gps_nmea.h File Reference

#include "mcu_periph/uart.h"
#include "subsystems/gps.h"
#include "pprzlink/pprzlink_device.h"

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Data Structures
struct	GpsNmea

Macros
#define	GPS_NMEA_NB_CHANNELS   12
#define	NMEA_MAXLEN   255
#define	PRIMARY_GPS   GPS_NMEA
#define	gps_nmea_periodic_check()   gps_periodic_check(&gps_nmea.state)

Functions
void	gps_nmea_init (void)
void	gps_nmea_event (void)
void	nmea_configure (void)
	The function to be called when a characted from the device is available. More...
void	nmea_parse_char (uint8_t c)
	This is the actual parser. More...
bool	nmea_parse_msg (void)
	nmea_parse_char() has a complete line. More...
uint8_t	nmea_calc_crc (const char *buff, int buff_sz)
	Calculate control sum of binary buffer. More...
void	nmea_parse_prop_init (void)
bool	nmea_parse_prop_msg (void)
void	nmea_gps_msg (void)
static void	nmea_read_until (int *i)
	Read until a certain character, placed here for proprietary includes. More...

Variables
struct GpsNmea	gps_nmea

Detailed Description

NMEA protocol specific code.

Definition in file gps_nmea.h.

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Data Structure Documentation

GpsNmea

struct GpsNmea

Definition at line 43 of file gps_nmea.h.

Collaboration diagram for GpsNmea:

Data Fields
uint8_t	gps_nb_ovrn	number if incomplete nmea-messages
bool	have_gsv	flag set to TRUE if GPGSV message received
bool	is_configured	flag set to TRUE if configuration is finished
bool	msg_available	flag set to TRUE if a new msg/sentence is available to be parsed
char	msg_buf[NMEA_MAXLEN]	buffer for storing one nmea-line
int	msg_len
struct GpsState	state
uint8_t	status	line parser status

Macro Definition Documentation

GPS_NMEA_NB_CHANNELS

#define GPS_NMEA_NB_CHANNELS   12

Definition at line 35 of file gps_nmea.h.

gps_nmea_periodic_check

#define gps_nmea_periodic_check

(

)

gps_periodic_check(&gps_nmea.state)

Definition at line 60 of file gps_nmea.h.

NMEA_MAXLEN

#define NMEA_MAXLEN   255

Definition at line 37 of file gps_nmea.h.

PRIMARY_GPS

#define PRIMARY_GPS   GPS_NMEA

Definition at line 40 of file gps_nmea.h.

Function Documentation

gps_nmea_event()

void gps_nmea_event

(

void

)

Definition at line 78 of file gps_nmea.c.

References dev, gps_nmea, GpsNmea::is_configured, GpsNmea::msg_available, nmea_configure(), nmea_gps_msg(), and nmea_parse_char().

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gps_nmea_init()

void gps_nmea_init

(

void

)

Definition at line 66 of file gps_nmea.c.

References GpsNmea::gps_nb_ovrn, gps_nmea, GPS_NMEA_NB_CHANNELS, GpsNmea::have_gsv, GpsNmea::is_configured, GpsNmea::msg_available, GpsNmea::msg_len, GpsState::nb_channels, nmea_configure(), nmea_parse_prop_init(), and GpsNmea::state.

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nmea_calc_crc()

uint8_t nmea_calc_crc	(	const char *	buff,
		int	buff_sz
	)

Calculate control sum of binary buffer.

Definition at line 243 of file gps_nmea.c.

References buff.

Referenced by nmea_configure().

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nmea_configure()

void nmea_configure

(

void

)

The function to be called when a characted from the device is available.

The function to be called when a characted from the device is available.

Sets gps_nmea.is_configured to TRUE if all config msgs are sent.

Definition at line 66 of file gps_furuno.c.

References crc, fd, furuno_cfg_cnt, gps_furuno_settings, GPS_FURUNO_SETTINGS_NB, gps_nmea, GpsLinkDevice, GpsNmea::is_configured, and nmea_calc_crc().

Referenced by gps_nmea_event(), and gps_nmea_init().

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nmea_gps_msg()

void nmea_gps_msg

(

void

)

Definition at line 95 of file gps_nmea.c.

References GpsState::fix, get_sys_time_usec(), GPS_FIX_3D, gps_nmea, GPS_NMEA_ID, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, sys_time::nb_sec, sys_time::nb_sec_rem, nmea_parse_msg(), and GpsNmea::state.

Referenced by gps_nmea_event().

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nmea_parse_char()

void nmea_parse_char

(

uint8_t

c

)

This is the actual parser.

It reads one character at a time setting gps_nmea.msg_available to TRUE after a full line.

Definition at line 174 of file gps_nmea.c.

References c(), GOT_CHECKSUM, GOT_END, GOT_START, gps_nmea, GpsNmea::msg_available, GpsNmea::msg_buf, GpsNmea::msg_len, NMEA_MAXLEN, NMEA_PRINT, GpsNmea::status, and WAIT.

Referenced by gps_nmea_event().

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nmea_parse_msg()

bool nmea_parse_msg

(

void

)

nmea_parse_char() has a complete line.

Find out what type of message it is and hand it to the parser for that type.

Returns

true if msg was valid and gps_nmea.state updated

Definition at line 133 of file gps_nmea.c.

References gps_nmea, GpsNmea::have_gsv, GpsNmea::msg_buf, GpsNmea::msg_len, nmea_parse_GGA(), nmea_parse_GSA(), nmea_parse_GSV(), nmea_parse_prop_msg(), nmea_parse_RMC(), NMEA_PRINT, GpsNmea::status, and WAIT.

Referenced by nmea_gps_msg().

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nmea_parse_prop_init()

void nmea_parse_prop_init

(

void

)

Definition at line 90 of file gps_furuno.c.

References furuno_cfg_cnt.

Referenced by gps_nmea_init().

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nmea_parse_prop_msg()

bool nmea_parse_prop_msg

(

void

)

Definition at line 96 of file gps_furuno.c.

References gps_nmea, GpsNmea::msg_buf, GpsNmea::msg_len, and nmea_parse_perdcrv().

Referenced by nmea_parse_msg().

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nmea_read_until()

static void nmea_read_until ( int *  i )

inlinestatic

Read until a certain character, placed here for proprietary includes.

Definition at line 79 of file gps_nmea.h.

References gps_nmea, GpsNmea::msg_buf, and GpsNmea::msg_len.

Referenced by nmea_parse_GGA(), nmea_parse_GSA(), nmea_parse_GSV(), nmea_parse_perdcrv(), and nmea_parse_RMC().

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Variable Documentation

gps_nmea

struct GpsNmea gps_nmea

Definition at line 59 of file gps_nmea.c.

Referenced by gps_nmea_event(), gps_nmea_init(), nmea_configure(), nmea_gps_msg(), nmea_parse_char(), nmea_parse_GGA(), nmea_parse_GSA(), nmea_parse_GSV(), nmea_parse_msg(), nmea_parse_perdcrv(), nmea_parse_prop_msg(), nmea_parse_RMC(), and nmea_read_until().