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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/gps/nmealib/generate.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/gps/nmealib/generate.c')
-rw-r--r-- | apps/gps/nmealib/generate.c | 229 |
1 files changed, 229 insertions, 0 deletions
diff --git a/apps/gps/nmealib/generate.c b/apps/gps/nmealib/generate.c new file mode 100644 index 000000000..4c9389300 --- /dev/null +++ b/apps/gps/nmealib/generate.c @@ -0,0 +1,229 @@ +/* + * + * NMEA library + * URL: http://nmea.sourceforge.net + * Author: Tim (xtimor@gmail.com) + * Licence: http://www.gnu.org/licenses/lgpl.html + * $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $ + * + */ + +#include "nmea/tok.h" +#include "nmea/sentence.h" +#include "nmea/generate.h" +#include "nmea/units.h" + +#include <string.h> +#include <stdlib.h> +#include <math.h> + +int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack) +{ + return nmea_printf(buff, buff_sz, + "$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d", + pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec, + pack->lat, pack->ns, pack->lon, pack->ew, + pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units, + pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid); +} + +int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack) +{ + return nmea_printf(buff, buff_sz, + "$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f", + pack->fix_mode, pack->fix_type, + pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5], + pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11], + pack->PDOP, pack->HDOP, pack->VDOP); +} + +int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack) +{ + return nmea_printf(buff, buff_sz, + "$GPGSV,%1d,%1d,%02d," + "%02d,%02d,%03d,%02d," + "%02d,%02d,%03d,%02d," + "%02d,%02d,%03d,%02d," + "%02d,%02d,%03d,%02d", + pack->pack_count, pack->pack_index + 1, pack->sat_count, + pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig, + pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig, + pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig, + pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig); +} + +int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack) +{ + return nmea_printf(buff, buff_sz, + "$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C", + pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec, + pack->status, pack->lat, pack->ns, pack->lon, pack->ew, + pack->speed, pack->direction, + pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100, + pack->declination, pack->declin_ew, pack->mode); +} + +int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack) +{ + return nmea_printf(buff, buff_sz, + "$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C", + pack->dir, pack->dir_t, + pack->dec, pack->dec_m, + pack->spn, pack->spn_n, + pack->spk, pack->spk_k); +} + +void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack) +{ + nmea_zero_GPGGA(pack); + + pack->utc = info->utc; + pack->lat = fabs(info->lat); + pack->ns = ((info->lat > 0)?'N':'S'); + pack->lon = fabs(info->lon); + pack->ew = ((info->lon > 0)?'E':'W'); + pack->sig = info->sig; + pack->satinuse = info->satinfo.inuse; + pack->HDOP = info->HDOP; + pack->elv = info->elv; +} + +void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack) +{ + int it; + + nmea_zero_GPGSA(pack); + + pack->fix_type = info->fix; + pack->PDOP = info->PDOP; + pack->HDOP = info->HDOP; + pack->VDOP = info->VDOP; + + for(it = 0; it < NMEA_MAXSAT; ++it) + { + pack->sat_prn[it] = + ((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0); + } +} + +int nmea_gsv_npack(int sat_count) +{ + int pack_count = (int)ceil(((float)sat_count) / NMEA_SATINPACK); + + if(0 == pack_count) + pack_count = 1; + + return pack_count; +} + +void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx) +{ + int sit, pit; + + nmea_zero_GPGSV(pack); + + pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT; + pack->pack_count = nmea_gsv_npack(pack->sat_count); + + if(pack->pack_count == 0) + pack->pack_count = 1; + + if(pack_idx >= pack->pack_count) + pack->pack_index = pack_idx % pack->pack_count; + else + pack->pack_index = pack_idx; + + for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit) + pack->sat_data[pit] = info->satinfo.sat[sit]; +} + +void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack) +{ + nmea_zero_GPRMC(pack); + + pack->utc = info->utc; + pack->status = ((info->sig > 0)?'A':'V'); + pack->lat = fabs(info->lat); + pack->ns = ((info->lat > 0)?'N':'S'); + pack->lon = fabs(info->lon); + pack->ew = ((info->lon > 0)?'E':'W'); + pack->speed = info->speed / NMEA_TUD_KNOTS; + pack->direction = info->direction; + pack->declination = info->declination; + pack->declin_ew = 'E'; + pack->mode = ((info->sig > 0)?'A':'N'); +} + +void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack) +{ + nmea_zero_GPVTG(pack); + + pack->dir = info->direction; + pack->dec = info->declination; + pack->spn = info->speed / NMEA_TUD_KNOTS; + pack->spk = info->speed; +} + +int nmea_generate( + char *buff, int buff_sz, + const nmeaINFO *info, + int generate_mask + ) +{ + int gen_count = 0, gsv_it, gsv_count; + int pack_mask = generate_mask; + + nmeaGPGGA gga; + nmeaGPGSA gsa; + nmeaGPGSV gsv; + nmeaGPRMC rmc; + nmeaGPVTG vtg; + + if(!buff) + return 0; + + while(pack_mask) + { + if(pack_mask & GPGGA) + { + nmea_info2GPGGA(info, &gga); + gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga); + pack_mask &= ~GPGGA; + } + else if(pack_mask & GPGSA) + { + nmea_info2GPGSA(info, &gsa); + gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa); + pack_mask &= ~GPGSA; + } + else if(pack_mask & GPGSV) + { + gsv_count = nmea_gsv_npack(info->satinfo.inview); + for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it) + { + nmea_info2GPGSV(info, &gsv, gsv_it); + gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv); + } + pack_mask &= ~GPGSV; + } + else if(pack_mask & GPRMC) + { + nmea_info2GPRMC(info, &rmc); + gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc); + pack_mask &= ~GPRMC; + } + else if(pack_mask & GPVTG) + { + nmea_info2GPVTG(info, &vtg); + gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg); + pack_mask &= ~GPVTG; + } + else + break; + + if(buff_sz - gen_count <= 0) + break; + } + + return gen_count; +} |