void doGPS() {
ESP_LOGD(tag, ">> doGPS");
uart_config_t myUartConfig;
myUartConfig.baud_rate = 9600;
myUartConfig.data_bits = UART_DATA_8_BITS;
myUartConfig.parity = UART_PARITY_DISABLE;
myUartConfig.stop_bits = UART_STOP_BITS_1;
myUartConfig.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
myUartConfig.rx_flow_ctrl_thresh = 120;
uart_param_config(UART_NUM_1, &myUartConfig);
uart_set_pin(UART_NUM_1,
UART_PIN_NO_CHANGE, // TX
GPS_TX_PIN, // RX
UART_PIN_NO_CHANGE, // RTS
UART_PIN_NO_CHANGE // CTS
);
uart_driver_install(UART_NUM_1, 2048, 2048, 10, 17, NULL);
while(1) {
char *line = readLine(UART_NUM_1);
//ESP_LOGD(tag, "%s", line);
switch(minmea_sentence_id(line, false)) {
case MINMEA_SENTENCE_RMC:
ESP_LOGD(tag, "Sentence - MINMEA_SENTENCE_RMC");
struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) {
ESP_LOGD(tag, "$xxRMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d",
frame.latitude.value, frame.latitude.scale,
frame.longitude.value, frame.longitude.scale,
frame.speed.value, frame.speed.scale);
ESP_LOGD(tag, "$xxRMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d",
minmea_rescale(&frame.latitude, 1000),
minmea_rescale(&frame.longitude, 1000),
minmea_rescale(&frame.speed, 1000));
ESP_LOGD(tag, "$xxRMC floating point degree coordinates and speed: (%f,%f) %f",
minmea_tocoord(&frame.latitude),
minmea_tocoord(&frame.longitude),
minmea_tofloat(&frame.speed));
}
else {
ESP_LOGD(tag, "$xxRMC sentence is not parsed\n");
}
break;
case MINMEA_SENTENCE_GGA:
//ESP_LOGD(tag, "Sentence - MINMEA_SENTENCE_GGA");
break;
case MINMEA_SENTENCE_GSV:
//ESP_LOGD(tag, "Sentence - MINMEA_SENTENCE_GSV");
break;
default:
//ESP_LOGD(tag, "Sentence - other");
break;
}
}
} // doGPS
END_TEST
START_TEST(test_minmea_rescale)
{
ck_assert(minmea_rescale(42, 0, 3) == 0);
ck_assert(minmea_rescale(1234, 10, 1) == 123);
ck_assert(minmea_rescale(1235, 10, 1) == 124);
ck_assert(minmea_rescale(1234, 10, 1000) == 123400);
}
END_TEST
START_TEST(test_minmea_rescale)
{
/* basic and edge cases. */
ck_assert_int_eq(minmea_rescale(42, 0, 3), 0);
ck_assert_int_eq(minmea_rescale(1234, 10, 1), 123);
ck_assert_int_eq(minmea_rescale(1235, 10, 1), 124);
ck_assert_int_eq(minmea_rescale(1234, 10, 1000), 123400);
/* round towards zero. */
ck_assert_int_eq(minmea_rescale(-1234, 10, 1), -123);
ck_assert_int_eq(minmea_rescale(-1235, 10, 1), -124);
ck_assert_int_eq(minmea_rescale(-1236, 10, 1), -124);
/* shouldn't overflow on large numbers. */
ck_assert_int_eq(minmea_rescale(510693608, 100000, 10000), 51069361);
}
void nmea_reader_parse(char *line) {
switch (minmea_sentence_id(line, false)) {
case MINMEA_SENTENCE_RMC: {
struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) {
D("$xxRMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n",
frame.latitude.value, frame.latitude.scale,
frame.longitude.value, frame.longitude.scale,
frame.speed.value, frame.speed.scale);
D("$xxRMC 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));
D("$xxRMC floating point degree coordinates and speed: (%f,%f) %f\n",
minmea_tocoord(&frame.latitude),
minmea_tocoord(&frame.longitude),
minmea_tofloat(&frame.speed));
notifier_set_date_time(frame.date, frame.time);
notifier_set_latlong(minmea_tocoord(&frame.latitude), minmea_tocoord(&frame.longitude));
notifier_set_speed(minmea_tofloat(&frame.speed));
notifier_set_bearing(minmea_tofloat(&frame.course));
notifier_push_location();
}
else {
D("$xxRMC sentence is not parsed\n");
}
} break;
case MINMEA_SENTENCE_GGA: {
struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, line)) {
D("$xxGGA: fix quality: %d\n", frame.fix_quality);
D("$xxGGA: latitude: %f\n", minmea_tocoord(&frame.latitude));
D("$xxGGA: longitude: %f\n", minmea_tocoord(&frame.longitude));
D("$xxGGA: fix quality: %d\n", frame.fix_quality);
D("$xxGGA: satellites tracked: %d\n", frame.satellites_tracked);
D("$xxGGA: hdop: %f\n", minmea_tofloat(&frame.hdop));
D("$xxGGA: altitude: %f %c\n", minmea_tofloat(&frame.altitude), frame.altitude_units);
D("$xxGGA: height: %f %c\n", minmea_tofloat(&frame.height), frame.height_units);
notifier_set_latlong(minmea_tocoord(&frame.latitude), minmea_tocoord(&frame.longitude));
notifier_set_altitude(minmea_tofloat(&frame.altitude), frame.altitude_units);
// TODO figure out how to get accuracy, is it EPE ?
// Use hdop value for now
notifier_set_accuracy(minmea_tofloat(&frame.hdop));
notifier_push_location();
}
else {
D("$xxGGA sentence is not parsed\n");
}
} break;
case MINMEA_SENTENCE_GSA: {
struct minmea_sentence_gsa frame;
char talker[3];
if (minmea_parse_gsa(&frame, line) && minmea_talker_id(talker, line)) {
D("$%sGSA: mode: %c\n", talker, frame.mode);
D("$%sGSA: fix type: %d\n", talker, frame.fix_type);
D("$%sGSA: pdop: %f\n", talker, minmea_tofloat(&frame.pdop));
D("$%sGSA: hdop: %f\n", talker, minmea_tofloat(&frame.hdop));
D("$%sGSA: vdop: %f\n", talker, minmea_tofloat(&frame.vdop));
notifier_svs_used_ids(frame.sats);
notifier_set_accuracy(minmea_tofloat(&frame.hdop));
notifier_push_location();
}
} break;
case MINMEA_SENTENCE_GSV: {
struct minmea_sentence_gsv frame;
char talker[3];
if ( minmea_parse_gsv(&frame, line) && minmea_talker_id(talker, line) ) {
D("$%sGSV: message %d of %d\n", talker, frame.msg_nr, frame.total_msgs);
D("$%sGSV: sattelites in view: %d\n", talker, frame.total_sats);
notifier_svs_update_status(talker, frame.msg_nr, frame.total_msgs);
notifier_svs_inview(talker, frame.total_sats);
for (int i = 0; i < 4; i++) {
notifier_svs_append(talker, frame.sats[i].nr, frame.sats[i].elevation, frame.sats[i].azimuth, frame.sats[i].snr);
D("$%sGSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n",
talker,
frame.sats[i].nr,
frame.sats[i].elevation,
frame.sats[i].azimuth,
frame.sats[i].snr);
}
}
else {
D("$xxGSV sentence is not parsed\n");
}
} break;
case MINMEA_SENTENCE_VTG: {
struct minmea_sentence_vtg frame;
if (minmea_parse_vtg(&frame, line)) {
D("$xxVTG: true track degrees = %f\n",
minmea_tofloat(&frame.true_track_degrees));
D(" magnetic track degrees = %f\n",
minmea_tofloat(&frame.magnetic_track_degrees));
D(" speed knots = %f\n",
minmea_tofloat(&frame.speed_knots));
D(" speed kph = %f\n",
minmea_tofloat(&frame.speed_kph));
notifier_set_speed(minmea_tofloat(&frame.speed_knots));
notifier_set_bearing(minmea_tofloat(&frame.true_track_degrees));
notifier_push_location();
}
else {
D("$xxVTG sentence is not parsed\n");
}
} break;
case MINMEA_INVALID: {
D("$xxxxx sentence is not valid\n");
} break;
default: {
D("$xxxxx sentence is not parsed\n");
} break;
}
}
