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Add NMEA output mode (my own position, and other devices as waypoints) to serial module

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This commit is contained in:
Thomas Göttgens
2022-10-16 16:37:38 +02:00
parent 44529620ad
commit d3e9dbf6a9
4 changed files with 91 additions and 10 deletions
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50
src/gps/NMEAWPL.cpp
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@@ -12,6 +12,7 @@
* 4 E or W (East or West)
* 5 Waypoint name
* 6 Checksum
* -------------------------------------------
*/
uint printWPL(char *buf, Position &pos, const char *name)
@@ -24,3 +25,52 @@ uint printWPL(char *buf, Position &pos, const char *name)
len += sprintf(buf + len, "*%02X\r\n", chk);
return len;
}
/* -------------------------------------------
* 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
* | | | | | | | | | | | | | | |
* $--GGA,hhmmss.ss,ddmm.mm,a,ddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
*
* Field Number:
* 1 UTC of this position report, hh is hours, mm is minutes, ss.ss is seconds.
* 2 Latitude
* 3 N or S (North or South)
* 4 Longitude
* 5 E or W (East or West)
* 6 GPS Quality Indicator (non null)
* 7 Number of satellites in use, 00 - 12
* 8 Horizontal Dilution of precision (meters)
* 9 Antenna Altitude above/below mean-sea-level (geoid) (in meters)
* 10 Units of antenna altitude, meters
* 11 Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid
* 12 Units of geoidal separation, meters
* 13 Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used
* 14 Differential reference station ID, 0000-1023
* 15 Checksum
* -------------------------------------------
*/
uint printGGA(char *buf, Position &pos)
{
uint len = sprintf(buf, "$GNGGA,%06d.%03d,%07.2f,%c,%08.2f,%c,%d,%02d,%04d,%04d,%c,%04d,%c,%d,%04d",
pos.time / 1000,
pos.time % 1000,
pos.latitude_i * 1e-5, pos.latitude_i < 0 ? 'S' : 'N',
pos.longitude_i * 1e-5, pos.longitude_i < 0 ? 'W' : 'E',
pos.fix_type,
pos.sats_in_view,
pos.HDOP,
pos.altitude,
'M',
pos.altitude_geoidal_separation,
'M',
0,
0);
uint chk = 0;
for (uint i = 1; i < len; i++) {
chk ^= buf[i];
}
len += sprintf(buf + len, "*%02X\r\n", chk);
return len;
}