NMEAParser.h

00001 /**
00002 *******************************************************************************
00003 * @file    NMEAParser.h
00004 * @author  AST / Central Lab
00005 * @version V1.0.0
00006 * @date    18-May-2017
00007 * @brief   NMEA sentence parser
00008 *
00009 *******************************************************************************
00010 * @attention
00011 *
00012 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
00013 *
00014 * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
00015 * You may not use this file except in compliance with the License.
00016 * You may obtain a copy of the License at:
00017 *
00018 *        http://www.st.com/software_license_agreement_liberty_v2
00019 *
00020 * Redistribution and use in source and binary forms, with or without modification,
00021 * are permitted provided that the following conditions are met:
00022 *   1. Redistributions of source code must retain the above copyright notice,
00023 *      this list of conditions and the following disclaimer.
00024 *   2. Redistributions in binary form must reproduce the above copyright notice,
00025 *      this list of conditions and the following disclaimer in the documentation
00026 *      and/or other materials provided with the distribution.
00027 *   3. Neither the name of STMicroelectronics nor the names of its contributors
00028 *      may be used to endorse or promote products derived from this software
00029 *      without specific prior written permission.
00030 *
00031 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00032 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00033 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00034 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00035 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00036 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00037 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00038 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00039 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00040 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00041 *
00042 ********************************************************************************
00043 */
00044 
00045 /* Define to prevent recursive inclusion -------------------------------------*/
00046 #ifndef __NMEA_PARSER_H
00047 #define __NMEA_PARSER_H
00048 
00049 #ifdef __cplusplus
00050 extern "C" {
00051 #endif
00052   
00053 #include <stdio.h>
00054 #include <stdint.h>
00055   
00056 /** @defgroup Middlewares
00057  *  @brief Contains all platform independent modules (eg. NMEA Sentence Parser, ...).
00058  *  @{
00059  */
00060 
00061 /** @defgroup ST
00062  *  @{
00063  */
00064  
00065 /** @defgroup LIB_NMEA
00066  *  @{
00067  */
00068 
00069 /** @defgroup NMEA_PARSER 
00070  * @{
00071  */
00072 
00073 /** @addtogroup NMEA_PARSER_CONSTANTS_DEFINITIONS
00074  * @{
00075  */
00076 /**
00077  * @brief Constant that indicates the maximum lenght of an NMEA sentence
00078  */
00079 #define MAX_NMEA_SENTENCE_LEN 80
00080    
00081 /**
00082  * @brief Constant that indicates the maximum number of satellites.
00083  */  
00084 #define MAX_SAT_NUM 12  
00085   
00086 /**
00087  * @brief Constant that indicates the maximum lenght of a string.
00088  */  
00089 #define MAX_STR_LEN 32   
00090   
00091 /**
00092  * @brief Constant that indicates the maximum lenght of NMEA message field.
00093  */
00094 #define MAX_MSG_LEN 32//19
00095 /**
00096  * @}
00097  */  
00098 
00099 #define MAX_GEOFENCES_NUM 8
00100 
00101 /** @addtogroup NMEA_PARSER_TYPES_DEFINITIONS
00102  * @{
00103  */
00104 /**
00105  * @brief Enumeration structure that containes the types of feature messages
00106  */
00107 typedef enum {
00108   GNSS_FEATURE_EN_MSG  = 0,
00109   GNSS_GEOFENCE_CFG_MSG,
00110   GNSS_GEOFENCE_STATUS_MSG,
00111   GNSS_GEOFENCE_ALARM_MSG,
00112   GNSS_ODO_START_MSG,
00113   GNSS_ODO_STOP_MSG,
00114   GNSS_DATALOG_CFG_MSG,
00115   GNSS_DATALOG_START_MSG,
00116   GNSS_DATALOG_STOP_MSG,
00117   GNSS_DATALOG_ERASE_MSG
00118 } ParseFeatureMsg_Typedef;
00119 
00120 /**
00121  * @brief Enumeration structure that containes the two success states of a parsing process
00122  */
00123 typedef enum {
00124   PARSE_SUCC = 0,  /**< Success status */
00125   PARSE_FAIL = 1 /**< Fail status */
00126 } ParseStatus_Typedef;
00127   
00128 /**
00129  * @brief Enumeration structure that containes the tipologies of Gps fixing process got from a NMEA string
00130  */
00131 typedef enum {
00132   INVALID = 0,          /**< Invalid Fix status */
00133   VALID = 1,            /**< Valid Fix status */
00134   DGPS_FIX = 2,         /**< DGPS Fix status */
00135   PPS_FIX = 3,          /**< PPS Fix status */
00136   REAL_TIME = 4,        /**< Real Time Fix status */
00137   FLOAT_REAL_TIME = 5,  /**< Float Real Time Fix status */
00138   ESTIMATED = 6,        /**< Estimated Fix status */
00139   MANUAL_MODE = 7,      /**< Manual Mode Fix status */
00140   SIMULATION_MODE = 8   /**< Simulation Mode Fix status */
00141 } GPS_ValidTypedef;
00142 
00143 /**
00144  * @brief Data structure that contains the coordinates informations
00145  */
00146 typedef struct Coords {
00147   double lat;   /**< Latitude */
00148   double lon;   /**< Longitude */
00149   float alt;   /**< Altitude */
00150   uint8_t ns;  /**< Nord / Sud latitude type */
00151   uint8_t ew;  /**< East / West longitude type */
00152   uint8_t mis; /**< Altitude unit misure */
00153 } Coords;
00154   
00155 /**
00156  * @brief Data structure that contains the Gps geoids informations
00157  */
00158 typedef struct Geoid_Info {
00159   int height;   /**< Geoid height */
00160   uint8_t mis;  /**< Geoid height misure unit */
00161 } Geoid_Info;
00162   
00163 /**
00164  * @brief Data structure that contains the UTC informations
00165  */
00166 typedef struct UTC_Info {
00167   int utc; /**< UTC Info */
00168   int hh;  /**< Hours */
00169   int mm;  /**< Minutes */
00170   int ss;  /**< Seconds */
00171 } UTC_Info;
00172 
00173 /**
00174  * @brief Data structure that contains the UTC informations
00175  */
00176 typedef struct GSV_SAT_Info {
00177   int prn;  /**< PRN */
00178   int elev; /**< Elevation of satellite in degree, 0 ... 90 */
00179   int azim; /**< Azimuth of satellite in degree, ref. "North, " 0 ... 359 */
00180   int cn0;  /**< Carrier to noise ratio for satellite in dB, 0 ... 99 */
00181 } GSV_SAT_Info;  
00182 
00183 /**
00184  * @brief Data structure that contains all of the informations about the GPS position 
00185  */
00186 typedef struct GPGGA_Infos {
00187   UTC_Info utc;           /**< UTC Time */
00188   Coords xyz;             /**< Coords data member */
00189   float acc;              /**< GPS Accuracy */
00190   int sats;           /**< Number of satellities acquired */
00191   GPS_ValidTypedef valid; /**< GPS Signal fix quality */
00192   Geoid_Info geoid;   /**< Geoids data info member */
00193   int update;         /**< Update time from the last acquired GPS Info */
00194   int checksum;           /**< Checksum of the message bytes */
00195 } GPGGA_Infos;
00196 
00197 /**
00198  * @brief Data structure that contains all of the informations about the fix data for single or 
00199  *        combined satellite navigation system.
00200  */
00201 typedef struct GNS_Infos {
00202   char constellation[MAX_STR_LEN]; /**< Constellation enabled: GPGNS (GPS), GLGNS (GLONASS), GAGNS (GALILEO), BDGNS (BEIDOU), QZGNS (QZSS), GNGNS (more than one) */ 
00203   UTC_Info utc;                    /**< UTC Time */
00204   Coords xyz;                      /**< Coords data member */
00205   char gps_mode;                   /**< N = NO Fix, A = Autonomous, D = Differential GPS, E = Estimated (dead reckoning mode) */
00206   char glonass_mode;               /**< N = NO Fix, A = Autonomous, D = Differential Glonass, E = Estimated (dead reckoning mode) */
00207   int sats;                    /**< Number of satellities acquired */
00208   float hdop;                      /**< Horizontal Dilution of Precision, max: 99.0 */
00209   float geo_sep;                   /**< Geoidal separation, meter */
00210   char dgnss_age;                  /**< Not supported */
00211   char dgnss_ref;                  /**< Not supported */
00212   int checksum;                    /**< Checksum of the message bytes */
00213 } GNS_Infos;
00214 
00215 /**
00216  * @brief Data structure that contains all of the GPS Pseudorange Noise Statistics.
00217  */
00218 typedef struct GPGST_Infos {
00219   UTC_Info utc;           /**< UTC Time */
00220   float EHPE;             /**< Equivalent Horizontal Position Error */
00221   float semi_major_dev;   /**< Standard deviation (meters) of semi-major axis of error ellipse */
00222   float semi_minor_dev;   /**< Standard deviation (meters) of semi-minor axis of error ellipse */
00223   float semi_major_angle; /**< Orientation of semi-major axis of error ellipse (true north degrees) */
00224   float lat_err_dev;      /**< Standard deviation (meters) of latitude error */
00225   float lon_err_dev;      /**< Standard deviation (meters) of longitude error */
00226   float alt_err_dev;      /**< Standard deviation (meters) of altitude error */
00227   int checksum;           /**< Checksum of the message bytes */
00228 } GPGST_Infos;
00229 
00230 /**
00231  * @brief Data structure that contains all the Recommended Minimum Specific GPS/Transit data.
00232  */
00233 typedef struct GPRMC_Infos {
00234   UTC_Info utc;           /**< UTC Time */
00235   char status;            /**< “A” = valid, “V” = Warning */
00236   Coords xyz;             /**< Coords data member */
00237   float speed;            /**< Speed over ground in knots */
00238   float trackgood;        /**< Course made good */
00239   int date;               /**< Date of Fix */
00240   float mag_var;          /**< Magnetic Variation */
00241   char mag_var_dir;       /**< Magnetic Variation Direction */
00242   int checksum;           /**< Checksum of the message bytes */
00243 } GPRMC_Infos;
00244 
00245 /**
00246  * @brief Data structure that contains all of the informations about the GSA satellites 
00247  */
00248 typedef struct GSA_Infos {
00249   char constellation[MAX_STR_LEN]; /**< Constellation enabled: GPGSA (GPS), GLGSA (GLONASS), GAGSA (GALILEO), BDGSA (BEIDOU), GNGSA (more than one) */ 
00250   char operating_mode;             /**< Operating Mode: 'M' = Manual, 'A' = Auto (2D/3D) */
00251   int current_mode;                /**< Current Mode: 1. no fix available, 2. 2D, 3. 3D */
00252   int sat_prn[MAX_SAT_NUM];        /**< Satellites list used in position fix (max N 12) */
00253   float pdop;                      /**< Position Dilution of Precision, max: 99.0 */
00254   float hdop;                      /**< Horizontal Dilution of Precision, max: 99.0 */
00255   float vdop;                      /**< Vertical Dilution of Precision, max: 99.0 */
00256   int checksum;                    /**< Checksum of the message bytes */
00257 } GSA_Infos;
00258   
00259 /**
00260  * @brief Data structure that contains all of the informations about the GSV satellites 
00261  */
00262 typedef struct GSV_Infos {
00263   char constellation[MAX_STR_LEN];      /**< Constellation enabled: GPGSV (GPS), GLGSV (GLONASS), GAGSV (GALILEO), BDGSV (BEIDOU), QZGSV (QZSS), GNGSV (more than one) */ 
00264   int amount;                           /**< Total amount of GSV messages, max. 3 */
00265   int number;                           /**< Continued GSV number of this message */
00266   int tot_sats;                         /**< Total Number of Satellites in view, max. 12 */
00267   GSV_SAT_Info gsv_sat_i[MAX_SAT_NUM];  /**< Satellite info  */
00268   int checksum;                         /**< Checksum of the message bytes */
00269 } GSV_Infos;
00270 
00271 /**
00272  * @brief Data structure that contains timestamp
00273  */
00274 typedef struct Timestamp_Info {
00275   int hh;  /**< Hours */
00276   int mm;  /**< Minutes */
00277   int ss;  /**< Seconds */
00278   int year;  /**< Year */
00279   int month;  /**< Month */
00280   int day;  /**< Day */
00281 } Timestamp_Info;
00282 
00283 /**
00284  * @brief Data structure that contains all of the information about Geofence 
00285  */
00286 typedef struct Geofence_Infos {
00287   uint8_t op;          /**< Geofence type message (configuration/status) */
00288   uint8_t result;      /**< Geofence cfg/request result (OK/ERROR) */
00289   int idAlarm;         /**< Id of the circle raising the alarm */
00290   Timestamp_Info timestamp;
00291   int status[MAX_GEOFENCES_NUM];
00292 } Geofence_Infos;
00293 
00294 /**
00295  * @brief Data structure that contains all of the information about Ododmeter 
00296  */
00297 typedef struct Odometer_Infos {
00298   uint8_t op;          /**< Odometer type message (configuration/status) */
00299   uint8_t result;      /**< Odometer cfg/request result (OK/ERROR) */
00300 } Odometer_Infos;
00301 
00302 /**
00303  * @brief Data structure that contains all of the information about Datalog 
00304  */
00305 typedef struct Datalog_Infos {
00306   uint8_t op;          /**< Datalog type message (configuration/status) */
00307   uint8_t result;      /**< Datalog cfg/request result (OK/ERROR) */
00308 } Datalog_Infos;
00309 
00310 /**
00311  * @brief Ack from Teseo
00312  */
00313 typedef uint8_t Ack_Info;
00314 
00315 /**
00316  * @}
00317  */
00318 
00319 /** @addtogroup NMEA_PARSER_PUBLIC_FUNCTIONS
00320  * @{
00321  */
00322 ParseStatus_Typedef parse_gpgga  (GPGGA_Infos *gpgga_data, uint8_t *NMEA);
00323 ParseStatus_Typedef parse_gnsmsg (GNS_Infos   *gns_data,   uint8_t *NMEA);
00324 ParseStatus_Typedef parse_gpgst  (GPGST_Infos *gpgst_data, uint8_t *NMEA);
00325 ParseStatus_Typedef parse_gprmc  (GPRMC_Infos *gprmc_data, uint8_t *NMEA);
00326 ParseStatus_Typedef parse_gsamsg (GSA_Infos   *gsa_data,   uint8_t *NMEA);
00327 ParseStatus_Typedef parse_gsvmsg (GSV_Infos   *gsv_data,   uint8_t *NMEA);
00328 void                copy_data    (GPGGA_Infos *, GPGGA_Infos);
00329 
00330 ParseStatus_Typedef parse_pstmgeofence (Geofence_Infos *geofence_data, uint8_t *NMEA);
00331 ParseStatus_Typedef parse_pstmodo (Odometer_Infos *odo_data, uint8_t *NMEA);
00332 ParseStatus_Typedef parse_pstmdatalog (Datalog_Infos *datalog_data, uint8_t *NMEA);
00333 ParseStatus_Typedef parse_pstmsgl (Ack_Info *ack, uint8_t *NMEA);
00334 ParseStatus_Typedef parse_pstmsavepar (Ack_Info *ack, uint8_t *NMEA);
00335 /**
00336  * @}
00337  */
00338 
00339 /**
00340  * @}
00341  */
00342   
00343 /**
00344  * @}
00345  */
00346   
00347 /**
00348  * @}
00349  */ 
00350 
00351 /**
00352  * @}
00353  */
00354  
00355 #ifdef __cplusplus
00356 }
00357 #endif
00358 
00359 #endif