1018

2025-03-20 17:57:02 +03:00 · 2025-03-20 17:57:02 +03:00 · f2cec055b8
commit f2cec055b8
9 changed files with 636 additions and 0 deletions
--- a/Inc/Nmea0183Parser.h
+++ b/Inc/Nmea0183Parser.h
@ -0,0 +1,112 @@
+//
+// Created by xemon on 01.09.22.
+//
+
+#ifndef NMEA_0183_PARSER_NMEA_0183_PARSER_H
+#define NMEA_0183_PARSER_NMEA_0183_PARSER_H
+
+#include "stdint.h"
+#include "stddef.h"
+#include "stdbool.h"
+
+typedef struct {
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+    uint16_t millisecond;
+} tNmeaTimeRmc;
+
+typedef struct {
+    uint8_t day;
+    uint8_t month;
+    uint8_t year;
+} tNmeaDateRmc;
+
+typedef struct {
+    double latitude;
+    char nsIndicator;
+    double longitude;
+    double horizontDiluitPrecis;
+    double altitude;
+    char ewIndicator;
+} tNmeaLocationRmc;
+
+typedef struct {
+    double declination;
+    double nsat;
+    double mode;
+} tNmeaMagneticRmc;
+
+typedef struct {
+    char status;
+
+    tNmeaDateRmc date;
+    tNmeaTimeRmc time;
+    tNmeaLocationRmc location;
+    tNmeaMagneticRmc magnetic;
+
+    double knotVelocity;
+    double kmhVelocity;
+    double headingAngle;
+} tNmeaRmc;
+
+typedef struct {
+    double lat;
+    double lon;
+} tLocationPointInDegDouble;
+
+typedef struct {
+    float lat;
+    float lon;
+} tLocationPointInDeg;
+
+typedef struct {
+    double latitude;
+    char nsIndicator;
+    double longitude;
+    char ewIndicator;
+} tNmeaLocationGga;
+
+typedef enum {
+    NO_SOLUTIONS = 0,
+    AUTO = 1,
+    DIFF = 2,
+    RTK_FIX = 4,
+    RTK_DIFF = 5,
+    EXTRAPOLATION = 6,
+    FIX_LOCATION = 7,
+    SIMULATE = 8,
+    SBAS = 9,
+} eNmeaGgaGpsQual;
+
+typedef struct {
+    tNmeaTimeRmc time;
+    tNmeaLocationGga location;
+    eNmeaGgaGpsQual qual;
+    uint8_t sats;
+    float hdop;
+    double altitude;
+    char altitudeUnit;
+    double undulation;
+    char undulationUnit;
+    uint8_t ageSec;
+    uint16_t stnID;
+} tNmeaGga;
+
+bool bNmea0183ParseGGA(char *ggaString, size_t len, tNmeaGga *result);
+
+uint32_t iNmea0183TimestampFromRmc(tNmeaRmc *env);
+
+tLocationPointInDegDouble iNmea0183_DegLocationDoubleFromRmc(tNmeaRmc *env);
+
+tLocationPointInDeg iNmea0183_DegLocationFromRmc(tNmeaRmc *env);
+
+void vNmea0183Sign(char *str, size_t *strLen);
+
+bool bNmea0183ParseRMC(char *rmcString, size_t len, tNmeaRmc *result);
+
+bool bNmea0183IsRmcString(char *nmeaString, size_t len);
+
+bool bNmea0183IsValidString(char *nmeaString, size_t len);
+
+#endif //NMEA_0183_PARSER_NMEA_0183_PARSER__H
--- a/Inc/Nmea0183Parser_General.h
+++ b/Inc/Nmea0183Parser_General.h
@ -0,0 +1,23 @@
+//
+// Created by villuton on 20.03.25.
+//
+
+#ifndef NMEA0183PARSER_GENERAL_H
+#define NMEA0183PARSER_GENERAL_H
+
+#include <stdint-gcc.h>
+
+typedef struct {
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t second;
+    uint16_t millisecond;
+} tNmeaTime;
+
+typedef struct {
+    uint8_t day;
+    uint8_t month;
+    uint8_t year;
+} tNmeaDate;
+
+#endif //NMEA0183PARSER_GENERAL_H
--- a/Inc/Nmea0183Parser_Private.h
+++ b/Inc/Nmea0183Parser_Private.h
@ -0,0 +1,22 @@
+//
+// Created by villuton on 20.03.25.
+//
+
+#ifndef NMEA0183PARSER_PRIVATE_H
+#define NMEA0183PARSER_PRIVATE_H
+
+#include "AsciiStringParsingUtils.h"
+
+#define Nmea0183ParseShortCharsDecimalNumber(STR, LEN) (uint16_t) iAsciiStringParseUnsignedLongDecimalNumber(STR,((STR)+(LEN)))
+
+#define Nmea0183ParseDouble(STR, LEN) dAsciiStringParseDouble(STR,((STR)+(LEN)))
+
+#define Nmea0183SkipSpace(STR, STR_END)  xAsciiStringSkipSpace(STR,STR_END)
+
+#define Nmea0183SkipToChar(STR, STR_END, SYMBOL) xAsciiStringSeekChar(STR,STR_END,SYMBOL)
+
+#define Nmea0183ParseNextPortion(BEGIN, DIV, STR_END) iAsciiStringMoveToNextParsingBlock(BEGIN,DIV,STR_END,',')
+
+#define Nmea0183ParseHexByte(STR) iAsciiStringParseHexByte(STR)
+
+#endif //NMEA0183PARSER_PRIVATE_H
--- a/Src/Nmea0183Parser.c
+++ b/Src/Nmea0183Parser.c
@ -0,0 +1,329 @@
+//
+// Created by xemon on 01.09.22.
+//
+#include "Nmea0183Parser.h"
+#include "AsciiStringAssmeblingUtils.h"
+#include "AsciiStringParsingUtils.h"
+#include "time.h"
+#include <string.h>
+
+#define Nmea0183ParseShortCharsDecimalNumber(STR, LEN) (uint16_t) iAsciiStringParseUnsignedLongDecimalNumber(STR,((STR)+(LEN)))
+
+#define Nmea0183ParseDouble(STR, LEN) dAsciiStringParseDouble(STR,((STR)+(LEN)))
+
+#define Nmea0183SkipSpace(STR, STR_END)  xAsciiStringSkipSpace(STR,STR_END)
+
+#define Nmea0183SkipToChar(STR, STR_END, SYMBOL) xAsciiStringSeekChar(STR,STR_END,SYMBOL)
+
+#define Nmea0183ParseNextPortion(BEGIN, DIV, STR_END) iAsciiStringMoveToNextParsingBlock(BEGIN,DIV,STR_END,',')
+
+#define Nmea0183ParseHexByte(STR) iAsciiStringParseHexByte(STR)
+
+bool Nmea0183ParseTime(char *utcString, char const *utcStringEnd, tNmeaTimeRmc *time) {
+
+    uint32_t len = utcStringEnd - utcString;
+    uint8_t charsLeft = len - 7;
+
+    if (len > 10 || len < 9) {
+        return false;
+    }
+
+    if (utcString[6] != '.') {
+        return false;
+    }
+
+    time->hour = Nmea0183ParseShortCharsDecimalNumber(utcString + 0, 2);
+    time->minute = Nmea0183ParseShortCharsDecimalNumber(utcString + 2, 2);
+    time->second = Nmea0183ParseShortCharsDecimalNumber(utcString + 4, 2);
+
+    time->millisecond = Nmea0183ParseShortCharsDecimalNumber(utcString + 7, charsLeft);
+
+    charsLeft = 3 - charsLeft;
+
+    while (charsLeft) {
+        time->millisecond *= 10;
+        --charsLeft;
+    }
+
+    return true;
+}
+
+bool Nmea0183ParseDate(char *utcString, char const *utcStringEnd, tNmeaDateRmc *date) {
+
+    uint32_t len = utcStringEnd - utcString;
+
+    if (len != 6) {
+        return false;
+    }
+
+    date->day = Nmea0183ParseShortCharsDecimalNumber(utcString + 0, 2);
+    date->month = Nmea0183ParseShortCharsDecimalNumber(utcString + 2, 2);
+    date->year = Nmea0183ParseShortCharsDecimalNumber(utcString + 4, 2);
+
+    return true;
+}
+
+uint8_t uNmea0183Checksum(const char *str, size_t len) {
+    char *end = (char *) (str + len);
+
+    unsigned char result;
+    result = 0;
+    str++;
+
+    while ((str != end) && (*str != '*') && (*str != '\0'))
+        result ^= *str++;
+
+    return result;
+}
+
+
+void vNmea0183Sign(char *str, size_t *strLen) {
+    uint8_t crc = uNmea0183Checksum(str, *strLen);
+    vAsciiStringAddChar(str, strLen, '*');
+    vAsciiStringAddByteAsHex(str, strLen, crc);
+}
+
+bool bNmea0183IsRmcString(char *nmeaString, size_t len) {
+    if (nmeaString[0] != '$') {
+        return false;
+    }
+
+    return strnstr(nmeaString, "RMC", len);
+}
+
+uint32_t iNmea0183TimestampFromRmc(tNmeaRmc *env) {
+    struct tm time;
+    time.tm_hour = env->time.hour;
+    time.tm_min = env->time.minute;
+    time.tm_sec = env->time.second;
+
+    time.tm_mday = env->date.day;
+    time.tm_mon = env->date.month - 1;
+    if(env->date.year>60){
+        time.tm_year = (1900 - 1900) + env->date.year;
+    }else{
+        time.tm_year = (2000 - 1900) + env->date.year;
+    }
+
+    return mktime(&time);
+}
+
+static double nmeaLocationToDeg(double dec) {
+    double _dec = dec;
+    int deg = (int) (_dec / 100);
+    int min = (int) (_dec) - (deg * 100);
+
+    double sec = (double) (_dec - min - 100 * deg) * 60.0;
+
+    return deg + min / 60.0 + sec / 3600.0;
+}
+
+
+tLocationPointInDegDouble iNmea0183_DegLocationDoubleFromRmc(tNmeaRmc *env) {
+    tLocationPointInDegDouble result;
+    result.lat = nmeaLocationToDeg(env->location.latitude);
+    result.lon = nmeaLocationToDeg(env->location.longitude);
+
+    if (env->location.nsIndicator == 'S' || env->location.nsIndicator == 's') {
+        result.lat *= -1.0;
+    }
+
+    if (env->location.ewIndicator == 'W' || env->location.ewIndicator == 'w') {
+        result.lon *= -1.0;
+    }
+    return result;
+}
+
+tLocationPointInDeg iNmea0183_DegLocationFromRmc(tNmeaRmc *env) {
+    tLocationPointInDeg result;
+    result.lat = (float) nmeaLocationToDeg(env->location.latitude);
+    result.lon = (float) nmeaLocationToDeg(env->location.longitude);
+
+    if (env->location.nsIndicator == 'S' || env->location.nsIndicator == 's') {
+        result.lat *= -1.0f;
+    }
+
+    if (env->location.ewIndicator == 'W' || env->location.ewIndicator == 'w') {
+        result.lon *= -1.0f;
+    }
+    return result;
+}
+
+
+bool bNmea0183IsValidString(char *nmeaString, size_t len) {
+        char *dataEndPos = strnstr((char *) nmeaString, "*", len);
+        uint8_t checksumCalculated = uNmea0183Checksum(nmeaString, dataEndPos - nmeaString);
+        ++dataEndPos;
+        uint8_t checksumInString = Nmea0183ParseHexByte(dataEndPos);
+        return checksumCalculated == checksumInString;
+}
+
+bool bNmea0183ParseRMC(char *rmcString, size_t len, tNmeaRmc *result) {
+
+    char *end = rmcString + len;
+    char *front = rmcString;
+    char *nextDivider = front - 1;
+
+    result->status = 'V';
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseTime(front, nextDivider, &result->time)) {
+            return false;
+        }
+    } else {
+        result->time.second = 0;
+        result->time.minute = 0;
+        result->time.hour = 0;
+        result->time.millisecond = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->status = *front;
+    } else {
+        result->status = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.latitude = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->location.latitude = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.nsIndicator = *front;
+    } else {
+        result->location.nsIndicator = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.longitude = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->location.longitude = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.ewIndicator = *front;
+    } else {
+        result->location.ewIndicator = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->knotVelocity = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->knotVelocity = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->headingAngle = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->headingAngle = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseDate(front, nextDivider, &result->date)) {
+            return false;
+        }
+    } else {
+        result->date.year = 0;
+        result->date.month = 0;
+        result->date.day = 0;
+    }
+
+
+    return true;
+}
+
+bool bNmea0183IsGgaString(char *nmeaString, size_t len) {
+    if (nmeaString[0] != '$') {
+        return false;
+    }
+
+    return strnstr(nmeaString, "GGA", len);
+}
+
+bool bNmea0183ParseGGA(char *ggaString, size_t len, tNmeaGga *result){
+    char *end = ggaString + len;
+    char *front = ggaString;
+    char *nextDivider = front-1;
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        if (!Nmea0183ParseTime(front, nextDivider, &result->time)) {
+            return false;
+        }
+    } else {
+        result->time.second = 0;
+        result->time.minute = 0;
+        result->time.hour = 0;
+        result->time.millisecond = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.latitude = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->location.latitude = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.nsIndicator = *front;
+    } else {
+        result->location.nsIndicator = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.longitude = Nmea0183ParseDouble(front, nextDivider - front);
+    } else {
+        result->location.longitude = 0;
+    }
+
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->location.ewIndicator = *front;
+    } else {
+        result->location.ewIndicator = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->qual = Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front);
+    } else {
+        result->qual = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->sats = Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front);
+    } else {
+        result->sats = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->hdop = Nmea0183ParseDouble(front,nextDivider - front);
+    } else {
+        result->hdop = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->altitude = Nmea0183ParseDouble(front,nextDivider - front);
+    } else {
+        result->altitude = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->altitudeUnit = *front;
+    } else {
+        result->altitude = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->undulation = Nmea0183ParseDouble(front,nextDivider - front);
+    } else {
+        result->undulation = 0;
+    }
+    if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+        result->undulationUnit = *front;
+    } else {
+        result->undulationUnit = 0;
+    }
+    if(result->qual == DIFF){
+        if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+            result->ageSec = Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front);
+        } else {
+            result->ageSec = 0;
+        }
+        if (Nmea0183ParseNextPortion(&front, &nextDivider, end) > 0) {
+            result->stnID = Nmea0183ParseShortCharsDecimalNumber(front,nextDivider - front);
+        } else {
+            result->stnID = 0;
+        }
+    } else{
+        result->ageSec = 0;
+        result->stnID = 0;
+    }
+    return true;
+}
--- a/Src/Nmea0183Parser_General.c
+++ b/Src/Nmea0183Parser_General.c
@ -0,0 +1,35 @@
+//
+// Created by villuton on 20.03.25.
+//
+#include <stdbool.h>
+#include "Nmea0183Parser_General.h"
+#include "Nmea0183Parser_Private.h"
+
+bool Nmea0183ParseTime(char *utcString, char const *utcStringEnd, tNmeaTime *time) {
+
+    uint32_t len = utcStringEnd - utcString;
+    uint8_t charsLeft = len - 7;
+
+    if (len > 10 || len < 9) {
+        return false;
+    }
+
+    if (utcString[6] != '.') {
+        return false;
+    }
+
+    time->hour = Nmea0183ParseShortCharsDecimalNumber(utcString + 0, 2);
+    time->minute = Nmea0183ParseShortCharsDecimalNumber(utcString + 2, 2);
+    time->second = Nmea0183ParseShortCharsDecimalNumber(utcString + 4, 2);
+
+    time->millisecond = Nmea0183ParseShortCharsDecimalNumber(utcString + 7, charsLeft);
+
+    charsLeft = 3 - charsLeft;
+
+    while (charsLeft) {
+        time->millisecond *= 10;
+        --charsLeft;
+    }
+
+    return true;
+}
--- a/Tst/CMakeLists.txt
+++ b/Tst/CMakeLists.txt
@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.17)
+PROJECT(nmea_parser_test)
+
+set(CMAKE_CXX_STANDARD 17)
+
+include(modular.cmake)
+
+add_executable(test ${SOURCES})
--- a/Tst/Src/test.c
+++ b/Tst/Src/test.c
@ -0,0 +1,69 @@
+//
+// Created by xemon on 02.09.22.
+//
+
+#include "printf.h"
+
+#include "Nmea0183Parser.h"
+#include "stdio.h"
+
+
+void testRmc(char *rmcStr, size_t rmcStrLen) {
+    printf("string %*s\n", (int) rmcStrLen, rmcStr);
+    if (bNmea0183IsValidString(rmcStr, rmcStrLen)) {
+        printf("it's valid nmea string\n");
+        if (bNmea0183IsRmcString(rmcStr, rmcStrLen)) {
+            printf("it's rmc string\n");
+            tNmeaRmc rmc;
+            if (bNmea0183ParseRMC(rmcStr + 7, rmcStrLen - 7, &rmc)) {
+                printf("RMC string parsed OK!\n");
+                if (rmc.location.ewIndicator) {
+                    printf("lat %c %f\n", rmc.location.ewIndicator, rmc.location.latitude);
+                } else {
+                    printf("no lat\n");
+                }
+                if (rmc.location.nsIndicator) {
+                    printf("lon %c %f\n", rmc.location.nsIndicator, rmc.location.longitude);
+                } else {
+                    printf("no lon\n");
+                }
+
+                printf("time %02i:%02i:%02i [%03i]\n",
+                       rmc.time.hour,
+                       rmc.time.minute,
+                       rmc.time.second,
+                       rmc.time.millisecond
+                );
+
+                printf("date %i %i 20%02i\n",
+                       rmc.date.day,
+                       rmc.date.month,
+                       rmc.date.year
+                );
+            } else {
+                printf("Can't parse rmc string!\n");
+            }
+        } else {
+            printf("it's not rmc string\n");
+        }
+    } else {
+        printf("it's invalid nmea string\n");
+    }
+
+}
+
+
+
+
+
+int main() {
+
+    char gprmc0[] = "$GPSACP: 115235.000,5244.8321N,04126.7108E,0.6,201.7,3,0.0,0.0,0.0,121022,05,08";
+    char gprmc1[] = "$GPRMC,125504.049,A,5542.2389,N,03741.6063,E,0.06,25.82,200906,,,*17";
+    printf("\n");
+//    testAcp(gprmc0, sizeof(gprmc0) - 1);
+
+    printf("\n");
+    testRmc(gprmc1, sizeof(gprmc1) - 1);
+    return 0;
+}
--- a/Tst/modular.json
+++ b/Tst/modular.json
@ -0,0 +1,16 @@
+{
+  "dep": [
+    {
+      "type": "local",
+      "dir": "../"
+    }
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "Inc"
+    ],
+    "srcs": [
+      "Src/**.c"
+    ]
+  }
+}
--- a/modular.json
+++ b/modular.json
@ -0,0 +1,22 @@
+{
+  "dep": [
+    {
+      "type": "git",
+      "provider": "Villuton",
+      "repo": "AsciiStringAssemblingUtils"
+    },
+    {
+      "type": "git",
+      "provider": "Villuton",
+      "repo": "AsciiStringParsingUtils"
+    }
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "Inc"
+    ],
+    "srcs": [
+      "Src/**.c"
+    ]
+  }
+}