Добавлены навигационные решения

2025-03-26 16:13:29 +03:00 · 2025-03-26 16:13:29 +03:00 · 312153ecee
parent f3ff85be3d
commit 312153ecee
8 changed files with 452 additions and 0 deletions
--- a/Solutions/Inc/Nmea_Gga.h
+++ b/Solutions/Inc/Nmea_Gga.h
@ -0,0 +1,72 @@
+//
+// Created by villuton on 25.03.25.
+//
+
+#ifndef NMEA_GGA_H
+#define NMEA_GGA_H
+
+#include "Nmea0183Parser_Time.h"
+#include "Nmea0183_Sentence.h"
+#define GGA_MSG_ID     "GGA"
+#define GGA_MSG_ID_LEN (3)
+
+#define DGPS_SID_MIN   (0000)
+#define DGPS_SID_MAX   (1023)
+
+/**
+ * GPS Quality indicator:
+ */
+typedef enum {
+    SIG_Invalid      = 0, /**< Fix not valid*/
+    SIG_Fix          = 1, /**< GPS fix */
+    SIG_Differential = 2, /**< Differential GPS fix (DGNSS), SBAS, OmniSTAR VBS, Beacon, RTX in GVBS mode */
+    SIG_Sensitive    = 3, /**< Not applicable */
+    SIG_RtkFixed     = 4, /**< RTK Fixed, xFill */
+    SIG_RtkFloat     = 5, /**< RTK Float, OmniSTAR XP/HP, Location RTK, RTX */
+    SIG_InsDead      = 6  /**< INS Dead reckoning */
+}eGGA_sig;
+
+/**
+ * Reference station ID's descriptors
+ * When using one of the MSS (Mobile Satellite Services),
+ * the Reference Station ID field indicates the following services:
+ */
+typedef enum {
+    SID_CenterPoint       = 0002, /**< CenterPoint or ViewPoint RTX */
+    SID_RangePoint        = 0005, /**< RangePoint RTX */
+    SID_FieldPoint        = 0006, /**< FieldPoint RTX */
+    SID_VBS               = 0100, /**< VBS */
+    SID_HP                = 1000, /**< HP */
+    SID_HP_XP_Orbits      = 1001, /**< HP/XP (Orbits) */
+    SID_HP_G2_Orbits      = 1002, /**< HP/G2 (Orbits) */
+    SID_XP_GPS            = 1008, /**< XP (GPS) */
+    SID_G2_GPS            = 1012, /**< G2 (GPS) */
+    SID_G2_GPS_GLONASS    = 1013, /**< G2 (GPS/GLONASS) */
+    SID_G2_GLONASS        = 1014, /**< G2 (GLONASS) */
+    SID_HP_XP_GPS         = 1016, /**< HP/XP (GPS) */
+    SID_HP_G2_GPS         = 1020, /**< HP/G2 (GPS) */
+    SID_HP_G2_GPS_GLONASS = 1021, /**< HP/G2 (GPS/GLONASS) */
+
+}eGGA_dgps_sid;
+
+
+/**
+ * GGA packet information structure (Global Positioning System Fix Data)
+ */
+typedef struct
+{
+    tNmeaUtc      utc;        /**< UTC of position (just time) */
+    tNmeaLocation location;    /**< Sentence location data in fractional NDEG and Cardinal directions */
+    eGGA_sig      sig;        /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
+    int           satinuse;   /**< Number of satellites in use (not those in view) */
+    double        HDOP;       /**< Horizontal dilution of precision */
+    double        elv;        /**< Antenna altitude above/below mean sea level (geoid) */
+    char          elv_units;  /**< [M]eters (Antenna height unit) */
+    double        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) */
+    double        dgps_age;   /**< Time in seconds since last DGPS update */
+    int           dgps_sid;   /**< DGPS station ID number */
+} tNmeaGGA;
+
+
+#endif //NMEA_GGA_H
--- a/Solutions/Inc/Nmea_Gsa.h
+++ b/Solutions/Inc/Nmea_Gsa.h
@ -0,0 +1,41 @@
+//
+// Created by villuton on 25.03.25.
+//
+
+#ifndef NMEA_GSA_H
+#define NMEA_GSA_H
+
+#include "Nmea_Config.h"
+
+#define GSA_MSG_ID     "GSA"
+#define GSA_MSG_ID_LEN (3)
+
+#define GSA_FIX_MODE_EMPTY     (0)
+#define GSA_FIX_MODE_Manual    'M'
+#define GSA_FIX_MODE_Automatic 'A'
+
+typedef enum {
+    GSA_NaN             = 0, /**< (Empty field) */
+    GSA_FixNotAvailable = 1, /**< Fix not available */
+    GSA_2D              = 2, /**< 2D */
+    GSA_3D              = 3  /**< 3D */
+}eGSA_fix_type;
+
+
+/**
+ * GSA packet information structure (Satellite status)
+ */
+typedef struct
+{
+    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) */
+    double  PDOP;                 /**< Dilution of precision */
+    double  HDOP;                 /**< Horizontal dilution of precision */
+    double  VDOP;                 /**< Vertical dilution of precision */
+
+} tNmeaGSA;
+
+bool NmeaGsa_Parse(char *str, size_t len, tNmeaGSA *result);
+
+#endif //NMEA_GSA_H
--- a/Solutions/Inc/Nmea_Gsv.h
+++ b/Solutions/Inc/Nmea_Gsv.h
@ -0,0 +1,43 @@
+//
+// Created by villuton on 25.03.25.
+//
+
+#ifndef NMEA_GSV_H
+#define NMEA_GSV_H
+
+#include "Nmea_Config.h"
+
+#define GSV_MSG_ID     "GSV"
+#define GSV_MSG_ID_LEN (3)
+
+/**
+ * Information about satellite
+ * @see nmeaSATINFO
+ * @see nmeaGPGSV
+ */
+typedef struct
+{
+    int     id;         /**< Satellite PRN number */
+    int     in_use;     /**< Used in position fix */
+    int     elv;        /**< Elevation in degrees, 90 maximum */
+    int     azimuth;    /**< Azimuth, degrees from true north, 000 to 359 */
+    int     sig;        /**< Signal, 00-99 dB */
+
+} tNmeaSATELLITE;
+
+
+/**
+ * GSV packet information structure (Satellites in view)
+ */
+typedef struct
+{
+    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 */
+    tNmeaSATELLITE sat_data[NMEA_SATINPACK];
+
+} tNmeaGSV;
+
+bool NmeaGsv_Parse(char *str, size_t len, tNmeaGSV *result);
+
+#endif //NMEA_GSV_H
--- a/Solutions/Inc/Nmea_Rmc.h
+++ b/Solutions/Inc/Nmea_Rmc.h
@ -0,0 +1,41 @@
+//
+// Created by villuton on 25.03.25.
+//
+
+#ifndef NMEA_RMC_H
+#define NMEA_RMC_H
+
+#include "Nmea0183Parser_Time.h"
+#include "Nmea0183_Sentence.h"
+
+#define RMC_MSG_ID     "RMC"
+#define RMC_MSG_ID_LEN (3)
+
+#define RMC_STATUS_NotValid 'V'
+#define RMC_STATUS_Valid    'A'
+
+#define RMC_MODE_Autonomous   'A'
+#define RMC_MODE_Differential 'D'
+#define RMC_MODE_Estimated    'E'
+#define RMC_MODE_NotValid     'N'
+#define RMC_MODE_Simulator    'S'
+
+/**
+ * RMC packet information structure (Recommended Minimum sentence C)
+ */
+typedef struct {
+    tNmeaTime     time;        /**< time of position */
+    char          status;      /**< Status (A = active or V = void) */
+    tNmeaLocation location;    /**< Sentence location data in fractional NDEG and Cardinal directions */
+    double        speed;       /**< Speed over the ground in knots */
+    double        direction;   /**< Track angle in degrees True */
+    double        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) */
+}tNmeaRMC;
+
+
+bool NmeaRmc_Parse(char *str, size_t len, tNmeaRMC *result);
+
+
+#endif //NMEA_RMC_H
--- a/Solutions/Src/Nmea_Gga.c
+++ b/Solutions/Src/Nmea_Gga.c
@ -0,0 +1,77 @@
+//
+// Created by villuton on 25.03.25.
+//
+#include <stddef.h>
+#include "Nmea_Gga.h"
+#include "Nmea0183Parser_Private.h"
+#include "Nmea_Config.h"
+
+bool NmeaGga_Parse(char *str, size_t len, tNmeaGGA *result)
+{
+    char *end = str + len;
+    char *front = str;
+    char *nextDivider = front-1;
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseUtc(front, nextDivider, &result->utc)) {
+            return false;
+        }
+    } else {
+        result->utc = (tNmeaUtc){0};
+    }
+    result->location.lat =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : NMEA_DEF_LAT;
+
+    result->location.ns =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0)?
+            *front : 0;
+
+    result->location.lon =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0)?
+            Nmea0183ParseDouble(front, nextDivider - front) : NMEA_DEF_LON;
+
+    result->location.ew =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : 0;
+
+    result->sig =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : SIG_Invalid;
+
+    result->satinuse =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+
+    result->HDOP =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front,nextDivider - front) : 0;
+    result->elv =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front,nextDivider - front) : 0;
+    result->elv_units =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : 0;
+    result->diff =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front,nextDivider - front) : 0;
+    result->diff_units =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : 0;
+
+    if(result->sig == SIG_Differential){
+        result->dgps_age =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+        result->dgps_sid =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+        result->dgps_sid =
+                ((DGPS_SID_MIN <= result->dgps_sid) && (result->dgps_sid<= DGPS_SID_MAX)) ?
+                result->dgps_sid : 0;
+    } else{
+        result->dgps_age = 0;
+        result->dgps_sid = 0;
+    }
+
+    return true;
+}
--- a/Solutions/Src/Nmea_Gsa.c
+++ b/Solutions/Src/Nmea_Gsa.c
@ -0,0 +1,51 @@
+//
+// Created by villuton on 26.03.25.
+//
+#include <stddef.h>
+#include <stdbool.h>
+#include "Nmea_Gsa.h"
+#include "Nmea0183Parser_Private.h"
+#include "Nmea_Config.h"
+
+/**
+ *
+ * @param str NMEA string with GSA solutions
+ * @param len len GSA string
+ * @param result < (0) tNmeaGSA struct
+ * @return TRUE if parsing complete
+ */
+bool NmeaGsa_Parse(char *str, size_t len, tNmeaGSA *result)
+{
+    char *end = str + len;
+    char *front = str;
+    char *nextDivider = front - 1;
+
+    result->fix_mode =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : GSA_FIX_MODE_EMPTY;
+
+    result->fix_type =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : GSA_NaN;
+
+    for(int i = 0; i < NMEA_MAXSAT; i++)
+    {
+        result->sat_prn[i] =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : GSA_FIX_MODE_EMPTY;
+    }
+
+    result->PDOP =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    result->HDOP =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    result->VDOP =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    return true;
+}
--- a/Solutions/Src/Nmea_Gsv.c
+++ b/Solutions/Src/Nmea_Gsv.c
@ -0,0 +1,48 @@
+//
+// Created by villuton on 26.03.25.
+//
+#include <stddef.h>
+#include <stdbool.h>
+#include "Nmea_Gsv.h"
+#include "Nmea0183Parser_Private.h"
+#include "Nmea_Config.h"
+
+/**
+ *
+ * @param str NMEA string with GSV solutions
+ * @param len len GSV string
+ * @param result < (0) tNmeaGSV struct
+ * @return TRUE if parsing complete
+ */
+bool NmeaGsv_Parse(char *str, size_t len, tNmeaGSV *result)
+{
+    char *end = str + len;
+    char *front = str;
+    char *nextDivider = front - 1;
+
+    result->pack_count =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+    result->pack_index =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+    result->sat_count =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+    for(int i = 0; i < NMEA_SATINPACK; i++)
+    {
+        result->sat_data[i].id =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+        result->sat_data[i].elv =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+        result->sat_data[i].azimuth =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+        result->sat_data[i].sig =
+                (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+                Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front) : 0;
+    }
+    return true;
+}
--- a/Solutions/Src/Nmea_Rmc.c
+++ b/Solutions/Src/Nmea_Rmc.c
@ -0,0 +1,79 @@
+//
+// Created by villuton on 25.03.25.
+//
+#include <stddef.h>
+#include "Nmea_Rmc.h"
+#include "Nmea0183Parser_Private.h"
+#include "Nmea_Config.h"
+
+
+/**
+ *
+ * @param str NMEA string with RMC solutions
+ * @param len len NMEA string
+ * @param result < (0) tNmeaRMC struct
+ * @return TRUE if parsing complete
+ */
+bool NmeaRmc_Parse(char *str, size_t len, tNmeaRMC *result)
+{
+    char *end = str + len;
+    char *front = str;
+    char *nextDivider = front - 1;
+    result->status = RMC_STATUS_NotValid;
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseUtc(front, nextDivider, &result->time.utc)) {
+            return false;
+        }
+    } else {
+        result->time.utc = (tNmeaUtc){0};
+    }
+
+    result->status =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : RMC_STATUS_NotValid;
+
+    result->location.lat =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : NMEA_DEF_LAT;
+
+    result->location.ns =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0)?
+            *front : 0;
+
+    result->location.lon =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0)?
+            Nmea0183ParseDouble(front, nextDivider - front) : NMEA_DEF_LON;
+
+    result->location.ew =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : 0;
+
+    result->speed =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    result->direction =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseDate(front, nextDivider, &result->time.date)) {
+            return false;
+        }
+    } else {
+        result->time.date = (tNmeaDate){0};
+    }
+
+    result->declination =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            Nmea0183ParseDouble(front, nextDivider - front) : 0;
+
+    result->declin_ew =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : 0;
+
+    result->mode =
+            (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) ?
+            *front : RMC_MODE_NotValid;
+    return true;
+}