194 lines
10 KiB
C
194 lines
10 KiB
C
|
/**************************************************************************/
|
||
|
|
/*!
|
||
|
|
@file NMEA_data.h
|
||
|
|
*/
|
||
|
|
/**************************************************************************/
|
||
|
|
#ifndef _NMEA_DATA_H
|
||
|
|
#define _NMEA__DATA_H
|
||
|
|
#include "Arduino.h"
|
||
|
|
|
||
|
|
#define NMEA_MAX_WP_ID \
|
||
|
|
20 ///< maximum length of a waypoint ID name, including terminating 0
|
||
|
|
#define NMEA_MAX_SENTENCE_ID \
|
||
|
|
20 ///< maximum length of a sentence ID name, including terminating 0
|
||
|
|
#define NMEA_MAX_SOURCE_ID \
|
||
|
|
3 ///< maximum length of a source ID name, including terminating 0
|
||
|
|
|
||
|
|
/*************************************************************************
|
||
|
|
doubles and floats are identical on AVR processors like the UNO where space
|
||
|
|
is tight. doubles avoid the roundoff errors that led to the fixed point mods
|
||
|
|
in https://github.com/adafruit/Adafruit-GPS-Library/pull/13, provided the
|
||
|
|
processor supports actual doubles like the SAMD series with more storage. The
|
||
|
|
total penalty for going all double is under a few hundred bytes / instance or
|
||
|
|
0 bytes / instance on an UNO. This typedef allows a switch to lower precision
|
||
|
|
to save some storage if needed. A float carries 23 bits of fractional
|
||
|
|
resolution, giving a resolution of at least 9 significant digits, thus 6
|
||
|
|
significant digits in the decimal place of an angular value like latitude, and
|
||
|
|
thus a resolution on earth of at least 110 mm. That's closer than GPS will
|
||
|
|
hit, and closer than needed for navigation, so floats can be used to save a
|
||
|
|
little storage.
|
||
|
|
**************************************************************************/
|
||
|
|
typedef double
|
||
|
|
nmea_float_t; ///< the type of variables to use for floating point
|
||
|
|
|
||
|
|
/**************************************************************************/
|
||
|
|
/*!
|
||
|
|
Struct to contain all the details associated with the history of an NMEA
|
||
|
|
data value as an optional extension to the data value struct. The history
|
||
|
|
is stored as scaled integers to save space while caputuring a reasonable
|
||
|
|
level of resolution. The integer is set equal to scale * (X - offset) and
|
||
|
|
can be converted back to an approximate float value with
|
||
|
|
X = I / scale + offset
|
||
|
|
|
||
|
|
Only some tags have history in order to save memory. Most of the memory
|
||
|
|
cost is directly in the array.
|
||
|
|
|
||
|
|
192 history values taken every 20 seconds covers just over an hour.
|
||
|
|
**************************************************************************/
|
||
|
|
typedef struct {
|
||
|
|
int16_t *data = NULL; ///< array of ints, oldest first
|
||
|
|
unsigned n = 0; ///< number of history array elements
|
||
|
|
uint32_t lastHistory = 0; ///< millis() when history was last updated
|
||
|
|
uint16_t historyInterval = 20; ///< seconds between history updates
|
||
|
|
nmea_float_t scale = 1.0; ///< history = (smoothed - offset) * scale
|
||
|
|
nmea_float_t offset = 0.0; ///< value = (float) history / scale + offset
|
||
|
|
} nmea_history_t;
|
||
|
|
|
||
|
|
/**************************************************************************/
|
||
|
|
/*!
|
||
|
|
Type to characterize the type of value stored in a data value struct.
|
||
|
|
The sine and cosine components of some angles allow
|
||
|
|
for smoothing of those angles by averaging of sine and cosine values
|
||
|
|
that are continuous, rather than angles that are discontinuous at
|
||
|
|
-180/180 or 359/0 transitions. Types 10-19 must have three contiguous
|
||
|
|
data value entries set up in the matrix to accommodate the extra sin
|
||
|
|
and cos values.
|
||
|
|
*/
|
||
|
|
/**************************************************************************/
|
||
|
|
typedef enum {
|
||
|
|
NMEA_SIMPLE_FLOAT = 0, ///< A simple floating point number
|
||
|
|
NMEA_COMPASS_ANGLE = 1, ///< A compass style angle from 0 to 360 degrees
|
||
|
|
NMEA_BOAT_ANGLE = 2, ///< An angle relative to the boat orientation
|
||
|
|
///< from -180 (port) to 180 degrees
|
||
|
|
NMEA_COMPASS_ANGLE_SIN =
|
||
|
|
11, ///< A compass style angle from 0 to 360 degrees, with sin and cos
|
||
|
|
///< elements stored for averaging, etc.
|
||
|
|
NMEA_BOAT_ANGLE_SIN =
|
||
|
|
12, ///< An angle relative to the boat orientation from -180 (port) to 180
|
||
|
|
///< degrees, with sin and cos elements stored for averaging, etc.
|
||
|
|
NMEA_DDMM = 20, ///< A latitude or longitude angle stored in DDMM.mmmm format
|
||
|
|
///< like it comes in from the GPS
|
||
|
|
NMEA_HHMMSS =
|
||
|
|
30 ///< A time stored in HHMMSS format like it comes in from the GPS
|
||
|
|
} nmea_value_type_t;
|
||
|
|
|
||
|
|
/**************************************************************************/
|
||
|
|
/*!
|
||
|
|
Struct to contain all the details associated with an NMEA data value that
|
||
|
|
can be tracked through time to see how it changes, carries a label, units,
|
||
|
|
and a format string to determine how it is displayed. Memory footprint
|
||
|
|
of about 32 bytes per data value, so not tenable in small memory spaces.
|
||
|
|
*/
|
||
|
|
/**************************************************************************/
|
||
|
|
typedef struct {
|
||
|
|
nmea_float_t latest = 0.0; ///< the most recently obtained value
|
||
|
|
nmea_float_t smoothed =
|
||
|
|
0.0; ///< smoothed value based on weight of dt/response
|
||
|
|
uint32_t lastUpdate = 0; ///< millis() when latest was last set
|
||
|
|
uint16_t response =
|
||
|
|
1000; ///< time constant in millis for smoothing
|
||
|
|
nmea_value_type_t type =
|
||
|
|
NMEA_SIMPLE_FLOAT; ///< type of float data value represented
|
||
|
|
byte ockam =
|
||
|
|
0; ///< the corresponding Ockam Instruments tag number, 0-128
|
||
|
|
nmea_history_t *hist = NULL; ///< pointer to history, if any
|
||
|
|
char *label = NULL; ///< pointer to quantity label, if any
|
||
|
|
char *unit = NULL; ///< pointer to units label, if any
|
||
|
|
char *fmt = NULL; ///< pointer to format string, if any
|
||
|
|
} nmea_datavalue_t;
|
||
|
|
|
||
|
|
/**************************************************************************/
|
||
|
|
/*!
|
||
|
|
Type to provide an index into the array of data values for different
|
||
|
|
NMEA quantities. The sine and cosine components of some angles allow
|
||
|
|
for smoothing of those angles by averaging of sine and cosine values
|
||
|
|
that are continuous, rather than angles that are discontinuous at
|
||
|
|
-180/180 or 359/0 transitions. Note that the enumerations are arranged
|
||
|
|
so that NMEA_XXX_SIN = NMEA_XXX + 1, and NMEA_XXX_COS = NMEA_XXX + 2.
|
||
|
|
*/
|
||
|
|
/**************************************************************************/
|
||
|
|
typedef enum {
|
||
|
|
NMEA_HDOP = 0, ///< Horizontal Dilution of Position
|
||
|
|
NMEA_LAT, ///< Latitude in signed decimal degrees -90 to 90
|
||
|
|
NMEA_LON, ///< Longitude in signed decimal degrees -180 to 180
|
||
|
|
NMEA_LATWP, ///< Waypoint Latitude in signed decimal degrees -90 to 90
|
||
|
|
NMEA_LONWP, ///< Waypoint Longitude in signed decimal degrees -180 to 180
|
||
|
|
NMEA_SOG, ///< Speed over Ground in knots
|
||
|
|
NMEA_COG, ///< Course over ground, 0 to 360 degrees true
|
||
|
|
NMEA_COG_SIN, ///< sine of Course over ground
|
||
|
|
NMEA_COG_COS, ///< cosine of Course over ground
|
||
|
|
NMEA_COGWP, ///< Course over ground to the waypoint, 0 to 360 degrees true
|
||
|
|
NMEA_XTE, ///< Cross track error for the current segment to the waypoint,
|
||
|
|
///< Nautical Miles -ve to the left
|
||
|
|
NMEA_DISTWP, ///< Distance to the waypoint in nautical miles
|
||
|
|
NMEA_AWA, ///< apparent wind angle relative to the boat -180 to 180 degrees
|
||
|
|
NMEA_AWA_SIN, ///< sine of apparent wind angle relative to the boat
|
||
|
|
NMEA_AWA_COS, ///< cosine of apparent wind angle relative to the boat
|
||
|
|
NMEA_AWS, ///< apparent wind speed, will be coerced to knots
|
||
|
|
NMEA_TWA, ///< true wind angle relative to the boat -180 to 180 degrees
|
||
|
|
NMEA_TWA_SIN, ///< sine of true wind angle relative to the boat
|
||
|
|
NMEA_TWA_COS, ///< cosine of true wind angle relative to the boat
|
||
|
|
NMEA_TWD, ///< true wind compass direction, magnetic 0 to 360 degrees magnetic
|
||
|
|
NMEA_TWD_SIN, ///< sine of true wind compass direction, magnetic
|
||
|
|
NMEA_TWD_COS, ///< cosine of true wind compass direction, magnetic
|
||
|
|
NMEA_TWS, ///< true wind speed in knots TWS
|
||
|
|
NMEA_VMG, ///< velocity made good relative to the wind -ve means downwind,
|
||
|
|
///< knots
|
||
|
|
NMEA_VMGWP, ///< velocity made good relative to the waypoint, knots
|
||
|
|
NMEA_HEEL, ///< boat heel angle, -180 to 180 degrees to starboard
|
||
|
|
NMEA_PITCH, ///< boat pitch angle, -180 to 180 degrees bow up
|
||
|
|
NMEA_HDG, ///< magnetic heading, 0 to 360 degrees magnetic
|
||
|
|
NMEA_HDG_SIN, ///< sine of magnetic heading
|
||
|
|
NMEA_HDG_COS, ///< cosine of magnetic heading
|
||
|
|
NMEA_HDT, ///< true heading, 0 to 360 degrees true
|
||
|
|
NMEA_HDT_SIN, ///< sine of true heading
|
||
|
|
NMEA_HDT_COS, ///< cosine of true heading
|
||
|
|
NMEA_VTW, ///< Boat speed through the water in knots
|
||
|
|
NMEA_LOG, ///< Distance logged through the water in nautical miles
|
||
|
|
NMEA_LOGR, ///< Distance logged through the water in nautical miles since
|
||
|
|
///< reset
|
||
|
|
NMEA_DEPTH, ///< depth of water below the surface in metres
|
||
|
|
NMEA_RPM_M1, ///< rpm of motor 1
|
||
|
|
NMEA_TEMPERATURE_M1, ///< temperature of motor 1 in C
|
||
|
|
NMEA_PRESSURE_M1, ///< pressure of motor 1 in kPa
|
||
|
|
NMEA_VOLTAGE_M1, ///< voltage of motor 1 in Volts
|
||
|
|
NMEA_CURRENT_M1, ///< current of motor 1 in Amps
|
||
|
|
NMEA_RPM_M2, ///< rpm of motor 2
|
||
|
|
NMEA_TEMPERATURE_M2, ///< temperature of motor 2 in C
|
||
|
|
NMEA_PRESSURE_M2, ///< pressure of motor 2 in kPa
|
||
|
|
NMEA_VOLTAGE_M2, ///< voltage of motor 2 in Volts
|
||
|
|
NMEA_CURRENT_M2, ///< current of motor 2 in Amps
|
||
|
|
NMEA_TEMPERATURE_AIR, ///< outside temperature in C
|
||
|
|
NMEA_TEMPERATURE_WATER, ///< sea water temperature in C
|
||
|
|
NMEA_HUMIDITY, ///< outside relative humidity in %
|
||
|
|
NMEA_BAROMETER, ///< barometric pressure in Pa absolute -- not altitude
|
||
|
|
///< corrected
|
||
|
|
NMEA_USR_00, ///< spaces for a user sketch to inject its own data
|
||
|
|
NMEA_USR_01, ///< spaces for a user sketch to inject its own data
|
||
|
|
NMEA_USR_02, ///< spaces for a user sketch to inject its own data
|
||
|
|
NMEA_USR_03,
|
||
|
|
NMEA_USR_04,
|
||
|
|
NMEA_USR_05,
|
||
|
|
NMEA_USR_06,
|
||
|
|
NMEA_USR_07,
|
||
|
|
NMEA_USR_08,
|
||
|
|
NMEA_USR_09,
|
||
|
|
NMEA_USR_10,
|
||
|
|
NMEA_USR_11,
|
||
|
|
NMEA_USR_12,
|
||
|
|
NMEA_MAX_INDEX ///< the largest number in the enum type -- not for data,
|
||
|
|
///< but does define size of data value array required.
|
||
|
|
} nmea_index_t; ///< Indices for data values expected to change often with time
|
||
|
|
|
||
|
|
#endif // _NMEA_DATA_H
|