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SN-3703 standard NMEA use gn (#400)
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* Switch NMEA messages to start with

* Add comment

* Added GNSS ID
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@waltjohnson
waltjohnson authored May 26, 2023
1 parent da692d8 commit 3000e64
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Showing 3 changed files with 37 additions and 24 deletions.
33 changes: 19 additions & 14 deletions src/data_sets.h
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Original file line number Diff line number Diff line change
Expand Up @@ -891,15 +891,16 @@ typedef struct PACKED
/** Sat SV - GNSS System ID */
enum eSatSvGnssId
{
SAT_SV_GNSS_ID_UNKNOWN = 0,
SAT_SV_GNSS_ID_GPS = 1, // GPS (USA)
SAT_SV_GNSS_ID_SBS = 2, // SBAS (multiple regional systems, see flash config for selection)
SAT_SV_GNSS_ID_GAL = 3, // Galileo (European Union)
SAT_SV_GNSS_ID_BEI = 4, // BeiDou (China)
SAT_SV_GNSS_ID_QZS = 5, // QZSS (Japan)
SAT_SV_GNSS_ID_GLO = 6, // GLONASS (Russia)
SAT_SV_GNSS_ID_IRN = 7, // IRNSS / NavIC (India)
SAT_SV_GNSS_ID_IME = 8, // IMES (Japan's Indoor Messaging System)
SAT_SV_GNSS_ID_UNKNOWN = 0,
SAT_SV_GNSS_ID_GNSS = 0, // (multi-constellation)
SAT_SV_GNSS_ID_GPS = 1, // GPS (USA)
SAT_SV_GNSS_ID_SBS = 2, // SBAS (multiple regional systems, see flash config for selection)
SAT_SV_GNSS_ID_GAL = 3, // Galileo (European Union)
SAT_SV_GNSS_ID_BEI = 4, // BeiDou (China)
SAT_SV_GNSS_ID_QZS = 5, // QZSS (Japan)
SAT_SV_GNSS_ID_GLO = 6, // GLONASS (Russia)
SAT_SV_GNSS_ID_IRN = 7, // IRNSS / NavIC (India)
SAT_SV_GNSS_ID_IME = 8, // IMES (Japan's Indoor Messaging System)
};

/** GPS Sat Status */
Expand Down Expand Up @@ -2050,21 +2051,25 @@ enum eGnssSatSigConst
/*! GPS */
GNSS_SAT_SIG_CONST_GPS = (uint16_t)0x0003,
/*! QZSS */
GNSS_SAT_SIG_CONST_QZSS = (uint16_t)0x000C,
GNSS_SAT_SIG_CONST_QZS = (uint16_t)0x000C,
/*! Galileo */
GNSS_SAT_SIG_CONST_GAL = (uint16_t)0x0030,
/*! BeiDou */
GNSS_SAT_SIG_CONST_BDS = (uint16_t)0x00C0,
/*! GLONASS */
GNSS_SAT_SIG_CONST_GLO = (uint16_t)0x0300,
/*! SBAS */
GNSS_SAT_SIG_CONST_SBAS = (uint16_t)0x1000,

GNSS_SAT_SIG_CONST_SBS = (uint16_t)0x1000,
/*! IRNSS / NavIC */
GNSS_SAT_SIG_CONST_IRN = (uint16_t)0x2000,
/*! IMES */
GNSS_SAT_SIG_CONST_IME = (uint16_t)0x4000,

/*! GNSS default */
GNSS_SAT_SIG_CONST_DEFAULT = \
GNSS_SAT_SIG_CONST_GPS | \
GNSS_SAT_SIG_CONST_SBAS | \
GNSS_SAT_SIG_CONST_QZSS | \
GNSS_SAT_SIG_CONST_SBS | \
GNSS_SAT_SIG_CONST_QZS | \
GNSS_SAT_SIG_CONST_GAL | \
GNSS_SAT_SIG_CONST_GLO | \
GNSS_SAT_SIG_CONST_BDS
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27 changes: 17 additions & 10 deletions src/protocol_nmea.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,11 @@


static int s_protocol_version = 0;
static uint8_t s_gnssId = SAT_SV_GNSS_ID_GNSS;


uint8_t nmea2p3_svid_to_sigId(uint8_t gnssId, uint16_t svId);


//////////////////////////////////////////////////////////////////////////
// Utility functions
//////////////////////////////////////////////////////////////////////////
Expand All @@ -21,6 +21,11 @@ void nema_set_protocol_version(int protocol_version)
s_protocol_version = protocol_version;
}

void nmea_set_gnss_id(int gnssId)
{
s_gnssId = gnssId;
}

// Safe snprintf that prevents use of invalid size.
// snprintf size (size_t) is unsigned and can wrap very large.
int ssnprintf(char buf[], int bufSize, const char *fmt, ...)
Expand Down Expand Up @@ -152,7 +157,7 @@ void talkerId_to_gnssId(const char a[], uint8_t &gnssId, uint16_t &svId, uint8_t
sigId = nmea2p3_svid_to_sigId(gnssId, svIdLast);
}

static int nmea_talker(char* a, int aSize, uint8_t gnssId=0)
static int nmea_talker(char* a, int aSize, uint8_t gnssId=s_gnssId)
{
a[0] = '$';
return gnssId_to_talkerId(a+1, gnssId) + 1;
Expand Down Expand Up @@ -694,7 +699,8 @@ int nmea_gll(char a[], const int aSize, gps_pos_t &pos)
*iD checksum data
*/

int n = ssnprintf(a, aSize, "$GPGLL");
int n = nmea_talker(a, aSize);
nmea_sprint(a, aSize, n, "GLL");
nmea_latToDegMin(a, aSize, n, pos.lla[0]); // 1,2
nmea_lonToDegMin(a, aSize, n, pos.lla[1]); // 3,4
nmea_GPSTimeOfLastFixMilliseconds(a, aSize, n, pos.timeOfWeekMs - pos.leapS*1000); // 5
Expand Down Expand Up @@ -739,12 +745,11 @@ int nmea_gsa(char a[], const int aSize, gps_pos_t &pos, gps_sat_t &sat)
17 = VDOP
*/

int n = ssnprintf(a, aSize, "$GPGSA"
",A" // 1
",%02u", // 2
(unsigned int)fixQuality); // 1,2
int n = nmea_talker(a, aSize);
nmea_sprint(a, aSize, n, "GSA");
nmea_sprint(a, aSize, n, ",A,%02u", (unsigned int)fixQuality); // 1,2

for (uint32_t i = 0; i < 12; i++) // 3-14
for (uint32_t i = 0; i < 12; i++) // 3-14
{
if(sat.sat[i].svId)
{
Expand Down Expand Up @@ -774,7 +779,8 @@ int nmea_rmc(char a[], const int aSize, gps_pos_t &pos, gps_vel_t &vel, float ma
quat_ecef2ned((float)pos.lla[0], (float)pos.lla[1], qe2n);
quatConjRot(vel_ned_, qe2n, vel.vel);

int n = ssnprintf(a, aSize, "$GPRMC");
int n = nmea_talker(a, aSize);
nmea_sprint(a, aSize, n, "RMC");
nmea_GPSTimeOfLastFix(a, aSize, n, pos.timeOfWeekMs - (pos.leapS*1000)); // 1 - UTC time of last fix
if((pos.status&GPS_STATUS_FIX_MASK)!=GPS_STATUS_FIX_NONE)
{
Expand Down Expand Up @@ -822,7 +828,8 @@ int nmea_zda(char a[], const int aSize, gps_pos_t &pos)
*CC checksum
*/

int n = ssnprintf(a, aSize, "$GPZDA");
int n = nmea_talker(a, aSize);
nmea_sprint(a, aSize, n, "ZDA");
nmea_GPSTimeOfLastFix(a, aSize, n, pos.timeOfWeekMs - pos.leapS*1000); // 1
nmea_GPSDateOfLastFixCSV(a, aSize, n, pos); // 2,3,4
nmea_sprint(a, aSize, n, ",00,00"); // 5,6
Expand Down
1 change: 1 addition & 0 deletions src/protocol_nmea.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ enum eNmeaProtocolVersion
// Utility functions
//////////////////////////////////////////////////////////////////////////
void nema_set_protocol_version(int protocol_version);
void nmea_set_gnss_id(int gnssId);
void nmea_sprint(char buf[], int bufSize, int &offset, const char *fmt, ...);
int nmea_sprint_footer(char* a, int aSize, int &n);
char *ASCII_find_next_field(char *str);
Expand Down

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