gps_nmea_send.c File Reference

module used to send GPS data over a Tawaki UART for extern instrument using NMEA protocol Exemple of use : MAPIR camera stores GPS data in metadata on each frame More...

#include "modules/gps/gps_nmea_send.h"
#include "mcu_periph/uart.h"
#include "generated/airframe.h"
#include "state.h"
#include "modules/gps/gps.h"
#include <string.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include <inttypes.h>

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Functions
static void	recover_gps_data (void)
	Function to recover data available onboard from GPS.
static void	build_nmea_sentence (void)
	Function to build sentence for NMEA Protocol.
static uint8_t	nmea_checksum (const char *sentence, int length)
	Function to calculate checksum.
static void	nmea_convert_deg_to_DDMM (double deg, char *buf, int is_lat)
	Function to convert lat long in DDLL.MMMM Format Lat and long don't have the same length.
static void	gps_nmea_get_system_date_str (char *buf_date, size_t buf_date_size, char *buf_time, size_t buf_time_size)
	Get Date from system.
static void	nmea_send (const char *payload, int payload_length)
	Function to send payload to UART.
void	gps_nmea_send_init (void)
	Initialization function.
void	gps_nmea_send_periodic (void)
	Periodic function to send data.

Variables
struct Gps_Nmea_Send	gps_nmea_send

Detailed Description

module used to send GPS data over a Tawaki UART for extern instrument using NMEA protocol Exemple of use : MAPIR camera stores GPS data in metadata on each frame

Author

Jean-Baptiste FORESTIER

Definition in file gps_nmea_send.c.

Function Documentation

build_nmea_sentence()

void build_nmea_sentence ( void  )

static

Function to build sentence for NMEA Protocol.

Definition at line 105 of file gps_nmea_send.c.

References gps_nmea_send_msg_t::course, GpsState::fix, foo, gps, GPS_FIX_3D, gps_nmea_get_system_date_str(), gps_nmea_send, gps_nmea_send_msg_t::hmsl, gps_nmea_send_msg_t::lat, gps_nmea_send_msg_t::lon, Gps_Nmea_Send::msg, nmea_checksum(), nmea_convert_deg_to_DDMM(), nmea_send(), gps_nmea_send_msg_t::num_sv, gps_nmea_send_msg_t::pdop, and gps_nmea_send_msg_t::vground.

Referenced by gps_nmea_send_periodic().

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gps_nmea_get_system_date_str()

void gps_nmea_get_system_date_str ( char *  buf_date, size_t  buf_date_size, char *  buf_time, size_t  buf_time_size  )

static

Get Date from system.

Definition at line 221 of file gps_nmea_send.c.

References foo, gps, GpsState::tow, and GpsState::week.

Referenced by build_nmea_sentence().

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gps_nmea_send_init()

void gps_nmea_send_init

(

void

)

Initialization function.

Definition at line 56 of file gps_nmea_send.c.

References gps_nmea_send_msg_t::course, Gps_Nmea_Send::error_init, gps_nmea_send, gps_nmea_send_msg_t::hmsl, gps_nmea_send_msg_t::lat, gps_nmea_send_msg_t::lon, Gps_Nmea_Send::msg, gps_nmea_send_msg_t::num_sv, gps_nmea_send_msg_t::pdop, and gps_nmea_send_msg_t::vground.

gps_nmea_send_periodic()

void gps_nmea_send_periodic

(

void

)

Periodic function to send data.

Definition at line 72 of file gps_nmea_send.c.

References build_nmea_sentence(), and recover_gps_data().

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nmea_checksum()

uint8_t nmea_checksum ( const char *  sentence, int  length  )

static

Function to calculate checksum.

Definition at line 190 of file gps_nmea_send.c.

References foo.

Referenced by build_nmea_sentence().

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nmea_convert_deg_to_DDMM()

void nmea_convert_deg_to_DDMM ( double  deg, char *  buf, int  is_lat  )

static

Function to convert lat long in DDLL.MMMM Format Lat and long don't have the same length.

Definition at line 203 of file gps_nmea_send.c.

References foo.

Referenced by build_nmea_sentence().

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nmea_send()

void nmea_send ( const char *  payload, int  payload_length  )

static

Function to send payload to UART.

Definition at line 273 of file gps_nmea_send.c.

References foo, and uart_put_buffer().

Referenced by build_nmea_sentence().

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recover_gps_data()

void recover_gps_data ( void  )

static

Function to recover data available onboard from GPS.

Definition at line 82 of file gps_nmea_send.c.

References GpsState::course, gps_nmea_send_msg_t::course, foo, gps, gps_nmea_send, GpsState::gspeed, GpsState::hmsl, gps_nmea_send_msg_t::hmsl, LlaCoor_i::lat, gps_nmea_send_msg_t::lat, GpsState::lla_pos, LlaCoor_i::lon, gps_nmea_send_msg_t::lon, Gps_Nmea_Send::msg, NormCourseRad, GpsState::num_sv, gps_nmea_send_msg_t::num_sv, GpsState::pdop, gps_nmea_send_msg_t::pdop, stateGetHmslOrigin_f(), stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetPositionLla_f(), gps_nmea_send_msg_t::vground, and EnuCoor_f::z.

Referenced by gps_nmea_send_periodic().

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Variable Documentation

gps_nmea_send

struct Gps_Nmea_Send gps_nmea_send

Definition at line 43 of file gps_nmea_send.c.

Referenced by build_nmea_sentence(), gps_nmea_send_init(), and recover_gps_data().