/** Assemble a NMEA GPGGA message and send it out NMEA USARTs.
* NMEA GPGGA message contains Global Positioning System Fix Data.
*
* \param soln Pointer to gnss_solution struct.
* \param dops Pointer to dops_t struct.
*/
void nmea_gpgga(const double pos_llh[3], const gps_time_t *gps_t, u8 n_used,
u8 fix_type, double hdop)
{
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (pos_llh[0]);
double lat_min = MINUTES(pos_llh[0]);
s16 lon_deg = R2D * (pos_llh[1]);
double lon_min = MINUTES(pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = pos_llh[1] < 0 ? 'W' : 'E';
NMEA_SENTENCE_START(120);
NMEA_SENTENCE_PRINTF("$GPGGA,%02d%02d%06.3f,"
"%02d%010.7f,%c,%03d%010.7f,%c,"
"%01d,%02d,%.1f,%.2f,M,,M,,",
t.tm_hour, t.tm_min, t.tm_sec + frac_s,
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
fix_type, n_used, hdop, pos_llh[2]
);
NMEA_SENTENCE_DONE();
}
/** Assemble an NMEA GPGLL message and send it out NMEA USARTs.
* NMEA GLL contains course and speed
*
* \param soln Pointer to gnss_solution struct
* \param gpt_t Pointer to the current GPS Time
*/
void nmea_gpgll(const gnss_solution *soln, const gps_time_t *gps_t)
{
/* NMEA Parameters for GPGLL
* Ex.
* $GPGLL,5133.81,N,00042.25,W,225444,A*75
* | | | | | | |
* Command | N/S Lon E/W | Valid
* LAT UTC
*/
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (soln->pos_llh[0]);
double lat_min = MINUTES(soln->pos_llh[0]);
s16 lon_deg = R2D * (soln->pos_llh[1]);
double lon_min = MINUTES(soln->pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = soln->pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = soln->pos_llh[1] < 0 ? 'W' : 'E';
NMEA_SENTENCE_START(120);
NMEA_SENTENCE_PRINTF("$GPGLL,"
"%02d%010.7f,%c,%03d%010.7f,%c," /* Lat/Lon */
"%02d%02d%06.3f,A", /* Time (UTC), Valid */
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
t.tm_hour, t.tm_min, t.tm_sec + frac_s);
NMEA_SENTENCE_DONE();
}
/** Assemble an NMEA GPRMC message and send it out NMEA USARTs.
* NMEA RMC contains minimum GPS data
*
* \param nav_meas Pointer to navigation_measurement struct.
* \param soln Pointer to gnss_solution struct
* \param gps_t Pointer to the current GPS Time
*/
void nmea_gprmc(const navigation_measurement_t *nav_meas,
const gnss_solution *soln, const gps_time_t *gps_t)
{
/* NMEA Parameters
* Ex.
* $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70
* | | | | | | | | | | | | |
* Command | | Lat N/S | | | | Date Stamp | W/E |
* Time (UTC) | Long W/E | True Course | Cksum
* Validity (A-OK) Speed Variation
* Variation is ignored as we have no way to maintain that information
* currently
*/
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (soln->pos_llh[0]);
double lat_min = MINUTES(soln->pos_llh[0]);
s16 lon_deg = R2D * (soln->pos_llh[1]);
double lon_min = MINUTES(soln->pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = soln->pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = soln->pos_llh[1] < 0 ? 'W' : 'E';
float velocity;
float x,y,z;
x = soln->vel_ned[0];
y = soln->vel_ned[1];
z = soln->vel_ned[2];
float course = atan2(y,x);
/* Conversion to magnitue knots */
velocity = MS2KNOTTS(x,y,z);
double az, el;
wgsecef2azel(nav_meas[0].sat_pos, soln->pos_ecef, &az, &el);
char buf[100];
u8 n = sprintf(buf,
"$GPRMC,%02d%02d%06.3f,A," /* Command, Time (UTC), Valid */
"%02d%010.7f,%c,%03d%010.7f,%c," /* Lat/Lon */
"%06.2f,%05.1f," /* Speed, Course */
"%02d%02d%02d," /* Date Stamp */
",", /* Variation */
t.tm_hour, t.tm_min, t.tm_sec + frac_s,
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
velocity, course * R2D,
t.tm_mday, t.tm_mon, t.tm_year-100);
u8 sum = nmea_checksum(buf);
sprintf(buf + n, "*%02X\r\n", sum);
nmea_output(buf);
}
/** Update GPS time estimate.
*
* This function may be called to update the GPS time estimate. If the time is
* already known more precisely than the new estimate, the new estimate will be
* ignored.
*
* This function should not be used to give an estimate with TIME_FINE quality
* as this must be referenced to a particular value of the SwiftNAP timing
* count.
*
* \param quality Quality of the time estimate.
* \param t GPS time estimate.
*/
void set_time(time_quality_t quality, gps_time_t t)
{
if (quality > time_quality) {
clock_state.t0_gps = t;
clock_state.t0_gps.tow -= nap_timing_count() * RX_DT_NOMINAL;
clock_state.t0_gps = normalize_gps_time(clock_state.t0_gps);
time_quality = quality;
time_t unix_t = gps2time(t);
log_info("Time set to: %s (quality=%d)", ctime(&unix_t), quality);
}
}
/** Assemble an NMEA GPRMC message and send it out NMEA USARTs.
* NMEA RMC contains minimum GPS data
*
* \param soln Pointer to gnss_solution struct
* \param gps_t Pointer to the current GPS Time
*/
void nmea_gprmc(const gnss_solution *soln, const gps_time_t *gps_t)
{
/* NMEA Parameters
* Ex.
* $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70
* | | | | | | | | | | | | |
* Command | | Lat N/S | | | | Date Stamp | W/E |
* Time (UTC) | Long W/E | True Course | Cksum
* Validity (A-OK) Speed Variation
* Variation is ignored as we have no way to maintain that information
* currently
*/
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (soln->pos_llh[0]);
double lat_min = MINUTES(soln->pos_llh[0]);
s16 lon_deg = R2D * (soln->pos_llh[1]);
double lon_min = MINUTES(soln->pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = soln->pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = soln->pos_llh[1] < 0 ? 'W' : 'E';
float velocity;
float x,y,z;
x = soln->vel_ned[0];
y = soln->vel_ned[1];
z = soln->vel_ned[2];
float course = atan2(y,x);
/* Conversion to magnitue knots */
velocity = MS2KNOTTS(x,y,z);
NMEA_SENTENCE_START(140);
NMEA_SENTENCE_PRINTF(
"$GPRMC,%02d%02d%06.3f,A," /* Command, Time (UTC), Valid */
"%02d%010.7f,%c,%03d%010.7f,%c," /* Lat/Lon */
"%06.2f,%05.1f," /* Speed, Course */
"%02d%02d%02d," /* Date Stamp */
",", /* Variation */
t.tm_hour, t.tm_min, t.tm_sec + frac_s,
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
velocity, course * R2D,
t.tm_mday, t.tm_mon + 1, t.tm_year % 100);
NMEA_SENTENCE_DONE();
}
/** Assemble a NMEA GPGGA message and send it out NMEA USARTs.
* NMEA GPGGA message contains Global Positioning System Fix Data.
*
* \param soln Pointer to gnss_solution struct.
* \param dops Pointer to dops_t struct.
*/
void nmea_gpgga(gnss_solution *soln, dops_t *dops)
{
time_t unix_t;
struct tm t;
unix_t = gps2time(soln->time);
gmtime_r(&unix_t, &t);
double frac_s = fmod(soln->time.tow, 1.0);
s8 lat_deg = (s8)((180.0 / M_PI) * soln->pos_llh[0]);
double lat_min = fabs(60 * ((180.0 / M_PI) * soln->pos_llh[0] - lat_deg));
s8 lon_deg = (s8)((180.0 / M_PI) * soln->pos_llh[1]);
double lon_min = fabs(60 * ((180.0 / M_PI) * soln->pos_llh[1] - lon_deg));
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = soln->pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = soln->pos_llh[1] < 0 ? 'W' : 'E';
u8 fix_type = 1;
char buf[80];
u8 n = sprintf(buf,
"$GPGGA,%02d%02d%06.3f,"
"%02d%010.7f,%c,%03d%010.7f,%c,"
"%01d,%02d,%.1f,%1.f,M,,M,,",
t.tm_hour, t.tm_min, t.tm_sec + frac_s,
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
fix_type, soln->n_used, dops->hdop, soln->pos_llh[2]
);
u8 sum = nmea_checksum(buf);
sprintf(buf + n, "*%02X\r\n", sum);
nmea_output(buf);
}
/** Assemble an NMEA GPGLL message and send it out NMEA USARTs.
* NMEA GLL contains course and speed
*
* \param soln Pointer to gnss_solution struct
* \param gpt_t Pointer to the current GPS Time
*/
void nmea_gpgll(const gnss_solution *soln, const gps_time_t *gps_t)
{
/* NMEA Parameters for GPGLL
* Ex.
* $GPGLL,5133.81,N,00042.25,W,225444,A*75
* | | | | | | |
* Command | N/S Lon E/W | Valid
* LAT UTC
*/
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (soln->pos_llh[0]);
double lat_min = MINUTES(soln->pos_llh[0]);
s16 lon_deg = R2D * (soln->pos_llh[1]);
double lon_min = MINUTES(soln->pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = soln->pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = soln->pos_llh[1] < 0 ? 'W' : 'E';
char buf[80];
u8 n = sprintf(buf,
"$GPGLL,"
"%02d%010.7f,%c,%03d%010.7f,%c," /* Lat/Lon */
"%02d%02d%06.3f,A", /* Time (UTC), Valid */
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
t.tm_hour, t.tm_min, t.tm_sec + frac_s);
u8 sum = nmea_checksum(buf);
sprintf(buf + n, "*%02X\r\n", sum);
nmea_output(buf);
}
/** Assemble a NMEA GPGGA message and send it out NMEA USARTs.
* NMEA GPGGA message contains Global Positioning System Fix Data.
*
* \param soln Pointer to gnss_solution struct.
* \param dops Pointer to dops_t struct.
*/
void nmea_gpgga(const double pos_llh[3], const gps_time_t *gps_t, u8 n_used,
u8 fix_type, double hdop)
{
time_t unix_t;
struct tm t;
unix_t = gps2time(*gps_t);
gmtime_r(&unix_t, &t);
double frac_s = fmod(gps_t->tow, 1.0);
s16 lat_deg = R2D * (pos_llh[0]);
double lat_min = MINUTES(pos_llh[0]);
s16 lon_deg = R2D * (pos_llh[1]);
double lon_min = MINUTES(pos_llh[1]);
lat_deg = abs(lat_deg);
lon_deg = abs(lon_deg);
char lat_dir = pos_llh[0] < 0 ? 'S' : 'N';
char lon_dir = pos_llh[1] < 0 ? 'W' : 'E';
char buf[80];
u8 n = sprintf(buf,
"$GPGGA,%02d%02d%06.3f,"
"%02d%010.7f,%c,%03d%010.7f,%c,"
"%01d,%02d,%.1f,%.2f,M,,M,,",
t.tm_hour, t.tm_min, t.tm_sec + frac_s,
lat_deg, lat_min, lat_dir, lon_deg, lon_min, lon_dir,
fix_type, n_used, hdop, pos_llh[2]
);
u8 sum = nmea_checksum(buf);
sprintf(buf + n, "*%02X\r\n", sum);
nmea_output(buf);
}
