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add pico_multi_booter code
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cuu
275
Code/pico_multi_booter/picomite/GPS.h
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275
Code/pico_multi_booter/picomite/GPS.h
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/*
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* @cond
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* The following section will be excluded from the documentation.
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*/
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/* *********************************************************************************************************************
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PicoMite MMBasic
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GPS.h
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<COPYRIGHT HOLDERS> Geoff Graham, Peter Mather
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Copyright (c) 2021, <COPYRIGHT HOLDERS> All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
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in the documentation and/or other materials provided with the distribution.
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3. The name MMBasic be used when referring to the interpreter in any documentation and promotional material and the original copyright message be displayed
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on the console at startup (additional copyright messages may be added).
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4. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed
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by the <copyright holder>.
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5. Neither the name of the <copyright holder> nor the names of its contributors may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY <COPYRIGHT HOLDERS> AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDERS> BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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************************************************************************************************************************/
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#include "configuration.h"
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#if !defined(INCLUDE_COMMAND_TABLE) && !defined(INCLUDE_TOKEN_TABLE)
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#endif
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#if !defined(INCLUDE_COMMAND_TABLE) && !defined(INCLUDE_TOKEN_TABLE)
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// General definitions used by other modules
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#ifndef MINMEA_H
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#define MINMEA_H
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#include <stdio.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <errno.h>
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#include <time.h>
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//#include <math.h>
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#define YEAR0 1900 /* the first year */
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#define EPOCH_YR 1970 /* EPOCH = Jan 1 1970 00:00:00 */
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#define SECS_DAY (24L * 60L * 60L)
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#define LEAPYEAR(year) (!((year) % 4) && (((year) % 100) || !((year) % 400)))
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#define YEARSIZE(year) (LEAPYEAR(year) ? 366 : 365)
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#define FIRSTSUNDAY(timp) (((timp)->tm_yday - (timp)->tm_wday + 420) % 7)
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#define FIRSTDAYOF(timp) (((timp)->tm_wday - (timp)->tm_yday + 420) % 7)
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#define TIME_MAX ULONG_MAX
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#define ABB_LEN 3
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#define MINMEA_MAX_LENGTH 80
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extern volatile char gpsbuf1[128];
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extern volatile char gpsbuf2[128];
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extern volatile char * volatile gpsbuf;
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extern volatile char gpscount;
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extern volatile int gpscurrent;
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extern volatile char *gpsready;
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extern volatile int gpsmonitor;
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extern MMFLOAT GPSlatitude;
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extern MMFLOAT GPSlongitude;
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extern MMFLOAT GPSspeed;
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extern int GPSvalid;
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extern char GPStime[9];
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extern char GPSdate[11];
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extern MMFLOAT GPStrack;
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extern int GPSfix;
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extern int GPSadjust;
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extern MMFLOAT GPSdop;
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extern int GPSsatellites;
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extern MMFLOAT GPSaltitude;
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extern int GPSfix;
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extern int GPSadjust;
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extern const int _ytab[2][12];
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extern int GPSchannel;
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extern time_t timegm(const struct tm *tm);
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extern struct tm * gmtime(const time_t *timer);
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enum minmea_sentence_id {
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MINMEA_INVALID = -1,
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MINMEA_UNKNOWN = 0,
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MINMEA_SENTENCE_RMC,
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MINMEA_SENTENCE_GGA,
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MINMEA_SENTENCE_GSA,
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MINMEA_SENTENCE_GLL,
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MINMEA_SENTENCE_GST,
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MINMEA_SENTENCE_GSV,
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MINMEA_SENTENCE_VTG,
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};
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struct minmea_float {
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int value;
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int scale;
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};
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struct minmea_date {
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int day;
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int month;
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int year;
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};
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struct minmea_time {
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int hours;
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int minutes;
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int seconds;
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int microseconds;
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};
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struct minmea_sentence_rmc {
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struct minmea_time time;
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bool valid;
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struct minmea_float latitude;
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struct minmea_float longitude;
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struct minmea_float speed;
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struct minmea_float course;
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struct minmea_date date;
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struct minmea_float variation;
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};
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struct minmea_sentence_gga {
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struct minmea_time time;
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struct minmea_float latitude;
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struct minmea_float longitude;
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int fix_quality;
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int satellites_tracked;
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struct minmea_float hdop;
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struct minmea_float altitude; char altitude_units;
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struct minmea_float height; char height_units;
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int dgps_age;
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};
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enum minmea_gll_status {
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MINMEA_GLL_STATUS_DATA_VALID = 'A',
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MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
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};
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// FAA mode added to some fields in NMEA 2.3.
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enum minmea_faa_mode {
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MINMEA_FAA_MODE_AUTONOMOUS = 'A',
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MINMEA_FAA_MODE_DIFFERENTIAL = 'D',
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MINMEA_FAA_MODE_ESTIMATED = 'E',
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MINMEA_FAA_MODE_MANUAL = 'M',
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MINMEA_FAA_MODE_SIMULATED = 'S',
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MINMEA_FAA_MODE_NOT_VALID = 'N',
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MINMEA_FAA_MODE_PRECISE = 'P',
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};
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struct minmea_sentence_gll {
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struct minmea_float latitude;
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struct minmea_float longitude;
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struct minmea_time time;
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char status;
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char mode;
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};
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struct minmea_sentence_gst {
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struct minmea_time time;
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struct minmea_float rms_deviation;
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struct minmea_float semi_major_deviation;
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struct minmea_float semi_minor_deviation;
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struct minmea_float semi_major_orientation;
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struct minmea_float latitude_error_deviation;
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struct minmea_float longitude_error_deviation;
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struct minmea_float altitude_error_deviation;
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};
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enum minmea_gsa_mode {
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MINMEA_GPGSA_MODE_AUTO = 'A',
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MINMEA_GPGSA_MODE_FORCED = 'M',
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};
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enum minmea_gsa_fix_type {
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MINMEA_GPGSA_FIX_NONE = 1,
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MINMEA_GPGSA_FIX_2D = 2,
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MINMEA_GPGSA_FIX_3D = 3,
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};
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struct minmea_sentence_gsa {
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char mode;
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int fix_type;
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int sats[12];
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struct minmea_float pdop;
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struct minmea_float hdop;
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struct minmea_float vdop;
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};
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struct minmea_sat_info {
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int nr;
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int elevation;
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int azimuth;
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int snr;
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};
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struct minmea_sentence_gsv {
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int total_msgs;
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int msg_nr;
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int total_sats;
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struct minmea_sat_info sats[4];
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};
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struct minmea_sentence_vtg {
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struct minmea_float true_track_degrees;
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struct minmea_float magnetic_track_degrees;
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struct minmea_float speed_knots;
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struct minmea_float speed_kph;
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enum minmea_faa_mode faa_mode;
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};
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/*
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* Calculate raw sentence checksum. Does not check sentence integrity.
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*/
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uint8_t minmea_checksum(const char *sentence);
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/*
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* Check sentence validity and checksum. Returns true for valid sentences.
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*/
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bool minmea_check(const char *sentence, bool strict);
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/*
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* Determine talker identifier.
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*/
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bool minmea_talker_id(char talker[3], const char *sentence);
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/*
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* Determine sentence identifier.
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*/
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void processgps(void);
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enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict);
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/*
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* Scanf-like processor for NMEA sentences. Supports the following formats:
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* c - single character (char *)
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* d - direction, returned as 1/-1, default 0 (int *)
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* f - fractional, returned as value + scale (int *, int *)
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* i - decimal, default zero (int *)
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* s - string (char *)
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* t - talker identifier and type (char *)
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* T - date/time stamp (int *, int *, int *)
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* Returns true on success. See library source code for details.
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*/
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bool minmea_scan(const char *sentence, const char *format, ...);
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/*
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* Parse a specific type of sentence. Return true on success.
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*/
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bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence);
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bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence);
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bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
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bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence);
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bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
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bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence);
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bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence);
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/*
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* Convert GPS UTC date/time representation to a UNIX timestamp.
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*/
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int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_);
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/*
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* Rescale a fixed-point value to a different scale. Rounds towards zero.
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*/
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#endif /* MINMEA_H */
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#endif
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/* vim: set ts=4 sw=4 et: */
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/* @endcond */
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