gps_nmea.c File Reference

Basic parser for the NMEA protocol. More...

#include "subsystems/gps.h"
#include "subsystems/abi.h"
#include "led.h"
#include "math/pprz_geodetic_float.h"
#include <inttypes.h>
#include <string.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>

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Macros
#define	NMEA_PRINT(...)   {};
#define	WAIT   0
#define	GOT_START   1
#define	GOT_CHECKSUM   2
#define	GOT_END   3

Functions
static void	nmea_parse_GSA (void)
	Parse GSA NMEA messages. More...
static void	nmea_parse_RMC (void)
	Parse RMC NMEA messages. More...
static void	nmea_parse_GGA (void)
	Parse GGA NMEA messages. More...
static void	nmea_parse_GSV (void)
	Parse GSV-nmea-messages. More...
void	gps_impl_init (void)
	GPS initialization. More...
void	gps_nmea_msg (void)
void WEAK	nmea_configure (void)
	The function to be called when a characted from the device is available. More...
void WEAK	nmea_parse_prop_init (void)
void WEAK	nmea_parse_prop_msg (void)
void	nmea_parse_msg (void)
	nmea_parse_char() has a complete line. More...
void	nmea_parse_char (uint8_t c)
	This is the actual parser. More...
uint8_t	nmea_calc_crc (const char *buff, int buff_sz)
	Calculate control sum of binary buffer. More...

Variables
struct GpsNmea	gps_nmea

Detailed Description

Basic parser for the NMEA protocol.

Status: Parsing GGA, RMC, GSA and GSV.

Definition in file gps_nmea.c.

Macro Definition Documentation

#define GOT_CHECKSUM   2

Definition at line 59 of file gps_nmea.c.

Referenced by nmea_parse_char().

#define GOT_END   3

Definition at line 60 of file gps_nmea.c.

Referenced by nmea_parse_char().

#define GOT_START   1

Definition at line 58 of file gps_nmea.c.

Referenced by nmea_parse_char().

#define NMEA_PRINT

(

...

)

{};

Definition at line 49 of file gps_nmea.c.

Referenced by nmea_parse_char(), nmea_parse_GGA(), nmea_parse_GSA(), nmea_parse_GSV(), nmea_parse_msg(), and nmea_parse_RMC().

#define WAIT   0

Definition at line 57 of file gps_nmea.c.

Referenced by nmea_parse_char(), and nmea_parse_msg().

Function Documentation

void gps_impl_init

(

void

)

GPS initialization.

GPS model specific init implementation.

Definition at line 70 of file gps_nmea.c.

References FALSE, gps, GPS_NB_CHANNELS, GpsNmea::gps_nb_ovrn, gps_nmea, GpsNmea::have_gsv, GpsNmea::is_configured, GpsNmea::msg_available, GpsNmea::msg_len, GpsState::nb_channels, nmea_configure(), nmea_parse_prop_init(), and GpsNmea::pos_available.

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void gps_nmea_msg

(

void

)

Definition at line 83 of file gps_nmea.c.

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

Referenced by GpsEvent().

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uint8_t nmea_calc_crc	(	const char *	buff,
		int	buff_sz
	)

Calculate control sum of binary buffer.

Definition at line 225 of file gps_nmea.c.

Referenced by nmea_configure().

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void WEAK 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 101 of file gps_nmea.c.

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

Referenced by gps_impl_init(), and GpsEvent().

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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 156 of file gps_nmea.c.

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

Referenced by GpsEvent().

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static void nmea_parse_GGA ( void  )

static

Parse GGA NMEA messages.

GGA has essential fix data providing 3D location and HDOP. Msg stored in gps_nmea.msg_buf.

Definition at line 353 of file gps_nmea.c.

References LlaCoor_f::alt, LlaCoor_i::alt, UtmCoor_i::alt, UtmCoor_f::east, UtmCoor_i::east, ecef_of_lla_f(), GpsState::ecef_pos, FALSE, gps, gps_nmea, GpsState::hmsl, LlaCoor_f::lat, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_f::lon, LlaCoor_i::lon, GpsNmea::msg_buf, nav_utm_zone0, NMEA_PRINT, nmea_read_until(), UtmCoor_f::north, UtmCoor_i::north, GpsState::num_sv, GpsNmea::pos_available, GpsState::tow, TRUE, utm_of_lla_f(), GpsState::utm_pos, EcefCoor_f::x, EcefCoor_i::x, EcefCoor_f::y, EcefCoor_i::y, EcefCoor_f::z, EcefCoor_i::z, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by nmea_parse_msg().

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static void nmea_parse_GSA ( void  )

static

Parse GSA NMEA messages.

GPS DOP and active satellites. Msg stored in gps_nmea.msg_buf.

Definition at line 242 of file gps_nmea.c.

References GpsState::fix, gps, gps_nmea, GpsNmea::have_gsv, GpsNmea::msg_buf, NMEA_PRINT, nmea_read_until(), GpsState::pdop, SVinfo::svid, and GpsState::svinfos.

Referenced by nmea_parse_msg().

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static void nmea_parse_GSV ( void  )

static

Parse GSV-nmea-messages.

Msg stored in gps_nmea.msg_buf.

Definition at line 479 of file gps_nmea.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, FALSE, gps, gps_nmea, GpsNmea::msg_buf, NMEA_PRINT, nmea_read_until(), SVinfo::svid, GpsState::svinfos, and TRUE.

Referenced by nmea_parse_msg().

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void 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.

Definition at line 119 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, TRUE, and WAIT.

Referenced by gps_nmea_msg().

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void WEAK nmea_parse_prop_init

(

void

)

Definition at line 106 of file gps_nmea.c.

References furuno_cfg_cnt.

Referenced by gps_impl_init().

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void WEAK nmea_parse_prop_msg

(

void

)

Definition at line 110 of file gps_nmea.c.

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

Referenced by nmea_parse_msg().

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static void nmea_parse_RMC ( void  )

static

Parse RMC NMEA messages.

Recommended minimum GPS sentence. Msg stored in gps_nmea.msg_buf.

Definition at line 308 of file gps_nmea.c.

References GpsState::course, gps, gps_nmea, GpsState::gspeed, GpsNmea::msg_buf, NMEA_PRINT, and nmea_read_until().

Referenced by nmea_parse_msg().

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Variable Documentation

struct GpsNmea gps_nmea

Definition at line 62 of file gps_nmea.c.

Referenced by gps_impl_init(), gps_nmea_msg(), GpsEvent(), nmea_configure(), 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().