dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
px4-firmware/apps/gps/nmealib/parse.c

502 lines
14 KiB
C
Raw Blame History

/*
*
* 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;
}
View Git Blame Copy Permalink