esp-idf/examples/peripherals/uart/nmea0183_parser/main/nmea_parser.h

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