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gps_nmea.h
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1 /*
2  * Copyright (C) 2004-2011 The Paparazzi Team
3  * 2014 Freek van Tienen <freek.v.tienen@gmail.com>
4  *
5  * This file is part of paparazzi.
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7  * paparazzi is free software; you can redistribute it and/or modify
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22  */
23 
29 #ifndef GPS_NMEA_H
30 #define GPS_NMEA_H
31 
32 #include "mcu_periph/uart.h"
33 #include "subsystems/gps.h"
34 
35 #define GPS_NMEA_NB_CHANNELS 12
36 
37 #define NMEA_MAXLEN 255
38 
39 #ifndef PRIMARY_GPS
40 #define PRIMARY_GPS GPS_NMEA
41 #endif
42 
43 struct GpsNmea {
46  bool have_gsv;
49  int msg_len;
51 
52  struct GpsState state;
53 };
54 
55 extern struct GpsNmea gps_nmea;
56 
57 extern void gps_nmea_init(void);
58 extern void gps_nmea_event(void);
59 
60 #define gps_nmea_periodic_check() gps_periodic_check(&gps_nmea.state)
61 
62 
63 /*
64  * This part is used by the autopilot to read data from a uart
65  */
66 
68 #include "pprzlink/pprzlink_device.h"
69 
70 extern void nmea_configure(void);
71 extern void nmea_parse_char(uint8_t c);
72 extern bool nmea_parse_msg(void);
73 extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
74 extern void nmea_parse_prop_init(void);
75 extern bool nmea_parse_prop_msg(void);
76 extern void nmea_gps_msg(void);
77 
79 static inline void nmea_read_until(int *i)
80 {
81  while (gps_nmea.msg_buf[(*i)++] != ',') {
82  if (*i >= gps_nmea.msg_len) {
83  return;
84  }
85  }
86 }
87 
88 #endif /* GPS_NMEA_H */
bool msg_available
flag set to TRUE if a new msg/sentence is available to be parsed
Definition: gps_nmea.h:44
bool nmea_parse_prop_msg(void)
Definition: gps_furuno.c:96
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
void gps_nmea_event(void)
Definition: gps_nmea.c:78
void gps_nmea_init(void)
Definition: gps_nmea.c:66
struct GpsState state
Definition: gps_nmea.h:52
void nmea_parse_prop_init(void)
Definition: gps_furuno.c:90
char msg_buf[NMEA_MAXLEN]
buffer for storing one nmea-line
Definition: gps_nmea.h:48
static void nmea_read_until(int *i)
Read until a certain character, placed here for proprietary includes.
Definition: gps_nmea.h:79
#define NMEA_MAXLEN
Definition: gps_nmea.h:37
void nmea_configure(void)
The function to be called when a characted from the device is available.
Definition: gps_furuno.c:66
uint8_t gps_nb_ovrn
number if incomplete nmea-messages
Definition: gps_nmea.h:47
void nmea_gps_msg(void)
Definition: gps_nmea.c:95
bool have_gsv
flag set to TRUE if GPGSV message received
Definition: gps_nmea.h:46
data structure for GPS information
Definition: gps.h:87
Device independent GPS code (interface)
bool nmea_parse_msg(void)
nmea_parse_char() has a complete line.
Definition: gps_nmea.c:133
struct GpsNmea gps_nmea
Definition: gps_nmea.c:59
uint8_t status
line parser status
Definition: gps_nmea.h:50
unsigned char uint8_t
Definition: types.h:14
bool is_configured
flag set to TRUE if configuration is finished
Definition: gps_nmea.h:45
int msg_len
Definition: gps_nmea.h:49
void nmea_parse_char(uint8_t c)
This is the actual parser.
Definition: gps_nmea.c:174
uint8_t buff[25]
Buffer used for general comunication over SPI (in buffer)
uint8_t nmea_calc_crc(const char *buff, int buff_sz)
Calculate control sum of binary buffer.
Definition: gps_nmea.c:243