127 lines
5.4 KiB
C
127 lines
5.4 KiB
C
/***************************************************************************
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* Copyright (C) 2020 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN, *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#include <interfaces/gps.h>
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#include <gps.h>
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#include <minmea.h>
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#include <stdio.h>
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#include <state.h>
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#include <strings.h>
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#define KNOTS2KMH 1.852f
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/**
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* This function parses a GPS NMEA sentence and updates radio state
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*/
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void gps_taskFunc(char *line, __attribute__((unused)) int len, state_t *state)
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{
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switch (minmea_sentence_id(line, false)) {
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case MINMEA_SENTENCE_RMC:
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{
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struct minmea_sentence_rmc frame;
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if (minmea_parse_rmc(&frame, line)) {
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state->gps_data.latitude = minmea_tocoord(&frame.latitude);
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state->gps_data.longitude = minmea_tocoord(&frame.longitude);
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state->gps_data.timestamp.hour = frame.time.hours;
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state->gps_data.timestamp.minute = frame.time.minutes;
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state->gps_data.timestamp.second = frame.time.seconds;
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state->gps_data.timestamp.day = 0;
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state->gps_data.timestamp.date = frame.date.day;
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state->gps_data.timestamp.month = frame.date.month;
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state->gps_data.timestamp.year = frame.date.year;
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}
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// Synchronize RTC with GPS UTC clock
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if(state->settings.gps_set_time)
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rtc_setTime(state->gps_data.timestamp);
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state->gps_data.tmg_true = minmea_tofloat(&frame.course);
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state->gps_data.speed = minmea_tofloat(&frame.speed) * KNOTS2KMH;
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} break;
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case MINMEA_SENTENCE_GGA:
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{
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struct minmea_sentence_gga frame;
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if (minmea_parse_gga(&frame, line))
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{
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state->gps_data.fix_quality = frame.fix_quality;
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state->gps_data.satellites_tracked = frame.satellites_tracked;
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state->gps_data.altitude = minmea_tofloat(&frame.altitude);
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}
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} break;
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case MINMEA_SENTENCE_GSA:
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{
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state->gps_data.active_sats = 0;
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struct minmea_sentence_gsa frame;
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if (minmea_parse_gsa(&frame, line))
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{
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state->gps_data.fix_type = frame.fix_type;
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for (int i = 0; i < 12; i++)
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{
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if (frame.sats[i] != 0)
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{
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state->gps_data.active_sats |= 1 << (frame.sats[i] - 1);
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}
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}
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}
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} break;
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case MINMEA_SENTENCE_GSV:
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{
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struct minmea_sentence_gsv frame;
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if (minmea_parse_gsv(&frame, line))
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{
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state->gps_data.satellites_in_view = frame.total_sats;
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for (int i = 0; i < 4; i++)
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{
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int index = 4 * (frame.msg_nr - 1) + i;
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state->gps_data.satellites[index].id = frame.sats[i].nr;
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state->gps_data.satellites[index].elevation = frame.sats[i].elevation;
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state->gps_data.satellites[index].azimuth = frame.sats[i].azimuth;
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state->gps_data.satellites[index].snr = frame.sats[i].snr;
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}
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// Zero out unused satellite slots
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if (frame.msg_nr == frame.total_msgs && frame.total_msgs < 3)
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bzero(&state->gps_data.satellites[4 * frame.msg_nr],
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sizeof(sat_t) * 12 - frame.total_msgs * 4);
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}
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} break;
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case MINMEA_SENTENCE_VTG:
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{
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struct minmea_sentence_vtg frame;
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if (minmea_parse_vtg(&frame, line)) {
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state->gps_data.speed = minmea_tofloat(&frame.speed_kph);
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state->gps_data.tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees);
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state->gps_data.tmg_true = minmea_tofloat(&frame.true_track_degrees);
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}
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} break;
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// Ignore this message as we take data from RMC
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case MINMEA_SENTENCE_GLL: break;
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// These messages are never sent by the Jumpstar JS-M710 Module
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case MINMEA_SENTENCE_GST: break;
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case MINMEA_SENTENCE_ZDA: break;
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// Error handling
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case MINMEA_INVALID: break;
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case MINMEA_UNKNOWN: break;
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}
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}
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