219 lines
6.8 KiB
C
219 lines
6.8 KiB
C
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// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "esp_types.h"
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#include "esp_event.h"
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#include "esp_err.h"
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#include "driver/uart.h"
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#define GPS_MAX_SATELLITES_IN_USE (12)
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#define GPS_MAX_SATELLITES_IN_VIEW (16)
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/**
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* @brief Declare of NMEA Parser Event base
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*
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*/
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ESP_EVENT_DECLARE_BASE(ESP_NMEA_EVENT)
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/**
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* @brief GPS fix type
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*
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*/
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typedef enum {
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GPS_FIX_INVALID, /*!< Not fixed */
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GPS_FIX_GPS, /*!< GPS */
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GPS_FIX_DGPS, /*!< Differential GPS */
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} gps_fix_t;
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/**
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* @brief GPS fix mode
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*
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*/
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typedef enum {
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GPS_MODE_INVALID = 1, /*!< Not fixed */
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GPS_MODE_2D, /*!< 2D GPS */
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GPS_MODE_3D /*!< 3D GPS */
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} gps_fix_mode_t;
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/**
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* @brief GPS satellite information
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*
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*/
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typedef struct {
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uint8_t num; /*!< Satellite number */
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uint8_t elevation; /*!< Satellite elevation */
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uint16_t azimuth; /*!< Satellite azimuth */
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uint8_t snr; /*!< Satellite signal noise ratio */
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} gps_satellite_t;
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/**
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* @brief GPS time
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*
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*/
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typedef struct {
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uint8_t hour; /*!< Hour */
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uint8_t minute; /*!< Minute */
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uint8_t second; /*!< Second */
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uint16_t thousand; /*!< Thousand */
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} gps_time_t;
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/**
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* @brief GPS date
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*
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*/
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typedef struct {
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uint8_t day; /*!< Day (start from 1) */
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uint8_t month; /*!< Month (start from 1) */
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uint16_t year; /*!< Year (start from 2000) */
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} gps_date_t;
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/**
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* @brief NMEA Statement
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*
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*/
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typedef enum {
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STATEMENT_UNKNOWN = 0, /*!< Unknown statement */
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STATEMENT_GGA, /*!< GGA */
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STATEMENT_GSA, /*!< GSA */
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STATEMENT_RMC, /*!< RMC */
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STATEMENT_GSV, /*!< GSV */
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STATEMENT_GLL, /*!< GLL */
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STATEMENT_VTG /*!< VTG */
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} nmea_statement_t;
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/**
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* @brief GPS object
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*
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*/
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typedef struct {
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float latitude; /*!< Latitude (degrees) */
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float longitude; /*!< Longitude (degrees) */
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float altitude; /*!< Altitude (meters) */
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gps_fix_t fix; /*!< Fix status */
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uint8_t sats_in_use; /*!< Number of satellites in use */
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gps_time_t tim; /*!< time in UTC */
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gps_fix_mode_t fix_mode; /*!< Fix mode */
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uint8_t sats_id_in_use[GPS_MAX_SATELLITES_IN_USE]; /*!< ID list of satellite in use */
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float dop_h; /*!< Horizontal dilution of precision */
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float dop_p; /*!< Position dilution of precision */
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float dop_v; /*!< Vertical dilution of precision */
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uint8_t sats_in_view; /*!< Number of satellites in view */
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gps_satellite_t sats_desc_in_view[GPS_MAX_SATELLITES_IN_VIEW]; /*!< Information of satellites in view */
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gps_date_t date; /*!< Fix date */
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bool valid; /*!< GPS validity */
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float speed; /*!< Ground speed, unit: m/s */
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float cog; /*!< Course over ground */
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float variation; /*!< Magnetic variation */
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} gps_t;
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/**
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* @brief Configuration of NMEA Parser
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*
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*/
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typedef struct {
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struct {
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uart_port_t uart_port; /*!< UART port number */
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uint32_t rx_pin; /*!< UART Rx Pin number */
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uint32_t baud_rate; /*!< UART baud rate */
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uart_word_length_t data_bits; /*!< UART data bits length */
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uart_parity_t parity; /*!< UART parity */
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uart_stop_bits_t stop_bits; /*!< UART stop bits length */
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uint32_t event_queue_size; /*!< UART event queue size */
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} uart; /*!< UART specific configuration */
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} nmea_parser_config_t;
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/**
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* @brief NMEA Parser Handle
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*
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*/
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typedef void *nmea_parser_handle_t;
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/**
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* @brief Default configuration for NMEA Parser
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*
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*/
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#define NMEA_PARSER_CONFIG_DEFAULT() \
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{ \
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.uart = { \
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.uart_port = UART_NUM_1, \
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.rx_pin = 2, \
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.baud_rate = 9600, \
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.data_bits = UART_DATA_8_BITS, \
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.parity = UART_PARITY_DISABLE, \
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.stop_bits = UART_STOP_BITS_1, \
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.event_queue_size = 16 \
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} \
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}
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/**
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* @brief NMEA Parser Event ID
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*
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*/
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typedef enum {
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GPS_UPDATE, /*!< GPS information has been updated */
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GPS_UNKNOWN /*!< Unknown statements detected */
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} nmea_event_id_t;
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/**
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* @brief Init NMEA Parser
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*
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* @param config Configuration of NMEA Parser
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* @return nmea_parser_handle_t handle of NMEA parser
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*/
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nmea_parser_handle_t nmea_parser_init(const nmea_parser_config_t *config);
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/**
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* @brief Deinit NMEA Parser
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*
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* @param nmea_hdl handle of NMEA parser
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* @return esp_err_t ESP_OK on success, ESP_FAIL on error
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*/
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esp_err_t nmea_parser_deinit(nmea_parser_handle_t nmea_hdl);
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/**
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* @brief Add user defined handler for NMEA parser
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*
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* @param nmea_hdl handle of NMEA parser
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* @param event_handler user defined event handler
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* @param handler_args handler specific arguments
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* @return esp_err_t
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* - ESP_OK: Success
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* - ESP_ERR_NO_MEM: Cannot allocate memory for the handler
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* - ESP_ERR_INVALIG_ARG: Invalid combination of event base and event id
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* - Others: Fail
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*/
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esp_err_t nmea_parser_add_handler(nmea_parser_handle_t nmea_hdl, esp_event_handler_t event_handler, void *handler_args);
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/**
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* @brief Remove user defined handler for NMEA parser
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*
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* @param nmea_hdl handle of NMEA parser
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* @param event_handler user defined event handler
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* @return esp_err_t
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* - ESP_OK: Success
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* - ESP_ERR_INVALIG_ARG: Invalid combination of event base and event id
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* - Others: Fail
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*/
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esp_err_t nmea_parser_remove_handler(nmea_parser_handle_t nmea_hdl, esp_event_handler_t event_handler);
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#ifdef __cplusplus
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}
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#endif
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