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Posted to commits@nuttx.apache.org by xi...@apache.org on 2022/07/26 11:29:17 UTC
[incubator-nuttx-apps] branch master updated: gps/minmea: replace minmea file with github repo
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new 6b635d575 gps/minmea: replace minmea file with github repo
6b635d575 is described below
commit 6b635d575a046847525023b0d85889cf5a2dad33
Author: haopengxiang <ha...@xiaomi.com>
AuthorDate: Fri Jul 15 16:31:05 2022 +0800
gps/minmea: replace minmea file with github repo
apply kosma/minmea origin github repo in gpsutils
Signed-off-by: haopengxiang <ha...@xiaomi.com>
---
gpsutils/minmea/Make.defs | 2 +
gpsutils/minmea/Makefile | 27 +-
gpsutils/minmea/README.md | 152 --------
gpsutils/minmea/minmea.c | 879 ----------------------------------------------
include/gpsutils/minmea.h | 309 ----------------
5 files changed, 27 insertions(+), 1342 deletions(-)
diff --git a/gpsutils/minmea/Make.defs b/gpsutils/minmea/Make.defs
index efaa939b2..1d219d04f 100644
--- a/gpsutils/minmea/Make.defs
+++ b/gpsutils/minmea/Make.defs
@@ -20,4 +20,6 @@
ifeq ($(CONFIG_GPSUTILS_MINMEA_LIB),y)
CONFIGURED_APPS += $(APPDIR)/gpsutils/minmea
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" \
+ $(APPDIR)/gpsutils/minmea}
endif
diff --git a/gpsutils/minmea/Makefile b/gpsutils/minmea/Makefile
index a8b59b4ab..fda5a7308 100644
--- a/gpsutils/minmea/Makefile
+++ b/gpsutils/minmea/Makefile
@@ -20,9 +20,32 @@
include $(APPDIR)/Make.defs
-# NSH Library
+MINMEA_URL ?= "https://github.com/kosma/minmea/archive"
+MINMEA_VERSION ?= db46128e73cee26d6a6eb0482dcba544ee1ea9f5
-CSRCS = minmea.c
+MINMEA_DIR := $(APPDIR)/gpsutils/minmea/minmea
+MINMEA_UNPACKNAME := minmea
+MINMEA_UNPACKDIR := $(MINMEA_DIR)/$(MINMEA_UNPACKNAME)
+
+
+$(MINMEA_UNPACKDIR):
+ @echo "Downloading: $(MINMEA_UNPACKNAME)"
+ $(Q) curl -O -L $(MINMEA_URL)/$(MINMEA_VERSION).zip
+ $(Q) unzip -o -j $(MINMEA_VERSION).zip
+ $(call DELFILE, $(MINMEA_VERSION).zip)
+ $(call MOVEFILE, $(MINMEA_UNPACKNAME)-$(MINMEA_VERSION), $(MINMEA_UNPACKDIR))
+
+# Files
+
+CSRCS = minmea/minmea.c
CFLAGS += -std=c99
+context:: $(MINMEA_UNPACKDIR)
+
+clean::
+ $(call DELFILE, $(OBJS))
+
+distclean::
+ $(call DELDIR, $(MINMEA_UNPACKDIR))
+
include $(APPDIR)/Application.mk
diff --git a/gpsutils/minmea/README.md b/gpsutils/minmea/README.md
deleted file mode 100644
index c8ac5b583..000000000
--- a/gpsutils/minmea/README.md
+++ /dev/null
@@ -1,152 +0,0 @@
-# GPS Utilities / `minmea` GPS NMEA 0183 parser
-
-A lightweight GPS NMEA 0183 parser library
-
-[](https://travis-ci.org/cloudyourcar/minmea)
-
-Minmea is a minimalistic GPS parser library written in pure C intended for
-resource-constrained platforms, especially microcontrollers and other embedded
-systems.
-
-## Features
-
-* Written in ISO C99.
-* No dynamic memory allocation.
-* No floating point usage in the core library.
-* Supports both fixed and floating point values.
-* One source file and one header - can't get any simpler.
-* Easily extendable to support new sentences.
-* Complete with a test suite and static analysis.
-
-## Supported sentences
-
-* ``RMC`` (Recommended Minimum: position, velocity, time)
-* ``GGA`` (Fix Data)
-* ``GSA`` (DOP and active satellites)
-* ``GLL`` (Geographic Position: Latitude/Longitude)
-* ``GST`` (Pseudorange Noise Statistics)
-* ``GSV`` (Satellites in view)
-
-Adding support for more sentences is trivial; see ``minmea.c`` source.
-
-## Fractional number format
-
-Internally, minmea stores fractional numbers as pairs of two integers: ``{value,
-scale}``. For example, a value of ``"-123.456"`` would be parsed as ``{-123456,
-1000}``. As this format is quite unwieldy, minmea provides the following
-convenience functions for converting to either fixed-point or floating-point
-format:
-
-* ``minmea_rescale({-123456, 1000}, 10) => -1235``
-* ``minmea_float({-123456, 1000}) => -123.456``
-
-The compound type ``struct minmea_float`` uses ``int_least32_t`` internally.
-Therefore, the coordinate precision is guaranteed to be at least
-``[+-]DDDMM.MMMMM`` (five decimal digits) or ±20cm LSB at the equator.
-
-## Coordinate format
-
-NMEA uses the clunky ``DDMM.MMMM`` format which, honestly, is not good in the
-internet era. Internally, minmea stores it as a fractional number (see above);
-for practical uses, the value should be probably converted to the DD.DDDDD
-floating point format using the following function:
-
-* ``minmea_tocoord({-375165, 100}) => -37.860832``
-
-The library doesn't perform this conversion automatically for the following
-reasons:
-
-* The conversion is not reversible.
-* It requires floating point hardware.
-* The user might want to perform this conversion later on or retain the original
- values.
-
-## Example
-
-```c
-char line[MINMEA_MAX_LENGTH];
-while (fgets(line, sizeof(line), stdin) != NULL) {
- switch (minmea_sentence_id(line)) {
- case MINMEA_SENTENCE_RMC: {
- struct minmea_sentence_rmc frame;
- if (minmea_parse_rmc(&frame, line)) {
- printf("$RMC: 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);
- printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n",
- minmea_rescale(&frame.latitude, 1000),
- minmea_rescale(&frame.longitude, 1000),
- minmea_rescale(&frame.speed, 1000));
- printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n",
- minmea_tocoord(&frame.latitude),
- minmea_tocoord(&frame.longitude),
- minmea_tofloat(&frame.speed));
- }
- } break;
-
- case MINMEA_SENTENCE_GGA: {
- struct minmea_sentence_gga frame;
- if (minmea_parse_gga(&frame, line)) {
- printf("$GGA: fix quality: %d\n", frame.fix_quality);
- }
- } break;
-
- case MINMEA_SENTENCE_GSV: {
- struct minmea_sentence_gsv frame;
- if (minmea_parse_gsv(&frame, line)) {
- printf("$GSV: message %d of %d\n", frame.msg_nr, frame.total_msgs);
- printf("$GSV: satellites in view: %d\n", frame.total_sats);
- for (int i = 0; i < 4; i++)
- printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n",
- frame.sats[i].nr,
- frame.sats[i].elevation,
- frame.sats[i].azimuth,
- frame.sats[i].snr);
- }
- } break;
- }
-}
-```
-
-## Integration with your project
-
-Simply add ``minmea.[ch]`` to your project, ``#include "minmea.h"`` and you're
-good to go.
-
-## Running unit tests
-
-Building and running the tests requires the following:
-
-* Check Framework (http://check.sourceforge.net/).
-* Clang Static Analyzer (http://clang-analyzer.llvm.org/).
-
-If you have both in your ``$PATH``, running the tests should be as simple as
-typing ``make``.
-
-## Limitations
-
-* Only a handful of frames is supported right now.
-* There's no support for omitting parts of the library from building. As a
- workaround, use the ``-ffunction-sections -Wl,--gc-sections`` linker flags (or
- equivalent) to remove the unused functions (parsers) from the final image.
-* Some systems lack ``timegm``. On these systems, the recommended course of
- action is to build with ``-Dtimegm=mktime`` which will work correctly as long
- the system runs in the default ``UTC`` timezone. Native Windows builds should
- use ``-Dtimegm=_mkgmtime`` instead which will work correctly in all timezones.
-
-## Bugs
-
-There are plenty. Report them on GitHub, or - even better - open a pull request.
-Please write unit tests for any new functions you add - it's fun!
-
-## Licensing
-
-Minmea is open source software; see ``COPYING`` for amusement. Email me if the
-license bothers you and I'll happily re-license under anything else under the
-sun.
-
-## Author
-
-Minmea was written by Kosma Moczek <kosma@cloudyourcar.com> at Cloud Your
-Car.
diff --git a/gpsutils/minmea/minmea.c b/gpsutils/minmea/minmea.c
deleted file mode 100644
index 5bb41b8da..000000000
--- a/gpsutils/minmea/minmea.c
+++ /dev/null
@@ -1,879 +0,0 @@
-/****************************************************************************
- * apps/gpsutils/minmea/minmea.c
- *
- * Copyright © 2014 Kosma Moczek <ko...@cloudyourcar.com>
- *
- * Released under the NuttX BSD license with permission from the author:
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdlib.h>
-#include <string.h>
-#include <ctype.h>
-#include <wchar.h>
-#include <stdarg.h>
-
-#include "gpsutils/minmea.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define boolstr(s) ((s) ? "true" : "false")
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static int hex2int(char c)
-{
- if (c >= '0' && c <= '9')
- {
- return c - '0';
- }
-
- if (c >= 'A' && c <= 'F')
- {
- return c - 'A' + 10;
- }
-
- if (c >= 'a' && c <= 'f')
- {
- return c - 'a' + 10;
- }
-
- return -1;
-}
-
-static inline bool minmea_isfield(char c)
-{
- return isprint((unsigned char) c) && c != ',' && c != '*';
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-uint8_t minmea_checksum(FAR const char *sentence)
-{
- uint8_t checksum = 0x00;
-
- /* Support sentences with or without the starting dollar sign. */
-
- if (*sentence == '$')
- {
- sentence++;
- }
-
- /* The optional checksum is an XOR of all bytes between "$" and "*". */
-
- while (*sentence && *sentence != '*')
- {
- checksum ^= *sentence++;
- }
-
- return checksum;
-}
-
-bool minmea_check(FAR const char *sentence, bool strict)
-{
- uint8_t checksum = 0x00;
-
- /* Sequence length is limited. */
-
- if (strlen(sentence) > MINMEA_MAX_LENGTH + 3)
- {
- return false;
- }
-
- /* A valid sentence starts with "$". */
-
- if (*sentence++ != '$')
- {
- return false;
- }
-
- /* The optional checksum is an XOR of all bytes between "$" and "*". */
-
- while (*sentence && *sentence != '*' &&
- isprint((unsigned char) *sentence))
- {
- checksum ^= *sentence++;
- }
-
- /* If checksum is present... */
-
- if (*sentence == '*')
- {
- int upper;
- int lower;
- int expected;
-
- /* Extract checksum. */
-
- sentence++;
- upper = hex2int(*sentence++);
-
- if (upper == -1)
- {
- return false;
- }
-
- lower = hex2int(*sentence++);
- if (lower == -1)
- {
- return false;
- }
-
- expected = upper << 4 | lower;
-
- /* Check for checksum mismatch. */
-
- if (checksum != expected)
- {
- return false;
- }
- }
- else if (strict)
- {
- /* Discard non-checksummed frames in strict mode. */
-
- return false;
- }
-
- /* The only stuff allowed at this point is a newline. */
-
- if (*sentence && strcmp(sentence, "\n") &&
- strcmp(sentence, "\r\n"))
- {
- return false;
- }
-
- return true;
-}
-
-bool minmea_scan(FAR const char *sentence, FAR const char *format, ...)
-{
- bool result = false;
- bool optional = false;
- va_list ap;
- va_start(ap, format);
-
- const char *field = sentence;
-#define next_field() \
- do \
- { \
- /* Progress to the next field. */ \
- while (minmea_isfield(*sentence)) \
- { \
- sentence++; \
- } \
- /* Make sure there is a field there. */ \
- if (*sentence == ',') \
- { \
- sentence++; \
- field = sentence; \
- } \
- else \
- { \
- field = NULL; \
- } \
- } \
- while (0)
-
- while (*format)
- {
- char type = *format++;
-
- if (type == ';')
- {
- /* All further fields are optional. */
-
- optional = true;
- continue;
- }
-
- if (!field && !optional)
- {
- /* Field requested but we ran out if input. Bail out. */
-
- goto parse_error;
- }
-
- switch (type)
- {
- /* Single character field (char). */
-
- case 'c':
- {
- char value = '\0';
-
- if (field && minmea_isfield(*field))
- {
- value = *field;
- }
-
- *va_arg(ap, char *) = value;
- }
- break;
-
- /* Single character direction field (int). */
-
- case 'd':
- {
- int value = 0;
-
- if (field && minmea_isfield(*field))
- {
- switch (*field)
- {
- case 'N':
- case 'E':
- value = 1;
- break;
-
- case 'S':
- case 'W':
- value = -1;
- break;
-
- default:
- goto parse_error;
- }
- }
-
- *va_arg(ap, int *) = value;
- }
- break;
-
- /* Fractional value with scale (struct minmea_float). */
-
- case 'f':
- {
- int sign = 0;
- int_least32_t value = -1;
- int_least32_t scale = 0;
-
- if (field)
- {
- while (minmea_isfield(*field))
- {
- if (*field == '+' && !sign && value == -1)
- {
- sign = 1;
- }
- else if (*field == '-' && !sign && value == -1)
- {
- sign = -1;
- }
- else if (isdigit((unsigned char) *field))
- {
- int digit = *field - '0';
-
- if (value == -1)
- {
- value = 0;
- }
-
- if (value > (INT_LEAST32_MAX-digit) / 10)
- {
- /* we ran out of bits, what do we do? */
-
- if (scale)
- {
- /* truncate extra precision */
-
- break;
- }
- else
- {
- /* integer overflow. bail out. */
-
- goto parse_error;
- }
- }
-
- value = (10 * value) + digit;
- if (scale)
- {
- scale *= 10;
- }
- }
- else if (*field == '.' && scale == 0)
- {
- scale = 1;
- }
- else if (*field == ' ')
- {
- /* Allow spaces at the start of the field. Not NMEA
- * conformant, but some modules do this.
- */
-
- if (sign != 0 || value != -1 || scale != 0)
- {
- goto parse_error;
- }
- }
- else
- {
- goto parse_error;
- }
-
- field++;
- }
- }
-
- if ((sign || scale) && value == -1)
- {
- goto parse_error;
- }
-
- if (value == -1)
- {
- /* No digits were scanned. */
-
- value = 0;
- scale = 0;
- }
- else if (scale == 0)
- {
- /* No decimal point. */
-
- scale = 1;
- }
-
- if (sign)
- {
- value *= sign;
- }
-
- *va_arg(ap, struct minmea_float *) =
- (struct minmea_float) {value, scale};
- }
- break;
-
- /* Integer value, default 0 (int). */
-
- case 'i':
- {
- int value = 0;
-
- if (field)
- {
- FAR char *endptr;
-
- value = strtol(field, &endptr, 10);
- if (minmea_isfield(*endptr))
- {
- goto parse_error;
- }
- }
-
- *va_arg(ap, int *) = value;
- }
- break;
-
- /* String value (char *). */
-
- case 's':
- {
- char *buf = va_arg(ap, char *);
-
- if (field)
- {
- while (minmea_isfield(*field))
- {
- *buf++ = *field++;
- }
- }
-
- *buf = '\0';
- }
- break;
-
- /* NMEA talker+sentence identifier (char *). */
-
- case 't':
- {
- char *buf;
- int f;
-
- /* This field is always mandatory. */
-
- if (!field)
- {
- goto parse_error;
- }
-
- if (field[0] != '$')
- {
- goto parse_error;
- }
-
- for (f = 0; f < 5; f++)
- {
- if (!minmea_isfield(field[1+f]))
- {
- goto parse_error;
- }
- }
-
- buf = va_arg(ap, char *);
- memcpy(buf, field+1, 5);
- buf[5] = '\0';
- }
- break;
-
- /* Date (int, int, int), -1 if empty. */
-
- case 'D':
- {
- struct minmea_date *date = va_arg(ap, struct minmea_date *);
- int d = -1;
- int m = -1;
- int y = -1;
- int f;
-
- if (field && minmea_isfield(*field))
- {
- /* Always six digits. */
-
- for (f = 0; f < 6; f++)
- {
- if (!isdigit((unsigned char) field[f]))
- {
- goto parse_error;
- }
- }
-
- d = strtol((char[]) {field[0], field[1], '\0'}, NULL, 10);
- m = strtol((char[]) {field[2], field[3], '\0'}, NULL, 10);
- y = strtol((char[]) {field[4], field[5], '\0'}, NULL, 10);
- }
-
- date->day = d;
- date->month = m;
- date->year = y;
- }
- break;
-
- /* Time (int, int, int, int), -1 if empty. */
-
- case 'T':
- {
- struct minmea_time *time_ = va_arg(ap, struct minmea_time *);
- int h = -1;
- int i = -1;
- int s = -1;
- int u = -1;
- int f;
-
- if (field && minmea_isfield(*field))
- {
- /* Minimum required: integer time. */
-
- for (f = 0; f < 6; f++)
- {
- if (!isdigit((unsigned char) field[f]))
- {
- goto parse_error;
- }
- }
-
- h = strtol((char[]) {field[0], field[1], '\0'}, NULL, 10);
- i = strtol((char[]) {field[2], field[3], '\0'}, NULL, 10);
- s = strtol((char[]) {field[4], field[5], '\0'}, NULL, 10);
- field += 6;
-
- /* Extra: fractional time. Saved as microseconds. */
-
- if (*field++ == '.')
- {
- int value = 0;
- int scale = 1000000;
-
- while (isdigit((unsigned char) *field) && scale > 1)
- {
- value = (value * 10) + (*field++ - '0');
- scale /= 10;
- }
-
- u = value * scale;
- }
- else
- {
- u = 0;
- }
- }
-
- time_->hours = h;
- time_->minutes = i;
- time_->seconds = s;
- time_->microseconds = u;
- }
- break;
-
- /* Ignore the field. */
-
- case '_':
- {
- }
- break;
-
- default:
- {
- goto parse_error;
- }
- break;
- }
-
- next_field();
- }
-
- result = true;
-
-parse_error:
- va_end(ap);
- return result;
-}
-
-bool minmea_talker_id(char talker[3], FAR const char *sentence)
-{
- char type[6];
-
- if (!minmea_scan(sentence, "t", type))
- {
- return false;
- }
-
- talker[0] = type[0];
- talker[1] = type[1];
- talker[2] = '\0';
-
- return true;
-}
-
-enum minmea_sentence_id minmea_sentence_id(FAR const char *sentence,
- bool strict)
-{
- if (!minmea_check(sentence, strict))
- return MINMEA_INVALID;
-
- char type[6];
- if (!minmea_scan(sentence, "t", type))
- {
- return MINMEA_INVALID;
- }
-
- if (!strcmp(type+2, "RMC"))
- {
- return MINMEA_SENTENCE_RMC;
- }
-
- if (!strcmp(type+2, "GGA"))
- {
- return MINMEA_SENTENCE_GGA;
- }
-
- if (!strcmp(type+2, "GSA"))
- {
- return MINMEA_SENTENCE_GSA;
- }
-
- if (!strcmp(type+2, "GLL"))
- {
- return MINMEA_SENTENCE_GLL;
- }
-
- if (!strcmp(type+2, "GST"))
- {
- return MINMEA_SENTENCE_GST;
- }
-
- if (!strcmp(type+2, "GSV"))
- {
- return MINMEA_SENTENCE_GSV;
- }
-
- return MINMEA_UNKNOWN;
-}
-
-bool minmea_parse_rmc(FAR struct minmea_sentence_rmc *frame,
- FAR const char *sentence)
-{
- /* $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62 */
-
- char type[6];
- char validity;
- int latitude_direction;
- int longitude_direction;
- int variation_direction;
-
- if (!minmea_scan(sentence, "tTcfdfdffDfd",
- type,
- &frame->time,
- &validity,
- &frame->latitude, &latitude_direction,
- &frame->longitude, &longitude_direction,
- &frame->speed,
- &frame->course,
- &frame->date,
- &frame->variation, &variation_direction))
- {
- return false;
- }
-
- if (strcmp(type+2, "RMC"))
- {
- return false;
- }
-
- frame->valid = (validity == 'A');
- frame->latitude.value *= latitude_direction;
- frame->longitude.value *= longitude_direction;
- frame->variation.value *= variation_direction;
-
- return true;
-}
-
-bool minmea_parse_gga(FAR struct minmea_sentence_gga *frame,
- FAR const char *sentence)
-{
- /* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47 */
-
- char type[6];
- int latitude_direction;
- int longitude_direction;
-
- if (!minmea_scan(sentence, "tTfdfdiiffcfci_",
- type,
- &frame->time,
- &frame->latitude, &latitude_direction,
- &frame->longitude, &longitude_direction,
- &frame->fix_quality,
- &frame->satellites_tracked,
- &frame->hdop,
- &frame->altitude, &frame->altitude_units,
- &frame->height, &frame->height_units,
- &frame->dgps_age))
- {
- return false;
- }
-
- if (strcmp(type+2, "GGA"))
- {
- return false;
- }
-
- frame->latitude.value *= latitude_direction;
- frame->longitude.value *= longitude_direction;
-
- return true;
-}
-
-bool minmea_parse_gsa(FAR struct minmea_sentence_gsa *frame,
- FAR const char *sentence)
-{
- /* $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39 */
-
- char type[6];
-
- if (!minmea_scan(sentence, "tciiiiiiiiiiiiifff",
- type,
- &frame->mode,
- &frame->fix_type,
- &frame->sats[0],
- &frame->sats[1],
- &frame->sats[2],
- &frame->sats[3],
- &frame->sats[4],
- &frame->sats[5],
- &frame->sats[6],
- &frame->sats[7],
- &frame->sats[8],
- &frame->sats[9],
- &frame->sats[10],
- &frame->sats[11],
- &frame->pdop,
- &frame->hdop,
- &frame->vdop))
- {
- return false;
- }
-
- if (strcmp(type+2, "GSA"))
- {
- return false;
- }
-
- return true;
-}
-
-bool minmea_parse_gll(FAR struct minmea_sentence_gll *frame,
- FAR const char *sentence)
-{
- /* $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41$; */
-
- char type[6];
- int latitude_direction;
- int longitude_direction;
-
- if (!minmea_scan(sentence, "tfdfdTc;c",
- type,
- &frame->latitude, &latitude_direction,
- &frame->longitude, &longitude_direction,
- &frame->time,
- &frame->status,
- &frame->mode))
- {
- return false;
- }
-
- if (strcmp(type+2, "GLL"))
- {
- return false;
- }
-
- frame->latitude.value *= latitude_direction;
- frame->longitude.value *= longitude_direction;
-
- return true;
-}
-
-bool minmea_parse_gst(FAR struct minmea_sentence_gst *frame,
- FAR const char *sentence)
-{
- /* $GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58 */
-
- char type[6];
-
- if (!minmea_scan(sentence, "tTfffffff",
- type,
- &frame->time,
- &frame->rms_deviation,
- &frame->semi_major_deviation,
- &frame->semi_minor_deviation,
- &frame->semi_major_orientation,
- &frame->latitude_error_deviation,
- &frame->longitude_error_deviation,
- &frame->altitude_error_deviation))
- {
- return false;
- }
-
- if (strcmp(type+2, "GST"))
- {
- return false;
- }
-
- return true;
-}
-
-bool minmea_parse_gsv(FAR struct minmea_sentence_gsv *frame,
- FAR const char *sentence)
-{
- /* $GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74
- * $GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D
- * $GPGSV,4,2,11,08,51,203,30,09,45,215,28*75
- * $GPGSV,4,4,13,39,31,170,27*40
- * $GPGSV,4,4,13*7B */
-
- char type[6];
-
- if (!minmea_scan(sentence, "tiii;iiiiiiiiiiiiiiii",
- type,
- &frame->total_msgs,
- &frame->msg_nr,
- &frame->total_sats,
- &frame->sats[0].nr,
- &frame->sats[0].elevation,
- &frame->sats[0].azimuth,
- &frame->sats[0].snr,
- &frame->sats[1].nr,
- &frame->sats[1].elevation,
- &frame->sats[1].azimuth,
- &frame->sats[1].snr,
- &frame->sats[2].nr,
- &frame->sats[2].elevation,
- &frame->sats[2].azimuth,
- &frame->sats[2].snr,
- &frame->sats[3].nr,
- &frame->sats[3].elevation,
- &frame->sats[3].azimuth,
- &frame->sats[3].snr))
- {
- return false;
- }
-
- if (strcmp(type+2, "GSV"))
- {
- return false;
- }
-
- return true;
-}
-
-int minmea_gettime(FAR struct timespec *ts,
- FAR const struct minmea_date *date,
- FAR const struct minmea_time *time_)
-{
- struct tm tm;
-
- if (date->year == -1 || time_->hours == -1)
- {
- return -1;
- }
-
- memset(&tm, 0, sizeof(tm));
- tm.tm_year = 2000 + date->year - 1900;
- tm.tm_mon = date->month - 1;
- tm.tm_mday = date->day;
- tm.tm_hour = time_->hours;
- tm.tm_min = time_->minutes;
- tm.tm_sec = time_->seconds;
-
- /* See README.md if your system lacks timegm(). */
-
- time_t timestamp = mktime(&tm);
- if (timestamp != -1)
- {
- ts->tv_sec = timestamp;
- ts->tv_nsec = time_->microseconds * 1000;
- return 0;
- }
- else
- {
- return -1;
- }
-}
diff --git a/include/gpsutils/minmea.h b/include/gpsutils/minmea.h
deleted file mode 100644
index c3b8e533f..000000000
--- a/include/gpsutils/minmea.h
+++ /dev/null
@@ -1,309 +0,0 @@
-/****************************************************************************
- * apps/include/gpsutils/minmea.h
- *
- * Copyright © 2014 Kosma Moczek <ko...@cloudyourcar.com>
- *
- * Released under the NuttX BSD license with permission from the author:
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, 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.
- *
- ****************************************************************************/
-
-#ifndef __APPS_INCLUDE_GPSUTILS_MINMEA_H
-#define __APPS_INCLUDE_GPSUTILS_MINMEA_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdio.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <errno.h>
-#include <time.h>
-#include <math.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define MINMEA_MAX_LENGTH 80
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-enum minmea_sentence_id
-{
- MINMEA_INVALID = -1,
- MINMEA_UNKNOWN = 0,
- MINMEA_SENTENCE_RMC,
- MINMEA_SENTENCE_GGA,
- MINMEA_SENTENCE_GSA,
- MINMEA_SENTENCE_GLL,
- MINMEA_SENTENCE_GST,
- MINMEA_SENTENCE_GSV,
-};
-
-struct minmea_float
-{
- int_least32_t value;
- int_least32_t scale;
-};
-
-struct minmea_date
-{
- int day;
- int month;
- int year;
-};
-
-struct minmea_time
-{
- int hours;
- int minutes;
- int seconds;
- int microseconds;
-};
-
-struct minmea_sentence_rmc
-{
- struct minmea_time time;
- bool valid;
- struct minmea_float latitude;
- struct minmea_float longitude;
- struct minmea_float speed;
- struct minmea_float course;
- struct minmea_date date;
- struct minmea_float variation;
-};
-
-struct minmea_sentence_gga
-{
- struct minmea_time time;
- struct minmea_float latitude;
- struct minmea_float longitude;
- int fix_quality;
- int satellites_tracked;
- struct minmea_float hdop;
- struct minmea_float altitude;
- char altitude_units;
- struct minmea_float height;
- char height_units;
- int dgps_age;
-};
-
-enum minmea_gll_status
-{
- MINMEA_GLL_STATUS_DATA_VALID = 'A',
- MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V',
-};
-
-enum minmea_gll_mode
-{
- MINMEA_GLL_MODE_AUTONOMOUS = 'A',
- MINMEA_GLL_MODE_DPGS = 'D',
- MINMEA_GLL_MODE_DR = 'E',
-};
-
-struct minmea_sentence_gll
-{
- struct minmea_float latitude;
- struct minmea_float longitude;
- struct minmea_time time;
- char status;
- char mode;
-};
-
-struct minmea_sentence_gst
-{
- struct minmea_time time;
- struct minmea_float rms_deviation;
- struct minmea_float semi_major_deviation;
- struct minmea_float semi_minor_deviation;
- struct minmea_float semi_major_orientation;
- struct minmea_float latitude_error_deviation;
- struct minmea_float longitude_error_deviation;
- struct minmea_float altitude_error_deviation;
-};
-
-enum minmea_gsa_mode
-{
- MINMEA_GPGSA_MODE_AUTO = 'A',
- MINMEA_GPGSA_MODE_FORCED = 'M',
-};
-
-enum minmea_gsa_fix_type
-{
- MINMEA_GPGSA_FIX_NONE = 1,
- MINMEA_GPGSA_FIX_2D = 2,
- MINMEA_GPGSA_FIX_3D = 3,
-};
-
-struct minmea_sentence_gsa
-{
- char mode;
- int fix_type;
- int sats[12];
- struct minmea_float pdop;
- struct minmea_float hdop;
- struct minmea_float vdop;
-};
-
-struct minmea_sat_info
-{
- int nr;
- int elevation;
- int azimuth;
- int snr;
-};
-
-struct minmea_sentence_gsv
-{
- int total_msgs;
- int msg_nr;
- int total_sats;
- struct minmea_sat_info sats[4];
-};
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-/* Calculate raw sentence checksum. Does not check sentence integrity. */
-
-uint8_t minmea_checksum(FAR const char *sentence);
-
-/* Check sentence validity and checksum. Returns true for valid sentences. */
-
-bool minmea_check(FAR const char *sentence, bool strict);
-
-/* Determine talker identifier. */
-
-bool minmea_talker_id(char talker[3], FAR const char *sentence);
-
-/* Determine sentence identifier. */
-
-enum minmea_sentence_id minmea_sentence_id(FAR const char *sentence,
- bool strict);
-
-/* Scanf-like processor for NMEA sentences. Supports the following formats:
- * c - single character (char *)
- * d - direction, returned as 1/-1, default 0 (int *)
- * f - fractional, returned as value + scale (int *, int *)
- * i - decimal, default zero (int *)
- * s - string (char *)
- * t - talker identifier and type (char *)
- * T - date/time stamp (int *, int *, int *)
- * Returns true on success. See library source code for details.
- */
-
-bool minmea_scan(const char *sentence, const char *format, ...);
-
-/* Parse a specific type of sentence. Return true on success. */
-
-bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence);
-bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence);
-bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
-bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence);
-bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
-bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence);
-
-/* Convert GPS UTC date/time representation to a UNIX timestamp. */
-
-int minmea_gettime(FAR struct timespec *ts,
- FAR const struct minmea_date *date,
- FAR const struct minmea_time *time_);
-
-/* Rescale a fixed-point value to a different scale. Rounds towards zero. */
-
-static inline int_least32_t minmea_rescale(FAR struct minmea_float *f,
- int_least32_t new_scale)
-{
- if (f->scale == 0)
- {
- return 0;
- }
-
- if (f->scale == new_scale)
- {
- return f->value;
- }
-
- if (f->scale > new_scale)
- {
- return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale /
- new_scale / 2) / (f->scale / new_scale);
- }
- else
- {
- return f->value * (new_scale / f->scale);
- }
-}
-
-/* Convert a fixed-point value to a floating-point value.
- * Returns NaN for "unknown" values.
- */
-
-static inline float minmea_tofloat(FAR struct minmea_float *f)
-{
- if (f->scale == 0)
- {
- return NAN;
- }
-
- return (float) f->value / (float) f->scale;
-}
-
-/* Convert a raw coordinate to a floating point DD.DDD... value.
- * Returns NaN for "unknown" values.
- */
-
-static inline float minmea_tocoord(FAR struct minmea_float *f)
-{
- if (f->scale == 0)
- {
- return NAN;
- }
-
- int_least32_t degrees = f->value / (f->scale * 100);
- int_least32_t minutes = f->value % (f->scale * 100);
-
- return (float) degrees + (float) minutes / (60 * f->scale);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __APPS_INCLUDE_GPSUTILS_MINMEA_H */