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# minmea, a lightweight GPS NMEA 0183 parser library
[![C/C++
CI](https://github.com/kosma/minmea/actions/workflows/c-cpp.yml/badge.svg)](https://github.com/kosma/minmea/actions/workflows/c-cpp.yml)
Minmea is a minimalistic GPS parser library written in pure C intended for
resource-constrained platforms, especially microcontrollers and other embedded
systems.
## Features
* Written in ISO C99.
* No dynamic memory allocation.
* No floating point usage in the core library.
* Supports both fixed and floating point values.
* One source file and one header - can't get any simpler.
* Tested under Linux, OS X, Windows and embedded ARM GCC.
* Easily extendable to support new sentences.
* Complete with a test suite and static analysis.
## Supported sentences
* ``GBS`` (Satellite Fault Detection)
* ``GGA`` (Fix Data)
* ``GLL`` (Geographic Position: Latitude/Longitude)
* ``GSA`` (DOP and active satellites)
* ``GST`` (Pseudorange Noise Statistics)
* ``GSV`` (Satellites in view)
* ``RMC`` (Recommended Minimum: position, velocity, time)
* ``VTG`` (Track made good and Ground speed)
* ``ZDA`` (Time & Date - UTC, day, month, year and local time zone)
Adding support for more sentences is trivial; see ``minmea.c`` source. Good documentation
on NMEA is at https://gpsd.gitlab.io/gpsd/NMEA.html
## Compatibility
Minmea runs out-of-the-box under most Unix-compatible systems. Support for non-Unix systems
(including native Windows builds under MSVC) is provided via compatibility headers:
1. Define `MINMEA_INCLUDE_COMPAT` in the build environment.
2. Add appropriate compatibility header from under `compat/` directory as `minmea_compat.h`.
If your GPS receiver outputs very long sentences, consider increasing `MINMEA_MAX_SENTENCE_LENGTH`
in your build environment.
## Fractional number format
Internally, minmea stores fractional numbers as pairs of two integers: ``{value, scale}``.
For example, a value of ``"-123.456"`` would be parsed as ``{-123456, 1000}``. As this
format is quite unwieldy, minmea provides the following convenience functions for converting
to either fixed-point or floating-point format:
* ``minmea_rescale({-123456, 1000}, 10) => -1235``
* ``minmea_float({-123456, 1000}) => -123.456``
The compound type ``struct minmea_float`` uses ``int_least32_t`` internally. Therefore,
the coordinate precision is guaranteed to be at least ``[+-]DDDMM.MMMMM`` (five decimal digits)
or ±2cm LSB at the equator. Note that GPS modules commonly only provide four decimal digits
(``[+-]DDDMM.MMMM``), which equates to ±20cm (0.0001 minute is 0.0001/60 degrees and one degree
is about 111km) at the equator.
## Coordinate format
NMEA uses the clunky ``DDMM.MMMM`` format which, honestly, is not good in the internet era.
Internally, minmea stores it as a fractional number (see above); for practical uses,
the value should be probably converted to the DD.DDDDD floating point format using the
following function:
* ``minmea_tocoord({-375165, 100}) => -37.860832``
The library doesn't perform this conversion automatically for the following reasons:
* The conversion is not reversible.
* It requires floating point support.
* The user might want to perform this conversion later on or retain the original values.
## Example
```c
char line[MINMEA_MAX_SENTENCE_LENGTH];
while (fgets(line, sizeof(line), stdin) != NULL) {
switch (minmea_sentence_id(line, false)) {
case MINMEA_SENTENCE_RMC: {
struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) {
printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n",
frame.latitude.value, frame.latitude.scale,
frame.longitude.value, frame.longitude.scale,
frame.speed.value, frame.speed.scale);
printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n",
minmea_rescale(&frame.latitude, 1000),
minmea_rescale(&frame.longitude, 1000),
minmea_rescale(&frame.speed, 1000));
printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n",
minmea_tocoord(&frame.latitude),
minmea_tocoord(&frame.longitude),
minmea_tofloat(&frame.speed));
}
} break;
case MINMEA_SENTENCE_GGA: {
struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, line)) {
printf("$GGA: fix quality: %d\n", frame.fix_quality);
}
} break;
case MINMEA_SENTENCE_GSV: {
struct minmea_sentence_gsv frame;
if (minmea_parse_gsv(&frame, line)) {
printf("$GSV: message %d of %d\n", frame.msg_nr, frame.total_msgs);
printf("$GSV: satellites in view: %d\n", frame.total_sats);
for (int i = 0; i < 4; i++)
printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n",
frame.sats[i].nr,
frame.sats[i].elevation,
frame.sats[i].azimuth,
frame.sats[i].snr);
}
} break;
}
}
```
## Integration with your project
Simply add ``minmea.[ch]`` to your project, ``#include "minmea.h"`` and you're
good to go.
## Running unit tests
Building and running the tests requires the following:
* CMake
* Check Framework (https://libcheck.github.io/check/).
* Clang Static Analyzer (https://clang-analyzer.llvm.org/).
If you have both in your ``$PATH``, running the tests should be as simple as:
```
mkdir build
cd build
cmake ../
make
make test
```
## Limitations
* Only a handful of frames is supported right now.
* There's no support for omitting parts of the library from building. As
a workaround, use the ``-ffunction-sections -Wl,--gc-sections`` linker flags
(or equivalent) to remove the unused functions (parsers) from the final image.
* Some systems lack ``timegm``. On these systems, the recommended course of
action is to build with ``-Dtimegm=mktime`` which will work correctly as long
the system runs in the default ``UTC`` timezone.
## Contributing
1. Use the GitHub pull request system.
2. Make sure to follow to existing style (naming, indentation, etc.)
3. Write unit tests for any new functionality you add.
4. Be aware you're submitting your work under the repository's license.
## Licensing
Minmea is open source software; see ``COPYING`` for amusement. Email me if the
license bothers you and I'll happily re-license under anything else under the sun.
## Author
Minmea was written by Kosma Moczek &lt;kosma@kosma.pl&gt; and Patryk Szymczak
&lt;patryk.szymczak@gmail.com&gt; at Cloud Your Car, with bugs fixed by countless
good people.

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/*
* Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
* This program is free software. It comes without any warranty, to the extent
* permitted by applicable law. You can redistribute it and/or modify it under
* the terms of the Do What The Fuck You Want To Public License, Version 2, as
* published by Sam Hocevar. See the COPYING file for more details.
*/
#include "minmea.h"
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>
#define boolstr(s) ((s) ? "true" : "false")
static int hex2int(char c)
{
if (c >= '0' && c <= '9')
return c - '0';
if (c >= 'A' && c <= 'F')
return c - 'A' + 10;
if (c >= 'a' && c <= 'f')
return c - 'a' + 10;
return -1;
}
uint8_t minmea_checksum(const char *sentence)
{
// Support senteces with or without the starting dollar sign.
if (*sentence == '$')
sentence++;
uint8_t checksum = 0x00;
// The optional checksum is an XOR of all bytes between "$" and "*".
while (*sentence && *sentence != '*')
checksum ^= *sentence++;
return checksum;
}
bool minmea_check(const char *sentence, bool strict)
{
uint8_t checksum = 0x00;
// A valid sentence starts with "$".
if (*sentence++ != '$')
return false;
// The optional checksum is an XOR of all bytes between "$" and "*".
while (*sentence && *sentence != '*' && isprint((unsigned char) *sentence))
checksum ^= *sentence++;
// If checksum is present...
if (*sentence == '*') {
// Extract checksum.
sentence++;
int upper = hex2int(*sentence++);
if (upper == -1)
return false;
int lower = hex2int(*sentence++);
if (lower == -1)
return false;
int expected = upper << 4 | lower;
// Check for checksum mismatch.
if (checksum != expected)
return false;
} else if (strict) {
// Discard non-checksummed frames in strict mode.
return false;
}
// The only stuff allowed at this point is a newline.
while (*sentence == '\r' || *sentence == '\n') {
sentence++;
}
if (*sentence) {
return false;
}
return true;
}
bool minmea_scan(const char *sentence, const char *format, ...)
{
bool result = false;
bool optional = false;
if (sentence == NULL)
return false;
va_list ap;
va_start(ap, format);
const char *field = sentence;
#define next_field() \
do { \
/* Progress to the next field. */ \
while (minmea_isfield(*sentence)) \
sentence++; \
/* Make sure there is a field there. */ \
if (*sentence == ',') { \
sentence++; \
field = sentence; \
} else { \
field = NULL; \
} \
} while (0)
while (*format) {
char type = *format++;
if (type == ';') {
// All further fields are optional.
optional = true;
continue;
}
if (!field && !optional) {
// Field requested but we ran out if input. Bail out.
goto parse_error;
}
switch (type) {
case 'c': { // Single character field (char).
char value = '\0';
if (field && minmea_isfield(*field))
value = *field;
*va_arg(ap, char *) = value;
} break;
case 'd': { // Single character direction field (int).
int value = 0;
if (field && minmea_isfield(*field)) {
switch (*field) {
case 'N':
case 'E':
value = 1;
break;
case 'S':
case 'W':
value = -1;
break;
default:
goto parse_error;
}
}
*va_arg(ap, int *) = value;
} break;
case 'f': { // Fractional value with scale (struct minmea_float).
int sign = 0;
int_least32_t value = -1;
int_least32_t scale = 0;
if (field) {
while (minmea_isfield(*field)) {
if (*field == '+' && !sign && value == -1) {
sign = 1;
} else if (*field == '-' && !sign && value == -1) {
sign = -1;
} else if (isdigit((unsigned char) *field)) {
int digit = *field - '0';
if (value == -1)
value = 0;
if (value > (INT_LEAST32_MAX-digit) / 10) {
/* we ran out of bits, what do we do? */
if (scale) {
/* truncate extra precision */
break;
} else {
/* integer overflow. bail out. */
goto parse_error;
}
}
value = (10 * value) + digit;
if (scale)
scale *= 10;
} else if (*field == '.' && scale == 0) {
scale = 1;
} else if (*field == ' ') {
/* Allow spaces at the start of the field. Not NMEA
* conformant, but some modules do this. */
if (sign != 0 || value != -1 || scale != 0)
goto parse_error;
} else {
goto parse_error;
}
field++;
}
}
if ((sign || scale) && value == -1)
goto parse_error;
if (value == -1) {
/* No digits were scanned. */
value = 0;
scale = 0;
} else if (scale == 0) {
/* No decimal point. */
scale = 1;
}
if (sign)
value *= sign;
*va_arg(ap, struct minmea_float *) = (struct minmea_float) {value, scale};
} break;
case 'i': { // Integer value, default 0 (int).
int value = 0;
if (field) {
char *endptr;
value = strtol(field, &endptr, 10);
if (minmea_isfield(*endptr))
goto parse_error;
}
*va_arg(ap, int *) = value;
} break;
case 's': { // String value (char *).
char *buf = va_arg(ap, char *);
if (field) {
while (minmea_isfield(*field))
*buf++ = *field++;
}
*buf = '\0';
} break;
case 't': { // NMEA talker+sentence identifier (char *).
// This field is always mandatory.
if (!field)
goto parse_error;
if (field[0] != '$')
goto parse_error;
for (int f=0; f<5; f++)
if (!minmea_isfield(field[1+f]))
goto parse_error;
char *buf = va_arg(ap, char *);
memcpy(buf, field+1, 5);
buf[5] = '\0';
} break;
case 'D': { // Date (int, int, int), -1 if empty.
struct minmea_date *date = va_arg(ap, struct minmea_date *);
int d = -1, m = -1, y = -1;
if (field && minmea_isfield(*field)) {
// Always six digits.
for (int f=0; f<6; f++)
if (!isdigit((unsigned char) field[f]))
goto parse_error;
char dArr[] = {field[0], field[1], '\0'};
char mArr[] = {field[2], field[3], '\0'};
char yArr[] = {field[4], field[5], '\0'};
d = strtol(dArr, NULL, 10);
m = strtol(mArr, NULL, 10);
y = strtol(yArr, NULL, 10);
}
date->day = d;
date->month = m;
date->year = y;
} break;
case 'T': { // Time (int, int, int, int), -1 if empty.
struct minmea_time *time_ = va_arg(ap, struct minmea_time *);
int h = -1, i = -1, s = -1, u = -1;
if (field && minmea_isfield(*field)) {
// Minimum required: integer time.
for (int f=0; f<6; f++)
if (!isdigit((unsigned char) field[f]))
goto parse_error;
char hArr[] = {field[0], field[1], '\0'};
char iArr[] = {field[2], field[3], '\0'};
char sArr[] = {field[4], field[5], '\0'};
h = strtol(hArr, NULL, 10);
i = strtol(iArr, NULL, 10);
s = strtol(sArr, NULL, 10);
field += 6;
// Extra: fractional time. Saved as microseconds.
if (*field++ == '.') {
uint32_t value = 0;
uint32_t scale = 1000000LU;
while (isdigit((unsigned char) *field) && scale > 1) {
value = (value * 10) + (*field++ - '0');
scale /= 10;
}
u = value * scale;
} else {
u = 0;
}
}
time_->hours = h;
time_->minutes = i;
time_->seconds = s;
time_->microseconds = u;
} break;
case '_': { // Ignore the field.
} break;
default: { // Unknown.
goto parse_error;
}
}
next_field();
}
result = true;
parse_error:
va_end(ap);
return result;
}
bool minmea_talker_id(char talker[3], const char *sentence)
{
char type[6];
if (!minmea_scan(sentence, "t", type))
return false;
talker[0] = type[0];
talker[1] = type[1];
talker[2] = '\0';
return true;
}
enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict)
{
if (!minmea_check(sentence, strict))
return MINMEA_INVALID;
char type[6];
if (!minmea_scan(sentence, "t", type))
return MINMEA_INVALID;
if (!strcmp(type+2, "GBS"))
return MINMEA_SENTENCE_GBS;
if (!strcmp(type+2, "GGA"))
return MINMEA_SENTENCE_GGA;
if (!strcmp(type+2, "GLL"))
return MINMEA_SENTENCE_GLL;
if (!strcmp(type+2, "GSA"))
return MINMEA_SENTENCE_GSA;
if (!strcmp(type+2, "GST"))
return MINMEA_SENTENCE_GST;
if (!strcmp(type+2, "GSV"))
return MINMEA_SENTENCE_GSV;
if (!strcmp(type+2, "RMC"))
return MINMEA_SENTENCE_RMC;
if (!strcmp(type+2, "VTG"))
return MINMEA_SENTENCE_VTG;
if (!strcmp(type+2, "ZDA"))
return MINMEA_SENTENCE_ZDA;
return MINMEA_UNKNOWN;
}
bool minmea_parse_gbs(struct minmea_sentence_gbs *frame, const char *sentence)
{
// $GNGBS,170556.00,3.0,2.9,8.3,,,,*5C
char type[6];
if (!minmea_scan(sentence, "tTfffifff",
type,
&frame->time,
&frame->err_latitude,
&frame->err_longitude,
&frame->err_altitude,
&frame->svid,
&frame->prob,
&frame->bias,
&frame->stddev
))
return false;
if (strcmp(type+2, "GBS"))
return false;
return true;
}
bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence)
{
// $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62
char type[6];
char validity;
int latitude_direction;
int longitude_direction;
int variation_direction;
if (!minmea_scan(sentence, "tTcfdfdffDfd",
type,
&frame->time,
&validity,
&frame->latitude, &latitude_direction,
&frame->longitude, &longitude_direction,
&frame->speed,
&frame->course,
&frame->date,
&frame->variation, &variation_direction))
return false;
if (strcmp(type+2, "RMC"))
return false;
frame->valid = (validity == 'A');
frame->latitude.value *= latitude_direction;
frame->longitude.value *= longitude_direction;
frame->variation.value *= variation_direction;
return true;
}
bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence)
{
// $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
char type[6];
int latitude_direction;
int longitude_direction;
if (!minmea_scan(sentence, "tTfdfdiiffcfcf_",
type,
&frame->time,
&frame->latitude, &latitude_direction,
&frame->longitude, &longitude_direction,
&frame->fix_quality,
&frame->satellites_tracked,
&frame->hdop,
&frame->altitude, &frame->altitude_units,
&frame->height, &frame->height_units,
&frame->dgps_age))
return false;
if (strcmp(type+2, "GGA"))
return false;
frame->latitude.value *= latitude_direction;
frame->longitude.value *= longitude_direction;
return true;
}
bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence)
{
// $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
char type[6];
if (!minmea_scan(sentence, "tciiiiiiiiiiiiifff",
type,
&frame->mode,
&frame->fix_type,
&frame->sats[0],
&frame->sats[1],
&frame->sats[2],
&frame->sats[3],
&frame->sats[4],
&frame->sats[5],
&frame->sats[6],
&frame->sats[7],
&frame->sats[8],
&frame->sats[9],
&frame->sats[10],
&frame->sats[11],
&frame->pdop,
&frame->hdop,
&frame->vdop))
return false;
if (strcmp(type+2, "GSA"))
return false;
return true;
}
bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence)
{
// $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41$;
char type[6];
int latitude_direction;
int longitude_direction;
if (!minmea_scan(sentence, "tfdfdTc;c",
type,
&frame->latitude, &latitude_direction,
&frame->longitude, &longitude_direction,
&frame->time,
&frame->status,
&frame->mode))
return false;
if (strcmp(type+2, "GLL"))
return false;
frame->latitude.value *= latitude_direction;
frame->longitude.value *= longitude_direction;
return true;
}
bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence)
{
// $GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58
char type[6];
if (!minmea_scan(sentence, "tTfffffff",
type,
&frame->time,
&frame->rms_deviation,
&frame->semi_major_deviation,
&frame->semi_minor_deviation,
&frame->semi_major_orientation,
&frame->latitude_error_deviation,
&frame->longitude_error_deviation,
&frame->altitude_error_deviation))
return false;
if (strcmp(type+2, "GST"))
return false;
return true;
}
bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence)
{
// $GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74
// $GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D
// $GPGSV,4,2,11,08,51,203,30,09,45,215,28*75
// $GPGSV,4,4,13,39,31,170,27*40
// $GPGSV,4,4,13*7B
char type[6];
if (!minmea_scan(sentence, "tiii;iiiiiiiiiiiiiiii",
type,
&frame->total_msgs,
&frame->msg_nr,
&frame->total_sats,
&frame->sats[0].nr,
&frame->sats[0].elevation,
&frame->sats[0].azimuth,
&frame->sats[0].snr,
&frame->sats[1].nr,
&frame->sats[1].elevation,
&frame->sats[1].azimuth,
&frame->sats[1].snr,
&frame->sats[2].nr,
&frame->sats[2].elevation,
&frame->sats[2].azimuth,
&frame->sats[2].snr,
&frame->sats[3].nr,
&frame->sats[3].elevation,
&frame->sats[3].azimuth,
&frame->sats[3].snr
)) {
return false;
}
if (strcmp(type+2, "GSV"))
return false;
return true;
}
bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence)
{
// $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48
// $GPVTG,156.1,T,140.9,M,0.0,N,0.0,K*41
// $GPVTG,096.5,T,083.5,M,0.0,N,0.0,K,D*22
// $GPVTG,188.36,T,,M,0.820,N,1.519,K,A*3F
char type[6];
char c_true, c_magnetic, c_knots, c_kph, c_faa_mode;
if (!minmea_scan(sentence, "t;fcfcfcfcc",
type,
&frame->true_track_degrees,
&c_true,
&frame->magnetic_track_degrees,
&c_magnetic,
&frame->speed_knots,
&c_knots,
&frame->speed_kph,
&c_kph,
&c_faa_mode))
return false;
if (strcmp(type+2, "VTG"))
return false;
// values are only valid with the accompanying characters
if (c_true != 'T')
frame->true_track_degrees.scale = 0;
if (c_magnetic != 'M')
frame->magnetic_track_degrees.scale = 0;
if (c_knots != 'N')
frame->speed_knots.scale = 0;
if (c_kph != 'K')
frame->speed_kph.scale = 0;
frame->faa_mode = (enum minmea_faa_mode)c_faa_mode;
return true;
}
bool minmea_parse_zda(struct minmea_sentence_zda *frame, const char *sentence)
{
// $GPZDA,201530.00,04,07,2002,00,00*60
char type[6];
if(!minmea_scan(sentence, "tTiiiii",
type,
&frame->time,
&frame->date.day,
&frame->date.month,
&frame->date.year,
&frame->hour_offset,
&frame->minute_offset))
return false;
if (strcmp(type+2, "ZDA"))
return false;
// check offsets
if (abs(frame->hour_offset) > 13 ||
frame->minute_offset > 59 ||
frame->minute_offset < 0)
return false;
return true;
}
int minmea_getdatetime(struct tm *tm, const struct minmea_date *date, const struct minmea_time *time_)
{
if (date->year == -1 || time_->hours == -1)
return -1;
memset(tm, 0, sizeof(*tm));
if (date->year < 80) {
tm->tm_year = 2000 + date->year - 1900; // 2000-2079
} else if (date->year >= 1900) {
tm->tm_year = date->year - 1900; // 4 digit year, use directly
} else {
tm->tm_year = date->year; // 1980-1999
}
tm->tm_mon = date->month - 1;
tm->tm_mday = date->day;
tm->tm_hour = time_->hours;
tm->tm_min = time_->minutes;
tm->tm_sec = time_->seconds;
return 0;
}
int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_)
{
struct tm tm;
if (minmea_getdatetime(&tm, date, time_))
return -1;
time_t timestamp = timegm(&tm); /* See README.md if your system lacks timegm(). */
if (timestamp != (time_t)-1) {
ts->tv_sec = timestamp;
ts->tv_nsec = time_->microseconds * 1000;
return 0;
} else {
return -1;
}
}
/* vim: set ts=4 sw=4 et: */

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sdk/合宙/air780e/csdk/luatos-soc-2022/thirdparty/minmea/minmea.h vendored Normal file
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/*
* Copyright © 2014 Kosma Moczek <kosma@cloudyourcar.com>
* This program is free software. It comes without any warranty, to the extent
* permitted by applicable law. You can redistribute it and/or modify it under
* the terms of the Do What The Fuck You Want To Public License, Version 2, as
* published by Sam Hocevar. See the COPYING file for more details.
*/
#ifndef MINMEA_H
#define MINMEA_H
#ifdef __cplusplus
extern "C" {
#endif
#include <ctype.h>
#include <stdint.h>
#include <stdbool.h>
#include <time.h>
#include <math.h>
#ifdef MINMEA_INCLUDE_COMPAT
#include <minmea_compat.h>
#endif
#ifndef MINMEA_MAX_SENTENCE_LENGTH
#define MINMEA_MAX_SENTENCE_LENGTH 80
#endif
enum minmea_sentence_id {
MINMEA_INVALID = -1,
MINMEA_UNKNOWN = 0,
MINMEA_SENTENCE_GBS,
MINMEA_SENTENCE_GGA,
MINMEA_SENTENCE_GLL,
MINMEA_SENTENCE_GSA,
MINMEA_SENTENCE_GST,
MINMEA_SENTENCE_GSV,
MINMEA_SENTENCE_RMC,
MINMEA_SENTENCE_VTG,
MINMEA_SENTENCE_ZDA,
};
struct minmea_float {
int_least32_t value;
int_least32_t scale;
};
struct minmea_date {
int day;
int month;
int year;
};
struct minmea_time {
int hours;
int minutes;
int seconds;
int microseconds;
};
struct minmea_sentence_gbs {
struct minmea_time time;
struct minmea_float err_latitude;
struct minmea_float err_longitude;
struct minmea_float err_altitude;
int svid;
struct minmea_float prob;
struct minmea_float bias;
struct minmea_float stddev;
};
struct minmea_sentence_rmc {
struct minmea_time time;
bool valid;
struct minmea_float latitude;
struct minmea_float longitude;
struct minmea_float speed;
struct minmea_float course;
struct minmea_date date;
struct minmea_float variation;
};
struct minmea_sentence_gga {
struct minmea_time time;
struct minmea_float latitude;
struct minmea_float longitude;
int fix_quality;
int satellites_tracked;
struct minmea_float hdop;
struct minmea_float altitude; char altitude_units;
struct minmea_float height; char height_units;
struct minmea_float dgps_age;
};
enum minmea_gll_status {
MINMEA_GLL_STATUS_DATA_VALID = 'A',
MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
};
// FAA mode added to some fields in NMEA 2.3.
enum minmea_faa_mode {
MINMEA_FAA_MODE_AUTONOMOUS = 'A',
MINMEA_FAA_MODE_DIFFERENTIAL = 'D',
MINMEA_FAA_MODE_ESTIMATED = 'E',
MINMEA_FAA_MODE_MANUAL = 'M',
MINMEA_FAA_MODE_SIMULATED = 'S',
MINMEA_FAA_MODE_NOT_VALID = 'N',
MINMEA_FAA_MODE_PRECISE = 'P',
};
struct minmea_sentence_gll {
struct minmea_float latitude;
struct minmea_float longitude;
struct minmea_time time;
char status;
char mode;
};
struct minmea_sentence_gst {
struct minmea_time time;
struct minmea_float rms_deviation;
struct minmea_float semi_major_deviation;
struct minmea_float semi_minor_deviation;
struct minmea_float semi_major_orientation;
struct minmea_float latitude_error_deviation;
struct minmea_float longitude_error_deviation;
struct minmea_float altitude_error_deviation;
};
enum minmea_gsa_mode {
MINMEA_GPGSA_MODE_AUTO = 'A',
MINMEA_GPGSA_MODE_FORCED = 'M',
};
enum minmea_gsa_fix_type {
MINMEA_GPGSA_FIX_NONE = 1,
MINMEA_GPGSA_FIX_2D = 2,
MINMEA_GPGSA_FIX_3D = 3,
};
struct minmea_sentence_gsa {
char mode;
int fix_type;
int sats[12];
struct minmea_float pdop;
struct minmea_float hdop;
struct minmea_float vdop;
};
struct minmea_sat_info {
int nr;
int elevation;
int azimuth;
int snr;
};
struct minmea_sentence_gsv {
int total_msgs;
int msg_nr;
int total_sats;
struct minmea_sat_info sats[4];
};
struct minmea_sentence_vtg {
struct minmea_float true_track_degrees;
struct minmea_float magnetic_track_degrees;
struct minmea_float speed_knots;
struct minmea_float speed_kph;
enum minmea_faa_mode faa_mode;
};
struct minmea_sentence_zda {
struct minmea_time time;
struct minmea_date date;
int hour_offset;
int minute_offset;
};
/**
* Calculate raw sentence checksum. Does not check sentence integrity.
*/
uint8_t minmea_checksum(const char *sentence);
/**
* Check sentence validity and checksum. Returns true for valid sentences.
*/
bool minmea_check(const char *sentence, bool strict);
/**
* Determine talker identifier.
*/
bool minmea_talker_id(char talker[3], const char *sentence);
/**
* Determine sentence identifier.
*/
enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict);
/**
* Scanf-like processor for NMEA sentences. Supports the following formats:
* c - single character (char *)
* d - direction, returned as 1/-1, default 0 (int *)
* f - fractional, returned as value + scale (struct minmea_float *)
* i - decimal, default zero (int *)
* s - string (char *)
* t - talker identifier and type (char *)
* D - date (struct minmea_date *)
* T - time stamp (struct minmea_time *)
* _ - ignore this field
* ; - following fields are optional
* Returns true on success. See library source code for details.
*/
bool minmea_scan(const char *sentence, const char *format, ...);
/*
* Parse a specific type of sentence. Return true on success.
*/
bool minmea_parse_gbs(struct minmea_sentence_gbs *frame, const char *sentence);
bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence);
bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence);
bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence);
bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence);
bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence);
bool minmea_parse_zda(struct minmea_sentence_zda *frame, const char *sentence);
/**
* Convert GPS UTC date/time representation to a UNIX calendar time.
*/
int minmea_getdatetime(struct tm *tm, const struct minmea_date *date, const struct minmea_time *time_);
/**
* Convert GPS UTC date/time representation to a UNIX timestamp.
*/
int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_);
/**
* Rescale a fixed-point value to a different scale. Rounds towards zero.
*/
static inline int_least32_t minmea_rescale(const struct minmea_float *f, int_least32_t new_scale)
{
if (f->scale == 0)
return 0;
if (f->scale == new_scale)
return f->value;
if (f->scale > new_scale)
return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale/new_scale/2) / (f->scale/new_scale);
else
return f->value * (new_scale/f->scale);
}
/**
* Convert a fixed-point value to a floating-point value.
* Returns NaN for "unknown" values.
*/
static inline float minmea_tofloat(const struct minmea_float *f)
{
if (f->scale == 0)
return NAN;
return (float) f->value / (float) f->scale;
}
/**
* Convert a raw coordinate to a floating point DD.DDD... value.
* Returns NaN for "unknown" values.
*/
static inline float minmea_tocoord(const struct minmea_float *f)
{
if (f->scale == 0)
return NAN;
if (f->scale > (INT_LEAST32_MAX / 100))
return NAN;
if (f->scale < (INT_LEAST32_MIN / 100))
return NAN;
int_least32_t degrees = f->value / (f->scale * 100);
int_least32_t minutes = f->value % (f->scale * 100);
return (float) degrees + (float) minutes / (60 * f->scale);
}
/**
* Check whether a character belongs to the set of characters allowed in a
* sentence data field.
*/
static inline bool minmea_isfield(char c) {
return isprint((unsigned char) c) && c != ',' && c != '*';
}
#ifdef __cplusplus
}
#endif
#endif /* MINMEA_H */
/* vim: set ts=4 sw=4 et: */

14
sdk/合宙/air780e/csdk/luatos-soc-2022/thirdparty/minmea/xmake.lua vendored Normal file
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target("minmea")
local LIB_DIR = "$(buildir)/minmea/"
set_kind("static")
set_targetdir(LIB_DIR)
-- add_defines("FEATURE_MQTT_TLS_ENABLE",{public = true})
-- 加入代码和头文件
add_includedirs("./",{public = true})
add_files("./*.c",{public = true})
-- 自动链接
LIB_USER = LIB_USER .. SDK_TOP .. LIB_DIR .. "libminmea.a "
target_end()