1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
|
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
*
*/
/*! \file */
#ifndef __NMEA_SENTENCE_H__
#define __NMEA_SENTENCE_H__
#include "info.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* NMEA packets type which parsed and generated by library
*/
enum nmeaPACKTYPE
{
GPNON = 0x0000, /**< Unknown packet type. */
GPGGA = 0x0001, /**< GGA - Essential fix data which provide 3D location and accuracy data. */
GPGSA = 0x0002, /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */
GPGSV = 0x0004, /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */
GPRMC = 0x0008, /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */
GPVTG = 0x0010 /**< VTG - Actual track made good and speed over ground. */
};
/**
* GGA packet information structure (Global Positioning System Fix Data)
*/
typedef struct _nmeaGPGGA
{
nmeaTIME utc; /**< UTC of position (just time) */
float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
char ns; /**< [N]orth or [S]outh */
float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
char ew; /**< [E]ast or [W]est */
int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
int satinuse; /**< Number of satellites in use (not those in view) */
float HDOP; /**< Horizontal dilution of precision */
float elv; /**< Antenna altitude above/below mean sea level (geoid) */
char elv_units; /**< [M]eters (Antenna height unit) */
float diff; /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */
char diff_units; /**< [M]eters (Units of geoidal separation) */
float dgps_age; /**< Time in seconds since last DGPS update */
int dgps_sid; /**< DGPS station ID number */
} nmeaGPGGA;
/**
* GSA packet information structure (Satellite status)
*/
typedef struct _nmeaGPGSA
{
char fix_mode; /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */
int fix_type; /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
int sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */
float PDOP; /**< Dilution of precision */
float HDOP; /**< Horizontal dilution of precision */
float VDOP; /**< Vertical dilution of precision */
} nmeaGPGSA;
/**
* GSV packet information structure (Satellites in view)
*/
typedef struct _nmeaGPGSV
{
int pack_count; /**< Total number of messages of this type in this cycle */
int pack_index; /**< Message number */
int sat_count; /**< Total number of satellites in view */
nmeaSATELLITE sat_data[NMEA_SATINPACK];
} nmeaGPGSV;
/**
* RMC packet information structure (Recommended Minimum sentence C)
*/
typedef struct _nmeaGPRMC
{
nmeaTIME utc; /**< UTC of position */
char status; /**< Status (A = active or V = void) */
float lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
char ns; /**< [N]orth or [S]outh */
float lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
char ew; /**< [E]ast or [W]est */
float speed; /**< Speed over the ground in knots */
float direction; /**< Track angle in degrees True */
float declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
char declin_ew; /**< [E]ast or [W]est */
char mode; /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */
} nmeaGPRMC;
/**
* VTG packet information structure (Track made good and ground speed)
*/
typedef struct _nmeaGPVTG
{
float dir; /**< True track made good (degrees) */
char dir_t; /**< Fixed text 'T' indicates that track made good is relative to true north */
float dec; /**< Magnetic track made good */
char dec_m; /**< Fixed text 'M' */
float spn; /**< Ground speed, knots */
char spn_n; /**< Fixed text 'N' indicates that speed over ground is in knots */
float spk; /**< Ground speed, kilometers per hour */
char spk_k; /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */
} nmeaGPVTG;
void nmea_zero_GPGGA(nmeaGPGGA *pack);
void nmea_zero_GPGSA(nmeaGPGSA *pack);
void nmea_zero_GPGSV(nmeaGPGSV *pack);
void nmea_zero_GPRMC(nmeaGPRMC *pack);
void nmea_zero_GPVTG(nmeaGPVTG *pack);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_SENTENCE_H__ */
|
