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Merge pull request #3 from eketh/master

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Added support for GST frame
This commit is contained in:
Kosma Moczek 2014-04-24 11:55:54 +02:00
commit 08d28a590a
4 changed files with 138 additions and 4 deletions
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19
example.c
View File

@ -43,6 +43,25 @@ int main()
} }
} break; } break;
case MINMEA_SENTENCE_GST: {
struct minmea_sentence_gst frame;
if (minmea_parse_gst(&frame, line)) {
printf("+++ raw latitude,longitude and altitude error deviation: (%d/%d,%d/%d,%d/d)\n",
frame.latitude_error_deviation, frame.latitude_error_deviation_scale,
frame.longitude_error_deviation, frame.longitude_error_deviation_scale,
frame.altitude_error_deviation, frame.altitude_error_deviation_scale);
printf("+++ fixed point latitude,longitude and altitude error deviation \
scaled to one decimal place: (%d,%d,%d)\n",
minmea_rescale(frame.latitude_error_deviation, frame.latitude_error_deviation_scale,10),
minmea_rescale(frame.longitude_error_deviation, frame.longitude_error_deviation_scale,10),
minmea_rescale(frame.altitude_error_deviation, frame.altitude_error_deviation_scale,10));
printf("+++ floating point degree latitude,longitude and altitude error deviation: (%f,%f,%f)",
minmea_coord(frame.latitude_error_deviation, frame.latitude_error_deviation_scale),
minmea_coord(frame.longitude_error_deviation, frame.longitude_error_deviation_scale),
minmea_coord(frame.altitude_error_deviation, frame.altitude_error_deviation_scale));
}
} break;
default: { default: {
} break; } break;
} }

25
minmea.c
View File

@ -319,6 +319,8 @@ enum minmea_sentence_id minmea_sentence_id(const char *sentence)
return MINMEA_SENTENCE_GGA; return MINMEA_SENTENCE_GGA;
if (!strcmp(type+2, "GSA")) if (!strcmp(type+2, "GSA"))
return MINMEA_SENTENCE_GSA; return MINMEA_SENTENCE_GSA;
if (!strcmp(type+2, "GST"))
return MINMEA_SENTENCE_GST;
return MINMEA_UNKNOWN; return MINMEA_UNKNOWN;
} }
@ -417,6 +419,29 @@ bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence)
return true; return true;
} }
bool minmea_parse_gst(struct minmea_sentence_gst *frame, 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->rms_deviation_scale,
&frame->semi_major_deviation, &frame->semi_major_deviation_scale,
&frame->semi_minor_deviation, &frame->semi_minor_deviation_scale,
&frame->semi_major_orientation, &frame->semi_major_orientation_scale,
&frame->latitude_error_deviation, &frame->latitude_error_deviation_scale,
&frame->longitude_error_deviation, &frame->longitude_error_deviation_scale,
&frame->altitude_error_deviation, &frame->altitude_error_deviation_scale))
return false;
if (strcmp(type+2, "GST"))
return false;
return true;
}
int minmea_gettimeofday(struct timeval *tv, const struct minmea_date *date, const struct minmea_time *time) int minmea_gettimeofday(struct timeval *tv, const struct minmea_date *date, const struct minmea_time *time)
{ {
if (date->year == -1 || time->hours == -1) if (date->year == -1 || time->hours == -1)

13
minmea.h
View File

@ -31,6 +31,7 @@ enum minmea_sentence_id {
MINMEA_SENTENCE_RMC, MINMEA_SENTENCE_RMC,
MINMEA_SENTENCE_GGA, MINMEA_SENTENCE_GGA,
MINMEA_SENTENCE_GSA, MINMEA_SENTENCE_GSA,
MINMEA_SENTENCE_GST,
}; };
struct minmea_date { struct minmea_date {
@ -69,6 +70,17 @@ struct minmea_sentence_gga {
int dgps_age; int dgps_age;
}; };
struct minmea_sentence_gst {
struct minmea_time time;
int rms_deviation, rms_deviation_scale;
int semi_major_deviation, semi_major_deviation_scale;
int semi_minor_deviation, semi_minor_deviation_scale;
int semi_major_orientation, semi_major_orientation_scale;
int latitude_error_deviation, latitude_error_deviation_scale;
int longitude_error_deviation, longitude_error_deviation_scale;
int altitude_error_deviation, altitude_error_deviation_scale;
};
enum minmea_gsa_mode { enum minmea_gsa_mode {
MINMEA_GPGSA_MODE_AUTO = 'A', MINMEA_GPGSA_MODE_AUTO = 'A',
MINMEA_GPGSA_MODE_FORCED = 'M', MINMEA_GPGSA_MODE_FORCED = 'M',
@ -123,6 +135,7 @@ bool minmea_scan(const char *sentence, const char *format, ...);
bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence); 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_gga(struct minmea_sentence_gga *frame, const char *sentence);
bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence); bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence);
bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence);
/** /**
* Convert GPS UTC date/time representation to a UNIX timestamp. * Convert GPS UTC date/time representation to a UNIX timestamp.

77
tests.c
View File

@ -34,6 +34,7 @@ static const char *valid_sequences[] = {
"$GPGLL,5106.94086,N,01701.51680,E,123204.00,A,A*63", "$GPGLL,5106.94086,N,01701.51680,E,123204.00,A,A*63",
"$GPRMC,123205.00,A,5106.94085,N,01701.51689,E,0.016,,280214,,,A*7B", "$GPRMC,123205.00,A,5106.94085,N,01701.51689,E,0.016,,280214,,,A*7B",
"$GPVTG,,T,,M,0.016,N,0.030,K,A*27", "$GPVTG,,T,,M,0.016,N,0.030,K,A*27",
"$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58".
NULL, NULL,
}; };
@ -351,6 +352,50 @@ START_TEST(test_minmea_scan_complex2)
} }
END_TEST END_TEST
START_TEST(test_minmea_scan_complex3)
{
const char *sentence = "$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58";
char type[6];
struct minmea_time time;
int rms_deviation, rms_deviation_scale;
int semi_major_deviation, semi_major_deviation_scale;
int semi_minor_deviation, semi_minor_deviation_scale;
int semi_major_orientation, semi_major_orientation_scale;
int latitude_error_deviation, latitude_error_deviation_scale;
int longitude_error_deviation, longitude_error_deviation_scale;
int altitude_error_deviation, altitude_error_deviation_scale;
ck_assert(minmea_scan(sentence, "tTfffffff",
type,
&time,
&rms_deviation, &rms_deviation_scale,
&semi_major_deviation, &semi_major_deviation_scale,
&semi_minor_deviation, &semi_minor_deviation_scale,
&semi_major_orientation, &semi_major_orientation_scale,
&latitude_error_deviation, &latitude_error_deviation_scale,
&longitude_error_deviation, &longitude_error_deviation_scale,
&altitude_error_deviation, &altitude_error_deviation_scale) == true);
ck_assert_str_eq(type, "GPGST");
ck_assert_int_eq(time.hours, 2);
ck_assert_int_eq(time.minutes, 46);
ck_assert_int_eq(time.seconds, 3);
ck_assert_int_eq(time.microseconds, 0);
ck_assert_int_eq(rms_deviation, 32);
ck_assert_int_eq(rms_deviation_scale, 10);
ck_assert_int_eq(semi_major_deviation, 66);
ck_assert_int_eq(semi_major_deviation_scale, 10);
ck_assert_int_eq(semi_minor_deviation, 47);
ck_assert_int_eq(semi_minor_deviation_scale, 10);
ck_assert_int_eq(semi_major_orientation, 473);
ck_assert_int_eq(semi_major_orientation_scale, 10);
ck_assert_int_eq(latitude_error_deviation, 58);
ck_assert_int_eq(latitude_error_deviation, 10);
ck_assert_int_eq(longitude_error_deviation, 56);
ck_assert_int_eq(longitude_error_deviation, 10);
ck_assert_int_eq(altitude_error_deviation, 220);
ck_assert_int_eq(altitude_error_deviation_scale,10);
}
END_TEST
START_TEST(test_minmea_parse_rmc1) START_TEST(test_minmea_parse_rmc1)
{ {
const char *sentence = "$GPRMC,081836.75,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E"; const char *sentence = "$GPRMC,081836.75,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E";
@ -423,6 +468,33 @@ START_TEST(test_minmea_parse_gga1)
} }
END_TEST END_TEST
START_TEST(test_minmea_parse_gst1)
{
const char *sentence = "$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58";
struct minmea_sentence_gst frame = {};
struct minmea_sentence_gst expected = {
.time = { 2, 46, 3, 0 },
.rms_deviation = 32,
.rms_deviation_scale = 10,
.semi_major_deviation = 66,
.semi_major_deviation_scale = 10,
.semi_minor_deviation = 47,
.semi_minor_deviation_scale = 10,
.semi_major_orientation = 473,
.semi_major_orientation_scale = 10,
.latitude_error_deviation = 58,
.latitude_error_deviation_scale = 10,
.longitude_error_deviation = 56,
.longitude_error_deviation_scale = 10,
.altitude_error_deviation = 220,
.altitude_error_deviation_scale = 10,
};
ck_assert(minmea_check(sentence) == true);
ck_assert(minmea_parse_gst(&frame, sentence) == true);
ck_assert(!memcmp(&frame, &expected, sizeof(frame)));
}
END_TEST
START_TEST(test_minmea_parse_gsa1) START_TEST(test_minmea_parse_gsa1)
{ {
const char *sentence = "$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39"; const char *sentence = "$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39";
@ -450,6 +522,7 @@ START_TEST(test_minmea_usage1)
"$GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62", "$GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62",
"$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47", "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47",
"$GNGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1", "$GNGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1",
"$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58",
NULL, NULL,
}; };
@ -470,6 +543,10 @@ START_TEST(test_minmea_usage1)
ck_assert(minmea_parse_gsa(&frame, *sentence) == true); ck_assert(minmea_parse_gsa(&frame, *sentence) == true);
} break; } break;
case MINMEA_SENTENCE_GST: {
struct minmea_sentence_gst frame;
ck_assert(minmea_parse_gst(&frame, *sentence) == true);
} break;
default: { default: {
} break; } break;