1 /* 2 * Copyright (c) 2023 Trackunit Corporation 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_DRIVERS_GNSS_GNSS_NMEA0183_H_ 8 #define ZEPHYR_DRIVERS_GNSS_GNSS_NMEA0183_H_ 9 10 #include <zephyr/drivers/gnss.h> 11 12 /** 13 * @brief Compute NMEA0183 checksum 14 * 15 * @example "PAIR002" -> 0x38 16 * 17 * @param str String from which checksum is computed 18 * 19 * @retval checksum 20 */ 21 uint8_t gnss_nmea0183_checksum(const char *str); 22 23 /** 24 * @brief Encapsulate str in NMEA0183 message format 25 * 26 * @example "PAIR%03u", 2 -> "$PAIR002*38" 27 * 28 * @param str Destination for encapsulated string 29 * @param size Size of destination for encapsulated string 30 * @param fmt Format of string to encapsulate 31 * @param ... Arguments 32 * 33 * @retval checksum 34 */ 35 int gnss_nmea0183_snprintk(char *str, size_t size, const char *fmt, ...); 36 37 /** 38 * @brief Computes and validates checksum 39 * 40 * @param argv Array of arguments split by ',' including message id and checksum 41 * @param argc Number of arguments in argv 42 * 43 * @retval true if message is intact 44 * @retval false if message is corrupted 45 */ 46 bool gnss_nmea0183_validate_message(char **argv, uint16_t argc); 47 48 /** 49 * @brief Parse a ddmm.mmmm formatted angle to nano degrees 50 * 51 * @example "5610.9928" -> 56183214000 52 * 53 * @param ddmm_mmmm String representation of angle in ddmm.mmmm format 54 * @param ndeg Result in nano degrees 55 * 56 * @retval -EINVAL if ddmm_mmmm argument is invalid 57 * @retval 0 if parsed successfully 58 */ 59 int gnss_nmea0183_ddmm_mmmm_to_ndeg(const char *ddmm_mmmm, int64_t *ndeg); 60 61 /** 62 * @brief Parse knots to millimeters pr second 63 * 64 * @example "15.231" -> 7835 65 * 66 * @param str String representation of speed in knots 67 * @param mms Destination for speed in millimeters pr second 68 * 69 * @retval -EINVAL if str could not be parsed or if speed is negative 70 * @retval 0 if parsed successfully 71 */ 72 int gnss_nmea0183_knots_to_mms(const char *str, int64_t *mms); 73 74 /** 75 * @brief Parse hhmmss.sss to struct gnss_time 76 * 77 * @example "133243.012" -> { .hour = 13, .minute = 32, .ms = 43012 } 78 * @example "133243" -> { .hour = 13, .minute = 32, .ms = 43000 } 79 * 80 * @param str String representation of hours, minutes, seconds and subseconds 81 * @param utc Destination for parsed time 82 * 83 * @retval -EINVAL if str could not be parsed 84 * @retval 0 if parsed successfully 85 */ 86 int gnss_nmea0183_parse_hhmmss(const char *hhmmss, struct gnss_time *utc); 87 88 /** 89 * @brief Parse ddmmyy to unsigned integers 90 * 91 * @example "041122" -> { .mday = 4, .month = 11, .year = 22 } 92 * 93 * @param str String representation of speed in knots 94 * @param utc Destination for parsed time 95 * 96 * @retval -EINVAL if str could not be parsed 97 * @retval 0 if parsed successfully 98 */ 99 int gnss_nmea0183_parse_ddmmyy(const char *ddmmyy, struct gnss_time *utc); 100 101 /** 102 * @brief Parses NMEA0183 RMC message 103 * 104 * @details Parses the time, date, latitude, longitude, speed, and bearing 105 * from the NMEA0183 RMC message provided as an array of strings split by ',' 106 * 107 * @param argv Array of arguments split by ',' including message id and checksum 108 * @param argc Number of arguments in argv' 109 * @param data Destination for data parsed from NMEA0183 RMC message 110 * 111 * @retval 0 if successful 112 * @retval -EINVAL if input is invalid 113 */ 114 int gnss_nmea0183_parse_rmc(const char **argv, uint16_t argc, struct gnss_data *data); 115 116 /** 117 * @brief Parses NMEA0183 GGA message 118 * 119 * @details Parses the GNSS fix quality and status, number of satellites used for 120 * fix, HDOP, and altitude (geoid separation) from the NMEA0183 GGA message provided 121 * as an array of strings split by ',' 122 * 123 * @param argv Array of arguments split by ',' including message id and checksum 124 * @param argc Number of arguments in argv' 125 * @param data Destination for data parsed from NMEA0183 GGA message 126 * 127 * @retval 0 if successful 128 * @retval -EINVAL if input is invalid 129 */ 130 int gnss_nmea0183_parse_gga(const char **argv, uint16_t argc, struct gnss_data *data); 131 132 /** GSV header structure */ 133 struct gnss_nmea0183_gsv_header { 134 /** Indicates the system of the space-vehicles contained in the message */ 135 enum gnss_system system; 136 /** Number of GSV messages in total */ 137 uint16_t number_of_messages; 138 /** Number of this GSV message */ 139 uint16_t message_number; 140 /** Number of visible space-vehicles */ 141 uint16_t number_of_svs; 142 }; 143 144 /** 145 * @brief Parses header of NMEA0183 GSV message 146 * 147 * @details The GSV messages are part of a list of messages sent in ascending 148 * order, split by GNSS system. 149 * 150 * @param argv Array of arguments split by ',' including message id and checksum 151 * @param argc Number of arguments in argv 152 * @param header Destination for parsed NMEA0183 GGA message header 153 * 154 * @retval 0 if successful 155 * @retval -EINVAL if input is invalid 156 */ 157 int gnss_nmea0183_parse_gsv_header(const char **argv, uint16_t argc, 158 struct gnss_nmea0183_gsv_header *header); 159 160 /** 161 * @brief Parses space-vehicles in NMEA0183 GSV message 162 * 163 * @details The NMEA0183 GSV message contains up to 4 space-vehicles which follow 164 * the header. 165 * 166 * @param argv Array of arguments split by ',' including message id and checksum 167 * @param argc Number of arguments in argv 168 * @param satellites Destination for parsed satellites from NMEA0183 GGA message 169 * @param size Size of destination for parsed satellites from NMEA0183 GGA message 170 * 171 * @retval Number of parsed space-vehicles stored at destination if successful 172 * @retval -ENOMEM if all space-vehicles in message could not be stored at destination 173 * @retval -EINVAL if input is invalid 174 */ 175 int gnss_nmea0183_parse_gsv_svs(const char **argv, uint16_t argc, 176 struct gnss_satellite *satellites, uint16_t size); 177 178 #endif /* ZEPHYR_DRIVERS_GNSS_GNSS_NMEA0183_H_ */ 179
