340 lines
16 KiB
C
340 lines
16 KiB
C
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/**
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* \file lwgps.h
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* \brief GPS main file
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*/
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/*
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* Copyright (c) 2023 Tilen MAJERLE
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without restriction,
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* including without limitation the rights to use, copy, modify, merge,
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* publish, distribute, sublicense, and/or sell copies of the Software,
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* and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
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* AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*
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* This file is part of LwGPS - Lightweight GPS NMEA parser library.
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*
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* Author: Tilen MAJERLE <tilen@majerle.eu>
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* Version: v2.1.0
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*/
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#ifndef LWGPS_HDR_H
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#define LWGPS_HDR_H
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#include <limits.h>
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#include <stddef.h>
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#include <stdint.h>
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#include "lwgps_opt.h"
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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/**
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* \defgroup LWGPS Lightweight GPS NMEA parser
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* \brief Lightweight GPS NMEA parser
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* \{
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*/
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/**
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* \brief GPS float definition, can be either `float` or `double`
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* \note Check for \ref LWGPS_CFG_DOUBLE configuration
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*/
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#if LWGPS_CFG_DOUBLE || __DOXYGEN__
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typedef double lwgps_float_t;
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#else
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typedef float lwgps_float_t;
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#endif
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/**
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* \brief Satellite descriptor
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*/
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typedef struct {
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uint8_t num; /*!< Satellite number */
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uint8_t elevation; /*!< Elevation value */
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uint16_t azimuth; /*!< Azimuth in degrees */
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uint8_t snr; /*!< Signal-to-noise ratio */
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} lwgps_sat_t;
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/**
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* \brief ENUM of possible GPS statements parsed
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*/
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typedef enum {
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STAT_UNKNOWN = 0, /*!< Unknown NMEA statement */
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STAT_GGA = 1, /*!< GPGGA statement */
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STAT_GSA = 2, /*!< GPGSA statement */
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STAT_GSV = 3, /*!< GPGSV statement */
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STAT_RMC = 4, /*!< GPRMC statement */
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STAT_UBX = 5, /*!< UBX statement (uBlox specific) */
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STAT_UBX_TIME = 6, /*!< UBX TIME statement (uBlox specific) */
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STAT_UBX_POSITION = 7, /*!< UBX TIME statement (uBlox specific) */
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STAT_CHECKSUM_FAIL = UINT8_MAX /*!< Special case, used when checksum fails */
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} lwgps_statement_t;
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/**
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* \brief GPS main structure
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*/
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typedef struct {
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#if LWGPS_CFG_STATEMENT_GPGGA || __DOXYGEN__
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/* Information related to GPGGA statement */
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#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__
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lwgps_float_t latitude; /*!< Latitude in units of degrees */
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lwgps_float_t longitude; /*!< Longitude in units of degrees */
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#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */
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lwgps_float_t altitude; /*!< Altitude in units of meters */
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lwgps_float_t geo_sep; /*!< Geoid separation in units of meters */
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uint8_t sats_in_use; /*!< Number of satellites in use */
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uint8_t fix; /*!< Fix status. `0` = invalid, `1` = GPS fix, `2` = DGPS fix, `3` = PPS fix */
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uint8_t hours; /*!< Hours in UTC */
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uint8_t minutes; /*!< Minutes in UTC */
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uint8_t seconds; /*!< Seconds in UTC */
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#endif /* LWGPS_CFG_STATEMENT_GPGGA || __DOXYGEN__ */
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#if LWGPS_CFG_STATEMENT_GPGSA || __DOXYGEN__
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/* Information related to GPGSA statement */
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#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__
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lwgps_float_t dop_h; /*!< Dolution of precision, horizontal */
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lwgps_float_t dop_v; /*!< Dolution of precision, vertical */
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lwgps_float_t dop_p; /*!< Dolution of precision, position */
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#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */
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uint8_t systemId;
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uint8_t fix_mode; /*!< Fix mode. `1` = NO fix, `2` = 2D fix, `3` = 3D fix */
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uint8_t satellites_ids[12]; /*!< List of satellite IDs in use. Valid range is `0` to `sats_in_use` */
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#endif /* LWGPS_CFG_STATEMENT_GPGSA || __DOXYGEN__ */
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#if LWGPS_CFG_STATEMENT_GPGSV || __DOXYGEN__
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/* Information related to GPGSV statement */
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uint8_t sats_in_view; /*!< Number of satellites in view */
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#if LWGPS_CFG_STATEMENT_GPGSV_SAT_DET || __DOXYGEN__
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lwgps_sat_t sats_in_view_desc[12];
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#endif /* LWGPS_CFG_STATEMENT_GPGSV_SAT_DET || __DOXYGEN__ */
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#endif /* LWGPS_CFG_STATEMENT_GPGSV || __DOXYGEN__ */
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#if LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__
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/* Information related to GPRMC statement */
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uint8_t is_valid; /*!< GPS valid status */
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#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__
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lwgps_float_t speed; /*!< Ground speed in knots */
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lwgps_float_t course; /*!< Ground coarse */
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#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */
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lwgps_float_t variation; /*!< Magnetic variation */
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uint8_t date; /*!< Fix date */
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uint8_t month; /*!< Fix month */
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uint8_t year; /*!< Fix year */
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#endif /* LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ */
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#if !LWGPS_CFG_STATEMENT_GPGGA && !__DOXYGEN__
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/* rely on time fields from GPGGA if possible */
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uint8_t hours;
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uint8_t minutes;
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uint8_t seconds;
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#endif /* !LWGPS_CFG_STATEMENT_GPGGA && !__DOXYGEN__ */
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#if !LWGPS_CFG_STATEMENT_GPRMC && !__DOXYGEN__
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/* rely on date fields from GPRMC if possible */
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uint8_t date;
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uint8_t month;
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uint8_t year;
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#endif /* !LWGPS_CFG_STATEMENT_GPRMC && !__DOXYGEN__ */
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#if LWGPS_CFG_STATEMENT_PUBX_TIME || __DOXYGEN__
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/* fields only available in PUBX_TIME */
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lwgps_float_t utc_tow; /*!< UTC TimeOfWeek, eg 113851.00 */
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uint16_t utc_wk; /*!< UTC week number, continues beyond 1023 */
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uint8_t leap_sec; /*!< UTC leap seconds; UTC + leap_sec = TAI */
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uint32_t clk_bias; /*!< Receiver clock bias, eg 1930035 */
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lwgps_float_t clk_drift; /*!< Receiver clock drift, eg -2660.664 */
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uint32_t tp_gran; /*!< Time pulse granularity, eg 43 */
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#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME || __DOXYGEN__ */
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#if LWGPS_CFG_STATEMENT_PUBX_POSITION || __DOXYGEN__
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int32_t latitude; /*!< Latitude in units of degrees */
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int32_t longitude; /*!< Longitude in units of degrees */
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uint16_t dop_h; /*!< Horizontal dilution of precision */
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uint16_t dop_v; /*!< Vertical dilution of precision */
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uint32_t acc_h;
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uint32_t acc_v;
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uint16_t speed; /*!< Ground speed in knots */
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uint16_t course; /*!< Ground coarse */
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#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION || __DOXYGEN__ */
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#if !__DOXYGEN__
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struct {
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lwgps_statement_t stat; /*!< Statement index */
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char term_str[13]; /*!< Current term in string format */
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uint8_t term_pos; /*!< Current index position in term */
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uint8_t term_num; /*!< Current term number */
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uint8_t star; /*!< Star detected flag */
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#if LWGPS_CFG_CRC
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uint8_t crc_calc; /*!< Calculated CRC string */
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#endif /* LWGPS_CFG_CRC */
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union {
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uint8_t dummy; /*!< Dummy byte */
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#if LWGPS_CFG_STATEMENT_GPGGA
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struct {
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lwgps_float_t latitude; /*!< GPS latitude position in degrees */
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lwgps_float_t longitude; /*!< GPS longitude position in degrees */
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lwgps_float_t altitude; /*!< GPS altitude in meters */
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lwgps_float_t geo_sep; /*!< Geoid separation in units of meters */
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uint8_t sats_in_use; /*!< Number of satellites currently in use */
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uint8_t fix; /*!< Type of current fix, `0` = Invalid, `1` = GPS fix, `2` = Differential GPS fix */
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uint8_t hours; /*!< Current UTC hours */
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uint8_t minutes; /*!< Current UTC minutes */
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uint8_t seconds; /*!< Current UTC seconds */
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} gga; /*!< GPGGA message */
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#endif /* LWGPS_CFG_STATEMENT_GPGGA */
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#if LWGPS_CFG_STATEMENT_GPGSA
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struct {
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lwgps_float_t dop_h; /*!< Horizontal dilution of precision */
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lwgps_float_t dop_v; /*!< Vertical dilution of precision */
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lwgps_float_t dop_p; /*!< Position dilution of precision */
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uint8_t systemId;
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uint8_t fix_mode; /*!< Fix mode, `1` = No fix, `2` = 2D fix, `3` = 3D fix */
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uint8_t satellites_ids[12]; /*!< IDs of satellites currently in use */
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} gsa; /*!< GPGSA message */
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#endif /* LWGPS_CFG_STATEMENT_GPGSA */
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#if LWGPS_CFG_STATEMENT_GPGSV
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struct {
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uint8_t sats_in_view; /*!< Number of stallites in view */
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uint8_t stat_num; /*!< Satellite line number during parsing GPGSV data */
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} gsv; /*!< GPGSV message */
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#endif /* LWGPS_CFG_STATEMENT_GPGSV */
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#if LWGPS_CFG_STATEMENT_GPRMC
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struct {
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uint8_t is_valid; /*!< Status whether GPS status is valid or not */
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uint8_t date; /*!< Current UTC date */
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uint8_t month; /*!< Current UTC month */
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uint8_t year; /*!< Current UTC year */
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lwgps_float_t speed; /*!< Current spead over the ground in knots */
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lwgps_float_t course; /*!< Current course over ground */
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lwgps_float_t variation; /*!< Current magnetic variation in degrees */
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} rmc; /*!< GPRMC message */
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#endif /* LWGPS_CFG_STATEMENT_GPRMC */
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#if LWGPS_CFG_STATEMENT_PUBX_POSITION
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struct {
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int32_t latitude; /*!< Latitude in units of degrees */
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int32_t longitude; /*!< Longitude in units of degrees */
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uint16_t dop_h; /*!< Horizontal dilution of precision */
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uint16_t dop_v; /*!< Vertical dilution of precision */
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uint32_t acc_h;
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uint32_t acc_v;
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uint16_t speed; /*!< Ground speed in knots */
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uint16_t course; /*!< Ground coarse */
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} position; /*!< PUBX TIME message */
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#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION */
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#if LWGPS_CFG_STATEMENT_PUBX_TIME
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struct {
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uint8_t hours; /*!< Current UTC hours */
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uint8_t minutes; /*!< Current UTC minutes */
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uint8_t seconds; /*!< Current UTC seconds */
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uint8_t date; /*!< Current UTC date */
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uint8_t month; /*!< Current UTC month */
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uint8_t year; /*!< Current UTC year */
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lwgps_float_t utc_tow; /*!< UTC TimeOfWeek, eg 113851.00 */
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uint16_t utc_wk; /*!< UTC week number, continues beyond 1023 */
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uint8_t leap_sec; /*!< UTC leap seconds; UTC + leap_sec = TAI */
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uint32_t clk_bias; /*!< Receiver clock bias, eg 1930035 */
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lwgps_float_t clk_drift; /*!< Receiver clock drift, eg -2660.664 */
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uint32_t tp_gran; /*!< Time pulse granularity, eg 43 */
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} time; /*!< PUBX TIME message */
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#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME */
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} data; /*!< Union with data for each information */
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} p; /*!< Structure with private data */
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#endif /* !__DOXYGEN__ */
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} lwgps_t;
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/**
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* \brief List of optional speed transformation from GPS values (in knots)
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*/
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typedef enum {
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/* Metric values */
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LWGPS_SPEED_KPS, /*!< Kilometers per second */
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LWGPS_SPEED_KPH, /*!< Kilometers per hour */
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LWGPS_SPEED_MPS, /*!< Meters per second */
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LWGPS_SPEED_MPM, /*!< Meters per minute */
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/* Imperial values */
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LWGPS_SPEED_MIPS, /*!< Miles per second */
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LWGPS_SPEED_MPH, /*!< Miles per hour */
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LWGPS_SPEED_FPS, /*!< Foots per second */
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LWGPS_SPEED_FPM, /*!< Foots per minute */
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/* Optimized for runners/joggers */
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LWGPS_SPEED_MPK, /*!< Minutes per kilometer */
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LWGPS_SPEED_SPK, /*!< Seconds per kilometer */
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LWGPS_SPEED_SP100M, /*!< Seconds per 100 meters */
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LWGPS_SPEED_MIPM, /*!< Minutes per mile */
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LWGPS_SPEED_SPM, /*!< Seconds per mile */
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LWGPS_SPEED_SP100Y, /*!< Seconds per 100 yards */
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/* Nautical values */
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LWGPS_SPEED_SMPH, /*!< Sea miles per hour */
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} lwgps_speed_t;
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#define lwgps_speed_kps LWGPS_SPEED_KPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_kph LWGPS_SPEED_KPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mps LWGPS_SPEED_MPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mpm LWGPS_SPEED_MPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mips LWGPS_SPEED_MIPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mph LWGPS_SPEED_MPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_fps LWGPS_SPEED_FPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_fpm LWGPS_SPEED_FPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mpk LWGPS_SPEED_MPK /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_spk LWGPS_SPEED_SPK /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_sp100m LWGPS_SPEED_SP100M /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_mipm LWGPS_SPEED_MIPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_spm LWGPS_SPEED_SPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_sp100y LWGPS_SPEED_SP100Y /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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#define lwgps_speed_smph LWGPS_SPEED_SMPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */
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/**
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* \brief Signature for caller-suplied callback function from gps_process
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* \param[in] res: statement type of recently parsed statement
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*/
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typedef void (*lwgps_process_fn)(lwgps_statement_t res);
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/**
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* \brief Check if current GPS data contain valid signal
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* \note \ref LWGPS_CFG_STATEMENT_GPRMC must be enabled and `GPRMC` statement must be sent from GPS receiver
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* \param[in] _gh: GPS handle
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* \return `1` on success, `0` otherwise
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*/
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#if LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__
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#define lwgps_is_valid(_gh) ((_gh)->is_valid)
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#else
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#define lwgps_is_valid(_gh) (0)
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#endif /* LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ */
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uint8_t lwgps_init(lwgps_t* gh);
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#if LWGPS_CFG_STATUS || __DOXYGEN__
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uint8_t lwgps_process(lwgps_t* gh, const void* data, size_t len, lwgps_process_fn evt_fn);
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#else /* LWGPS_CFG_STATUS */
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uint8_t lwgps_process(lwgps_t* gh, const void* data, size_t len);
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#endif /* !LWGPS_CFG_STATUS */
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uint8_t lwgps_distance_bearing(lwgps_float_t las, lwgps_float_t los, lwgps_float_t lae, lwgps_float_t loe,
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lwgps_float_t* d, lwgps_float_t* b);
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lwgps_float_t lwgps_to_speed(lwgps_float_t sik, lwgps_speed_t ts);
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/**
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* \}
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*/
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* LWGPS_HDR_H */
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