New version of build() with more sentences
move addChecksum() to NMEA_build.cpp
This commit is contained in:
Rick Sellens
parent
0b0996bbb0
commit
4b6e181770
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@ -159,27 +159,6 @@ bool Adafruit_GPS::isEmpty(char *pStart) {
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return true;
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}
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/**************************************************************************/
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/*!
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@brief Add *CS where CS is the two character hex checksum for all but
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the first character in the string. The checksum is the result of an
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exclusive or of all the characters in the string. Also useful if you
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are creating new PMTK strings for controlling a GPS module and need a
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checksum added.
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@param buff Pointer to the string, which must be long enough
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@return none
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*/
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/**************************************************************************/
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void Adafruit_GPS::addChecksum(char *buff) {
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char cs = 0;
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int i = 1;
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while (buff[i]) {
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cs ^= buff[i];
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i++;
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}
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sprintf(buff, "%s*%02X", buff, cs);
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}
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/**************************************************************************/
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/*!
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@brief Parse a part of an NMEA string for time
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@ -45,10 +45,16 @@
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build() will not work properly in an environment that does not support
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the %f floating point formatter in sprintf(), and will return NULL.
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Floating point arguments to sprintf() are explicitly cast to double to
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avoid warnings in some compilers.
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build() adds Carriage Return and Line Feed to sentences to conform to
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NMEA-183, so send your output with a print, not a println.
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The resulting sentence may be corrupted if the input data is corrupt.
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In particular, the sentence will be truncated if any of the character
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data is 0, e.g. if lat is not set to 'N' or 'S'.
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Some of the data in these test sentences may be arbitrary, e.g. for the
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TXT sentence which has a more complicated protocol for multiple lines
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sent as a message set. Also, the data in the class variables are presumed
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@ -66,7 +72,7 @@
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/**************************************************************************/
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char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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const char *thisSentence, char ref) {
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sprintf(nmea, "%6.2f", 123.45); // fail if sprintf() doesn't handle floats
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sprintf(nmea, "%6.2f", (double)123.45); // fail if sprintf() doesn't handle floats
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if (strcmp(nmea, "123.45"))
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return NULL;
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*nmea = '$';
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@ -82,8 +88,7 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// pruning excess code easier. Otherwise, keep them alphabetical for ease of
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// reading.
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if (!strcmp(thisSentence,
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"GGA")) { //********************************************GGA
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if (!strcmp(thisSentence, "GGA")) { //************************************GGA
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// GGA Global Positioning System Fix Data. Time, Position and fix related
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// data for a GPS receiver
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// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
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@ -107,12 +112,11 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// 14) Differential reference station ID, 0000-1023
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// 15) Checksum
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sprintf(p, "%09.2f,%09.4f,%c,%010.4f,%c,%d,%02d,%f,%f,M,%f,M,,",
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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(double)latitude, lat, (double)longitude, lon, fixquality,
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satellites, (double)HDOP, (double)altitude, (double)geoidheight);
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(double)hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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(double)latitude, lat, (double)longitude, lon, fixquality, satellites,
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(double)HDOP, (double)altitude, (double)geoidheight);
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} else if (!strcmp(thisSentence,
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"GLL")) { //********************************************GLL
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} else if (!strcmp(thisSentence, "GLL")) { //*****************************GLL
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// GLL Geographic Position – Latitude/Longitude
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// 1 2 3 4 5 6 7
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// | | | | | | |
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@ -125,11 +129,10 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// 6) Status A - Data Valid, V - Data Invalid
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// 7) Checksum
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sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", (double)latitude, lat,
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(double)longitude, lon,
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.);
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(double)longitude, lon, (double)hour * 10000L + minute * 100L +
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seconds + milliseconds / 1000.);
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} else if (!strcmp(thisSentence,
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"GSA")) { //********************************************
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} else if (!strcmp(thisSentence, "GSA")) { //*****************************GSA
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// GSA GPS DOP and active satellites
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// 1 2 3 14 15 16 17 18
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// | | | | | | | |
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@ -146,8 +149,7 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// 18) Checksum
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return NULL;
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} else if (!strcmp(thisSentence,
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"RMC")) { //********************************************RMC
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} else if (!strcmp(thisSentence, "RMC")) { //*****************************RMC
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// RMC Recommended Minimum Navigation Information
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// 12
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// 1 2 3 4 5 6 7 8 9 10 11 |
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@ -166,13 +168,255 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// 11) E or W
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// 12) Checksum
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sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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(double)hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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(double)latitude, lat, (double)longitude, lon, (double)speed,
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(double)angle, day * 10000 + month * 100 + year,
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(double)magvariation, mag);
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(double)angle, day * 10000 + month * 100 + year, (double)magvariation, mag);
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} else if (!strcmp(thisSentence,
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"TXT")) { //********************************************TXT
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} else if (!strcmp(thisSentence, "APB")) { //*****************************APB
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// APB Autopilot Sentence "B"
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// 13 15
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// 1 2 3 4 5 6 7 8 9 10 11 12 | 14 |
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// | | | | | | | | | | | | | | |
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//$--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,x.x,a,x.x,a*hh
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// 1) Status
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// V = LORAN-C Blink or SNR warning
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// A = general warning flag or other navigation systems when a reliable
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// fix is not available
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// 2) Status
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// V = Loran-C Cycle Lock warning flag
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// A = OK or not used
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// 3) Cross Track Error Magnitude
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// 4) Direction to steer, L or R
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// 5) Cross Track Units, N = Nautical Miles
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// 6) Status
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// A = Arrival Circle Entered
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// 7) Status
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// A = Perpendicular passed at waypoint
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// 8) Bearing origin to destination
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// 9) M = Magnetic, T = True
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// 10) Destination Waypoint ID
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// 11) Bearing, present position to Destination
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// 12) M = Magnetic, T = True
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// 13) Heading to steer to destination waypoint
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// 14) M = Magnetic, T = True
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// 15) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "DBK")) { //*****************************DBT
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// DBK Depth Below Keel
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--DBK,x.x,f,x.x,M,x.x,F*hh
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// 1) Depth, feet
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// 2) f = feet
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// 3) Depth, meters
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// 4) M = meters
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// 5) Depth, Fathoms
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// 6) F = Fathoms
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// 7) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "DBS")) { //*****************************DBT
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// DBS Depth Below Surface
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--DBS,x.x,f,x.x,M,x.x,F*hh
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// 1) Depth, feet
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// 2) f = feet
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// 3) Depth, meters
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// 4) M = meters
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// 5) Depth, Fathoms
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// 6) F = Fathoms
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// 7) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "DBT")) { //*****************************DBT
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// DBT Depth Below Transducer
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--DBT,x.x,f,x.x,M,x.x,F*hh
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// 1) Depth, feet
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// 2) f = feet
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// 3) Depth, meters
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// 4) M = meters
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// 5) Depth, Fathoms
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// 6) F = Fathoms
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// 7) Checksum
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double d = val[NMEA_DEPTH].latest - depthToTransducer;
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sprintf(p, "%f,f,%f,M,,,", d / 0.3048, d);
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} else if (!strcmp(thisSentence, "DPT")) { //*****************************DPT
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// DPT Heading – Deviation & Variation
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// 1 2 3
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// | | |
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//$--DPT,x.x,x.x*hh
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// 1) Depth, meters
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// 2) Offset from transducer;
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// positive means distance from transducer to water line,
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// negative means distance from transducer to keel
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// 3) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "GSV")) { //*****************************GSV
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// GSV Satellites in view
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// 1 2 3 4 5 6 7 n
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// | | | | | | | |
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//$--GSV,x,x,x,x,x,x,x,...*hh
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// 1) total number of messages
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// 2) message number
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// 3) satellites in view
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// 4) satellite number
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// 5) elevation in degrees
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// 6) azimuth in degrees to true
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// 7) SNR in dB
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// more satellite infos like 4)-7)
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// n) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "HDG")) { //*****************************HDG
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// HDG Heading – Deviation & Variation
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// 1 2 3 4 5 6
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// | | | | | |
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//$--HDG,x.x,x.x,a,x.x,a*hh
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// 1) Magnetic Sensor heading in degrees
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// 2) Magnetic Deviation, degrees
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// 3) Magnetic Deviation direction, E = Easterly, W = Westerly
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// 4) Magnetic Variation degrees
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// 5) Magnetic Variation direction, E = Easterly, W = Westerly
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// 6) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "HDM")) { //*****************************HDM
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// HDM Heading – Magnetic
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// 1 2 3
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// | | |
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//$--HDM,x.x,M*hh
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// 1) Heading Degrees, magnetic
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// 2) M = magnetic
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// 3) Checksum
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sprintf(p, "%f,M", (double)val[NMEA_HDG].latest);
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} else if (!strcmp(thisSentence, "HDT")) { //*****************************HDT
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// HDT Heading – True
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// 1 2 3
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// | | |
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//$--HDT,x.x,T*hh
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// 1) Heading Degrees, true
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// 2) T = True
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// 3) Checksum
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// starts with $II for integrated instrumentation
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sprintf(p, "%f,T", (double)val[NMEA_HDT].latest);
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} else if (!strcmp(thisSentence, "MDA")) { //*****************************MDA
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// MDA Meteorological Composite
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// 1 2 3 4 5 6 7 8 9 10 11 12
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// | | | | | | | | | | | |
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//$__MDA,x.x,I,x.x,B,x.x,C,x.x,C,x.x, ,x.x,C,,T,,M,,N,,M*hh
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//$IIMDA,,I,,B,,C,21.8,C,,,,C,,T,,M,,N,,M*0F // sent by RayMarine i70s
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// Speed/Depth/Wind
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// 1) Barometric Pressure
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// 2) inches of Hg
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// 3) Barometric Pressure
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// 4) bar
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// 5) Atmospheric Temperature
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// 6) C or F
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// 7) Water Temperature
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// 8) C or F
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// 9) Relative Humidity
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// 10)
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// 11) Dew Point
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// 12) C or F
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return NULL;
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} else if (!strcmp(thisSentence, "MTW")) { //*****************************MTW
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// MTW Water Temperature
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// 1 2 3
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// | | |
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//$IIMTW,x.x,C*hh
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//$IIMTW,21.8,C*18 // sent by RayMarine i70s Speed/Depth/Wind
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// 1) Degrees
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// 2) Unit of Measurement, Celcius
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// 3) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "MWD")) { //*****************************MWD
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// MWD Wind Direction & Speed
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// Format unknown
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return NULL;
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} else if (!strcmp(thisSentence, "MWV")) { //*****************************MWV
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// MWV Wind Speed and Angle assuming values for True
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// 1 2 3 4 5 6
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// | | | | | |
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//$IIMWV,x.x,a,x.x,a,a*hh
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//$WIMWV,276.94,R,0,N,A*03 // sent by RayMarine i70s Speed/Depth/Wind
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// 1) Wind Angle, 0 to 360 degrees
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// 2) Reference, R = Relative, T = True
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// 3) Wind Speed
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// 4) Wind Speed Units, K/M/N kilometers/miles/knots
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// 5) Status, A = Data Valid
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// 6) Checksum
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if (ref == 'R')
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sprintf(p, "%f,%c,%f,N,A", (double)val[NMEA_AWA].latest, ref,
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(double)val[NMEA_AWS].latest);
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else
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sprintf(p, "%f,%c,%f,N,A", (double)val[NMEA_TWA].latest, 'T',
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(double)val[NMEA_TWS].latest);
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} else if (!strcmp(thisSentence, "RMB")) { //*****************************RMB
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// RMB Recommended Minimum Navigation Information
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// 1 2 3 4 5 6 7 8 9 10 11 12 13 14
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// | | | | | | | | | | | | | |
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//$--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A*hh
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// 1) Status, V = Navigation receiver warning
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// 2) Cross Track error - nautical miles
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// 3) Direction to Steer, Left or Right
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// 4) TO Waypoint ID
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// 5) FROM Waypoint ID
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// 6) Destination Waypoint Latitude 7) N or S
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// 8) Destination Waypoint Longitude 9) E or W
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// 10) Range to destination in nautical miles
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// 11) Bearing to destination in degrees True
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// 12) Destination closing velocity in knots
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// 13) Arrival Status, A = Arrival Circle Entered 14) Checksum
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sprintf(p, ",,,,,,,,,,,%f,A", (double)val[NMEA_VMGWP].latest);
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} else if (!strcmp(thisSentence, "ROT")) { //*****************************ROT
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// ROT Rate Of Turn
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// 1 2 3
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// | | |
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//$--ROT,x.x,A*hh
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// 1) Rate Of Turn, degrees per minute, "-" means bow turns to port
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// 2) Status, A means data is valid
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// 3) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "RPM")) { //*****************************RPM
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// RPM Revolutions
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// 1 2 3 4 5 6
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// | | | | | |
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//$--RPM,a,x,x.x,x.x,A*hh
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// 1) Source; S = Shaft, E = Engine
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// 2) Engine or shaft number
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// 3) Speed, Revolutions per minute
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// 4) Propeller pitch, % of maximum, "-" means astern
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// 5) Status, A means data is valid
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// 6) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "RSA")) { //*****************************RSA
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// RSA Rudder Sensor Angle
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// 1 2 3 4 5
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// | | | | |
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//$--RSA,x.x,A,x.x,A*hh
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// 1) Starboard (or single) rudder sensor, "-" means Turn To Port
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// 2) Status, A means data is valid
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// 3) Port rudder sensor
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// 4) Status, A means data is valid
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// 5) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "TXT")) { //*****************************TXT
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// as mentioned in https://github.com/adafruit/Adafruit_GPS/issues/95
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// TXT Text Transmission
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// 1 2 3 4 5
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@ -185,6 +429,136 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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// 5) Checksum
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sprintf(p, "01,01,23,This is the text of the sample message");
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} else if (!strcmp(thisSentence, "VDR")) { //*****************************VDR
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// VDR Set and Drift
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--VDR,x.x,T,x.x,M,x.x,N*hh
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// 1) Degress True
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// 2) T = True
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// 3) Degrees Magnetic
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// 4) M = Magnetic
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// 5) Knots (speed of current)
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// 6) N = Knots
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// 7) Checksum
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return NULL;
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} else if (!strcmp(thisSentence, "VHW")) { //*****************************VHW
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// VHW Water Speed and Heading
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// 1 2 3 4 5 6 7 8 9
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// | | | | | | | | |
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//$--VHW,x.x,T,x.x,M,x.x,N,x.x,K*hh
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//$IIVHW,,T,,M,0,N,0,K*55 // sent by RayMarine i70s Speed/Depth/Wind
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// 1) Degrees True
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// 2) T = True
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// 3) Degrees Magnetic
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// 4) M = Magnetic
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// 5) Knots (speed of vessel relative to the water) [66]
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// 6) N = Knots
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// 7) Kilometers (speed of vessel relative to the water)
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// 8) K = Kilometres
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// 9) Checksum
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sprintf(p, "%f,T,%f,M,%f,N,%f,K", (double)val[NMEA_HDT].latest,
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(double)val[NMEA_HDG].latest, (double)val[NMEA_VTW].latest,
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(double)val[NMEA_VTW].latest * 1.829);
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} else if (!strcmp(thisSentence, "VLW")) { //*****************************VLW
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// VLW Distance Traveled through Water
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// 1 2 3 4 5
|
||||
// | | | | |
|
||||
//$--VLW,x.x,N,x.x,N*hh
|
||||
//$IIVLW,0,N,0,N,,N,,N*4D // sent by RayMarine i70s Speed/Depth/Wind
|
||||
// not sure what the last two are?
|
||||
// 1) Total cumulative distance
|
||||
// 2) N = Nautical Miles
|
||||
// 3) Distance since Reset
|
||||
// 4) N = Nautical Miles
|
||||
// 5) Checksum
|
||||
return NULL;
|
||||
|
||||
} else if (!strcmp(thisSentence, "VPW")) { //*****************************VPW
|
||||
// not supported by iNavX
|
||||
// VPW Speed – Measured Parallel to Wind
|
||||
// 1 2 3 4 5
|
||||
// | | | | |
|
||||
//$--VPW,x.x,N,x.x,M*hh
|
||||
// 1) Speed, "-" means downwind
|
||||
// 2) N = Knots
|
||||
// 3) Speed, "-" means downwind
|
||||
// 4) M = Meters per second
|
||||
// 5) Checksum
|
||||
sprintf(p, "%f,N,,", (double)val[NMEA_VMG].latest);
|
||||
|
||||
} else if (!strcmp(thisSentence, "VTG")) { //*****************************VTG
|
||||
// VTG Track Made Good and Ground Speed
|
||||
// 1 2 3 4 5 6 7 8 9
|
||||
// | | | | | | | | |
|
||||
//$--VTG,x.x,T,x.x,M,x.x,N,x.x,K*hh
|
||||
// 1) Track Degrees 2) T = True
|
||||
// 3) Track Degrees 4) M = Magnetic
|
||||
// 5) Speed Knots 6) N = Knots
|
||||
// 7) Speed Kilometers Per Hour 8) K = Kilometres Per Hour
|
||||
// 9) Checksum
|
||||
return NULL;
|
||||
|
||||
} else if (!strcmp(thisSentence, "VWR")) { //*****************************VWR
|
||||
// VWR Relative Wind Speed and Angle
|
||||
// 1 2 3 4 5 6 7 8 9
|
||||
// | | | | | | | | |
|
||||
//$--VWR,x.x,a,x.x,N,x.x,M,x.x,K*hh
|
||||
//$WIVWR,83.1,L,0,N,0,M,0,K*6D // sent by RayMarine i70s
|
||||
// Speed/Depth/Wind
|
||||
// 1) Wind direction magnitude in degrees
|
||||
// 2) Wind direction Left/Right of bow
|
||||
// 3) Speed
|
||||
// 4) N = Knots
|
||||
// 5) Speed
|
||||
// 6) M = Meters Per Second
|
||||
// 7) Speed
|
||||
// 8) K = Kilometers Per Hour
|
||||
// 9) Checksum
|
||||
return NULL;
|
||||
|
||||
} else if (!strcmp(thisSentence, "WCV")) { //*****************************WCV
|
||||
// WCV Waypoint Closure Velocity
|
||||
// 1 2 3 4
|
||||
// | | | |
|
||||
//$--WCV,x.x,N,c--c*hh
|
||||
// 1) Velocity 2) N = knots 3) Waypoint ID 4) Checksum
|
||||
sprintf(p, "%f,N,home", (double)val[NMEA_VMG].latest);
|
||||
|
||||
} else if (!strcmp(thisSentence, "XTE")) { //*****************************XTE
|
||||
// XTE Cross-Track Error – Measured
|
||||
// 1 2 3 4 5 6
|
||||
// | | | | | |
|
||||
//$--XTE,A,A,x.x,a,N,*hh
|
||||
// 1) Status
|
||||
// V = LORAN-C blink or SNR warning
|
||||
// A = general warning flag or other navigation systems when a reliable
|
||||
// fix is not available
|
||||
// 2) Status
|
||||
// V = Loran-C cycle lock warning flag
|
||||
// A = OK or not used
|
||||
// 3) Cross track error magnitude
|
||||
// 4) Direction to steer, L or R
|
||||
// 5) Cross track units. N = Nautical Miles
|
||||
// 6) Checksum
|
||||
return NULL;
|
||||
|
||||
} else if (!strcmp(thisSentence, "ZDA")) { //*****************************ZDA
|
||||
// ZDA Time & Date – UTC, Day, Month, Year and Local Time Zone
|
||||
// 1 2 3 4 5 6 7
|
||||
// | | | | | | |
|
||||
//$--ZDA,hhmmss.ss,xx,xx,xxxx,xx,xx*hh
|
||||
// 1) Local zone minutes description, same sign as local hours
|
||||
// 2) Local zone description, 00 to +/- 13 hours
|
||||
// 3) Year
|
||||
// 4) Month, 01 to 12
|
||||
// 5) Day, 01 to 31
|
||||
// 6) Time (UTC)
|
||||
// 7) Checksum
|
||||
return NULL;
|
||||
|
||||
} else {
|
||||
return NULL; // didn't find a match for the build request
|
||||
}
|
||||
|
|
@ -196,3 +570,24 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
|
|||
}
|
||||
|
||||
#endif // NMEA_EXTENSIONS
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Add *CS where CS is the two character hex checksum for all but
|
||||
the first character in the string. The checksum is the result of an
|
||||
exclusive or of all the characters in the string. Also useful if you
|
||||
are creating new PMTK strings for controlling a GPS module and need a
|
||||
checksum added.
|
||||
@param buff Pointer to the string, which must be long enough
|
||||
@return none
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_GPS::addChecksum(char *buff) {
|
||||
char cs = 0;
|
||||
int i = 1;
|
||||
while (buff[i]) {
|
||||
cs ^= buff[i];
|
||||
i++;
|
||||
}
|
||||
sprintf(buff, "%s*%02X", buff, cs);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue