diff --git a/ReadMe.md b/ReadMe.md index 5675ea569..131fb7597 100644 --- a/ReadMe.md +++ b/ReadMe.md @@ -23,6 +23,7 @@ - - With speed optimizations by RogueMaster. - - Rename the [minimal animation file](https://github.com/RogueMaster/flipperzero-firmware-wPlugins/blob/420/assets/resources/dolphin/manifest.txt.exampleMin) to see it, or [RM select](https://github.com/RogueMaster/flipperzero-firmware-wPlugins/blob/420/assets/resources/dolphin/manifest.txt.exampleRM) if you have copied over [the RM select](https://github.com/RogueMaster/awesome-flipperzero-withModules/tree/rogue_main/dolphin-RMselect) animations. - Updated: [i2c Tools (By NaejEL)](https://github.com/NaejEL/flipperzero-i2ctools) +- Updated: [GPS (By ezod)](https://github.com/ezod/flipperzero-gps) `Req: NMEA 0183`
TO DO / REMOVED
diff --git a/applications/plugins/gps_nmea_uart/README.md b/applications/plugins/gps_nmea_uart/README.md index f10c3cc75..dd3e7f3ae 100644 --- a/applications/plugins/gps_nmea_uart/README.md +++ b/applications/plugins/gps_nmea_uart/README.md @@ -1,15 +1,42 @@ # GPS for Flipper Zero -[Original link](https://github.com/ezod/flipperzero-gps) +A simple Flipper Zero application for NMEA 0183 serial GPS modules, such as the +[Adafruit Ultimate GPS Breakout]. -A simple Flipper Zero application for NMEA 0183 serial GPS modules, such as the [Adafruit Ultimate GPS Breakout]. +![ui](ui.png) -Heavy lifting (NMEA parsing) provided by [minmea], which is included in this repository. +Heavy lifting (NMEA parsing) provided by [minmea], which is included in this +repository. ## Hardware Setup -Connect the GPS module to power and the USART using GPIO pins 9 (3.3V), 11 (GND), 13 (TX), and 14 (RX), as appropriate. +Connect the GPS module to power and the USART using GPIO pins 9 (3.3V), 11 +(GND), 13 (TX), and 14 (RX), as appropriate. + +![wiring](wiring.png) + +## Building the FAP + +1. Clone the [flipperzero-firmware] repository. +2. Create a symbolic link in `applications_user` named `gps`, pointing to this + repository. +3. Compile with `./fbt fap_gps`. +4. Copy `build/f7-firmware-D/.extapps/gps.fap` to `apps/Tools` on the SD card + (directly or using [qFlipper]). + +## Contributing + +This project was a learning exercise and is more or less "complete" from my +perspective, but I will happily accept pull requests that improve and enhance +the functionality for others. + +Currently, the app only parses RMC and GGA sentences, and displays a subset of +the data that fits on the screen. The UART is also hard-coded to 9600 baud. +These limitations are largely driven by the GPS module I have to work with. A +more elaborate UI with scrolling or multiple screens, as well as a configurable +baud rate, may be useful for other GPS modules. [Adafruit Ultimate GPS Breakout]: https://www.adafruit.com/product/746 [minmea]: https://github.com/kosma/minmea [flipperzero-firmware]: https://github.com/flipperdevices/flipperzero-firmware +[qFlipper]: https://flipperzero.one/update diff --git a/applications/plugins/gps_nmea_uart/gps.c b/applications/plugins/gps_nmea_uart/gps.c index 3536b3f1c..ce1fd05c7 100644 --- a/applications/plugins/gps_nmea_uart/gps.c +++ b/applications/plugins/gps_nmea_uart/gps.c @@ -4,118 +4,134 @@ #include #include -typedef enum { - EventTypeTick, - EventTypeKey, +typedef enum +{ + EventTypeTick, + EventTypeKey, } EventType; -typedef struct { - EventType type; - InputEvent input; +typedef struct +{ + EventType type; + InputEvent input; } PluginEvent; -static void render_callback(Canvas* const canvas, void* context) { - const GpsUart* gps_uart = acquire_mutex((ValueMutex*)context, 25); - if(gps_uart == NULL) { - return; - } +static void render_callback(Canvas* const canvas, void* context) +{ + const GpsUart* gps_uart = acquire_mutex((ValueMutex*)context, 25); + if (gps_uart == NULL) + { + return; + } - canvas_set_font(canvas, FontSecondary); - char buffer[64]; - snprintf(buffer, 64, "LAT: %f", (double)gps_uart->status.latitude); - canvas_draw_str_aligned(canvas, 10, 10, AlignLeft, AlignBottom, buffer); - snprintf(buffer, 64, "LON: %f", (double)gps_uart->status.longitude); - canvas_draw_str_aligned(canvas, 10, 20, AlignLeft, AlignBottom, buffer); - snprintf( - buffer, - 64, - "C/S: %.1f / %.2fkn", - (double)gps_uart->status.course, - (double)gps_uart->status.speed); - canvas_draw_str_aligned(canvas, 10, 30, AlignLeft, AlignBottom, buffer); - snprintf( - buffer, - 64, - "ALT: %.1f %c", - (double)gps_uart->status.altitude, - gps_uart->status.altitude_units); - canvas_draw_str_aligned(canvas, 10, 40, AlignLeft, AlignBottom, buffer); - snprintf(buffer, 64, "FIX: %d", gps_uart->status.fix_quality); - canvas_draw_str_aligned(canvas, 10, 50, AlignLeft, AlignBottom, buffer); - snprintf(buffer, 64, "SAT: %d", gps_uart->status.satellites_tracked); - canvas_draw_str_aligned(canvas, 10, 60, AlignLeft, AlignBottom, buffer); + canvas_set_font(canvas, FontPrimary); + canvas_draw_str_aligned(canvas, 32, 8, AlignCenter, AlignBottom, "Latitude"); + canvas_draw_str_aligned(canvas, 96, 8, AlignCenter, AlignBottom, "Longitude"); + canvas_draw_str_aligned(canvas, 21, 30, AlignCenter, AlignBottom, "Course"); + canvas_draw_str_aligned(canvas, 64, 30, AlignCenter, AlignBottom, "Speed"); + canvas_draw_str_aligned(canvas, 107, 30, AlignCenter, AlignBottom, "Altitude"); + canvas_draw_str_aligned(canvas, 32, 52, AlignCenter, AlignBottom, "Satellites"); + canvas_draw_str_aligned(canvas, 96, 52, AlignCenter, AlignBottom, "Last Fix"); - release_mutex((ValueMutex*)context, gps_uart); + canvas_set_font(canvas, FontSecondary); + char buffer[64]; + snprintf(buffer, 64, "%f", (double)gps_uart->status.latitude); + canvas_draw_str_aligned(canvas, 32, 18, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%f", (double)gps_uart->status.longitude); + canvas_draw_str_aligned(canvas, 96, 18, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%.1f", (double)gps_uart->status.course); + canvas_draw_str_aligned(canvas, 21, 40, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%.2f kn", (double)gps_uart->status.speed); + canvas_draw_str_aligned(canvas, 64, 40, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%.1f %c", (double)gps_uart->status.altitude, tolower(gps_uart->status.altitude_units)); + canvas_draw_str_aligned(canvas, 107, 40, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%d", gps_uart->status.satellites_tracked); + canvas_draw_str_aligned(canvas, 32, 62, AlignCenter, AlignBottom, buffer); + snprintf(buffer, 64, "%02d:%02d:%02d UTC", gps_uart->status.time_hours, gps_uart->status.time_minutes, + gps_uart->status.time_seconds); + canvas_draw_str_aligned(canvas, 96, 62, AlignCenter, AlignBottom, buffer); + + release_mutex((ValueMutex*)context, gps_uart); } -static void input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) { - furi_assert(event_queue); +static void input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) +{ + furi_assert(event_queue); - PluginEvent event = {.type = EventTypeKey, .input = *input_event}; - furi_message_queue_put(event_queue, &event, FuriWaitForever); + PluginEvent event = {.type = EventTypeKey, .input = *input_event}; + furi_message_queue_put(event_queue, &event, FuriWaitForever); } -int32_t gps_app(void* p) { - UNUSED(p); +int32_t gps_app(void* p) +{ + UNUSED(p); - FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(PluginEvent)); + FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(PluginEvent)); - GpsUart* gps_uart = gps_uart_enable(); + GpsUart* gps_uart = gps_uart_enable(); - ValueMutex gps_uart_mutex; - if(!init_mutex(&gps_uart_mutex, gps_uart, sizeof(GpsUart))) { - FURI_LOG_E("GPS", "cannot create mutex\r\n"); - free(gps_uart); - return 255; - } + ValueMutex gps_uart_mutex; + if (!init_mutex(&gps_uart_mutex, gps_uart, sizeof(GpsUart))) + { + FURI_LOG_E("GPS", "cannot create mutex\r\n"); + free(gps_uart); + return 255; + } - // set system callbacks - ViewPort* view_port = view_port_alloc(); - view_port_draw_callback_set(view_port, render_callback, &gps_uart_mutex); - view_port_input_callback_set(view_port, input_callback, event_queue); + // set system callbacks + ViewPort* view_port = view_port_alloc(); + view_port_draw_callback_set(view_port, render_callback, &gps_uart_mutex); + view_port_input_callback_set(view_port, input_callback, event_queue); - // open GUI and register view_port - Gui* gui = furi_record_open("gui"); - gui_add_view_port(gui, view_port, GuiLayerFullscreen); + // open GUI and register view_port + Gui* gui = furi_record_open("gui"); + gui_add_view_port(gui, view_port, GuiLayerFullscreen); - PluginEvent event; - for(bool processing = true; processing;) { - FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100); + PluginEvent event; + for (bool processing = true; processing;) + { + FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100); - GpsUart* gps_uart = (GpsUart*)acquire_mutex_block(&gps_uart_mutex); + GpsUart* gps_uart = (GpsUart*)acquire_mutex_block(&gps_uart_mutex); - if(event_status == FuriStatusOk) { - // press events - if(event.type == EventTypeKey) { - if(event.input.type == InputTypePress) { - switch(event.input.key) { - case InputKeyUp: - case InputKeyDown: - case InputKeyRight: - case InputKeyLeft: - case InputKeyOk: - break; - case InputKeyBack: - processing = false; - break; - } - } - } - } else { - FURI_LOG_D("GPS", "FuriMessageQueue: event timeout"); + if (event_status == FuriStatusOk) + { + // press events + if (event.type == EventTypeKey) + { + if (event.input.type == InputTypePress) + { + switch (event.input.key) + { + case InputKeyUp: + case InputKeyDown: + case InputKeyRight: + case InputKeyLeft: + case InputKeyOk: + break; + case InputKeyBack: + processing = false; + break; + } } - - view_port_update(view_port); - release_mutex(&gps_uart_mutex, gps_uart); + } + } + else + { + FURI_LOG_D("GPS", "FuriMessageQueue: event timeout"); } - view_port_enabled_set(view_port, false); - gui_remove_view_port(gui, view_port); - furi_record_close("gui"); - view_port_free(view_port); - furi_message_queue_free(event_queue); - delete_mutex(&gps_uart_mutex); - gps_uart_disable(gps_uart); + view_port_update(view_port); + release_mutex(&gps_uart_mutex, gps_uart); + } - return 0; + view_port_enabled_set(view_port, false); + gui_remove_view_port(gui, view_port); + furi_record_close("gui"); + view_port_free(view_port); + furi_message_queue_free(event_queue); + delete_mutex(&gps_uart_mutex); + gps_uart_disable(gps_uart); + + return 0; } diff --git a/applications/plugins/gps_nmea_uart/gps_uart.c b/applications/plugins/gps_nmea_uart/gps_uart.c index 3a1152f28..b01ea41e7 100644 --- a/applications/plugins/gps_nmea_uart/gps_uart.c +++ b/applications/plugins/gps_nmea_uart/gps_uart.c @@ -3,153 +3,194 @@ #include "minmea.h" #include "gps_uart.h" -typedef enum { - WorkerEvtStop = (1 << 0), - WorkerEvtRxDone = (1 << 1), +typedef enum +{ + WorkerEvtStop = (1 << 0), + WorkerEvtRxDone = (1 << 1), } WorkerEvtFlags; #define WORKER_ALL_RX_EVENTS (WorkerEvtStop | WorkerEvtRxDone) -static void gps_uart_on_irq_cb(UartIrqEvent ev, uint8_t data, void* context) { - GpsUart* gps_uart = (GpsUart*)context; +static void gps_uart_on_irq_cb(UartIrqEvent ev, uint8_t data, void* context) +{ + GpsUart* gps_uart = (GpsUart*)context; - if(ev == UartIrqEventRXNE) { - furi_stream_buffer_send(gps_uart->rx_stream, &data, 1, 0); - furi_thread_flags_set(furi_thread_get_id(gps_uart->thread), WorkerEvtRxDone); - } + if (ev == UartIrqEventRXNE) + { + furi_stream_buffer_send(gps_uart->rx_stream, &data, 1, 0); + furi_thread_flags_set(furi_thread_get_id(gps_uart->thread), WorkerEvtRxDone); + } } -static void gps_uart_serial_init(GpsUart* gps_uart) { - furi_hal_console_disable(); - furi_hal_uart_set_irq_cb(FuriHalUartIdUSART1, gps_uart_on_irq_cb, gps_uart); - furi_hal_uart_set_br(FuriHalUartIdUSART1, GPS_BAUDRATE); +static void gps_uart_serial_init(GpsUart* gps_uart) +{ + furi_hal_console_disable(); + furi_hal_uart_set_irq_cb(FuriHalUartIdUSART1, gps_uart_on_irq_cb, gps_uart); + furi_hal_uart_set_br(FuriHalUartIdUSART1, GPS_BAUDRATE); } -static void gps_uart_serial_deinit(GpsUart* gps_uart) { - UNUSED(gps_uart); - furi_hal_uart_set_irq_cb(FuriHalUartIdUSART1, NULL, NULL); - furi_hal_console_enable(); +static void gps_uart_serial_deinit(GpsUart* gps_uart) +{ + UNUSED(gps_uart); + furi_hal_uart_set_irq_cb(FuriHalUartIdUSART1, NULL, NULL); + furi_hal_console_enable(); } -static void gps_uart_parse_nmea(GpsUart* gps_uart, char* line) { - switch(minmea_sentence_id(line, false)) { - case MINMEA_SENTENCE_RMC: { - struct minmea_sentence_rmc frame; - if(minmea_parse_rmc(&frame, line)) { - gps_uart->status.valid = frame.valid; - gps_uart->status.latitude = minmea_tocoord(&frame.latitude); - gps_uart->status.longitude = minmea_tocoord(&frame.longitude); - gps_uart->status.speed = minmea_tofloat(&frame.speed); - gps_uart->status.course = minmea_tofloat(&frame.course); - } +static void gps_uart_parse_nmea(GpsUart* gps_uart, char* line) +{ + switch (minmea_sentence_id(line, false)) + { + case MINMEA_SENTENCE_RMC: + { + struct minmea_sentence_rmc frame; + if (minmea_parse_rmc(&frame, line)) + { + gps_uart->status.valid = frame.valid; + gps_uart->status.latitude = minmea_tocoord(&frame.latitude); + gps_uart->status.longitude = minmea_tocoord(&frame.longitude); + gps_uart->status.speed = minmea_tofloat(&frame.speed); + gps_uart->status.course = minmea_tofloat(&frame.course); + gps_uart->status.time_hours = frame.time.hours; + gps_uart->status.time_minutes = frame.time.minutes; + gps_uart->status.time_seconds = frame.time.seconds; + + notification_message_block(gps_uart->notifications, &sequence_blink_green_10); + } } break; - case MINMEA_SENTENCE_GGA: { - struct minmea_sentence_gga frame; - if(minmea_parse_gga(&frame, line)) { - gps_uart->status.latitude = minmea_tocoord(&frame.latitude); - gps_uart->status.longitude = minmea_tocoord(&frame.longitude); - gps_uart->status.altitude = minmea_tofloat(&frame.altitude); - gps_uart->status.altitude_units = frame.altitude_units; - gps_uart->status.fix_quality = frame.fix_quality; - gps_uart->status.satellites_tracked = frame.satellites_tracked; - } + case MINMEA_SENTENCE_GGA: + { + struct minmea_sentence_gga frame; + if (minmea_parse_gga(&frame, line)) + { + gps_uart->status.latitude = minmea_tocoord(&frame.latitude); + gps_uart->status.longitude = minmea_tocoord(&frame.longitude); + gps_uart->status.altitude = minmea_tofloat(&frame.altitude); + gps_uart->status.altitude_units = frame.altitude_units; + gps_uart->status.fix_quality = frame.fix_quality; + gps_uart->status.satellites_tracked = frame.satellites_tracked; + gps_uart->status.time_hours = frame.time.hours; + gps_uart->status.time_minutes = frame.time.minutes; + gps_uart->status.time_seconds = frame.time.seconds; + + notification_message_block(gps_uart->notifications, &sequence_blink_magenta_10); + } } break; default: - break; - } + break; + } } -static int32_t gps_uart_worker(void* context) { - GpsUart* gps_uart = (GpsUart*)context; +static int32_t gps_uart_worker(void* context) +{ + GpsUart* gps_uart = (GpsUart*)context; - gps_uart->rx_stream = furi_stream_buffer_alloc(RX_BUF_SIZE * 5, 1); - size_t rx_offset = 0; + gps_uart->rx_stream = furi_stream_buffer_alloc(RX_BUF_SIZE * 5, 1); + size_t rx_offset = 0; - gps_uart_serial_init(gps_uart); + gps_uart_serial_init(gps_uart); - while(1) { - uint32_t events = - furi_thread_flags_wait(WORKER_ALL_RX_EVENTS, FuriFlagWaitAny, FuriWaitForever); - furi_check((events & FuriFlagError) == 0); + while (1) + { + uint32_t events = + furi_thread_flags_wait(WORKER_ALL_RX_EVENTS, FuriFlagWaitAny, FuriWaitForever); + furi_check((events & FuriFlagError) == 0); - if(events & WorkerEvtStop) { - break; - } + if (events & WorkerEvtStop) + { + break; + } + + if (events & WorkerEvtRxDone) + { + size_t len = 0; + do + { + len = furi_stream_buffer_receive(gps_uart->rx_stream, gps_uart->rx_buf + rx_offset, RX_BUF_SIZE - 1 - rx_offset, + 0); + if (len > 0) + { + rx_offset += len; + gps_uart->rx_buf[rx_offset] = '\0'; - if(events & WorkerEvtRxDone) { - size_t len = 0; - do { - len = furi_stream_buffer_receive( - gps_uart->rx_stream, - gps_uart->rx_buf + rx_offset, - RX_BUF_SIZE - 1 - rx_offset, - 0); - if(len > 0) { - rx_offset += len; - gps_uart->rx_buf[rx_offset] = '\0'; + char * line_current = (char *)gps_uart->rx_buf; + while (1) + { + while (*line_current == '\0' && line_current < (char *)gps_uart->rx_buf + rx_offset - 1) + { + line_current++; + } - char* line_current = (char*)gps_uart->rx_buf; - while(1) { - while(*line_current == '\0' && - line_current < (char*)gps_uart->rx_buf + rx_offset - 1) { - line_current++; - } - - char* newline = strchr(line_current, '\n'); - if(newline) { - *newline = '\0'; - gps_uart_parse_nmea(gps_uart, line_current); - line_current = newline + 1; - } else { - if(line_current > (char*)gps_uart->rx_buf) { - rx_offset = 0; - while(*line_current) { - gps_uart->rx_buf[rx_offset++] = *(line_current++); - } - } - break; - } - } + char * newline = strchr(line_current, '\n'); + if (newline) + { + *newline = '\0'; + gps_uart_parse_nmea(gps_uart, line_current); + line_current = newline + 1; + } + else + { + if (line_current > (char *)gps_uart->rx_buf) + { + rx_offset = 0; + while (*line_current) + { + gps_uart->rx_buf[rx_offset++] = *(line_current++); } - } while(len > 0); + } + break; + } + } } + } + while (len > 0); } + } - gps_uart_serial_deinit(gps_uart); - furi_stream_buffer_free(gps_uart->rx_stream); + gps_uart_serial_deinit(gps_uart); + furi_stream_buffer_free(gps_uart->rx_stream); - return 0; + return 0; } -GpsUart* gps_uart_enable() { - GpsUart* gps_uart = malloc(sizeof(GpsUart)); +GpsUart* gps_uart_enable() +{ + GpsUart* gps_uart = malloc(sizeof(GpsUart)); - gps_uart->status.valid = false; - gps_uart->status.latitude = 0.0; - gps_uart->status.longitude = 0.0; - gps_uart->status.speed = 0.0; - gps_uart->status.course = 0.0; - gps_uart->status.altitude = 0.0; - gps_uart->status.altitude_units = ' '; - gps_uart->status.fix_quality = 0; - gps_uart->status.satellites_tracked = 0; + gps_uart->status.valid = false; + gps_uart->status.latitude = 0.0; + gps_uart->status.longitude = 0.0; + gps_uart->status.speed = 0.0; + gps_uart->status.course = 0.0; + gps_uart->status.altitude = 0.0; + gps_uart->status.altitude_units = ' '; + gps_uart->status.fix_quality = 0; + gps_uart->status.satellites_tracked = 0; + gps_uart->status.time_hours = 0; + gps_uart->status.time_minutes = 0; + gps_uart->status.time_seconds = 0; - gps_uart->thread = furi_thread_alloc(); - furi_thread_set_name(gps_uart->thread, "GpsUartWorker"); - furi_thread_set_stack_size(gps_uart->thread, 1024); - furi_thread_set_context(gps_uart->thread, gps_uart); - furi_thread_set_callback(gps_uart->thread, gps_uart_worker); + gps_uart->notifications = furi_record_open(RECORD_NOTIFICATION); - furi_thread_start(gps_uart->thread); - return gps_uart; + gps_uart->thread = furi_thread_alloc(); + furi_thread_set_name(gps_uart->thread, "GpsUartWorker"); + furi_thread_set_stack_size(gps_uart->thread, 1024); + furi_thread_set_context(gps_uart->thread, gps_uart); + furi_thread_set_callback(gps_uart->thread, gps_uart_worker); + + furi_thread_start(gps_uart->thread); + return gps_uart; } -void gps_uart_disable(GpsUart* gps_uart) { - furi_assert(gps_uart); - furi_thread_flags_set(furi_thread_get_id(gps_uart->thread), WorkerEvtStop); - furi_thread_join(gps_uart->thread); - furi_thread_free(gps_uart->thread); - free(gps_uart); +void gps_uart_disable(GpsUart* gps_uart) +{ + furi_assert(gps_uart); + furi_thread_flags_set(furi_thread_get_id(gps_uart->thread), WorkerEvtStop); + furi_thread_join(gps_uart->thread); + furi_thread_free(gps_uart->thread); + + furi_record_close(RECORD_NOTIFICATION); + + free(gps_uart); } diff --git a/applications/plugins/gps_nmea_uart/gps_uart.h b/applications/plugins/gps_nmea_uart/gps_uart.h index 70a2db448..8d46fe954 100644 --- a/applications/plugins/gps_nmea_uart/gps_uart.h +++ b/applications/plugins/gps_nmea_uart/gps_uart.h @@ -1,28 +1,36 @@ #pragma once #include +#include #define GPS_BAUDRATE 9600 #define RX_BUF_SIZE 1024 -typedef struct { - bool valid; - float latitude; - float longitude; - float speed; - float course; - float altitude; - char altitude_units; - int fix_quality; - int satellites_tracked; +typedef struct +{ + bool valid; + float latitude; + float longitude; + float speed; + float course; + float altitude; + char altitude_units; + int fix_quality; + int satellites_tracked; + int time_hours; + int time_minutes; + int time_seconds; } GpsStatus; -typedef struct { - FuriThread* thread; - FuriStreamBuffer* rx_stream; - uint8_t rx_buf[RX_BUF_SIZE]; +typedef struct +{ + FuriThread* thread; + FuriStreamBuffer* rx_stream; + uint8_t rx_buf[RX_BUF_SIZE]; - GpsStatus status; + NotificationApp* notifications; + + GpsStatus status; } GpsUart; GpsUart* gps_uart_enable(); diff --git a/applications/plugins/gps_nmea_uart/minmea.c b/applications/plugins/gps_nmea_uart/minmea.c index 1b7a84b1c..fafbc6710 100644 --- a/applications/plugins/gps_nmea_uart/minmea.c +++ b/applications/plugins/gps_nmea_uart/minmea.c @@ -14,287 +14,315 @@ #define boolstr(s) ((s) ? "true" : "false") -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; +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; } -uint8_t minmea_checksum(const char* sentence) { +uint8_t minmea_checksum(const char *sentence) +{ // Support senteces with or without the starting dollar sign. - if(*sentence == '$') sentence++; + if (*sentence == '$') + sentence++; uint8_t checksum = 0x00; // The optional checksum is an XOR of all bytes between "$" and "*". - while(*sentence && *sentence != '*') checksum ^= *sentence++; + while (*sentence && *sentence != '*') + checksum ^= *sentence++; return checksum; } -bool minmea_check(const char* sentence, bool strict) { +bool minmea_check(const char *sentence, bool strict) +{ uint8_t checksum = 0x00; // A valid sentence starts with "$". - if(*sentence++ != '$') return false; + if (*sentence++ != '$') + return false; // The optional checksum is an XOR of all bytes between "$" and "*". - while(*sentence && *sentence != '*' && isprint((unsigned char)*sentence)) + while (*sentence && *sentence != '*' && isprint((unsigned char) *sentence)) checksum ^= *sentence++; // If checksum is present... - if(*sentence == '*') { + if (*sentence == '*') { // Extract checksum. sentence++; int upper = hex2int(*sentence++); - if(upper == -1) return false; + if (upper == -1) + return false; int lower = hex2int(*sentence++); - if(lower == -1) return false; + if (lower == -1) + return false; int expected = upper << 4 | lower; // Check for checksum mismatch. - if(checksum != expected) return false; - } else if(strict) { + 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. - while(*sentence == '\r' || *sentence == '\n') { + while (*sentence == '\r' || *sentence == '\n') { sentence++; } - - if(*sentence) { + + if (*sentence) { return false; } return true; } -bool minmea_scan(const char* sentence, const char* format, ...) { +bool minmea_scan(const char *sentence, const char *format, ...) +{ bool result = false; bool optional = false; - if(sentence == NULL) return false; + if (sentence == NULL) + return 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) + 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) { + while (*format) { char type = *format++; - if(type == ';') { + if (type == ';') { // All further fields are optional. optional = true; continue; } - if(!field && !optional) { + if (!field && !optional) { // Field requested but we ran out if input. Bail out. goto parse_error; } - switch(type) { - case 'c': { // Single character field (char). - char value = '\0'; + switch (type) { + case 'c': { // Single character field (char). + char value = '\0'; - if(field && minmea_isfield(*field)) value = *field; + if (field && minmea_isfield(*field)) + value = *field; - *va_arg(ap, char*) = value; - } break; + *va_arg(ap, char *) = value; + } break; - case 'd': { // Single character direction field (int). - int value = 0; + case 'd': { // Single character direction field (int). + 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; + 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; + *va_arg(ap, int *) = value; + } break; - case 'f': { // Fractional value with scale (struct minmea_float). - int sign = 0; - int_least32_t value = -1; - int_least32_t scale = 0; + case 'f': { // Fractional value with scale (struct minmea_float). + 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; + 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 + 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 { + 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; + + case 'i': { // Integer value, default 0 (int). + int value = 0; + + if (field) { + char *endptr; + value = strtol(field, &endptr, 10); + if (minmea_isfield(*endptr)) goto parse_error; - } - field++; } - } - if((sign || scale) && value == -1) goto parse_error; + *va_arg(ap, int *) = value; + } break; - if(value == -1) { - /* No digits were scanned. */ - value = 0; - scale = 0; - } else if(scale == 0) { - /* No decimal point. */ - scale = 1; - } - if(sign) value *= sign; + case 's': { // String value (char *). + char *buf = va_arg(ap, char *); - *va_arg(ap, struct minmea_float*) = (struct minmea_float){value, scale}; - } break; - - case 'i': { // Integer value, default 0 (int). - int value = 0; - - if(field) { - char* endptr; - value = strtol(field, &endptr, 10); - if(minmea_isfield(*endptr)) goto parse_error; - } - - *va_arg(ap, int*) = value; - } break; - - case 's': { // String value (char *). - char* buf = va_arg(ap, char*); - - if(field) { - while(minmea_isfield(*field)) *buf++ = *field++; - } - - *buf = '\0'; - } break; - - case 't': { // NMEA talker+sentence identifier (char *). - // This field is always mandatory. - if(!field) goto parse_error; - - if(field[0] != '$') goto parse_error; - for(int f = 0; f < 5; f++) - if(!minmea_isfield(field[1 + f])) goto parse_error; - - char* buf = va_arg(ap, char*); - memcpy(buf, field + 1, 5); - buf[5] = '\0'; - } break; - - case 'D': { // Date (int, int, int), -1 if empty. - struct minmea_date* date = va_arg(ap, struct minmea_date*); - - int d = -1, m = -1, y = -1; - - if(field && minmea_isfield(*field)) { - // Always six digits. - for(int f = 0; f < 6; f++) - if(!isdigit((unsigned char)field[f])) goto parse_error; - - char dArr[] = {field[0], field[1], '\0'}; - char mArr[] = {field[2], field[3], '\0'}; - char yArr[] = {field[4], field[5], '\0'}; - d = strtol(dArr, NULL, 10); - m = strtol(mArr, NULL, 10); - y = strtol(yArr, NULL, 10); - } - - date->day = d; - date->month = m; - date->year = y; - } break; - - case 'T': { // Time (int, int, int, int), -1 if empty. - struct minmea_time* time_ = va_arg(ap, struct minmea_time*); - - int h = -1, i = -1, s = -1, u = -1; - - if(field && minmea_isfield(*field)) { - // Minimum required: integer time. - for(int f = 0; f < 6; f++) - if(!isdigit((unsigned char)field[f])) goto parse_error; - - char hArr[] = {field[0], field[1], '\0'}; - char iArr[] = {field[2], field[3], '\0'}; - char sArr[] = {field[4], field[5], '\0'}; - h = strtol(hArr, NULL, 10); - i = strtol(iArr, NULL, 10); - s = strtol(sArr, NULL, 10); - field += 6; - - // Extra: fractional time. Saved as microseconds. - if(*field++ == '.') { - uint32_t value = 0; - uint32_t scale = 1000000LU; - while(isdigit((unsigned char)*field) && scale > 1) { - value = (value * 10) + (*field++ - '0'); - scale /= 10; - } - u = value * scale; - } else { - u = 0; + if (field) { + while (minmea_isfield(*field)) + *buf++ = *field++; } + + *buf = '\0'; + } break; + + case 't': { // NMEA talker+sentence identifier (char *). + // This field is always mandatory. + if (!field) + goto parse_error; + + if (field[0] != '$') + goto parse_error; + for (int f=0; f<5; f++) + if (!minmea_isfield(field[1+f])) + goto parse_error; + + char *buf = va_arg(ap, char *); + memcpy(buf, field+1, 5); + buf[5] = '\0'; + } break; + + case 'D': { // Date (int, int, int), -1 if empty. + struct minmea_date *date = va_arg(ap, struct minmea_date *); + + int d = -1, m = -1, y = -1; + + if (field && minmea_isfield(*field)) { + // Always six digits. + for (int f=0; f<6; f++) + if (!isdigit((unsigned char) field[f])) + goto parse_error; + + char dArr[] = {field[0], field[1], '\0'}; + char mArr[] = {field[2], field[3], '\0'}; + char yArr[] = {field[4], field[5], '\0'}; + d = strtol(dArr, NULL, 10); + m = strtol(mArr, NULL, 10); + y = strtol(yArr, NULL, 10); + } + + date->day = d; + date->month = m; + date->year = y; + } break; + + case 'T': { // Time (int, int, int, int), -1 if empty. + struct minmea_time *time_ = va_arg(ap, struct minmea_time *); + + int h = -1, i = -1, s = -1, u = -1; + + if (field && minmea_isfield(*field)) { + // Minimum required: integer time. + for (int f=0; f<6; f++) + if (!isdigit((unsigned char) field[f])) + goto parse_error; + + char hArr[] = {field[0], field[1], '\0'}; + char iArr[] = {field[2], field[3], '\0'}; + char sArr[] = {field[4], field[5], '\0'}; + h = strtol(hArr, NULL, 10); + i = strtol(iArr, NULL, 10); + s = strtol(sArr, NULL, 10); + field += 6; + + // Extra: fractional time. Saved as microseconds. + if (*field++ == '.') { + uint32_t value = 0; + uint32_t scale = 1000000LU; + 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; + + case '_': { // Ignore the field. + } break; + + default: { // Unknown. + goto parse_error; } - - time_->hours = h; - time_->minutes = i; - time_->seconds = s; - time_->microseconds = u; - } break; - - case '_': { // Ignore the field. - } break; - - default: { // Unknown. - goto parse_error; - } } next_field(); @@ -307,9 +335,11 @@ parse_error: return result; } -bool minmea_talker_id(char talker[3], const char* sentence) { +bool minmea_talker_id(char talker[3], const char *sentence) +{ char type[6]; - if(!minmea_scan(sentence, "t", type)) return false; + if (!minmea_scan(sentence, "t", type)) + return false; talker[0] = type[0]; talker[1] = type[1]; @@ -318,70 +348,80 @@ bool minmea_talker_id(char talker[3], const char* sentence) { return true; } -enum minmea_sentence_id minmea_sentence_id(const char* sentence, bool strict) { - if(!minmea_check(sentence, strict)) return MINMEA_INVALID; +enum minmea_sentence_id minmea_sentence_id(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 (!minmea_scan(sentence, "t", type)) + return MINMEA_INVALID; - if(!strcmp(type + 2, "GBS")) return MINMEA_SENTENCE_GBS; - if(!strcmp(type + 2, "GGA")) return MINMEA_SENTENCE_GGA; - if(!strcmp(type + 2, "GLL")) return MINMEA_SENTENCE_GLL; - if(!strcmp(type + 2, "GSA")) return MINMEA_SENTENCE_GSA; - if(!strcmp(type + 2, "GST")) return MINMEA_SENTENCE_GST; - if(!strcmp(type + 2, "GSV")) return MINMEA_SENTENCE_GSV; - if(!strcmp(type + 2, "RMC")) return MINMEA_SENTENCE_RMC; - if(!strcmp(type + 2, "VTG")) return MINMEA_SENTENCE_VTG; - if(!strcmp(type + 2, "ZDA")) return MINMEA_SENTENCE_ZDA; + if (!strcmp(type+2, "GBS")) + return MINMEA_SENTENCE_GBS; + if (!strcmp(type+2, "GGA")) + return MINMEA_SENTENCE_GGA; + if (!strcmp(type+2, "GLL")) + return MINMEA_SENTENCE_GLL; + if (!strcmp(type+2, "GSA")) + return MINMEA_SENTENCE_GSA; + if (!strcmp(type+2, "GST")) + return MINMEA_SENTENCE_GST; + if (!strcmp(type+2, "GSV")) + return MINMEA_SENTENCE_GSV; + if (!strcmp(type+2, "RMC")) + return MINMEA_SENTENCE_RMC; + if (!strcmp(type+2, "VTG")) + return MINMEA_SENTENCE_VTG; + if (!strcmp(type+2, "ZDA")) + return MINMEA_SENTENCE_ZDA; return MINMEA_UNKNOWN; } -bool minmea_parse_gbs(struct minmea_sentence_gbs* frame, const char* sentence) { +bool minmea_parse_gbs(struct minmea_sentence_gbs *frame, const char *sentence) +{ // $GNGBS,170556.00,3.0,2.9,8.3,,,,*5C char type[6]; - if(!minmea_scan( - sentence, - "tTfffifff", - type, - &frame->time, - &frame->err_latitude, - &frame->err_longitude, - &frame->err_altitude, - &frame->svid, - &frame->prob, - &frame->bias, - &frame->stddev)) + if (!minmea_scan(sentence, "tTfffifff", + type, + &frame->time, + &frame->err_latitude, + &frame->err_longitude, + &frame->err_altitude, + &frame->svid, + &frame->prob, + &frame->bias, + &frame->stddev + )) + return false; + if (strcmp(type+2, "GBS")) return false; - if(strcmp(type + 2, "GBS")) return false; return true; } -bool minmea_parse_rmc(struct minmea_sentence_rmc* frame, const char* sentence) { +bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, 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)) + 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; - if(strcmp(type + 2, "RMC")) return false; frame->valid = (validity == 'A'); frame->latitude.value *= latitude_direction; @@ -391,31 +431,27 @@ bool minmea_parse_rmc(struct minmea_sentence_rmc* frame, const char* sentence) { return true; } -bool minmea_parse_gga(struct minmea_sentence_gga* frame, const char* sentence) { +bool minmea_parse_gga(struct minmea_sentence_gga *frame, 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, - "tTfdfdiiffcfcf_", - 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)) + if (!minmea_scan(sentence, "tTfdfdiiffcfcf_", + 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; - if(strcmp(type + 2, "GGA")) return false; frame->latitude.value *= latitude_direction; frame->longitude.value *= longitude_direction; @@ -423,56 +459,54 @@ bool minmea_parse_gga(struct minmea_sentence_gga* frame, const char* sentence) { return true; } -bool minmea_parse_gsa(struct minmea_sentence_gsa* frame, const char* sentence) { +bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, 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)) + 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; - if(strcmp(type + 2, "GSA")) return false; return true; } -bool minmea_parse_gll(struct minmea_sentence_gll* frame, const char* sentence) { +bool minmea_parse_gll(struct minmea_sentence_gll *frame, 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)) + 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; - if(strcmp(type + 2, "GLL")) return false; frame->latitude.value *= latitude_direction; frame->longitude.value *= longitude_direction; @@ -480,29 +514,30 @@ bool minmea_parse_gll(struct minmea_sentence_gll* frame, const char* sentence) { return true; } -bool minmea_parse_gst(struct minmea_sentence_gst* frame, const char* sentence) { +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->semi_major_deviation, - &frame->semi_minor_deviation, - &frame->semi_major_orientation, - &frame->latitude_error_deviation, - &frame->longitude_error_deviation, - &frame->altitude_error_deviation)) + 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; - if(strcmp(type + 2, "GST")) return false; return true; } -bool minmea_parse_gsv(struct minmea_sentence_gsv* frame, const char* sentence) { +bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, 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 @@ -510,37 +545,38 @@ bool minmea_parse_gsv(struct minmea_sentence_gsv* frame, const char* sentence) { // $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)) { + 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; + if (strcmp(type+2, "GSV")) + return false; return true; } -bool minmea_parse_vtg(struct minmea_sentence_vtg* frame, const char* sentence) { +bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence) +{ // $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48 // $GPVTG,156.1,T,140.9,M,0.0,N,0.0,K*41 // $GPVTG,096.5,T,083.5,M,0.0,N,0.0,K,D*22 @@ -548,68 +584,72 @@ bool minmea_parse_vtg(struct minmea_sentence_vtg* frame, const char* sentence) { char type[6]; char c_true, c_magnetic, c_knots, c_kph, c_faa_mode; - if(!minmea_scan( - sentence, - "t;fcfcfcfcc", - type, - &frame->true_track_degrees, - &c_true, - &frame->magnetic_track_degrees, - &c_magnetic, - &frame->speed_knots, - &c_knots, - &frame->speed_kph, - &c_kph, - &c_faa_mode)) + if (!minmea_scan(sentence, "t;fcfcfcfcc", + type, + &frame->true_track_degrees, + &c_true, + &frame->magnetic_track_degrees, + &c_magnetic, + &frame->speed_knots, + &c_knots, + &frame->speed_kph, + &c_kph, + &c_faa_mode)) + return false; + if (strcmp(type+2, "VTG")) return false; - if(strcmp(type + 2, "VTG")) return false; // values are only valid with the accompanying characters - if(c_true != 'T') frame->true_track_degrees.scale = 0; - if(c_magnetic != 'M') frame->magnetic_track_degrees.scale = 0; - if(c_knots != 'N') frame->speed_knots.scale = 0; - if(c_kph != 'K') frame->speed_kph.scale = 0; + if (c_true != 'T') + frame->true_track_degrees.scale = 0; + if (c_magnetic != 'M') + frame->magnetic_track_degrees.scale = 0; + if (c_knots != 'N') + frame->speed_knots.scale = 0; + if (c_kph != 'K') + frame->speed_kph.scale = 0; frame->faa_mode = (enum minmea_faa_mode)c_faa_mode; return true; } -bool minmea_parse_zda(struct minmea_sentence_zda* frame, const char* sentence) { - // $GPZDA,201530.00,04,07,2002,00,00*60 - char type[6]; +bool minmea_parse_zda(struct minmea_sentence_zda *frame, const char *sentence) +{ + // $GPZDA,201530.00,04,07,2002,00,00*60 + char type[6]; - if(!minmea_scan( - sentence, - "tTiiiii", - type, - &frame->time, - &frame->date.day, - &frame->date.month, - &frame->date.year, - &frame->hour_offset, - &frame->minute_offset)) - return false; - if(strcmp(type + 2, "ZDA")) return false; + if(!minmea_scan(sentence, "tTiiiii", + type, + &frame->time, + &frame->date.day, + &frame->date.month, + &frame->date.year, + &frame->hour_offset, + &frame->minute_offset)) + return false; + if (strcmp(type+2, "ZDA")) + return false; - // check offsets - if(abs(frame->hour_offset) > 13 || frame->minute_offset > 59 || frame->minute_offset < 0) - return false; + // check offsets + if (abs(frame->hour_offset) > 13 || + frame->minute_offset > 59 || + frame->minute_offset < 0) + return false; - return true; + return true; } -int minmea_getdatetime( - struct tm* tm, - const struct minmea_date* date, - const struct minmea_time* time_) { - if(date->year == -1 || time_->hours == -1) return -1; +int minmea_getdatetime(struct tm *tm, const struct minmea_date *date, const struct minmea_time *time_) +{ + if (date->year == -1 || time_->hours == -1) + return -1; memset(tm, 0, sizeof(*tm)); - if(date->year < 80) { + if (date->year < 80) { tm->tm_year = 2000 + date->year - 1900; // 2000-2079 - } else if(date->year >= 1900) { - tm->tm_year = date->year - 1900; // 4 digit year, use directly + } else if (date->year >= 1900) { + tm->tm_year = date->year - 1900; // 4 digit year, use directly } else { - tm->tm_year = date->year; // 1980-1999 + tm->tm_year = date->year; // 1980-1999 } tm->tm_mon = date->month - 1; tm->tm_mday = date->day; @@ -620,15 +660,14 @@ int minmea_getdatetime( return 0; } -int minmea_gettime( - struct timespec* ts, - const struct minmea_date* date, - const struct minmea_time* time_) { +int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_) +{ struct tm tm; - if(minmea_getdatetime(&tm, date, time_)) return -1; + if (minmea_getdatetime(&tm, date, time_)) + return -1; time_t timestamp = mktime(&tm); /* See README.md if your system lacks timegm(). */ - if(timestamp != (time_t)-1) { + if (timestamp != (time_t)-1) { ts->tv_sec = timestamp; ts->tv_nsec = time_->microseconds * 1000; return 0; diff --git a/applications/plugins/gps_nmea_uart/minmea.h b/applications/plugins/gps_nmea_uart/minmea.h index 88eec4ae9..494b21863 100644 --- a/applications/plugins/gps_nmea_uart/minmea.h +++ b/applications/plugins/gps_nmea_uart/minmea.h @@ -87,10 +87,8 @@ struct minmea_sentence_gga { int fix_quality; int satellites_tracked; struct minmea_float hdop; - struct minmea_float altitude; - char altitude_units; - struct minmea_float height; - char height_units; + struct minmea_float altitude; char altitude_units; + struct minmea_float height; char height_units; struct minmea_float dgps_age; }; @@ -181,22 +179,22 @@ struct minmea_sentence_zda { /** * Calculate raw sentence checksum. Does not check sentence integrity. */ -uint8_t minmea_checksum(const char* sentence); +uint8_t minmea_checksum(const char *sentence); /** * Check sentence validity and checksum. Returns true for valid sentences. */ -bool minmea_check(const char* sentence, bool strict); +bool minmea_check(const char *sentence, bool strict); /** * Determine talker identifier. */ -bool minmea_talker_id(char talker[3], const char* sentence); +bool minmea_talker_id(char talker[3], const char *sentence); /** * Determine sentence identifier. */ -enum minmea_sentence_id minmea_sentence_id(const char* sentence, bool strict); +enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict); /** * Scanf-like processor for NMEA sentences. Supports the following formats: @@ -212,70 +210,72 @@ enum minmea_sentence_id minmea_sentence_id(const char* sentence, bool strict); * ; - following fields are optional * Returns true on success. See library source code for details. */ -bool minmea_scan(const char* sentence, const char* format, ...); +bool minmea_scan(const char *sentence, const char *format, ...); /* * Parse a specific type of sentence. Return true on success. */ -bool minmea_parse_gbs(struct minmea_sentence_gbs* 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_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); -bool minmea_parse_vtg(struct minmea_sentence_vtg* frame, const char* sentence); -bool minmea_parse_zda(struct minmea_sentence_zda* frame, const char* sentence); +bool minmea_parse_gbs(struct minmea_sentence_gbs *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_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); +bool minmea_parse_vtg(struct minmea_sentence_vtg *frame, const char *sentence); +bool minmea_parse_zda(struct minmea_sentence_zda *frame, const char *sentence); /** * Convert GPS UTC date/time representation to a UNIX calendar time. */ -int minmea_getdatetime( - struct tm* tm, - const struct minmea_date* date, - const struct minmea_time* time_); +int minmea_getdatetime(struct tm *tm, const struct minmea_date *date, const struct minmea_time *time_); /** * Convert GPS UTC date/time representation to a UNIX timestamp. */ -int minmea_gettime( - struct timespec* ts, - const struct minmea_date* date, - const struct minmea_time* time_); +int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_); /** * Rescale a fixed-point value to a different scale. Rounds towards zero. */ -static inline int_least32_t minmea_rescale(const 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); +static inline int_least32_t minmea_rescale(const 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); + 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(const struct minmea_float* f) { - if(f->scale == 0) return NAN; - return (float)f->value / (float)f->scale; +static inline float minmea_tofloat(const 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(const struct minmea_float* f) { - if(f->scale == 0) return NAN; - if(f->scale > (INT_LEAST32_MAX / 100)) return NAN; - if(f->scale < (INT_LEAST32_MIN / 100)) return NAN; +static inline float minmea_tocoord(const struct minmea_float *f) +{ + if (f->scale == 0) + return NAN; + if (f->scale > (INT_LEAST32_MAX / 100)) + return NAN; + if (f->scale < (INT_LEAST32_MIN / 100)) + 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); + return (float) degrees + (float) minutes / (60 * f->scale); } /** @@ -283,7 +283,7 @@ static inline float minmea_tocoord(const struct minmea_float* f) { * sentence data field. */ static inline bool minmea_isfield(char c) { - return isprint((unsigned char)c) && c != ',' && c != '*'; + return isprint((unsigned char) c) && c != ',' && c != '*'; } #ifdef __cplusplus diff --git a/applications/plugins/gps_nmea_uart/ui.png b/applications/plugins/gps_nmea_uart/ui.png new file mode 100644 index 000000000..8e5214574 Binary files /dev/null and b/applications/plugins/gps_nmea_uart/ui.png differ diff --git a/applications/plugins/gps_nmea_uart/wiring.png b/applications/plugins/gps_nmea_uart/wiring.png new file mode 100644 index 000000000..74b4a4401 Binary files /dev/null and b/applications/plugins/gps_nmea_uart/wiring.png differ