/*================================================================ Copyright (c) 2021, Quectel Wireless Solutions Co., Ltd. All rights reserved. Quectel Wireless Solutions Proprietary and Confidential. =================================================================*/ #ifndef QUEC_NMEA_PARSE_H_ #define QUEC_NMEA_PARSE_H_ #ifdef __cplusplus extern "C" { #endif #include #include "quec_hx_gps.h" #define ARRAY_LENGTH(a) (sizeof a / sizeof (a[0])) #define NMEA_MIN_LENGTH (9) #define NMEA_MAX_LENGTH (82) #define KNOTS_CONVERSION_FACTOR (1.852) #define GNSS_CMD_MAX_LENGTH 128 #define jmin(a, b) (((a) > (b)) ? (b) : (a)) #define jmax(a, b) (((a) > (b)) ? (a) : (b)) #define NMEA_END_CHAR_1 '\r' #define NMEA_END_CHAR_2 '\n' /** Number of item types; unsigned integer. */ typedef unsigned int dsat_num_item_type; typedef unsigned long long loc_position_valid_mask_type; typedef enum { NMEA_UNKNOWN, NMEA_RMC, NMEA_GGA, NMEA_GSA, NMEA_GSV, NMEA_VTG, NMEA_GLL, NMEA_TXT, } nmea_type; typedef enum { SAT_UNKNOWN, SAT_GPS, //GP SAT_GLONASS,//GL SAT_GALILEO, SAT_BDS, //GB SAT_MULTISYS, //GN SAT_MAX, } satellite_type; typedef char nmea_cardinal_t; #define NMEA_CARDINAL_DIR_NORTH (nmea_cardinal_t) 'N' #define NMEA_CARDINAL_DIR_EAST (nmea_cardinal_t) 'E' #define NMEA_CARDINAL_DIR_SOUTH (nmea_cardinal_t) 'S' #define NMEA_CARDINAL_DIR_WEST (nmea_cardinal_t) 'W' #define NMEA_CARDINAL_DIR_UNKNOWN (nmea_cardinal_t) '\0' #define NMEA_PREFIX_LENGTH (5) #define NMEA_TIME_FORMAT "%H%M%S" #define NMEA_TIME_FORMAT_LEN 6 #define NMEA_DATE_FORMAT "%d%m%y" #define NMEA_DATE_FORMAT_LEN 6 struct nmea_s{ satellite_type sat_type; nmea_type type; void *data; }; /* GPS position struct */ struct nmea_position{ double minutes; int degrees; nmea_cardinal_t cardinal; }; /* nmea rmc packet define */ /* Value indexes */ #define NMEA_GPRMC_TIME 0 #define NMEA_GPRMC_STATUS 1 #define NMEA_GPRMC_LATITUDE 2 #define NMEA_GPRMC_LATITUDE_CARDINAL 3 #define NMEA_GPRMC_LONGITUDE 4 #define NMEA_GPRMC_LONGITUDE_CARDINAL 5 #define NMEA_GPRMC_SPEED 6 #define NMEA_GPRMC_COURSE 7 #define NMEA_GPRMC_DATE 8 struct nmea_gprmc_s{ /*1: valid, 0: invalid*/ int valid; struct nmea_position longitude; struct nmea_position latitude; double course; double speed; struct tm time; } ; /* nmea gsv packet define */ #define NMEA_GPGSV_TOTAL_MSGS 0 #define NMEA_GPGSV_MSG_NR 1 #define NMEA_GPGSV_SATS 2 #define NMEA_GPGSV_SAT_INFO_NR1 3 #define NMEA_GPGSV_SAT_INFO_ELEV1 4 #define NMEA_GPGSV_SAT_INFO_AZIMUTH1 5 #define NMEA_GPGSV_SAT_INFO_SNR1 6 #define NMEA_GPGSV_SAT_INFO_NR2 7 #define NMEA_GPGSV_SAT_INFO_ELEV2 8 #define NMEA_GPGSV_SAT_INFO_AZIMUTH2 9 #define NMEA_GPGSV_SAT_INFO_SNR2 10 #define NMEA_GPGSV_SAT_INFO_NR3 11 #define NMEA_GPGSV_SAT_INFO_ELEV3 12 #define NMEA_GPGSV_SAT_INFO_AZIMUTH3 13 #define NMEA_GPGSV_SAT_INFO_SNR3 14 #define NMEA_GPGSV_SAT_INFO_NR4 15 #define NMEA_GPGSV_SAT_INFO_ELEV4 16 #define NMEA_GPGSV_SAT_INFO_AZIMUTH4 17 #define NMEA_GPGSV_SAT_INFO_SNR4 18 #define NMEA_GPGSV_SAT_INFO_SIGID 19 struct nmea_sat_info { /* PRN */ int nr; /*elevation of satellite*/ int elevation; /*azimuth of satellite*/ int azimuth; /*Signal Noise Ratio*/ int snr; }; struct nmea_gpgsv_s { int cur_sats; int sig_id; /*total msg count*/ int total_msgs; /*current msg index*/ int msg_nr; /*total satellite count*/ int total_sats; /*satellites info*/ struct nmea_sat_info sats[4]; }; /*nmea gga packet define*/ //2,3,4,5,6,7 #define NMEA_GPGGA_UTC 0 #define NMEA_GPGGA_LATITUDE 1 #define NMEA_GPGGA_LATITUDE_CARDINAL 2 #define NMEA_GPGGA_LONGITUDE 3 #define NMEA_GPGGA_LONGITUDE_CARDINAL 4 #define NMEA_GPGGA_QUALITY 5 #define NMEA_GPGGA_SATELLITES_TRACKED 6 #define NMEA_GPGGA_HDOP 7 #define NMEA_GPGGA_ALTITUDE 8 struct nmea_gpgga_s{ struct nmea_position longitude; struct nmea_position latitude; unsigned char quality; unsigned int satellites_tracked; double hdop; double altitude; unsigned int time; } ; /*nmea gsa packet define*/ #define NMEA_GPGSA_MODE 0 #define NMEA_GPGSA_NAVMODE 1 #define NMEA_GPGSA_PDOP 14 #define NMEA_GPGSA_HDOP 15 #define NMEA_GPGSA_VDOP 16 struct nmea_gpgsa_s { unsigned char mode; unsigned char navmode; double pdop; double hdop; double vdop; }; /*nmea vtg packet define*/ #define NMEA_GPVTG_COGT 0 #define NMEA_GPVTG_COGT_CARDINAL 1 #define NMEA_GPVTG_COGM 2 #define NMEA_GPVTG_COGM_CARDINA 3 #define NMEA_GPVTG_SOG 4 #define NMEA_GPVTG_SOG_CARDINA 5 #define NMEA_GPVTG_KPH 6 #define NMEA_GPVTG_KPH_CARDINA 7 struct nmea_gpvtg_s { double cogt; unsigned char cogt_flag; double cogm; unsigned char cogm_flag; double sog; unsigned char sog_flag; double kph; unsigned char kph_flag; }; #define NMEA_GPGLL_LATITUDE 0 #define NMEA_GPGLL_LATITUDE_CARDINAL 1 #define NMEA_GPGLL_LONGITUDE 2 #define NMEA_GPGLL_LONGITUDE_CARDINAL 3 #define NMEA_GPGLL_TIME 4 #define NMEA_GPGLL_STATUS 5 struct nmea_gpgll_s { int valid; struct nmea_position longitude; struct nmea_position latitude; struct tm time; }; #define NMEA_GPS_SATE 0 #define NMEA_GPS_SATE_VALID 1 #define NMEA_BDS_SATE 2 #define NMEA_BDS_SATE_VALID 3 #define NMEA_GAL_SATE 4 #define NMEA_GAL_SATE_VALID 5 #define NMEA_GLO_SATE 6 #define NMEA_GLO_SATE_VALID 7 #define PDAPI_NMEA_GGA 0x0001 #define PDAPI_NMEA_RMC 0x0002 #define PDAPI_NMEA_GSV 0x0004 #define PDAPI_NMEA_GSA 0x0008 #define PDAPI_NMEA_VTG 0x0010 typedef enum { QGPS_START_COLD, QGPS_START_HOT, QGPS_START_WARM, QGPS_START_XTRA } qgps_start_e_type; typedef struct { unsigned short year; unsigned char month; unsigned char day_of_week; unsigned char day; unsigned char hour; unsigned char minute; unsigned char second; unsigned short millisecond; } loc_calendar_time_s_type; typedef struct { dsat_num_item_type gnssmode; // dsat_num_item_type fixmaxtime; //最大超时重? dsat_num_item_type fixmaxdist; // 定位精度 dsat_num_item_type b_fixcount_flag; dsat_num_item_type fixcount; // count of fs dsat_num_item_type fixrate; //fs per/s }quec_gps_config; typedef struct { char agpsflag; char agps_assist_data_valid; unsigned long long local_last_time_min; char profile_inx; char agps_url[100]; char agpsvendorID[30]; char agpsmodelID[30]; char agpspassWord[30]; }quec_agps; #define GNSS_SYSCONFGE_ENABLE (0x01 << 1) #define GNSS_NMEATYPE_ENABLE (0x01 << 2) /*nmea txt packet define*/ #define NMEA_GNTXT_FWVER 3 struct nmea_gntxt_s { char fwver[32]; }; int quec_gnss_nmea_cnf(void); int quec_gnss_nmea_parse(char* buf, int len); struct nmea_s* nmea_parse(char *sentence, int length, int check_checksum); nmea_type nmea_get_type(const char *sentence); satellite_type nmea_satellite_check(char *sentence); int _split_string_by_comma(char *string, char **values, int max_values); #ifdef __cplusplus } #endif #endif /* !NMEA_PARSE_H_ */