Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | #include <kernel/kern.h> |
| 2 | #include <math.h> |
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| 3 | #include <stdio.h> |
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| 4 | #include <string.h> |
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| 5 | #include "nmea.h" |
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| 6 | |||
| 7 | extern struct OUTDATA gNMEAdata; |
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| 8 | static void do_lat_lon(char *sentence, int begin); |
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| 9 | static void do_grid(void); |
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| 10 | static char *field(char *sentence, short n); |
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| 11 | static void update_field_i(char *sentence, int fld, int *dest, int mask); |
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| 12 | |||
| 13 | void processGPRMC(char *sentence) |
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| 14 | { |
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| 15 | char s[20], d[10]; |
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| 16 | int tmp; |
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| 17 | |||
| 18 | sscanf(field(sentence, 9), "%s", d); /* Date: ddmmyy */ |
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| 19 | |||
| 20 | strncpy(s, d + 2, 2); /* copy month */ |
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| 21 | |||
| 22 | strncpy(s + 3, d, 2); /* copy date */ |
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| 23 | |||
| 24 | sscanf((d+4), "%2d", &tmp); |
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| 25 | |||
| 26 | /* Tf.: Window the year from 1970 to 2069. This buys us some time. */ |
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| 27 | if (tmp < 70) |
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| 28 | strncpy(s + 6, "20", 2); /* 21th century */ |
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| 29 | else |
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| 30 | strncpy(s + 6, "19", 2); /* 20th century */ |
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| 31 | |||
| 32 | strncpy(s + 8, d + 4, 2); /* copy year */ |
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| 33 | |||
| 34 | sscanf(field(sentence, 1), "%s", d); /* Time: hhmmss */ |
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| 35 | |||
| 36 | strncpy(s + 11, d, 2); /* copy hours */ |
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| 37 | |||
| 38 | strncpy(s + 14, d + 2, 2); /* copy minutes */ |
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| 39 | |||
| 40 | strncpy(s + 17, d + 4, 2); /* copy seconds */ |
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| 41 | |||
| 42 | s[2] = s[5] = '/'; /* add the '/'s, ':'s, ' ' and string terminator */ |
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| 43 | |||
| 44 | s[10] = ' '; |
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| 45 | s[13] = s[16] = ':'; |
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| 46 | s[19] = '\0'; |
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| 47 | |||
| 48 | strcpy(gNMEAdata.utc, s); |
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| 49 | |||
| 50 | /* A = valid, V = invalid */ |
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| 51 | if (strcmp(field(sentence, 2), "V") == 0) |
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| 52 | gNMEAdata.status = 0; |
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| 53 | #if 0 /* Let the GGA sentence do the update so we catch diff fixes */ |
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| 54 | else |
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| 55 | gNMEAdata.status = 0; |
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| 56 | #endif |
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| 57 | |||
| 58 | sscanf(field(sentence, 7), "%lf", &gNMEAdata.speed); |
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| 59 | sscanf(field(sentence, 8), "%lf", &gNMEAdata.track); |
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| 60 | |||
| 61 | do_lat_lon(sentence, 3); |
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| 62 | do_grid(); |
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| 63 | |||
| 64 | } |
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| 65 | |||
| 66 | /* ----------------------------------------------------------------------- */ |
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| 67 | |||
| 68 | void processGPVTG(char *sentence) |
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| 69 | { |
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| 70 | sscanf(field(sentence, 3), "%lf", &gNMEAdata.speed); |
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| 71 | sscanf(field(sentence, 1), "%lf", &gNMEAdata.track); |
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| 72 | } |
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| 73 | |||
| 74 | /* ----------------------------------------------------------------------- */ |
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| 75 | |||
| 76 | void processGPGGA(char *sentence) |
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| 77 | { |
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| 78 | do_lat_lon(sentence, 2); |
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| 79 | do_grid(); |
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| 80 | /* 0 = none, 1 = normal, 2 = diff */ |
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| 81 | sscanf(field(sentence, 6), "%d", &gNMEAdata.status); |
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| 82 | if ((gNMEAdata.status > 0) && (gNMEAdata.mode < 2)) |
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| 83 | gNMEAdata.mode = 2; |
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| 84 | if ((gNMEAdata.status < 1) && (gNMEAdata.mode > 1)) |
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| 85 | gNMEAdata.mode = 1; |
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| 86 | sscanf(field(sentence, 7), "%d", &gNMEAdata.satellites); |
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| 87 | sscanf(field(sentence, 9), "%lf", &gNMEAdata.altitude); |
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| 88 | } |
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| 89 | |||
| 90 | /* ----------------------------------------------------------------------- */ |
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| 91 | |||
| 92 | void processGPGSA(char *sentence) |
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| 93 | { |
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| 94 | |||
| 95 | /* 1 = none, 2 = 2d, 3 = 3d */ |
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| 96 | sscanf(field(sentence, 2), "%d", &gNMEAdata.mode); |
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| 97 | if ((gNMEAdata.mode > 1) && (gNMEAdata.status < 1)) |
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| 98 | gNMEAdata.status = 1; |
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| 99 | if ((gNMEAdata.mode < 2) && (gNMEAdata.status > 0)) |
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| 100 | gNMEAdata.status = 0; |
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| 101 | sscanf(field(sentence, 15), "%lf", &gNMEAdata.pdop); |
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| 102 | sscanf(field(sentence, 16), "%lf", &gNMEAdata.hdop); |
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| 103 | sscanf(field(sentence, 17), "%lf", &gNMEAdata.vdop); |
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| 104 | } |
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| 105 | |||
| 106 | /* ----------------------------------------------------------------------- */ |
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| 107 | |||
| 108 | void processGPGSV(char *sentence) |
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| 109 | { |
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| 110 | int n, m, f = 4; |
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| 111 | |||
| 112 | |||
| 113 | if (sscanf(field(sentence, 2), "%d", &n) < 1) |
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| 114 | return; |
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| 115 | update_field_i(sentence, 3, &gNMEAdata.in_view, C_SAT); |
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| 116 | |||
| 117 | n = (n - 1) * 4; |
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| 118 | m = n + 4; |
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| 119 | |||
| 120 | while (n < gNMEAdata.in_view && n < m) { |
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| 121 | update_field_i(sentence, f++, &gNMEAdata.PRN[n], C_SAT); |
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| 122 | update_field_i(sentence, f++, &gNMEAdata.elevation[n], C_SAT); |
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| 123 | update_field_i(sentence, f++, &gNMEAdata.azimuth[n], C_SAT); |
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| 124 | if (*(field(sentence, f))) |
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| 125 | update_field_i(sentence, f, &gNMEAdata.ss[n], C_SAT); |
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| 126 | f++; |
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| 127 | n++; |
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| 128 | } |
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| 129 | } |
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| 130 | |||
| 131 | /* ----------------------------------------------------------------------- */ |
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| 132 | |||
| 133 | void processPRWIZCH(char *sentence) |
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| 134 | { |
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| 135 | int i; |
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| 136 | |||
| 137 | for (i = 0; i < 12; i++) { |
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| 138 | update_field_i(sentence, 2 * i + 1, &gNMEAdata.Zs[i], C_ZCH); |
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| 139 | update_field_i(sentence, 2 * i + 2, &gNMEAdata.Zv[i], C_ZCH); |
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| 140 | } |
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| 141 | gNMEAdata.ZCHseen = 1; |
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| 142 | } |
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| 143 | |||
| 144 | /* ----------------------------------------------------------------------- */ |
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| 145 | |||
| 146 | static void do_lat_lon(char *sentence, int begin) |
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| 147 | { |
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| 148 | double lat, lon, d, m; |
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| 149 | char str[20], *p; |
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| 150 | int updated = 0; |
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| 151 | |||
| 152 | |||
| 153 | if (*(p = field(sentence, begin + 0)) != '\0') { |
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| 154 | strncpy(str, p, 20); |
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| 155 | sscanf(p, "%lf", &lat); |
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| 156 | m = 100.0 * modf(lat / 100.0, &d); |
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| 157 | lat = d + m / 60.0; |
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| 158 | p = field(sentence, begin + 1); |
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| 159 | if (*p == 'S') |
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| 160 | lat = -lat; |
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| 161 | if (gNMEAdata.latitude != lat) { |
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| 162 | gNMEAdata.latitude = lat; |
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| 163 | gNMEAdata.cmask |= C_LATLON; |
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| 164 | } |
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| 165 | updated++; |
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| 166 | } |
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| 167 | if (*(p = field(sentence, begin + 2)) != '\0') { |
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| 168 | strncpy(str, p, 20); |
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| 169 | sscanf(p, "%lf", &lon); |
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| 170 | m = 100.0 * modf(lon / 100.0, &d); |
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| 171 | lon = d + m / 60.0; |
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| 172 | |||
| 173 | p = field(sentence, begin + 3); |
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| 174 | if (*p == 'W') |
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| 175 | lon = -lon; |
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| 176 | if (gNMEAdata.longitude != lon) { |
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| 177 | gNMEAdata.longitude = lon; |
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| 178 | gNMEAdata.cmask |= C_LATLON; |
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| 179 | } |
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| 180 | updated++; |
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| 181 | } |
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| 182 | if (updated == 2) |
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| 183 | gNMEAdata.last_update = sys_gettime(NULL); |
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| 184 | } |
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| 185 | |||
| 186 | /* ----------------------------------------------------------------------- */ |
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| 187 | |||
| 188 | static void do_grid() { |
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| 189 | double lat, lon; |
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| 190 | |||
| 191 | lat = gNMEAdata.latitude; |
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| 192 | lon = gNMEAdata.longitude; |
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| 193 | |||
| 194 | gNMEAdata.grid[0] = 65 + (int)((180.0 + lon) / 20.0); |
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| 195 | gNMEAdata.grid[1] = 65 + (int)((90.0 + lat) / 10.0); |
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| 196 | gNMEAdata.grid[2] = 48 + (int)((180.0 + lon) / 2) % 10; |
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| 197 | gNMEAdata.grid[3] = 48 + (int)(90.0 + lat) % 10; |
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| 198 | gNMEAdata.grid[4] = 97 + ((int)(180.0 + lon) % 2) * 12 + (int)(((180.0 + lon) - (int)(180.0 + lon)) * 12); |
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| 199 | gNMEAdata.grid[5] = 97 + (int)(((90.0 + lat) - (int)(90.0 + lat)) * 24); |
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| 200 | gNMEAdata.grid[6] = '\0'; |
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| 201 | } |
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| 202 | |||
| 203 | /* ----------------------------------------------------------------------- */ |
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| 204 | |||
| 205 | static void update_field_i(char *sentence, int fld, int *dest, int mask) |
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| 206 | { |
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| 207 | int tmp; |
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| 208 | |||
| 209 | sscanf(field(sentence, fld), "%d", &tmp); |
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| 210 | |||
| 211 | if (tmp != *dest) { |
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| 212 | *dest = tmp; |
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| 213 | gNMEAdata.cmask |= mask; |
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| 214 | } |
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| 215 | } |
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| 216 | |||
| 217 | void process_message(char *sentence) |
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| 218 | { |
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| 219 | if (checksum(sentence)) { |
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| 220 | if (strncmp(GPRMC, sentence, 5) == 0) { |
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| 221 | processGPRMC(sentence); |
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| 222 | } else if (strncmp(GPGGA, sentence, 5) == 0) { |
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| 223 | processGPGGA(sentence); |
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| 224 | } else if (strncmp(GPVTG, sentence, 5) == 0) { |
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| 225 | processGPVTG(sentence); |
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| 226 | } else if (strncmp(GPGSA, sentence, 5) == 0) { |
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| 227 | processGPGSA(sentence); |
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| 228 | } else if (strncmp(GPGSV, sentence, 5) == 0) { |
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| 229 | processGPGSV(sentence); |
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| 230 | } else if (strncmp(PRWIZCH, sentence, 7) == 0) { |
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| 231 | processPRWIZCH(sentence); |
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| 232 | } else { |
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| 233 | cprintf("Unknown sentence: \"%s\"\n",sentence); |
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| 234 | } |
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| 235 | } else { |
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| 236 | cprintf("Bad Checksum !\n"); |
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| 237 | } |
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| 238 | } |
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| 239 | |||
| 240 | /* ----------------------------------------------------------------------- */ |
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| 241 | |||
| 242 | short checksum(char *sentence) |
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| 243 | { |
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| 244 | unsigned char sum = '\0'; |
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| 245 | char c, *p = sentence, csum[3]; |
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| 246 | |||
| 247 | while ((c = *p++) != '*' && c != '\0') |
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| 248 | sum ^= c; |
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| 249 | |||
| 250 | sprintf(csum, "%02x", sum); |
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| 251 | return (strncmp(csum, p, 2) == 0); |
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| 252 | } |
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| 253 | |||
| 254 | void add_checksum(char *sentence) |
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| 255 | { |
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| 256 | unsigned char sum = '\0'; |
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| 257 | char c, *p = sentence; |
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| 258 | |||
| 259 | while ((c = *p++) != '*') |
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| 260 | sum ^= c; |
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| 261 | |||
| 262 | sprintf(p, "%02x\r\n", sum); |
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| 263 | } |
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| 264 | |||
| 265 | static char *field(char *sentence, short n) |
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| 266 | { |
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| 267 | static char result[100]; |
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| 268 | char *p = sentence; |
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| 269 | |||
| 270 | while (n-- > 0) |
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| 271 | while (*p++ != ','); |
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| 272 | strcpy(result, p); |
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| 273 | p = result; |
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| 274 | while (*p && *p != ',' && *p != '*' && *p != '\r') |
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| 275 | p++; |
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| 276 | |||
| 277 | *p = '\0'; |
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| 278 | return result; |
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| 279 | } |