protocol_nmea.cpp File Reference

#include <stdint.h>
#include "protocol_nmea.h"
#include "ISPose.h"
#include "ISEarth.h"

Include dependency graph for protocol_nmea.cpp:

Go to the source code of this file.

Functions
uint32_t	ASCII_compute_checksum (uint8_t *str, int size)
char *	ASCII_find_next_field (char *str)
static int	asciiSnprintfGPSDateOfLastFix (char *a, size_t aSize, gps_pos_t &pos)
static int	asciiSnprintfGPSDateOfLastFixCSV (char *a, size_t aSize, gps_pos_t &pos)
static int	asciiSnprintfGPSTimeOfLastFix (char *a, size_t aSize, uint32_t timeOfWeekMs)
static int	asciiSnprintfGPSTimeOfLastFixMilliseconds (char *a, size_t aSize, uint32_t timeOfWeekMs)
static int	asciiSnprintfLatToDegMin (char *a, size_t aSize, double v)
static int	asciiSnprintfLonToDegMin (char *a, size_t aSize, double v)
double	ddmm2deg (double ddmm)
int	dev_info_to_nmea_info (char a[], const int aSize, dev_info_t &info)
int	dimu_to_nmea_pimu (char a[], const int aSize, dual_imu_t &dimu)
gtime_t	epoch2time (const double *ep)
int	gps_to_nmea_gga (char a[], const int aSize, gps_pos_t &pos)
int	gps_to_nmea_gll (char a[], const int aSize, gps_pos_t &pos)
int	gps_to_nmea_gsa (char a[], const int aSize, gps_pos_t &pos, gps_sat_t &sat)
int	gps_to_nmea_pashr (char a[], const int aSize, gps_pos_t &pos, ins_1_t &ins1, float heave, inl2_ned_sigma_t &sigma)
int	gps_to_nmea_pgpsp (char a[], const int aSize, gps_pos_t &pos, gps_vel_t &vel)
int	gps_to_nmea_rmc (char a[], const int aSize, gps_pos_t &pos, gps_vel_t &vel, float magDeclination)
int	gps_to_nmea_zda (char a[], const int aSize, gps_pos_t &pos)
int	ins1_to_nmea_pins1 (char a[], const int aSize, ins_1_t &ins1)
int	ins2_to_nmea_pins2 (char a[], const int aSize, ins_2_t &ins2)
uint32_t	parse_nmea_ascb (int pHandle, const char msg[], int msgSize, ascii_msgs_t asciiPeriod[NUM_COM_PORTS])
int	parse_nmea_gga (const char msg[], int msgSize, gps_pos_t *gpsPos, double datetime[6], int *satsUsed, int navMode)
int	parse_nmea_gns (const char msg[], int msgSize, gps_pos_t *gpsPos, double datetime[6], int *satsUsed, int navMode)
int	parse_nmea_gsa (const char msg[], int msgSize, gps_pos_t *gpsPos, int *navMode)
int	parse_nmea_gsv (const char msg[], int msgSize, gps_sat_t *gpsSat, int lastGSVmsg[2], int *satCount, uint32_t *cnoSum, uint32_t *cnoCount)
int	parse_nmea_rmc (const char msg[], int msgSize, gps_vel_t *gpsVel, double datetime[6], int *satsUsed, int navMode)
int	parse_nmea_zda (const char msg[], int msgSize, double &day, double &month, double &year)
int	pimu_to_nmea_ppimu (char a[], const int aSize, preintegrated_imu_t &pimu)
void	set_gpsPos_status_mask (uint32_t *status, uint32_t state, uint32_t mask)
int	strobe_to_nmea_pstrb (char a[], const int aSize, strobe_in_time_t &strobe)
double	time2gpst (gtime_t t, int *week)
int	tow_to_nmea_ptow (char a[], const int aSize, double imuTow, double insTow, unsigned int gpsWeek)

Variables
static const double	gpst0 [] ={1980,1, 6,0,0,0}

Function Documentation

ASCII_compute_checksum()

uint32_t ASCII_compute_checksum	(	uint8_t *	str,
		int	size
	)

Definition at line 11 of file protocol_nmea.cpp.

ASCII_find_next_field()

char* ASCII_find_next_field

(

char *

str

)

Definition at line 25 of file protocol_nmea.cpp.

asciiSnprintfGPSDateOfLastFix()

static int asciiSnprintfGPSDateOfLastFix ( char *  a, size_t  aSize, gps_pos_t &  pos  )

static

Definition at line 355 of file protocol_nmea.cpp.

asciiSnprintfGPSDateOfLastFixCSV()

static int asciiSnprintfGPSDateOfLastFixCSV ( char *  a, size_t  aSize, gps_pos_t &  pos  )

static

Definition at line 364 of file protocol_nmea.cpp.

asciiSnprintfGPSTimeOfLastFix()

static int asciiSnprintfGPSTimeOfLastFix ( char *  a, size_t  aSize, uint32_t  timeOfWeekMs  )

static

Definition at line 334 of file protocol_nmea.cpp.

asciiSnprintfGPSTimeOfLastFixMilliseconds()

static int asciiSnprintfGPSTimeOfLastFixMilliseconds ( char *  a, size_t  aSize, uint32_t  timeOfWeekMs  )

static

Definition at line 344 of file protocol_nmea.cpp.

asciiSnprintfLatToDegMin()

static int asciiSnprintfLatToDegMin ( char *  a, size_t  aSize, double  v  )

static

Definition at line 318 of file protocol_nmea.cpp.

asciiSnprintfLonToDegMin()

static int asciiSnprintfLonToDegMin ( char *  a, size_t  aSize, double  v  )

static

Definition at line 326 of file protocol_nmea.cpp.

ddmm2deg()

double ddmm2deg

(

double

ddmm

)

Definition at line 36 of file protocol_nmea.cpp.

dev_info_to_nmea_info()

int dev_info_to_nmea_info	(	char	a[],
		const int	aSize,
		dev_info_t &	info
	)

Definition at line 94 of file protocol_nmea.cpp.

dimu_to_nmea_pimu()

int dimu_to_nmea_pimu	(	char	a[],
		const int	aSize,
		dual_imu_t &	dimu
	)

Definition at line 164 of file protocol_nmea.cpp.

epoch2time()

gtime_t epoch2time

(

const double *

ep

)

Definition at line 55 of file protocol_nmea.cpp.

gps_to_nmea_gga()

int gps_to_nmea_gga	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos
	)

Definition at line 373 of file protocol_nmea.cpp.

gps_to_nmea_gll()

int gps_to_nmea_gll	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos
	)

Definition at line 453 of file protocol_nmea.cpp.

gps_to_nmea_gsa()

int gps_to_nmea_gsa	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos,
		gps_sat_t &	sat
	)

Definition at line 485 of file protocol_nmea.cpp.

gps_to_nmea_pashr()

int gps_to_nmea_pashr	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos,
		ins_1_t &	ins1,
		float	heave,
		inl2_ned_sigma_t &	sigma
	)

Definition at line 669 of file protocol_nmea.cpp.

gps_to_nmea_pgpsp()

int gps_to_nmea_pgpsp	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos,
		gps_vel_t &	vel
	)

Definition at line 288 of file protocol_nmea.cpp.

gps_to_nmea_rmc()

int gps_to_nmea_rmc	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos,
		gps_vel_t &	vel,
		float	magDeclination
	)

Definition at line 573 of file protocol_nmea.cpp.

gps_to_nmea_zda()

int gps_to_nmea_zda	(	char	a[],
		const int	aSize,
		gps_pos_t &	pos
	)

Definition at line 648 of file protocol_nmea.cpp.

ins1_to_nmea_pins1()

int ins1_to_nmea_pins1	(	char	a[],
		const int	aSize,
		ins_1_t &	ins1
	)

Definition at line 218 of file protocol_nmea.cpp.

ins2_to_nmea_pins2()

int ins2_to_nmea_pins2	(	char	a[],
		const int	aSize,
		ins_2_t &	ins2
	)

Definition at line 248 of file protocol_nmea.cpp.

parse_nmea_ascb()

uint32_t parse_nmea_ascb	(	int	pHandle,
		const char	msg[],
		int	msgSize,
		ascii_msgs_t	asciiPeriod[NUM_COM_PORTS]
	)

Definition at line 722 of file protocol_nmea.cpp.

parse_nmea_gga()

int parse_nmea_gga	(	const char	msg[],
		int	msgSize,
		gps_pos_t *	gpsPos,
		double	datetime[6],
		int *	satsUsed,
		int	navMode
	)

Definition at line 939 of file protocol_nmea.cpp.

parse_nmea_gns()

int parse_nmea_gns	(	const char	msg[],
		int	msgSize,
		gps_pos_t *	gpsPos,
		double	datetime[6],
		int *	satsUsed,
		int	navMode
	)

Definition at line 815 of file protocol_nmea.cpp.

parse_nmea_gsa()

int parse_nmea_gsa	(	const char	msg[],
		int	msgSize,
		gps_pos_t *	gpsPos,
		int *	navMode
	)

Definition at line 1100 of file protocol_nmea.cpp.

parse_nmea_gsv()

int parse_nmea_gsv	(	const char	msg[],
		int	msgSize,
		gps_sat_t *	gpsSat,
		int	lastGSVmsg[2],
		int *	satCount,
		uint32_t *	cnoSum,
		uint32_t *	cnoCount
	)

Definition at line 1127 of file protocol_nmea.cpp.

parse_nmea_rmc()

int parse_nmea_rmc	(	const char	msg[],
		int	msgSize,
		gps_vel_t *	gpsVel,
		double	datetime[6],
		int *	satsUsed,
		int	navMode
	)

Definition at line 1055 of file protocol_nmea.cpp.

parse_nmea_zda()

int parse_nmea_zda	(	const char	msg[],
		int	msgSize,
		double &	day,
		double &	month,
		double &	year
	)

Definition at line 785 of file protocol_nmea.cpp.

pimu_to_nmea_ppimu()

int pimu_to_nmea_ppimu	(	char	a[],
		const int	aSize,
		preintegrated_imu_t &	pimu
	)

Definition at line 190 of file protocol_nmea.cpp.

set_gpsPos_status_mask()

void set_gpsPos_status_mask	(	uint32_t *	status,
		uint32_t	state,
		uint32_t	mask
	)

Definition at line 43 of file protocol_nmea.cpp.

strobe_to_nmea_pstrb()

int strobe_to_nmea_pstrb	(	char	a[],
		const int	aSize,
		strobe_in_time_t &	strobe
	)

Definition at line 275 of file protocol_nmea.cpp.

time2gpst()

double time2gpst	(	gtime_t	t,
		int *	week
	)

Definition at line 79 of file protocol_nmea.cpp.

tow_to_nmea_ptow()

int tow_to_nmea_ptow	(	char	a[],
		const int	aSize,
		double	imuTow,
		double	insTow,
		unsigned int	gpsWeek
	)

Definition at line 152 of file protocol_nmea.cpp.

Variable Documentation

gpst0

const double gpst0[] ={1980,1, 6,0,0,0}

static

Definition at line 71 of file protocol_nmea.cpp.