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