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2027519a15
* Add signal_id; //!< NMEA v4.1 - ID of the ranging signal NMEA RMC - Set qualitydescription only for status: A or V in processRmcSentence NMEA GSV - Add Signal averaging processGsvSentence Update for Status not A, V - for UM982 Status = D - Differential when it becomes RTKfix
181 lines
6.7 KiB
C
181 lines
6.7 KiB
C
/*
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*
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* NMEA library
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* URL: http://nmea.sourceforge.net
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* Author: Tim (xtimor@gmail.com)
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* Licence: http://www.gnu.org/licenses/lgpl.html
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* $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
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*
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*/
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//! \file
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#ifndef NMEA_SENTENCE_H
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#define NMEA_SENTENCE_H
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#include "info.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* NMEA packets type which parsed and generated by library
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*/
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enum nmeaPACKTYPE
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{
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GPNON = 0x0000, //!< Unknown packet type.
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GPGGA = 0x0001, //!< GGA - Essential fix data which provide 3D location and accuracy data.
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GPGSA = 0x0002, //!< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values.
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GPGSV = 0x0004, //!< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values.
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GPRMC = 0x0008, //!< RMC - Recommended Minimum Specific GPS/TRANSIT Data.
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GPVTG = 0x0010, //!< VTG - Actual track made good and speed over ground.
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GPGST = 0x0012, //!< GST - GPS Pseudorange Noise Statistics
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HCHDG = 0x0020, //!< HDG - Heading, Deviation and Variation
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HCHDT = 0x0100, //!< HDT - Heading reference to true north
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};
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/**
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* GGA packet information structure (Global Positioning System Fix Data)
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*/
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typedef struct _nmeaGPGGA
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{
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char talkerId[2]; //!< Talker ID
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nmeaTIME utc; //!< UTC of position (just time)
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double lat; //!< Latitude in NDEG - [degree][min].[sec/60]
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char ns; //!< [N]orth or [S]outh
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double lon; //!< Longitude in NDEG - [degree][min].[sec/60]
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char ew; //!< [E]ast or [W]est
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int sig; //!< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive)
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int satinuse; //!< Number of satellites in use (not those in view)
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double HDOP; //!< Horizontal dilution of precision
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double elv; //!< Antenna altitude above/below mean sea level (geoid)
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char elv_units; //!< [M]eters (Antenna height unit)
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double diff; //!< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid)
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char diff_units; //!< [M]eters (Units of geoidal separation)
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double dgps_age; //!< Time in seconds since last DGPS update
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int dgps_sid; //!< DGPS station ID number
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} nmeaGPGGA;
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/**
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* GST packet information structure (GPS Pseudorange Noise Statistics)
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*/
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typedef struct _nmeaGPGST
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{
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char talkerId[2]; //!< Talker ID
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nmeaTIME utc; //!< UTC of position fix
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double rms_pr; //!< RMS value of the pseudorange residuals; Includes carrier phase residuals during periods of RTK (float) and RTK (fixed) processing
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double err_major; //!< Error ellipse semi-major axis 1 sigma error, in meters
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double err_minor; //!< Error ellipse semi-minor axis 1 sigma error, in meters
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double err_ori; //!< Error ellipse orientation, degrees from true north
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double sig_lat; //!< Latitude 1 sigma error, in meters
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double sig_lon; //!< Longitude 1 sigma error, in meters
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double sig_alt; //!< Height 1 sigma error, in meters
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} nmeaGPGST;
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/**
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* GSA packet information structure (Satellite status)
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*/
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typedef struct _nmeaGPGSA
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{
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char talkerId[2]; //!< Talker ID
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char fix_mode; //!< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D)
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int fix_type; //!< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D)
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int sat_prn[NMEA_MAXSAT]; //!< PRNs of satellites used in position fix (null for unused fields)
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double PDOP; //!< Dilution of precision
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double HDOP; //!< Horizontal dilution of precision
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double VDOP; //!< Vertical dilution of precision
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} nmeaGPGSA;
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/**
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* GSV packet information structure (Satellites in view)
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*/
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typedef struct _nmeaGPGSV
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{
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char talkerId[2]; //!< Talker ID
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int pack_count; //!< Total number of messages of this type in this cycle
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int pack_index; //!< Message number
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int sat_count; //!< Total number of satellites in view
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nmeaSATELLITE sat_data[NMEA_SATINPACK];
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char signal_id; //!< NMEA v4.1 - ID of the ranging signal
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} nmeaGPGSV;
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/**
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* RMC packet information structure (Recommended Minimum sentence C)
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*/
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typedef struct _nmeaGPRMC
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{
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char talkerId[2]; //!< Talker ID
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nmeaTIME utc; //!< UTC of position
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char status; //!< Status (A = active or V = void)
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double lat; //!< Latitude in NDEG - [degree][min].[sec/60]
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char ns; //!< [N]orth or [S]outh
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double lon; //!< Longitude in NDEG - [degree][min].[sec/60]
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char ew; //!< [E]ast or [W]est
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double speed; //!< Speed over the ground in knots
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double direction; //!< Track angle in degrees True
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double declination; //!< Magnetic variation degrees (Easterly var. subtracts from true course)
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char declin_ew; //!< [E]ast or [W]est
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char mode; //!< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator)
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char navstatus; //!< NMEA v4.1 - Navigation Status type (S = Safe, C = Caution, U = Unsafe, V = Navigational status not valid)
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} nmeaGPRMC;
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/**
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* VTG packet information structure (Track made good and ground speed)
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*/
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typedef struct _nmeaGPVTG
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{
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char talkerId[2]; //!< Talker ID
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double dir; //!< True track made good (degrees)
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char dir_t; //!< Fixed text 'T' indicates that track made good is relative to true north
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double dec; //!< Magnetic track made good
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char dec_m; //!< Fixed text 'M'
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double spn; //!< Ground speed, knots
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char spn_n; //!< Fixed text 'N' indicates that speed over ground is in knots
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double spk; //!< Ground speed, kilometers per hour
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char spk_k; //!< Fixed text 'K' indicates that speed over ground is in kilometers/hour
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} nmeaGPVTG;
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/**
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* HDT packet information structure (Heading from True North)
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*/
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typedef struct _nmeaGPHDT
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{
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char talkerId[2]; //!< Talker ID
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double heading; //!< Heading in degrees
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char t_flag; //!< Fixed text 'T' indicates that heading is relative to true north
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} nmeaGPHDT;
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/**
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* HCHDG packet information structure (magnetic heading)
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*/
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typedef struct _nmeaHCHDG
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{
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char talkerId[2]; //!< Talker ID
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double mag_heading; //!< Magnetic sensor heading (degrees)
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double mag_deviation; //!< Magnetic deviation (degrees)
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char ew_deviation; //!< [E]ast or [W]est
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double mag_variation; //!< Magnetic variation (degrees)
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char ew_variation; //!< [E]ast or [W]est
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} nmeaHCHDG;
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void nmea_zero_GPGGA( nmeaGPGGA *pack );
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void nmea_zero_GPGST( nmeaGPGST *pack );
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void nmea_zero_GPGSA( nmeaGPGSA *pack );
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void nmea_zero_GPGSV( nmeaGPGSV *pack );
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void nmea_zero_GPRMC( nmeaGPRMC *pack );
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void nmea_zero_GPVTG( nmeaGPVTG *pack );
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#ifdef __cplusplus
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}
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#endif
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#endif /* NMEA_SENTENCE_H */
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