/* * gps.h - defines for gps * * * * $GPBOD Sentence Format (Bearing, Origin to Destination) * $GPBOD,,T,,M,,,*, * * $GPGGA Sentence Format (GPS Fix Data) * * $GPGGA,HHMMSS.SS,DDMM.MMM,N,DDDMM.MMM,W,X,XX,X.X,XXX,X,XX.X,X,XX.X,XX * * 1. UTC time of position * 2. Latitude of fix * 3. latitude direction (N=north, S=south) * 4. Longitude of fix * 5. Longitude direction (W=west, E=east) * 6. GPS Quality (0=no fix , 1=GPS fix, 2=DGPS fix) * 7. Number of satellites in use * 8. Horizontal dilution of precision * 9. Antenna altitude mean-sea-level * 10. Unit of antenna altitude, meters * 11. Geoidal\ separation-difference between WGS84 earth ellipsoid & MSL * 13. Age of differential GPS data, time in seconds since last SC104 * type 1 or 9 update, null field when DGPS is not used * 14. Differential reference station ID, 0000-1023 * 15. Checksum * * $GPGLL Sentence Format (Geographical) * * $GPGLL,DDMM.MMM,N,DDDMM.MMM,W*XX * * 1. Present latitude (degrees and minutes) * 2. Present latitude direction (N=north, S=south) * 3. Present longitude (degrees and minutes) * 4. Present longitude direction (E=east, W=west) * 5. Checksum * * $GPGSA Sentence Format (GPS DOP and Active satellites) NO CPP * * $GPGSA,A,X,XX,XX,,,,,,,,,X.X,X.X,X.X,*XX * * 1. Mode (M=manual, A=automatic) * 2. Mode (1=Fix not available, 2= 2D, 3=3D) * 3. Satellites in view * 4, PDOP * 5. HDOP * 6. VDOP * 7. Checksum * * $GPGSV Sentence Format (GPS Satellites in view) NO CPP * * $GPGSV,X,X,XX,XX,XX,XXX,XX,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,*XX * * 1. Total number of messages, 1 to 3 * 2. Message number 1 to 3 * 3. Total number of satellites in view * 4. Satellite PRN number * 5. Elevation 90 degrees max * 6. Azimuth degrees true 000-360 * 7. SNR 00-99db, null when not tracking * 8. Checksum * * $GPRMB Sentence Format (Generic Navigation Information) * * $GPRMB,A,X.XX,L,CCCC,CCCC,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,XXX.X,A*XX * * 1. Position valid (A=valid, V=invalid) * 2. Cross Track error (nautical miles) * 3. Direction to steer (L=left, R=right) * 4. Origin waypoint identifier * 5. Destination waypoint identifier * 6. Destination latitude (degrees and minutes) * 7. Destination latitude direction (N=north, S=south) * 8. Destination longitude (degrees and minutes) * 9. Destination longitude direction (E=east, W=-west) * 10. Range from present position to destination waypoint (nautical miles) * 11. Bearing form present position to destination wypoint (degrees, true) * 12. Closing velocity to destination waypoint (knots) * 13. Arrival flag (A=arrival, V=not arrival) * 14. Checksum * * $GPRMC Sentence Format (GPS and Transit Specific) * * $GPRMC,HHMMSS,A,DDMM.MMM,N,DDDMM.MMM,W,XXX.X,XXX.X,DDMMYY,XXX.X,E*XX * * 1. Time (UTC) * 2. Position valid (A=valid, V=invalid) * 3. Latitude at UTC time (degrees and minutes) * 4. latitude direction (N=north, S=south) * 5. Longitude at UTC time (degrees and minutes) * 6. Longitude direction (E=east, W=west) * 7. Speed over ground (knots) * 8. Course over ground or track (degrees, true) * 9. Date (day, month, year) * 10. Magnetic variation (degrees) * 11. Magnetic variation direction ( E=east, W=west) * 12. Checksum * * $PGRME Sentence Format (Proprietary GARMIN Estimated position error) * * $PGRME,XXXX.X,M,XXXX.X,M,XXXX.X,M,*XX * * 1. Estimated horizontal position error (HPE). * 2. HPE measure meters * 3. Estimated vertical position error (VPE) * 4. VPE measure meters * 5. Estimated position error (EPE) * 6. EPE measure meters * 7. Checksum * * $PGRMM Sentence Format (Proprietary GARMIN map Datum) * * $PGRMM,XXXXXX,*XX * * 1. map Datum * 2. Checksum * * $PGRMZ Sentence Format (Proprietary GARMIN Altitude) * * $PGRMZ,XXXXX,F,X*XX * * 1. Present altitude (feet) * 2. Units (f=feet) * 3. Position fix dimensions (2=user altitude, 3=GPS altitude) * 4. Checksum * * $GPRTE Sentence Format (Routes) * * $GPRTE,X.X,X.X,A,CCCC,CCCC,CCCC,CCCC,,,,,,,,,*XX * * 1. Total number of messages transmitted * 2. Message number * 3. Message mode * 4. Route identifier * 5. Waypoint identifier * 6-n. Waypoint identifier * n+1. Checksum * * $GPWPL Sentence Format (Waypoint Location) * * $GPWPL,DDMM.MMM,N,DDDMM.MMM,W,CCCC*XX * * 1. Waypoint Latitude (degrees and minutes) * 2. Waypoint Latitude direction (N=north, S=south) * 3. Waypoint Longitude (degrees and minutes) * 4. Waypoint longitude direction (E=east, W=west) * 5. Waypoint identifier * 6. Checksum * * Full cycles occur at 20 sec intervals and may look like: * $GPRMC,062935,A,4738.363,N,12243.074,W,002.9,303.9,270997,019.6,E*6A * $GPRMB,A,3.53,L,BOLNPT,HOME,4739.100,N,12236.600,W,004.4,080.4,-002.1,A*1A * $GPGGA,062935,4738.363,N,12243.074,W,1,03,3.1,170.3,M,-18.6,M,,*76 * $GPGSA,A,2,02,07,,,,27,,,,,,,3.1,3.1,*1D * $GPGSV,2,1,07,02,83,354,46,07,43,185,42,15,18,076,00,19,15,125,00*78 * $GPGSV,2,2,07,26,40,290,00,27,57,126,40,31,06,038,00,,,,*4C * $PGRME,72.0,M,,M,166.4,M*30 * $GPGLL,4738.363,N,12243.070,W,062936,A*3F * $PGRMZ,559,f,2*13 * $PGRMM,WGS 84*06 * $GPBOD,207.6,T,188.0,M,HOME,BOLNPT*41 * $GPRTE,2,1,c,0,OAKR2,EASTPT,SNDYPT,PTELLT,BYSF,PTJEFF,AGATR2,AGATR4,BOLNPT*13 * $GPRTE,2,2,c,0,HOME*24 * $GPWPL,4815.395,N,12237.640,W,OAKR2*7C * $GPRMC,062937,A,4738.363,N,12243.075,W,001.4,297.9,270997,019.6,E*6B * $GPRMB,A,3.53,L,BOLNPT,HOME,4739.100,N,12236.600,W,004.4,080.4,000.4,A*30 * $GPGGA,062937,4738.363,N,12243.075,W,1,03,3.1,170.3,M,-18.6,M,,*75 * $GPGSA,A,2,02,07,,,,27,,,,,,,3.1,3.1,*1D * $GPGSV,2,1,07,02,83,354,46,07,43,185,42,15,18,076,00,19,15,125,00*78 * $GPGSV,2,2,07,26,40,290,00,27,57,126,39,31,06,038,00,,,,*42 * $PGRME,72.0,M,,M,166.4,M*30 * $GPGLL,4738.363,N,12243.075,W,062938,A*34 * $PGRMZ,559,f,2*13 * $PGRMM,WGS 84*06 * $GPBOD,207.6,T,188.0,M,HOME,BOLNPT*41 * $GPWPL,4805.800,N,12229.400,W,EASTPT*51 * * Normal cycles occur at 2 second intervals and may look like: * $GPRMC,062931,V,,,,,,,270997,,*3C * $GPRMB,V,,,,,,,,,,,,V*66 * $GPGGA,062931,,,,,0,00,,,M,,M,,*69 * $GPGSA,A,1,,,,,,,,,,,,,,,*1E * $GPGSV,2,1,07,02,83,354,46,07,43,185,40,15,18,076,00,19,15,125,00*7A * $GPGSV,2,2,07,26,40,291,00,27,57,126,40,31,06,038,00,,,,*4D * $PGRME,,M,,M,,M*00 * $GPGLL,,,,,062931,*5F * $PGRMZ,,,*7E * $PGRMM,WGS 84*06 * $GPBOD,,T,,M,,*47 * $GPWPL,4741.800,N,12234.500,W,BOLNPT*5F * $GPRMC,062933,A,4738.358,N,12243.057,W,003.9,315.4,270997,019.6,E*6E * $GPRMB,A,,,,,,,,,,,,V*71 * $GPGGA,062933,4738.358,N,12243.057,W,1,00,3.1,170.3,M,-18.6,M,,*7A * $GPGSA,A,2,02,07,,,,27,,,,,,,3.1,3.1,*1D * $GPGSV,2,1,07,02,83,354,45,07,43,185,41,15,18,076,00,19,15,125,00*78 * $GPGSV,2,2,07,26,40,291,00,27,57,126,40,31,06,038,00,,,,*4D * $PGRME,72.0,M,,M,166.4,M*30 * $GPGLL,4738.359,N,12243.058,W,062934,A*3E * $PGRMZ,559,f,2*13 * $PGRMM,WGS 84*06 * $GPBOD,207.6,T,188.0,M,HOME,BOLNPT*41 * $GPWPL,4739.100,N,12236.600,W,HOME*5C * * cat gps45xxx.output | sed 's/,.*$//' | sort | uniq * and looking at the strings[2..5] as long's, * $G PBOD --> 0x50424F44 * $G PGGA --> 0x50474741 * $G PGLL --> 0x50474C4C * $G PGSA --> 0x50475341 * $G PGSV --> 0x50475356 * $G PRMB --> 0x50524D42 * $G PRMC --> 0x50524D43 * $G PRTE --> 0x50525445 * $G PWPL --> 0x5057504C * $P GRME --> 0x47524D45 * $P GRMM --> 0x47524D4D * $P GRMZ --> 0x47524D5A * * These hex values may be used in a switch statment. * * $Id: gps.h,v 1.2 2002/08/03 17:52:57 tomdean Exp $ * */ /* * specific data to extract from the essage stream * * $GPBOD * $GPBOD,210.3,T,190.7,M,BRWVLE,AGATR6*27 * 1 5 bearing (t) * 2 1 T = true * 3 5 bearing (m) * 4 1 M = magnetic * 6 6 origin need to xref this to a lat/lon * 5 6 destination need to xref this to a lat/lon * 24 bytes * * $GPGGA * $GPGGA,030754,4738.374,N,12243.120,W,1,03,8.0,70.4,M,-18.6,M,,*42 * 1 6 UTC time of position * 2 8 Latitude of fix * 3 1 latitude direction (N=north, S=south) Use + N, - S * 4 9 Longitude of fix * 5 1 longitude direction (W=west, E=east) Use + W, - E * 25 bytes * * $GPGLL * $GPGLL,4738.374,N,12243.121,W,030755,A*30 * 1 8 Present latitude (degrees and minutes) * 2 1 Present latitude direction (N=north, S=south) Use + N, - S * 3 9 Present longitude (degrees and minutes) * 4 1 Present longitude direction (E=east, W=west) Use + W, - E * 19 bytes * * $GPRMB * $GPRMB,A,3.26,L,AGATR6,BRWVLE,4739.139,N,12236.745,W,004.3,079.8,-000.8,A*7F * 1 1 Position valid (A=valid, V=invalid) * 2 4 Cross Track error (nautical miles) * 3 1 Direction to steer (L=left, R=right) * 4 6 Origin waypoint identifier * 5 6 Destination waypoint identifier * 6 8 Destination latitude (degrees and minutes) * 7 1 Destination latitude direction (N=north, S=south) + N, - * 8 9 Destination longitude (degrees and minutes) * 9 1 Destination longitude direction (E=east, W=-west) + W, - E * 10 5 Range present position to destination waypoint (nautical miles) * 11 5 Bearing present position to destination wapoint (degrees, true) * 12 6 Closing velocity to destination waypoint (knots) (signed) * 53 bytes * * $GPRMC * $GPRMC,031506,A,4738.373,N,12242.986,W,000.0,286.7,171198,019.6,E*68 * 1 6 Time (UTC) * 2 1 Position valid (A=valid, V=invalid) * 3 8 Latitude at UTC time (degrees and minutes) * 4 1 latitude direction (N=north, S=south) Use + N, - S * 5 9 Longitude at UTC time (degrees and minutes) * 6 1 Longitude direction (E=east, W=west) Use + W, - E * 7 5 Speed over ground (knots) * 8 5 Course over ground or track (degrees, true) * 9 6 Date (day, month, year) * 10 5 Magnetic variation (degrees) * 11 1 Magnetic variation direction ( E=east, W=west) - W, + E * 48 bytes -------- * NOTE DIFFERENT CONVENTION --------------------------------^ * * $PGRME * 1 6 Estimated horizontal position error (HPE). * 2 1 HPE measure M = meters * 7 bytes * * $GPRTE * 1 1 Total number of messages transmitted * 2 1 Message number * 3 1 Message mode * 4 1 Route identifier * 5 6 Waypoint identifier 54 char max for 5 and 6-n * 6-n 6 Waypoint identifier * 16 bytes * * $GPWPL * 1 8 Waypoint Latitude (degrees and minutes) * 2 1 Waypoint Latitude direction (N=north, S=south) + N, - S * 3 9 Waypoint Longitude (degrees and minutes) * 4 1 Waypoint longitude direction (E=east, W=west) + W, - E * 5 6 Waypoint identifier * 25 bytes * * row 1: lat lon destination bearing range * row 2: dts sog cog vmg cte * row 3: * row 4: ddmmyy hhmmss * 1111111111222222222233333333334 * 1234567890123456789012345678901234567890 * lat lon wpt brg rng * 4827.123N 12245.432W WPTNAM 090.7 004.3 * sog cse vmg cterr date utc * 002.4k 102^ -000.8k 3.20 L ddmmyy 031504 * * sog cse vmg cterr steer utc * 002.4k 102^ -000.8k 3.20 L 110m 031504 * ^ * | * calculate -------------------+ * * lat gprmc 3 * dir gprmc 4 * lon gprmc 5 * dir gprmc 6 * wpt gprmb 5 * brg gprmb 11 * rng gprmb 10 * sog gprmc 7 * cse gprmc 8 * vmg gprmb 12 * cterr gprmb 2 * dir gprmb 3 * date gprmc 9 * steer calc * utc gprmc 1 */ typedef struct float_t { short value; short frac; } float_t; typedef struct brg_t { char c_brg[5]; char dir; short b_brg; } brg_t; typedef struct posit_t { char c_lat[8]; char lat_dir; char c_lon[9]; char lon_dir; float_t lat; float_t lon; } posit_t; typedef struct gpbod_t { brg_t true; brg_t mag; char orig[6]; char dest[6]; } gpbod_t; typedef struct gpgga_t { char c_utc[6]; long utc; posit_t fix; } gpgga_t; typedef struct gpgll_t { posit_t posit; } gpgll_t; typedef struct gprmb_t { char valid; char c_cte[6]; float_t cte; char cte_dir; char c_orgn[6]; char c_dest[6]; posit_t dest; char c_rng[5]; float_t rng; char c_brg[5]; float_t brg; char c_vmg[6]; float_t vmg; } gprmb_t; typedef struct gprmc_t { char c_utc[6]; long utc; char valid; posit_t posit; char c_sog[5]; float_t sog; char c_cog[5]; float_t cog; char c_vmg[6]; float_t vmg; } gprmc_t; typedef struct pgrme_t { char c_err[6]; float_t err; char measure; } pgrme_t; typedef struct gpwpl_t { char wpt[6]; posit_t posit; } gpwpl_t; #define NUM_WPT 12 typedef struct gprte_t { char msg_num; char msg_mode; char route; gpwpl_t wpts[NUM_WPT]; } gprte_t; /* * gps message variables */ extern unsigned short gpbod_count; /* declared in os.c */ extern unsigned short gpgga_count; /* declared in os.c */ extern unsigned short gpgll_count; /* declared in os.c */ extern unsigned short gpgsa_count; /* declared in os.c */ extern unsigned short gpgsv_count; /* declared in os.c */ extern unsigned short gprmb_count; /* declared in os.c */ extern unsigned short gprmc_count; /* declared in os.c */ extern unsigned short gprte_count; /* declared in os.c */ extern unsigned short gpwpl_count; /* declared in os.c */ extern unsigned short pgrme_count; /* declared in os.c */ extern unsigned short pgrmm_count; /* declared in os.c */ extern unsigned short pgrmz_count; /* declared in os.c */ extern unsigned short ignore_count; /* declared in os.c */ /* * variables, macros and display locations for ascii data */ #define SKIP_FIELD(p) while ( *p != ',' ) p++; p++; #define COPY_FIELD(p,q) { register unsigned char *ch = q; \ while ( *p != ',' ) *ch++ = *p++; \ p++; } extern unsigned char gps_row_1 []; extern unsigned char gps_row_2 []; extern unsigned char gps_row_3 []; extern unsigned char gps_row_4 []; /* from gprmb record */ #define WPT_LOC gps_row_2 + 21 #define BRG_LOC gps_row_2 + 28 #define RNG_LOC gps_row_2 + 34 #define VMG_LOC gps_row_4 + 12 #define CTERR_LOC gps_row_4 + 20 #define CTERR_DIR_LOC gps_row_4 + 25 /* from gprmc record */ #define UTC_LOC gps_row_4 + 34 #define LAT_LOC gps_row_2 + 0 #define LAT_DIR_LOC gps_row_2 + 8 #define LON_LOC gps_row_2 + 10 #define LON_DIR_LOC gps_row_2 + 19 #define SOG_LOC gps_row_4 + 0 #define CSE_LOC gps_row_4 + 6 #define DATE_LOC gps_row_4 + 27 /* * gps parse functions */ void parse_gpbod(); void parse_gpgga(); void parse_gpgll(); void parse_gpgsa(); void parse_gpgsv(); void parse_gprmb(); void parse_gprmc(); void parse_gprte(); void parse_gpwpl(); void parse_pgrme(); void parse_pgrmm(); void parse_pgrmz();