Diff: Middlewares/NMEAParser.h

Revision:

0:a77f1f1f8318

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+++ b/Middlewares/NMEAParser.h	Fri Nov 09 17:06:11 2018 +0000
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+/**
+*******************************************************************************
+* @file    NMEAParser.h
+* @author  AST / Central Lab
+* @version V1.0.0
+* @date    18-May-2017
+* @brief   NMEA sentence parser
+*
+*******************************************************************************
+* @attention
+*
+* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+*
+* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+* You may not use this file except in compliance with the License.
+* You may obtain a copy of the License at:
+*
+*        http://www.st.com/software_license_agreement_liberty_v2
+*
+* Redistribution and use in source and binary forms, with or without modification,
+* are permitted provided that the following conditions are met:
+*   1. Redistributions of source code must retain the above copyright notice,
+*      this list of conditions and the following disclaimer.
+*   2. Redistributions in binary form must reproduce the above copyright notice,
+*      this list of conditions and the following disclaimer in the documentation
+*      and/or other materials provided with the distribution.
+*   3. Neither the name of STMicroelectronics nor the names of its contributors
+*      may be used to endorse or promote products derived from this software
+*      without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+********************************************************************************
+*/
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __NMEA_PARSER_H
+#define __NMEA_PARSER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  
+#include <stdio.h>
+#include <stdint.h>
+  
+/** @defgroup Middlewares
+ *  @brief Contains all platform independent modules (eg. NMEA Sentence Parser, ...).
+ *  @{
+ */
+
+/** @defgroup ST
+ *  @{
+ */
+ 
+/** @defgroup LIB_NMEA
+ *  @{
+ */
+
+/** @defgroup NMEA_PARSER 
+ * @{
+ */
+
+/** @addtogroup NMEA_PARSER_CONSTANTS_DEFINITIONS
+ * @{
+ */
+/**
+ * @brief Constant that indicates the maximum lenght of an NMEA sentence
+ */
+#define MAX_NMEA_SENTENCE_LEN 80
+   
+/**
+ * @brief Constant that indicates the maximum number of satellites.
+ */  
+#define MAX_SAT_NUM 12  
+  
+/**
+ * @brief Constant that indicates the maximum lenght of a string.
+ */  
+#define MAX_STR_LEN 32   
+  
+/**
+ * @brief Constant that indicates the maximum lenght of NMEA message field.
+ */
+#define MAX_MSG_LEN 32//19
+/**
+ * @}
+ */  
+
+#define MAX_GEOFENCES_NUM 8
+
+/** @addtogroup NMEA_PARSER_TYPES_DEFINITIONS
+ * @{
+ */
+/**
+ * @brief Enumeration structure that containes the types of feature messages
+ */
+typedef enum {
+  GNSS_FEATURE_EN_MSG  = 0,
+  GNSS_GEOFENCE_CFG_MSG,
+  GNSS_GEOFENCE_STATUS_MSG,
+  GNSS_GEOFENCE_ALARM_MSG,
+  GNSS_ODO_START_MSG,
+  GNSS_ODO_STOP_MSG,
+  GNSS_DATALOG_CFG_MSG,
+  GNSS_DATALOG_START_MSG,
+  GNSS_DATALOG_STOP_MSG,
+  GNSS_DATALOG_ERASE_MSG
+} ParseFeatureMsg_Typedef;
+
+/**
+ * @brief Enumeration structure that containes the two success states of a parsing process
+ */
+typedef enum {
+  PARSE_SUCC = 0,  /**< Success status */
+  PARSE_FAIL = 1 /**< Fail status */
+} ParseStatus_Typedef;
+  
+/**
+ * @brief Enumeration structure that containes the tipologies of Gps fixing process got from a NMEA string
+ */
+typedef enum {
+  INVALID = 0,          /**< Invalid Fix status */
+  VALID = 1,            /**< Valid Fix status */
+  DGPS_FIX = 2,         /**< DGPS Fix status */
+  PPS_FIX = 3,          /**< PPS Fix status */
+  REAL_TIME = 4,        /**< Real Time Fix status */
+  FLOAT_REAL_TIME = 5,  /**< Float Real Time Fix status */
+  ESTIMATED = 6,        /**< Estimated Fix status */
+  MANUAL_MODE = 7,      /**< Manual Mode Fix status */
+  SIMULATION_MODE = 8   /**< Simulation Mode Fix status */
+} GPS_ValidTypedef;
+
+/**
+ * @brief Data structure that contains the coordinates informations
+ */
+typedef struct Coords {
+  double lat;   /**< Latitude */
+  double lon;   /**< Longitude */
+  float alt;   /**< Altitude */
+  uint8_t ns;  /**< Nord / Sud latitude type */
+  uint8_t ew;  /**< East / West longitude type */
+  uint8_t mis; /**< Altitude unit misure */
+} Coords;
+  
+/**
+ * @brief Data structure that contains the Gps geoids informations
+ */
+typedef struct Geoid_Info {
+  int height;   /**< Geoid height */
+  uint8_t mis;  /**< Geoid height misure unit */
+} Geoid_Info;
+  
+/**
+ * @brief Data structure that contains the UTC informations
+ */
+typedef struct UTC_Info {
+  int utc; /**< UTC Info */
+  int hh;  /**< Hours */
+  int mm;  /**< Minutes */
+  int ss;  /**< Seconds */
+} UTC_Info;
+
+/**
+ * @brief Data structure that contains the UTC informations
+ */
+typedef struct GSV_SAT_Info {
+  int prn;  /**< PRN */
+  int elev; /**< Elevation of satellite in degree, 0 ... 90 */
+  int azim; /**< Azimuth of satellite in degree, ref. "North, " 0 ... 359 */
+  int cn0;  /**< Carrier to noise ratio for satellite in dB, 0 ... 99 */
+} GSV_SAT_Info;  
+
+/**
+ * @brief Data structure that contains all of the informations about the GPS position 
+ */
+typedef struct GPGGA_Infos {
+  UTC_Info utc;           /**< UTC Time */
+  Coords xyz;             /**< Coords data member */
+  float acc;              /**< GPS Accuracy */
+  int sats;           /**< Number of satellities acquired */
+  GPS_ValidTypedef valid; /**< GPS Signal fix quality */
+  Geoid_Info geoid;   /**< Geoids data info member */
+  int update;         /**< Update time from the last acquired GPS Info */
+  int checksum;           /**< Checksum of the message bytes */
+} GPGGA_Infos;
+
+/**
+ * @brief Data structure that contains all of the informations about the fix data for single or 
+ *        combined satellite navigation system.
+ */
+typedef struct GNS_Infos {
+  char constellation[MAX_STR_LEN]; /**< Constellation enabled: GPGNS (GPS), GLGNS (GLONASS), GAGNS (GALILEO), BDGNS (BEIDOU), QZGNS (QZSS), GNGNS (more than one) */ 
+  UTC_Info utc;                    /**< UTC Time */
+  Coords xyz;                      /**< Coords data member */
+  char gps_mode;                   /**< N = NO Fix, A = Autonomous, D = Differential GPS, E = Estimated (dead reckoning mode) */
+  char glonass_mode;               /**< N = NO Fix, A = Autonomous, D = Differential Glonass, E = Estimated (dead reckoning mode) */
+  int sats;                    /**< Number of satellities acquired */
+  float hdop;                      /**< Horizontal Dilution of Precision, max: 99.0 */
+  float geo_sep;                   /**< Geoidal separation, meter */
+  char dgnss_age;                  /**< Not supported */
+  char dgnss_ref;                  /**< Not supported */
+  int checksum;                    /**< Checksum of the message bytes */
+} GNS_Infos;
+
+/**
+ * @brief Data structure that contains all of the GPS Pseudorange Noise Statistics.
+ */
+typedef struct GPGST_Infos {
+  UTC_Info utc;           /**< UTC Time */
+  float EHPE;             /**< Equivalent Horizontal Position Error */
+  float semi_major_dev;   /**< Standard deviation (meters) of semi-major axis of error ellipse */
+  float semi_minor_dev;   /**< Standard deviation (meters) of semi-minor axis of error ellipse */
+  float semi_major_angle; /**< Orientation of semi-major axis of error ellipse (true north degrees) */
+  float lat_err_dev;      /**< Standard deviation (meters) of latitude error */
+  float lon_err_dev;      /**< Standard deviation (meters) of longitude error */
+  float alt_err_dev;      /**< Standard deviation (meters) of altitude error */
+  int checksum;           /**< Checksum of the message bytes */
+} GPGST_Infos;
+
+/**
+ * @brief Data structure that contains all the Recommended Minimum Specific GPS/Transit data.
+ */
+typedef struct GPRMC_Infos {
+  UTC_Info utc;           /**< UTC Time */
+  char status;            /**< “A” = valid, “V” = Warning */
+  Coords xyz;             /**< Coords data member */
+  float speed;            /**< Speed over ground in knots */
+  float trackgood;        /**< Course made good */
+  int date;               /**< Date of Fix */
+  float mag_var;          /**< Magnetic Variation */
+  char mag_var_dir;       /**< Magnetic Variation Direction */
+  int checksum;           /**< Checksum of the message bytes */
+} GPRMC_Infos;
+
+/**
+ * @brief Data structure that contains all of the informations about the GSA satellites 
+ */
+typedef struct GSA_Infos {
+  char constellation[MAX_STR_LEN]; /**< Constellation enabled: GPGSA (GPS), GLGSA (GLONASS), GAGSA (GALILEO), BDGSA (BEIDOU), GNGSA (more than one) */ 
+  char operating_mode;             /**< Operating Mode: 'M' = Manual, 'A' = Auto (2D/3D) */
+  int current_mode;                /**< Current Mode: 1. no fix available, 2. 2D, 3. 3D */
+  int sat_prn[MAX_SAT_NUM];        /**< Satellites list used in position fix (max N 12) */
+  float pdop;                      /**< Position Dilution of Precision, max: 99.0 */
+  float hdop;                      /**< Horizontal Dilution of Precision, max: 99.0 */
+  float vdop;                      /**< Vertical Dilution of Precision, max: 99.0 */
+  int checksum;                    /**< Checksum of the message bytes */
+} GSA_Infos;
+  
+/**
+ * @brief Data structure that contains all of the informations about the GSV satellites 
+ */
+typedef struct GSV_Infos {
+  char constellation[MAX_STR_LEN];      /**< Constellation enabled: GPGSV (GPS), GLGSV (GLONASS), GAGSV (GALILEO), BDGSV (BEIDOU), QZGSV (QZSS), GNGSV (more than one) */ 
+  int amount;                           /**< Total amount of GSV messages, max. 3 */
+  int number;                           /**< Continued GSV number of this message */
+  int tot_sats;                         /**< Total Number of Satellites in view, max. 12 */
+  GSV_SAT_Info gsv_sat_i[MAX_SAT_NUM];  /**< Satellite info  */
+  int checksum;                         /**< Checksum of the message bytes */
+} GSV_Infos;
+
+/**
+ * @brief Data structure that contains timestamp
+ */
+typedef struct Timestamp_Info {
+  int hh;  /**< Hours */
+  int mm;  /**< Minutes */
+  int ss;  /**< Seconds */
+  int year;  /**< Year */
+  int month;  /**< Month */
+  int day;  /**< Day */
+} Timestamp_Info;
+
+/**
+ * @brief Data structure that contains all of the information about Geofence 
+ */
+typedef struct Geofence_Infos {
+  uint8_t op;          /**< Geofence type message (configuration/status) */
+  uint8_t result;      /**< Geofence cfg/request result (OK/ERROR) */
+  int idAlarm;         /**< Id of the circle raising the alarm */
+  Timestamp_Info timestamp;
+  int status[MAX_GEOFENCES_NUM];
+} Geofence_Infos;
+
+/**
+ * @brief Data structure that contains all of the information about Ododmeter 
+ */
+typedef struct Odometer_Infos {
+  uint8_t op;          /**< Odometer type message (configuration/status) */
+  uint8_t result;      /**< Odometer cfg/request result (OK/ERROR) */
+} Odometer_Infos;
+
+/**
+ * @brief Data structure that contains all of the information about Datalog 
+ */
+typedef struct Datalog_Infos {
+  uint8_t op;          /**< Datalog type message (configuration/status) */
+  uint8_t result;      /**< Datalog cfg/request result (OK/ERROR) */
+} Datalog_Infos;
+
+/**
+ * @brief Ack from Teseo
+ */
+typedef uint8_t Ack_Info;
+
+/**
+ * @}
+ */
+
+/** @addtogroup NMEA_PARSER_PUBLIC_FUNCTIONS
+ * @{
+ */
+ParseStatus_Typedef parse_gpgga  (GPGGA_Infos *gpgga_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_gnsmsg (GNS_Infos   *gns_data,   uint8_t *NMEA);
+ParseStatus_Typedef parse_gpgst  (GPGST_Infos *gpgst_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_gprmc  (GPRMC_Infos *gprmc_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_gsamsg (GSA_Infos   *gsa_data,   uint8_t *NMEA);
+ParseStatus_Typedef parse_gsvmsg (GSV_Infos   *gsv_data,   uint8_t *NMEA);
+void                copy_data    (GPGGA_Infos *, GPGGA_Infos);
+
+ParseStatus_Typedef parse_pstmgeofence(Geofence_Infos *geofence_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_pstmodo(Odometer_Infos *odo_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_pstmdatalog(Datalog_Infos *datalog_data, uint8_t *NMEA);
+ParseStatus_Typedef parse_pstmsgl(Ack_Info *ack, uint8_t *NMEA);
+ParseStatus_Typedef parse_pstmsavepar(Ack_Info *ack, uint8_t *NMEA);
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+  
+/**
+ * @}
+ */
+  
+/**
+ * @}
+ */ 
+
+/**
+ * @}
+ */
+ 
+#ifdef __cplusplus
+}
+#endif
+
+#endif