0008, /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */
|
||||
GPVTG = 0x0010 /**< VTG - Actual track made good and speed over ground. */
|
||||
};
|
||||
|
||||
/**
|
||||
* GGA packet information structure (Global Positioning System Fix Data)
|
||||
*/
|
||||
typedef struct _nmeaGPGGA
|
||||
{
|
||||
nmeaTIME utc; /**< UTC of position (just time) */
|
||||
float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
|
||||
char ns; /**< [N]orth or [S]outh */
|
||||
float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
|
||||
char ew; /**< [E]ast or [W]est */
|
||||
int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
|
||||
int satinuse; /**< Number of satellites in use (not those in view) */
|
||||
float HDOP; /**< Horizontal dilution of precision */
|
||||
float elv; /**< Antenna altitude above/below mean sea level (geoid) */
|
||||
char elv_units; /**< [M]eters (Antenna height unit) */
|
||||
float diff; /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */
|
||||
char diff_units; /**< [M]eters (Units of geoidal separation) */
|
||||
float dgps_age; /**< Time in seconds since last DGPS update */
|
||||
int dgps_sid; /**< DGPS station ID number */
|
||||
|
||||
} nmeaGPGGA;
|
||||
|
||||
/**
|
||||
* GSA packet information structure (Satellite status)
|
||||
*/
|
||||
typedef struct _nmeaGPGSA
|
||||
{
|
||||
char fix_mode; /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */
|
||||
int fix_type; /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
|
||||
int sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */
|
||||
float PDOP; /**< Dilution of precision */
|
||||
float HDOP; /**< Horizontal dilution of precision */
|
||||
float VDOP; /**< Vertical dilution of precision */
|
||||
|
||||
} nmeaGPGSA;
|
||||
|
||||
/**
|
||||
* GSV packet information structure (Satellites in view)
|
||||
*/
|
||||
typedef struct _nmeaGPGSV
|
||||
{
|
||||
int pack_count; /**< Total number of messages of this type in this cycle */
|
||||
int pack_index; /**< Message number */
|
||||
int sat_count; /**< Total number of satellites in view */
|
||||
nmeaSATELLITE sat_data[NMEA_SATINPACK];
|
||||
|
||||
} nmeaGPGSV;
|
||||
|
||||
/**
|
||||
* RMC packet information structure (Recommended Minimum sentence C)
|
||||
*/
|
||||
typedef struct _nmeaGPRMC
|
||||
{
|
||||
nmeaTIME utc; /**< UTC of position */
|
||||
char status; /**< Status (A = active or V = void) */
|
||||
float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
|
||||
char ns; /**< [N]orth or [S]outh */
|
||||
float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
|
||||
char ew; /**< [E]ast or [W]est */
|
||||
float speed; /**< Speed over the ground in knots */
|
||||
float direction; /**< Track angle in degrees True */
|
||||
float declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
|
||||
char declin_ew; /**< [E]ast or [W]est */
|
||||
char mode; /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */
|
||||
|
||||
} nmeaGPRMC;
|
||||
|
||||
/**
|
||||
* VTG packet information structure (Track made good and ground speed)
|
||||
*/
|
||||
typedef struct _nmeaGPVTG
|
||||
{
|
||||
float dir; /**< True track made good (degrees) */
|
||||
char dir_t; /**< Fixed text 'T' indicates that track made good is relative to true north */
|
||||
float dec; /**< Magnetic track made good */
|
||||
char dec_m; /**< Fixed text 'M' */
|
||||
float spn; /**< Ground speed, knots */
|
||||
char spn_n; /**< Fixed text 'N' indicates that speed over ground is in knots */
|
||||
float spk; /**< Ground speed, kilometers per hour */
|
||||
char spk_k; /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */
|
||||
|
||||
} nmeaGPVTG;
|
||||
|
||||
void nmea_zero_GPGGA(nmeaGPGGA *pack);
|
||||
void nmea_zero_GPGSA(nmeaGPGSA *pack);
|
||||
void nmea_zero_GPGSV(nmeaGPGSV *pack);
|
||||
void nmea_zero_GPRMC(nmeaGPRMC *pack);
|
||||
void nmea_zero_GPVTG(nmeaGPVTG *pack);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_SENTENCE_H__ */
|
||||
|
|
@ -1,47 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: time.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file */
|
||||
|
||||
#ifndef __NMEA_TIME_H__
|
||||
#define __NMEA_TIME_H__
|
||||
|
||||
#include "config.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Date and time data
|
||||
* @see nmea_time_now
|
||||
*/
|
||||
typedef struct _nmeaTIME
|
||||
{
|
||||
int year; /**< Years since 1900 */
|
||||
int mon; /**< Months since January - [0,11] */
|
||||
int day; /**< Day of the month - [1,31] */
|
||||
int hour; /**< Hours since midnight - [0,23] */
|
||||
int min; /**< Minutes after the hour - [0,59] */
|
||||
int sec; /**< Seconds after the minute - [0,59] */
|
||||
int hsec; /**< Hundredth part of second - [0,99] */
|
||||
|
||||
} nmeaTIME;
|
||||
|
||||
/**
|
||||
* \brief Get time now to nmeaTIME structure
|
||||
*/
|
||||
void nmea_time_now(nmeaTIME *t);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_TIME_H__ */
|
||||
|
|
@ -1,31 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: tok.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_TOK_H__
|
||||
#define __NMEA_TOK_H__
|
||||
|
||||
#include "config.h"
|
||||
#include <string.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int nmea_calc_crc(const char *buff, int buff_sz);
|
||||
int nmea_atoi(const char *str, int str_sz, int radix);
|
||||
float nmea_atof(const char *str, int str_sz);
|
||||
int nmea_printf(char *buff, int buff_sz, const char *format, ...);
|
||||
int nmea_scanf(const char *buff, int buff_sz, const char *format, ...);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __NMEA_TOK_H__ */
|
||||
|
|
@ -1,30 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: units.h 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __NMEA_UNITS_H__
|
||||
#define __NMEA_UNITS_H__
|
||||
|
||||
#include "config.h"
|
||||
|
||||
/*
|
||||
* Distance units
|
||||
*/
|
||||
|
||||
#define NMEA_TUD_YARDS (1.0936) /**< Yeards, meter * NMEA_TUD_YARDS = yard */
|
||||
#define NMEA_TUD_KNOTS (1.852) /**< Knots, kilometer / NMEA_TUD_KNOTS = knot */
|
||||
#define NMEA_TUD_MILES (1.609) /**< Miles, kilometer / NMEA_TUD_MILES = mile */
|
||||
|
||||
/*
|
||||
* Speed units
|
||||
*/
|
||||
|
||||
#define NMEA_TUS_MS (3.6) /**< Meters per seconds, (k/h) / NMEA_TUS_MS= (m/s) */
|
||||
|
||||
#endif /* __NMEA_UNITS_H__ */
|
||||
|
|
@ -1,501 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* \file parse.h
|
||||
* \brief Functions of a low level for analysis of
|
||||
* packages of NMEA stream.
|
||||
*
|
||||
* \code
|
||||
* ...
|
||||
* ptype = nmea_pack_type(
|
||||
* (const char *)parser->buffer + nparsed + 1,
|
||||
* parser->buff_use - nparsed - 1);
|
||||
*
|
||||
* if(0 == (node = malloc(sizeof(nmeaParserNODE))))
|
||||
* goto mem_fail;
|
||||
*
|
||||
* node->pack = 0;
|
||||
*
|
||||
* switch(ptype)
|
||||
* {
|
||||
* case GPGGA:
|
||||
* if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
|
||||
* goto mem_fail;
|
||||
* node->packType = GPGGA;
|
||||
* if(!nmea_parse_GPGGA(
|
||||
* (const char *)parser->buffer + nparsed,
|
||||
* sen_sz, (nmeaGPGGA *)node->pack))
|
||||
* {
|
||||
* free(node);
|
||||
* node = 0;
|
||||
* }
|
||||
* break;
|
||||
* case GPGSA:
|
||||
* if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
|
||||
* goto mem_fail;
|
||||
* node->packType = GPGSA;
|
||||
* if(!nmea_parse_GPGSA(
|
||||
* (const char *)parser->buffer + nparsed,
|
||||
* sen_sz, (nmeaGPGSA *)node->pack))
|
||||
* {
|
||||
* free(node);
|
||||
* node = 0;
|
||||
* }
|
||||
* break;
|
||||
* ...
|
||||
* \endcode
|
||||
*/
|
||||
#include "nmea/tok.h"
|
||||
#include "nmea/parse.h"
|
||||
#include "nmea/context.h"
|
||||
#include "nmea/gmath.h"
|
||||
#include "nmea/units.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res)
|
||||
{
|
||||
int success = 0;
|
||||
|
||||
switch(buff_sz)
|
||||
{
|
||||
case sizeof("hhmmss") - 1:
|
||||
success = (3 == nmea_scanf(buff, buff_sz,
|
||||
"%2d%2d%2d", &(res->hour), &(res->min), &(res->sec)
|
||||
));
|
||||
break;
|
||||
case sizeof("hhmmss.s") - 1:
|
||||
case sizeof("hhmmss.ss") - 1:
|
||||
case sizeof("hhmmss.sss") - 1:
|
||||
success = (4 == nmea_scanf(buff, buff_sz,
|
||||
"%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec)
|
||||
));
|
||||
break;
|
||||
default:
|
||||
nmea_error("Parse of time error (format error)!");
|
||||
success = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
return (success?0:-1);
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Define packet type by header (nmeaPACKTYPE).
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @return The defined packet type
|
||||
* @see nmeaPACKTYPE
|
||||
*/
|
||||
int nmea_pack_type(const char *buff, int buff_sz)
|
||||
{
|
||||
static const char *pheads[] = {
|
||||
"GPGGA",
|
||||
"GPGSA",
|
||||
"GPGSV",
|
||||
"GPRMC",
|
||||
"GPVTG",
|
||||
};
|
||||
|
||||
//NMEA_ASSERT(buff);
|
||||
|
||||
if(buff_sz < 5)
|
||||
return GPNON;
|
||||
else if(0 == memcmp(buff, pheads[0], 5))
|
||||
return GPGGA;
|
||||
else if(0 == memcmp(buff, pheads[1], 5))
|
||||
return GPGSA;
|
||||
else if(0 == memcmp(buff, pheads[2], 5))
|
||||
return GPGSV;
|
||||
else if(0 == memcmp(buff, pheads[3], 5))
|
||||
return GPRMC;
|
||||
else if(0 == memcmp(buff, pheads[4], 5))
|
||||
return GPVTG;
|
||||
|
||||
return GPNON;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC).
|
||||
* @param buff a constant character pointer of packets buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param res_crc a integer pointer for return CRC of packet (must be defined).
|
||||
* @return Number of bytes to packet tail.
|
||||
*/
|
||||
int nmea_find_tail(const char *buff, int buff_sz, int *res_crc)
|
||||
{
|
||||
static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */;
|
||||
|
||||
const char *end_buff = buff + buff_sz;
|
||||
int nread = 0;
|
||||
int crc = 0;
|
||||
|
||||
//NMEA_ASSERT(buff && res_crc);
|
||||
|
||||
*res_crc = -1;
|
||||
|
||||
for(;buff < end_buff; ++buff, ++nread)
|
||||
{
|
||||
if(('$' == *buff) && nread)
|
||||
{
|
||||
buff = 0;
|
||||
break;
|
||||
}
|
||||
else if('*' == *buff)
|
||||
{
|
||||
if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4])
|
||||
{
|
||||
*res_crc = nmea_atoi(buff + 1, 2, 16);
|
||||
nread = buff_sz - (int)(end_buff - (buff + tail_sz));
|
||||
if(*res_crc != crc)
|
||||
{
|
||||
*res_crc = -1;
|
||||
buff = 0;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
else if(nread)
|
||||
crc ^= (int)*buff;
|
||||
}
|
||||
|
||||
if(*res_crc < 0 && buff)
|
||||
nread = 0;
|
||||
|
||||
return nread;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Parse GGA packet from buffer.
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param pack a pointer of packet which will filled by function.
|
||||
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
|
||||
*/
|
||||
int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack)
|
||||
{
|
||||
char time_buff[NMEA_TIMEPARSE_BUF];
|
||||
|
||||
//NMEA_ASSERT(buff && pack);
|
||||
|
||||
memset(pack, 0, sizeof(nmeaGPGGA));
|
||||
|
||||
nmea_trace_buff(buff, buff_sz);
|
||||
|
||||
if(14 != nmea_scanf(buff, buff_sz,
|
||||
"$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*",
|
||||
&(time_buff[0]),
|
||||
&(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
|
||||
&(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units),
|
||||
&(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid)))
|
||||
{
|
||||
nmea_error("GPGGA parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
|
||||
{
|
||||
nmea_error("GPGGA time parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Parse GSA packet from buffer.
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param pack a pointer of packet which will filled by function.
|
||||
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
|
||||
*/
|
||||
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack)
|
||||
{
|
||||
//NMEA_ASSERT(buff && pack);
|
||||
|
||||
memset(pack, 0, sizeof(nmeaGPGSA));
|
||||
|
||||
nmea_trace_buff(buff, buff_sz);
|
||||
|
||||
if(17 != nmea_scanf(buff, buff_sz,
|
||||
"$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*",
|
||||
&(pack->fix_mode), &(pack->fix_type),
|
||||
&(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]),
|
||||
&(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]),
|
||||
&(pack->PDOP), &(pack->HDOP), &(pack->VDOP)))
|
||||
{
|
||||
nmea_error("GPGSA parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Parse GSV packet from buffer.
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param pack a pointer of packet which will filled by function.
|
||||
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
|
||||
*/
|
||||
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack)
|
||||
{
|
||||
int nsen, nsat;
|
||||
|
||||
//NMEA_ASSERT(buff && pack);
|
||||
|
||||
memset(pack, 0, sizeof(nmeaGPGSV));
|
||||
|
||||
nmea_trace_buff(buff, buff_sz);
|
||||
|
||||
nsen = nmea_scanf(buff, buff_sz,
|
||||
"$GPGSV,%d,%d,%d,"
|
||||
"%d,%d,%d,%d,"
|
||||
"%d,%d,%d,%d,"
|
||||
"%d,%d,%d,%d,"
|
||||
"%d,%d,%d,%d*",
|
||||
&(pack->pack_count), &(pack->pack_index), &(pack->sat_count),
|
||||
&(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig),
|
||||
&(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig),
|
||||
&(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig),
|
||||
&(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig));
|
||||
|
||||
nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
|
||||
nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
|
||||
nsat = nsat * 4 + 3 /* first three sentence`s */;
|
||||
|
||||
if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3))
|
||||
{
|
||||
nmea_error("GPGSV parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Parse RMC packet from buffer.
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param pack a pointer of packet which will filled by function.
|
||||
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
|
||||
*/
|
||||
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack)
|
||||
{
|
||||
int nsen;
|
||||
char time_buff[NMEA_TIMEPARSE_BUF];
|
||||
|
||||
//NMEA_ASSERT(buff && pack);
|
||||
|
||||
memset(pack, 0, sizeof(nmeaGPRMC));
|
||||
|
||||
nmea_trace_buff(buff, buff_sz);
|
||||
|
||||
nsen = nmea_scanf(buff, buff_sz,
|
||||
"$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*",
|
||||
&(time_buff[0]),
|
||||
&(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
|
||||
&(pack->speed), &(pack->direction),
|
||||
&(pack->utc.day), &(pack->utc.mon), &(pack->utc.year),
|
||||
&(pack->declination), &(pack->declin_ew), &(pack->mode));
|
||||
|
||||
if(nsen != 13 && nsen != 14)
|
||||
{
|
||||
nmea_error("GPRMC parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
|
||||
{
|
||||
nmea_error("GPRMC time parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if(pack->utc.year < 90)
|
||||
pack->utc.year += 100;
|
||||
pack->utc.mon -= 1;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Parse VTG packet from buffer.
|
||||
* @param buff a constant character pointer of packet buffer.
|
||||
* @param buff_sz buffer size.
|
||||
* @param pack a pointer of packet which will filled by function.
|
||||
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
|
||||
*/
|
||||
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack)
|
||||
{
|
||||
//NMEA_ASSERT(buff && pack);
|
||||
|
||||
memset(pack, 0, sizeof(nmeaGPVTG));
|
||||
|
||||
nmea_trace_buff(buff, buff_sz);
|
||||
|
||||
if(8 != nmea_scanf(buff, buff_sz,
|
||||
"$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*",
|
||||
&(pack->dir), &(pack->dir_t),
|
||||
&(pack->dec), &(pack->dec_m),
|
||||
&(pack->spn), &(pack->spn_n),
|
||||
&(pack->spk), &(pack->spk_k)))
|
||||
{
|
||||
nmea_error("GPVTG parse error!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
if( pack->dir_t != 'T' ||
|
||||
pack->dec_m != 'M' ||
|
||||
pack->spn_n != 'N' ||
|
||||
pack->spk_k != 'K')
|
||||
{
|
||||
nmea_error("GPVTG parse error (format error)!");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Fill nmeaINFO structure by GGA packet data.
|
||||
* @param pack a pointer of packet structure.
|
||||
* @param info a pointer of summary information structure.
|
||||
*/
|
||||
void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info)
|
||||
{
|
||||
//NMEA_ASSERT(pack && info);
|
||||
|
||||
info->utc.hour = pack->utc.hour;
|
||||
info->utc.min = pack->utc.min;
|
||||
info->utc.sec = pack->utc.sec;
|
||||
info->utc.hsec = pack->utc.hsec;
|
||||
info->sig = pack->sig;
|
||||
info->HDOP = pack->HDOP;
|
||||
info->elv = pack->elv;
|
||||
info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
|
||||
info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
|
||||
info->smask |= GPGGA;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Fill nmeaINFO structure by GSA packet data.
|
||||
* @param pack a pointer of packet structure.
|
||||
* @param info a pointer of summary information structure.
|
||||
*/
|
||||
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info)
|
||||
{
|
||||
int i, j, nuse = 0;
|
||||
|
||||
//NMEA_ASSERT(pack && info);
|
||||
|
||||
info->fix = pack->fix_type;
|
||||
info->PDOP = pack->PDOP;
|
||||
info->HDOP = pack->HDOP;
|
||||
info->VDOP = pack->VDOP;
|
||||
|
||||
for(i = 0; i < NMEA_MAXSAT; ++i)
|
||||
{
|
||||
for(j = 0; j < info->satinfo.inview; ++j)
|
||||
{
|
||||
if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id)
|
||||
{
|
||||
info->satinfo.sat[j].in_use = 1;
|
||||
nuse++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
info->satinfo.inuse = nuse;
|
||||
info->smask |= GPGSA;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Fill nmeaINFO structure by GSV packet data.
|
||||
* @param pack a pointer of packet structure.
|
||||
* @param info a pointer of summary information structure.
|
||||
*/
|
||||
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info)
|
||||
{
|
||||
int isat, isi, nsat;
|
||||
|
||||
//NMEA_ASSERT(pack && info);
|
||||
|
||||
if(pack->pack_index > pack->pack_count ||
|
||||
pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT)
|
||||
return;
|
||||
|
||||
if(pack->pack_index < 1)
|
||||
pack->pack_index = 1;
|
||||
|
||||
info->satinfo.inview = pack->sat_count;
|
||||
|
||||
nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
|
||||
nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
|
||||
|
||||
for(isat = 0; isat < nsat; ++isat)
|
||||
{
|
||||
isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat;
|
||||
info->satinfo.sat[isi].id = pack->sat_data[isat].id;
|
||||
info->satinfo.sat[isi].elv = pack->sat_data[isat].elv;
|
||||
info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth;
|
||||
info->satinfo.sat[isi].sig = pack->sat_data[isat].sig;
|
||||
}
|
||||
|
||||
info->smask |= GPGSV;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Fill nmeaINFO structure by RMC packet data.
|
||||
* @param pack a pointer of packet structure.
|
||||
* @param info a pointer of summary information structure.
|
||||
*/
|
||||
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info)
|
||||
{
|
||||
//NMEA_ASSERT(pack && info);
|
||||
|
||||
if('A' == pack->status)
|
||||
{
|
||||
if(NMEA_SIG_BAD == info->sig)
|
||||
info->sig = NMEA_SIG_MID;
|
||||
if(NMEA_FIX_BAD == info->fix)
|
||||
info->fix = NMEA_FIX_2D;
|
||||
}
|
||||
else if('V' == pack->status)
|
||||
{
|
||||
info->sig = NMEA_SIG_BAD;
|
||||
info->fix = NMEA_FIX_BAD;
|
||||
}
|
||||
|
||||
|
||||
info->utc = pack->utc;
|
||||
info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
|
||||
info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
|
||||
info->speed = pack->speed * NMEA_TUD_KNOTS;
|
||||
info->direction = pack->direction;
|
||||
info->smask |= GPRMC;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Fill nmeaINFO structure by VTG packet data.
|
||||
* @param pack a pointer of packet structure.
|
||||
* @param info a pointer of summary information structure.
|
||||
*/
|
||||
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info)
|
||||
{
|
||||
//NMEA_ASSERT(pack && info);
|
||||
|
||||
info->direction = pack->dir;
|
||||
info->declination = pack->dec;
|
||||
info->speed = pack->spk;
|
||||
info->smask |= GPVTG;
|
||||
}
|
||||
|
|
@ -1,400 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: parser.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* \file parser.h
|
||||
*/
|
||||
#include "nmea/tok.h"
|
||||
#include "nmea/parse.h"
|
||||
#include "nmea/parser.h"
|
||||
#include "nmea/context.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
typedef struct _nmeaParserNODE
|
||||
{
|
||||
int packType;
|
||||
void *pack;
|
||||
struct _nmeaParserNODE *next_node;
|
||||
|
||||
} nmeaParserNODE;
|
||||
|
||||
/*
|
||||
* high level
|
||||
*/
|
||||
|
||||
/**
|
||||
* \brief Initialization of parser object
|
||||
* @return true (1) - success or false (0) - fail
|
||||
*/
|
||||
int nmea_parser_init(nmeaPARSER *parser)
|
||||
{
|
||||
int resv = 0;
|
||||
int buff_size = nmea_property()->parse_buff_size;
|
||||
|
||||
//NMEA_ASSERT(parser);
|
||||
|
||||
if(buff_size < NMEA_MIN_PARSEBUFF)
|
||||
buff_size = NMEA_MIN_PARSEBUFF;
|
||||
|
||||
memset(parser, 0, sizeof(nmeaPARSER));
|
||||
|
||||
if(0 == (parser->buffer = malloc(buff_size)))
|
||||
nmea_error("Insufficient memory!");
|
||||
else
|
||||
{
|
||||
parser->buff_size = buff_size;
|
||||
resv = 1;
|
||||
}
|
||||
|
||||
return resv;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Destroy parser object
|
||||
*/
|
||||
void nmea_parser_destroy(nmeaPARSER *parser)
|
||||
{
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
free(parser->buffer);
|
||||
nmea_parser_queue_clear(parser);
|
||||
memset(parser, 0, sizeof(nmeaPARSER));
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Analysis of buffer and put results to information structure
|
||||
* @return Number of packets wos parsed
|
||||
*/
|
||||
int nmea_parse(
|
||||
nmeaPARSER *parser,
|
||||
const char *buff, int buff_sz,
|
||||
nmeaINFO *info
|
||||
)
|
||||
{
|
||||
int ptype, nread = 0;
|
||||
void *pack = 0;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
nmea_parser_push(parser, buff, buff_sz);
|
||||
|
||||
while(GPNON != (ptype = nmea_parser_pop(parser, &pack)))
|
||||
{
|
||||
nread++;
|
||||
|
||||
switch(ptype)
|
||||
{
|
||||
case GPGGA:
|
||||
nmea_GPGGA2info((nmeaGPGGA *)pack, info);
|
||||
break;
|
||||
case GPGSA:
|
||||
nmea_GPGSA2info((nmeaGPGSA *)pack, info);
|
||||
break;
|
||||
case GPGSV:
|
||||
nmea_GPGSV2info((nmeaGPGSV *)pack, info);
|
||||
break;
|
||||
case GPRMC:
|
||||
nmea_GPRMC2info((nmeaGPRMC *)pack, info);
|
||||
break;
|
||||
case GPVTG:
|
||||
nmea_GPVTG2info((nmeaGPVTG *)pack, info);
|
||||
break;
|
||||
};
|
||||
|
||||
free(pack);
|
||||
}
|
||||
|
||||
return nread;
|
||||
}
|
||||
|
||||
/*
|
||||
* low level
|
||||
*/
|
||||
|
||||
int nmea_parser_real_push(nmeaPARSER *parser, const char *buff, int buff_sz)
|
||||
{
|
||||
int nparsed = 0, crc, sen_sz, ptype;
|
||||
nmeaParserNODE *node = 0;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
/* clear unuse buffer (for debug) */
|
||||
/*
|
||||
memset(
|
||||
parser->buffer + parser->buff_use, 0,
|
||||
parser->buff_size - parser->buff_use
|
||||
);
|
||||
*/
|
||||
|
||||
/* add */
|
||||
if(parser->buff_use + buff_sz >= parser->buff_size)
|
||||
nmea_parser_buff_clear(parser);
|
||||
|
||||
memcpy(parser->buffer + parser->buff_use, buff, buff_sz);
|
||||
parser->buff_use += buff_sz;
|
||||
|
||||
/* parse */
|
||||
for(;;node = 0)
|
||||
{
|
||||
sen_sz = nmea_find_tail(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
(int)parser->buff_use - nparsed, &crc);
|
||||
|
||||
if(!sen_sz)
|
||||
{
|
||||
if(nparsed)
|
||||
memcpy(
|
||||
parser->buffer,
|
||||
parser->buffer + nparsed,
|
||||
parser->buff_use -= nparsed);
|
||||
break;
|
||||
}
|
||||
else if(crc >= 0)
|
||||
{
|
||||
ptype = nmea_pack_type(
|
||||
(const char *)parser->buffer + nparsed + 1,
|
||||
parser->buff_use - nparsed - 1);
|
||||
|
||||
if(0 == (node = malloc(sizeof(nmeaParserNODE))))
|
||||
goto mem_fail;
|
||||
|
||||
node->pack = 0;
|
||||
|
||||
switch(ptype)
|
||||
{
|
||||
case GPGGA:
|
||||
if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
|
||||
goto mem_fail;
|
||||
node->packType = GPGGA;
|
||||
if(!nmea_parse_GPGGA(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
sen_sz, (nmeaGPGGA *)node->pack))
|
||||
{
|
||||
free(node);
|
||||
node = 0;
|
||||
}
|
||||
break;
|
||||
case GPGSA:
|
||||
if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
|
||||
goto mem_fail;
|
||||
node->packType = GPGSA;
|
||||
if(!nmea_parse_GPGSA(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
sen_sz, (nmeaGPGSA *)node->pack))
|
||||
{
|
||||
free(node);
|
||||
node = 0;
|
||||
}
|
||||
break;
|
||||
case GPGSV:
|
||||
if(0 == (node->pack = malloc(sizeof(nmeaGPGSV))))
|
||||
goto mem_fail;
|
||||
node->packType = GPGSV;
|
||||
if(!nmea_parse_GPGSV(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
sen_sz, (nmeaGPGSV *)node->pack))
|
||||
{
|
||||
free(node);
|
||||
node = 0;
|
||||
}
|
||||
break;
|
||||
case GPRMC:
|
||||
if(0 == (node->pack = malloc(sizeof(nmeaGPRMC))))
|
||||
goto mem_fail;
|
||||
node->packType = GPRMC;
|
||||
if(!nmea_parse_GPRMC(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
sen_sz, (nmeaGPRMC *)node->pack))
|
||||
{
|
||||
free(node);
|
||||
node = 0;
|
||||
}
|
||||
break;
|
||||
case GPVTG:
|
||||
if(0 == (node->pack = malloc(sizeof(nmeaGPVTG))))
|
||||
goto mem_fail;
|
||||
node->packType = GPVTG;
|
||||
if(!nmea_parse_GPVTG(
|
||||
(const char *)parser->buffer + nparsed,
|
||||
sen_sz, (nmeaGPVTG *)node->pack))
|
||||
{
|
||||
free(node);
|
||||
node = 0;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
free(node);
|
||||
node = 0;
|
||||
break;
|
||||
};
|
||||
|
||||
if(node)
|
||||
{
|
||||
if(parser->end_node)
|
||||
((nmeaParserNODE *)parser->end_node)->next_node = node;
|
||||
parser->end_node = node;
|
||||
if(!parser->top_node)
|
||||
parser->top_node = node;
|
||||
node->next_node = 0;
|
||||
}
|
||||
}
|
||||
|
||||
nparsed += sen_sz;
|
||||
}
|
||||
|
||||
return nparsed;
|
||||
|
||||
mem_fail:
|
||||
if(node)
|
||||
free(node);
|
||||
|
||||
nmea_error("Insufficient memory!");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Analysis of buffer and keep results into parser
|
||||
* @return Number of bytes wos parsed from buffer
|
||||
*/
|
||||
int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz)
|
||||
{
|
||||
int nparse, nparsed = 0;
|
||||
|
||||
do
|
||||
{
|
||||
if(buff_sz > parser->buff_size)
|
||||
nparse = parser->buff_size;
|
||||
else
|
||||
nparse = buff_sz;
|
||||
|
||||
nparsed += nmea_parser_real_push(
|
||||
parser, buff, nparse);
|
||||
|
||||
buff_sz -= nparse;
|
||||
|
||||
} while(buff_sz);
|
||||
|
||||
return nparsed;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Get type of top packet keeped into parser
|
||||
* @return Type of packet
|
||||
* @see nmeaPACKTYPE
|
||||
*/
|
||||
int nmea_parser_top(nmeaPARSER *parser)
|
||||
{
|
||||
int retval = GPNON;
|
||||
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
if(node)
|
||||
retval = node->packType;
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Withdraw top packet from parser
|
||||
* @return Received packet type
|
||||
* @see nmeaPACKTYPE
|
||||
*/
|
||||
int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr)
|
||||
{
|
||||
int retval = GPNON;
|
||||
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
if(node)
|
||||
{
|
||||
*pack_ptr = node->pack;
|
||||
retval = node->packType;
|
||||
parser->top_node = node->next_node;
|
||||
if(!parser->top_node)
|
||||
parser->end_node = 0;
|
||||
free(node);
|
||||
}
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Get top packet from parser without withdraw
|
||||
* @return Received packet type
|
||||
* @see nmeaPACKTYPE
|
||||
*/
|
||||
int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr)
|
||||
{
|
||||
int retval = GPNON;
|
||||
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
if(node)
|
||||
{
|
||||
*pack_ptr = node->pack;
|
||||
retval = node->packType;
|
||||
}
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Delete top packet from parser
|
||||
* @return Deleted packet type
|
||||
* @see nmeaPACKTYPE
|
||||
*/
|
||||
int nmea_parser_drop(nmeaPARSER *parser)
|
||||
{
|
||||
int retval = GPNON;
|
||||
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
|
||||
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
|
||||
if(node)
|
||||
{
|
||||
if(node->pack)
|
||||
free(node->pack);
|
||||
retval = node->packType;
|
||||
parser->top_node = node->next_node;
|
||||
if(!parser->top_node)
|
||||
parser->end_node = 0;
|
||||
free(node);
|
||||
}
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Clear cache of parser
|
||||
* @return true (1) - success
|
||||
*/
|
||||
int nmea_parser_buff_clear(nmeaPARSER *parser)
|
||||
{
|
||||
//NMEA_ASSERT(parser && parser->buffer);
|
||||
parser->buff_use = 0;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Clear packets queue into parser
|
||||
* @return true (1) - success
|
||||
*/
|
||||
int nmea_parser_queue_clear(nmeaPARSER *parser)
|
||||
{
|
||||
//NMEA_ASSERT(parser);
|
||||
while(parser->top_node)
|
||||
nmea_parser_drop(parser);
|
||||
return 1;
|
||||
}
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: sentence.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
#include "nmea/sentence.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
void nmea_zero_GPGGA(nmeaGPGGA *pack)
|
||||
{
|
||||
memset(pack, 0, sizeof(nmeaGPGGA));
|
||||
nmea_time_now(&pack->utc);
|
||||
pack->ns = 'N';
|
||||
pack->ew = 'E';
|
||||
pack->elv_units = 'M';
|
||||
pack->diff_units = 'M';
|
||||
}
|
||||
|
||||
void nmea_zero_GPGSA(nmeaGPGSA *pack)
|
||||
{
|
||||
memset(pack, 0, sizeof(nmeaGPGSA));
|
||||
pack->fix_mode = 'A';
|
||||
pack->fix_type = NMEA_FIX_BAD;
|
||||
}
|
||||
|
||||
void nmea_zero_GPGSV(nmeaGPGSV *pack)
|
||||
{
|
||||
memset(pack, 0, sizeof(nmeaGPGSV));
|
||||
}
|
||||
|
||||
void nmea_zero_GPRMC(nmeaGPRMC *pack)
|
||||
{
|
||||
memset(pack, 0, sizeof(nmeaGPRMC));
|
||||
nmea_time_now(&pack->utc);
|
||||
pack->status = 'V';
|
||||
pack->ns = 'N';
|
||||
pack->ew = 'E';
|
||||
pack->declin_ew = 'E';
|
||||
}
|
||||
|
||||
void nmea_zero_GPVTG(nmeaGPVTG *pack)
|
||||
{
|
||||
memset(pack, 0, sizeof(nmeaGPVTG));
|
||||
pack->dir_t = 'T';
|
||||
pack->dec_m = 'M';
|
||||
pack->spn_n = 'N';
|
||||
pack->spk_k = 'K';
|
||||
}
|
||||
|
|
@ -1,63 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: time.c 4 2007-08-27 13:11:03Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file time.h */
|
||||
|
||||
#include "nmea/time.h"
|
||||
|
||||
#ifdef NMEA_WIN
|
||||
# pragma warning(disable: 4201)
|
||||
# pragma warning(disable: 4214)
|
||||
# pragma warning(disable: 4115)
|
||||
# include <windows.h>
|
||||
# pragma warning(default: 4201)
|
||||
# pragma warning(default: 4214)
|
||||
# pragma warning(default: 4115)
|
||||
#else
|
||||
# include <time.h>
|
||||
#endif
|
||||
|
||||
#ifdef NMEA_WIN
|
||||
|
||||
void nmea_time_now(nmeaTIME *stm)
|
||||
{
|
||||
SYSTEMTIME st;
|
||||
|
||||
GetSystemTime(&st);
|
||||
|
||||
stm->year = st.wYear - 1900;
|
||||
stm->mon = st.wMonth - 1;
|
||||
stm->day = st.wDay;
|
||||
stm->hour = st.wHour;
|
||||
stm->min = st.wMinute;
|
||||
stm->sec = st.wSecond;
|
||||
stm->hsec = st.wMilliseconds / 10;
|
||||
}
|
||||
|
||||
#else /* NMEA_WIN */
|
||||
|
||||
void nmea_time_now(nmeaTIME *stm)
|
||||
{
|
||||
time_t lt;
|
||||
struct tm *tt;
|
||||
|
||||
time(<);
|
||||
tt = gmtime(<);
|
||||
|
||||
stm->year = tt->tm_year;
|
||||
stm->mon = tt->tm_mon;
|
||||
stm->day = tt->tm_mday;
|
||||
stm->hour = tt->tm_hour;
|
||||
stm->min = tt->tm_min;
|
||||
stm->sec = tt->tm_sec;
|
||||
stm->hsec = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1,267 +0,0 @@
|
|||
/*
|
||||
*
|
||||
* NMEA library
|
||||
* URL: http://nmea.sourceforge.net
|
||||
* Author: Tim (xtimor@gmail.com)
|
||||
* Licence: http://www.gnu.org/licenses/lgpl.html
|
||||
* $Id: tok.c 17 2008-03-11 11:56:11Z xtimor $
|
||||
*
|
||||
*/
|
||||
|
||||
/*! \file tok.h */
|
||||
|
||||
#include "nmea/tok.h"
|
||||
|
||||
#include <stdarg.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <ctype.h>
|
||||
#include <string.h>
|
||||
#include <limits.h>
|
||||
|
||||
#define NMEA_TOKS_COMPARE (1)
|
||||
#define NMEA_TOKS_PERCENT (2)
|
||||
#define NMEA_TOKS_WIDTH (3)
|
||||
#define NMEA_TOKS_TYPE (4)
|
||||
|
||||
//memchr replacement
|
||||
void *
|
||||
memchr(s, c, n)
|
||||
const void *s;
|
||||
unsigned char c;
|
||||
size_t n;
|
||||
{
|
||||
if (n != 0) {
|
||||
const unsigned char *p = s;
|
||||
|
||||
do {
|
||||
if (*p++ == c)
|
||||
return ((void *)(p - 1));
|
||||
} while (--n != 0);
|
||||
}
|
||||
return (NULL);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* \brief Calculate control sum of binary buffer
|
||||
*/
|
||||
int nmea_calc_crc(const char *buff, int buff_sz)
|
||||
{
|
||||
int chsum = 0,
|
||||
it;
|
||||
|
||||
for(it = 0; it < buff_sz; ++it)
|
||||
chsum ^= (int)buff[it];
|
||||
|
||||
return chsum;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Convert string to number
|
||||
*/
|
||||
int nmea_atoi(const char *str, int str_sz, int radix)
|
||||
{
|
||||
char *tmp_ptr;
|
||||
char buff[NMEA_CONVSTR_BUF];
|
||||
int res = 0;
|
||||
|
||||
if(str_sz < NMEA_CONVSTR_BUF)
|
||||
{
|
||||
memcpy(&buff[0], str, str_sz);
|
||||
buff[str_sz] = '\0';
|
||||
res = strtol(&buff[0], &tmp_ptr, radix);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Convert string to fraction number
|
||||
*/
|
||||
float nmea_atof(const char *str, int str_sz)
|
||||
{
|
||||
char *tmp_ptr;
|
||||
char buff[NMEA_CONVSTR_BUF];
|
||||
float res = 0;
|
||||
|
||||
if(str_sz < NMEA_CONVSTR_BUF)
|
||||
{
|
||||
memcpy(&buff[0], str, str_sz);
|
||||
buff[str_sz] = '\0';
|
||||
res = (float)strtod(&buff[0], &tmp_ptr);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Formating string (like standart printf) with CRC tail (*CRC)
|
||||
*/
|
||||
int nmea_printf(char *buff, int buff_sz, const char *format, ...)
|
||||
{
|
||||
int retval, add = 0;
|
||||
va_list arg_ptr;
|
||||
|
||||
if(buff_sz <= 0)
|
||||
return 0;
|
||||
|
||||
va_start(arg_ptr, format);
|
||||
|
||||
retval = NMEA_POSIX(vsnprintf)(buff, buff_sz, format, arg_ptr);
|
||||
|
||||
if(retval > 0)
|
||||
{
|
||||
add = NMEA_POSIX(snprintf)(
|
||||
buff + retval, buff_sz - retval, "*%02x\r\n",
|
||||
nmea_calc_crc(buff + 1, retval - 1));
|
||||
}
|
||||
|
||||
retval += add;
|
||||
|
||||
if(retval < 0 || retval > buff_sz)
|
||||
{
|
||||
memset(buff, ' ', buff_sz);
|
||||
retval = buff_sz;
|
||||
}
|
||||
|
||||
va_end(arg_ptr);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Analyse string (specificate for NMEA sentences)
|
||||
*/
|
||||
int nmea_scanf(const char *buff, int buff_sz, const char *format, ...)
|
||||
{
|
||||
const char *beg_tok;
|
||||
const char *end_buf = buff + buff_sz;
|
||||
|
||||
va_list arg_ptr;
|
||||
int tok_type = NMEA_TOKS_COMPARE;
|
||||
int width = 0;
|
||||
const char *beg_fmt = 0;
|
||||
int snum = 0, unum = 0;
|
||||
|
||||
int tok_count = 0;
|
||||
void *parg_target;
|
||||
|
||||
va_start(arg_ptr, format);
|
||||
|
||||
for(; *format && buff < end_buf; ++format)
|
||||
{
|
||||
switch(tok_type)
|
||||
{
|
||||
case NMEA_TOKS_COMPARE:
|
||||
if('%' == *format)
|
||||
tok_type = NMEA_TOKS_PERCENT;
|
||||
else if(*buff++ != *format)
|
||||
goto fail;
|
||||
break;
|
||||
case NMEA_TOKS_PERCENT:
|
||||
width = 0;
|
||||
beg_fmt = format;
|
||||
tok_type = NMEA_TOKS_WIDTH;
|
||||
case NMEA_TOKS_WIDTH:
|
||||
if(isdigit(*format))
|
||||
break;
|
||||
{
|
||||
tok_type = NMEA_TOKS_TYPE;
|
||||
if(format > beg_fmt)
|
||||
width = nmea_atoi(beg_fmt, (int)(format - beg_fmt), 10);
|
||||
}
|
||||
case NMEA_TOKS_TYPE:
|
||||
beg_tok = buff;
|
||||
|
||||
if(!width && ('c' == *format || 'C' == *format) && *buff != format[1])
|
||||
width = 1;
|
||||
|
||||
if(width)
|
||||
{
|
||||
if(buff + width <= end_buf)
|
||||
buff += width;
|
||||
else
|
||||
goto fail;
|
||||
}
|
||||
else
|
||||
{
|
||||
if(!format[1] || (0 == (buff = (char *)memchr(buff, format[1], end_buf - buff))))
|
||||
buff = end_buf;
|
||||
}
|
||||
|
||||
if(buff > end_buf)
|
||||
goto fail;
|
||||
|
||||
tok_type = NMEA_TOKS_COMPARE;
|
||||
tok_count++;
|
||||
|
||||
parg_target = 0; width = (int)(buff - beg_tok);
|
||||
|
||||
switch(*format)
|
||||
{
|
||||
case 'c':
|
||||
case 'C':
|
||||
parg_target = (void *)va_arg(arg_ptr, char *);
|
||||
if(width && 0 != (parg_target))
|
||||
*((char *)parg_target) = *beg_tok;
|
||||
break;
|
||||
case 's':
|
||||
case 'S':
|
||||
parg_target = (void *)va_arg(arg_ptr, char *);
|
||||
if(width && 0 != (parg_target))
|
||||
{
|
||||
memcpy(parg_target, beg_tok, width);
|
||||
((char *)parg_target)[width] = '\0';
|
||||
}
|
||||
break;
|
||||
case 'f':
|
||||
case 'g':
|
||||
case 'G':
|
||||
case 'e':
|
||||
case 'E':
|
||||
parg_target = (void *)va_arg(arg_ptr, float *);
|
||||
if(width && 0 != (parg_target))
|
||||
*((float *)parg_target) = nmea_atof(beg_tok, width);
|
||||
break;
|
||||
};
|
||||
|
||||
if(parg_target)
|
||||
break;
|
||||
if(0 == (parg_target = (void *)va_arg(arg_ptr, int *)))
|
||||
break;
|
||||
if(!width)
|
||||
break;
|
||||
|
||||
switch(*format)
|
||||
{
|
||||
case 'd':
|
||||
case 'i':
|
||||
snum = nmea_atoi(beg_tok, width, 10);
|
||||
memcpy(parg_target, &snum, sizeof(int));
|
||||
break;
|
||||
case 'u':
|
||||
unum = nmea_atoi(beg_tok, width, 10);
|
||||
memcpy(parg_target, &unum, sizeof(unsigned int));
|
||||
break;
|
||||
case 'x':
|
||||
case 'X':
|
||||
unum = nmea_atoi(beg_tok, width, 16);
|
||||
memcpy(parg_target, &unum, sizeof(unsigned int));
|
||||
break;
|
||||
case 'o':
|
||||
unum = nmea_atoi(beg_tok, width, 8);
|
||||
memcpy(parg_target, &unum, sizeof(unsigned int));
|
||||
break;
|
||||
default:
|
||||
goto fail;
|
||||
};
|
||||
|
||||
break;
|
||||
};
|
||||
}
|
||||
|
||||
fail:
|
||||
|
||||
va_end(arg_ptr);
|
||||
|
||||
return tok_count;
|
||||
}
|
||||
1022
apps/gps/ubx.c
1022
apps/gps/ubx.c
File diff suppressed because it is too large
Load Diff
415
apps/gps/ubx.h
415
apps/gps/ubx.h
|
|
@ -1,415 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file U-Blox protocol definitions */
|
||||
|
||||
#ifndef UBX_H_
|
||||
#define UBX_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <time.h>
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <pthread.h>
|
||||
|
||||
|
||||
//internal definitions (not depending on the ubx protocol
|
||||
#define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */
|
||||
#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000 /**< Allow 3 seconds maximum inter-message time */
|
||||
#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000 /**< Check for current state every two seconds */
|
||||
|
||||
#define UBX_CONFIG_TIMEOUT 1000000
|
||||
|
||||
#define APPNAME "gps: ubx"
|
||||
|
||||
#define UBX_SYNC_1 0xB5
|
||||
#define UBX_SYNC_2 0x62
|
||||
|
||||
//UBX Protocoll definitions (this is the subset of the messages that are parsed)
|
||||
#define UBX_CLASS_NAV 0x01
|
||||
#define UBX_CLASS_RXM 0x02
|
||||
#define UBX_CLASS_ACK 0x05
|
||||
#define UBX_CLASS_CFG 0x06
|
||||
#define UBX_MESSAGE_NAV_POSLLH 0x02
|
||||
#define UBX_MESSAGE_NAV_SOL 0x06
|
||||
#define UBX_MESSAGE_NAV_TIMEUTC 0x21
|
||||
#define UBX_MESSAGE_NAV_DOP 0x04
|
||||
#define UBX_MESSAGE_NAV_SVINFO 0x30
|
||||
#define UBX_MESSAGE_NAV_VELNED 0x12
|
||||
#define UBX_MESSAGE_RXM_SVSI 0x20
|
||||
#define UBX_MESSAGE_ACK_ACK 0x01
|
||||
#define UBX_MESSAGE_ACK_NAK 0x00
|
||||
#define UBX_MESSAGE_CFG_PRT 0x00
|
||||
#define UBX_MESSAGE_CFG_NAV5 0x24
|
||||
#define UBX_MESSAGE_CFG_MSG 0x01
|
||||
|
||||
#define UBX_CFG_PRT_LENGTH 20
|
||||
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< port 1 */
|
||||
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
|
||||
#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */
|
||||
#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< ubx in */
|
||||
#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< ubx out */
|
||||
|
||||
#define UBX_CFG_NAV5_LENGTH 36
|
||||
#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */
|
||||
#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
|
||||
#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
|
||||
|
||||
#define UBX_CFG_MSG_LENGTH 8
|
||||
#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */
|
||||
|
||||
|
||||
// ************
|
||||
/** the structures of the binary packets */
|
||||
#pragma pack(push, 1)
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
int32_t lon; // Longitude * 1e-7, deg
|
||||
int32_t lat; // Latitude * 1e-7, deg
|
||||
int32_t height; // Height above Ellipsoid, mm
|
||||
int32_t height_msl; // Height above mean sea level, mm
|
||||
uint32_t hAcc; // Horizontal Accuracy Estimate, mm
|
||||
uint32_t vAcc; // Vertical Accuracy Estimate, mm
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_nav_posllh_packet;
|
||||
|
||||
typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
int32_t time_nanoseconds; // Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000
|
||||
int16_t week; // GPS week (GPS time)
|
||||
uint8_t gpsFix; //GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix
|
||||
uint8_t flags;
|
||||
int32_t ecefX;
|
||||
int32_t ecefY;
|
||||
int32_t ecefZ;
|
||||
uint32_t pAcc;
|
||||
int32_t ecefVX;
|
||||
int32_t ecefVY;
|
||||
int32_t ecefVZ;
|
||||
uint32_t sAcc;
|
||||
uint16_t pDOP;
|
||||
uint8_t reserved1;
|
||||
uint8_t numSV;
|
||||
uint32_t reserved2;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_nav_sol_packet;
|
||||
|
||||
typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
uint32_t time_accuracy; //Time Accuracy Estimate, ns
|
||||
int32_t time_nanoseconds; //Nanoseconds of second, range -1e9 .. 1e9 (UTC)
|
||||
uint16_t year; //Year, range 1999..2099 (UTC)
|
||||
uint8_t month; //Month, range 1..12 (UTC)
|
||||
uint8_t day; //Day of Month, range 1..31 (UTC)
|
||||
uint8_t hour; //Hour of Day, range 0..23 (UTC)
|
||||
uint8_t min; //Minute of Hour, range 0..59 (UTC)
|
||||
uint8_t sec; //Seconds of Minute, range 0..59 (UTC)
|
||||
uint8_t valid_flag; //Validity Flags (see ubx documentation)
|
||||
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_nav_timeutc_packet;
|
||||
|
||||
typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
uint16_t gDOP; //Geometric DOP (scaling 0.01)
|
||||
uint16_t pDOP; //Position DOP (scaling 0.01)
|
||||
uint16_t tDOP; //Time DOP (scaling 0.01)
|
||||
uint16_t vDOP; //Vertical DOP (scaling 0.01)
|
||||
uint16_t hDOP; //Horizontal DOP (scaling 0.01)
|
||||
uint16_t nDOP; //Northing DOP (scaling 0.01)
|
||||
uint16_t eDOP; //Easting DOP (scaling 0.01)
|
||||
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_nav_dop_packet;
|
||||
|
||||
typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
uint8_t numCh; //Number of channels
|
||||
uint8_t globalFlags;
|
||||
uint16_t reserved2;
|
||||
|
||||
} type_gps_bin_nav_svinfo_part1_packet;
|
||||
|
||||
typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t chn; //Channel number, 255 for SVs not assigned to a channel
|
||||
uint8_t svid; //Satellite ID
|
||||
uint8_t flags;
|
||||
uint8_t quality;
|
||||
uint8_t cno; //Carrier to Noise Ratio (Signal Strength), dbHz
|
||||
int8_t elev; //Elevation in integer degrees
|
||||
int16_t azim; //Azimuth in integer degrees
|
||||
int32_t prRes; //Pseudo range residual in centimetres
|
||||
|
||||
} type_gps_bin_nav_svinfo_part2_packet;
|
||||
|
||||
typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
|
||||
} type_gps_bin_nav_svinfo_part3_packet;
|
||||
|
||||
typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t;
|
||||
|
||||
|
||||
typedef struct {
|
||||
uint32_t time_milliseconds; // GPS Millisecond Time of Week
|
||||
int32_t velN; //NED north velocity, cm/s
|
||||
int32_t velE; //NED east velocity, cm/s
|
||||
int32_t velD; //NED down velocity, cm/s
|
||||
uint32_t speed; //Speed (3-D), cm/s
|
||||
uint32_t gSpeed; //Ground Speed (2-D), cm/s
|
||||
int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
|
||||
uint32_t sAcc; //Speed Accuracy Estimate, cm/s
|
||||
uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_nav_velned_packet;
|
||||
|
||||
typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t;
|
||||
|
||||
typedef struct {
|
||||
int32_t time_milliseconds; // Measurement integer millisecond GPS time of week
|
||||
int16_t week; //Measurement GPS week number
|
||||
uint8_t numVis; //Number of visible satellites
|
||||
|
||||
//... rest of package is not used in this implementation
|
||||
|
||||
} type_gps_bin_rxm_svsi_packet;
|
||||
|
||||
typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_ack_ack_packet;
|
||||
|
||||
typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_ack_nak_packet;
|
||||
|
||||
typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint8_t portID;
|
||||
uint8_t res0;
|
||||
uint16_t res1;
|
||||
uint32_t mode;
|
||||
uint32_t baudRate;
|
||||
uint16_t inProtoMask;
|
||||
uint16_t outProtoMask;
|
||||
uint16_t flags;
|
||||
uint16_t pad;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_prt_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint16_t mask;
|
||||
uint8_t dynModel;
|
||||
uint8_t fixMode;
|
||||
int32_t fixedAlt;
|
||||
uint32_t fixedAltVar;
|
||||
int8_t minElev;
|
||||
uint8_t drLimit;
|
||||
uint16_t pDop;
|
||||
uint16_t tDop;
|
||||
uint16_t pAcc;
|
||||
uint16_t tAcc;
|
||||
uint8_t staticHoldThresh;
|
||||
uint8_t dgpsTimeOut;
|
||||
uint32_t reserved2;
|
||||
uint32_t reserved3;
|
||||
uint32_t reserved4;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_nav5_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint8_t msgClass_payload;
|
||||
uint8_t msgID_payload;
|
||||
uint8_t rate[6];
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_msg_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t;
|
||||
|
||||
|
||||
// END the structures of the binary packets
|
||||
// ************
|
||||
|
||||
enum UBX_CONFIG_STATE {
|
||||
UBX_CONFIG_STATE_NONE = 0,
|
||||
UBX_CONFIG_STATE_PRT = 1,
|
||||
UBX_CONFIG_STATE_NAV5 = 2,
|
||||
UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3,
|
||||
UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4,
|
||||
UBX_CONFIG_STATE_MSG_NAV_DOP = 5,
|
||||
UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6,
|
||||
UBX_CONFIG_STATE_MSG_NAV_SOL = 7,
|
||||
UBX_CONFIG_STATE_MSG_NAV_VELNED = 8,
|
||||
UBX_CONFIG_STATE_MSG_RXM_SVSI = 9,
|
||||
UBX_CONFIG_STATE_CONFIGURED = 10
|
||||
};
|
||||
|
||||
enum UBX_MESSAGE_CLASSES {
|
||||
CLASS_UNKNOWN = 0,
|
||||
NAV = 1,
|
||||
RXM = 2,
|
||||
ACK = 3,
|
||||
CFG = 4
|
||||
};
|
||||
|
||||
enum UBX_MESSAGE_IDS {
|
||||
//these numbers do NOT correspond to the message id numbers of the ubx protocol
|
||||
ID_UNKNOWN = 0,
|
||||
NAV_POSLLH = 1,
|
||||
NAV_SOL = 2,
|
||||
NAV_TIMEUTC = 3,
|
||||
NAV_DOP = 4,
|
||||
NAV_SVINFO = 5,
|
||||
NAV_VELNED = 6,
|
||||
RXM_SVSI = 7,
|
||||
CFG_NAV5 = 8,
|
||||
ACK_ACK = 9,
|
||||
ACK_NAK = 10
|
||||
};
|
||||
|
||||
enum UBX_DECODE_STATES {
|
||||
UBX_DECODE_UNINIT = 0,
|
||||
UBX_DECODE_GOT_SYNC1 = 1,
|
||||
UBX_DECODE_GOT_SYNC2 = 2,
|
||||
UBX_DECODE_GOT_CLASS = 3,
|
||||
UBX_DECODE_GOT_MESSAGEID = 4,
|
||||
UBX_DECODE_GOT_LENGTH1 = 5,
|
||||
UBX_DECODE_GOT_LENGTH2 = 6
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
union {
|
||||
uint16_t ck;
|
||||
struct {
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
};
|
||||
};
|
||||
enum UBX_DECODE_STATES decode_state;
|
||||
bool print_errors;
|
||||
int16_t rx_count;
|
||||
uint16_t payload_size;
|
||||
|
||||
enum UBX_MESSAGE_CLASSES message_class;
|
||||
enum UBX_MESSAGE_IDS message_id;
|
||||
uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES];
|
||||
|
||||
} type_gps_bin_ubx_state;
|
||||
|
||||
typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
|
||||
#pragma pack(pop)
|
||||
|
||||
extern pthread_mutex_t *ubx_mutex;
|
||||
extern gps_bin_ubx_state_t *ubx_state;
|
||||
|
||||
void ubx_decode_init(void);
|
||||
|
||||
void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b);
|
||||
|
||||
|
||||
|
||||
int ubx_parse(uint8_t b, char *gps_rx_buffer);
|
||||
|
||||
int configure_gps_ubx(int *fd);
|
||||
|
||||
int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
|
||||
|
||||
int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd);
|
||||
|
||||
void calculate_ubx_checksum(uint8_t *message, uint8_t length);
|
||||
|
||||
void *ubx_watchdog_loop(void *args);
|
||||
|
||||
void *ubx_loop(void *args);
|
||||
|
||||
|
||||
#endif /* UBX_H_ */
|
||||
Loading…
Reference in New Issue