tm_stm32f4_gps.h

#ifndef TM_GPS_H
#define TM_GPS_H 131

#include "stm32f4xx.h"
#include "stm32f4xx_rcc.h"
#include "tm_stm32f4_usart.h"
#include "defines.h"
#include "math.h"
#include "stdio.h"
#include "stdlib.h"
#include "string.h"

/* Default GPS USART used */
#ifndef GPS_USART
#define GPS_USART                   USART1
#define GPS_USART_PINSPACK          TM_USART_PinsPack_2
#endif

/* Checks if USART buffer for GPS is empty */
#ifndef GPS_USART_BUFFER_EMPTY
#define GPS_USART_BUFFER_EMPTY      TM_USART_BufferEmpty(GPS_USART)
#endif

/* Get character from USART buffer for GPS */
#ifndef GPS_USART_BUFFER_GET_CHAR
#define GPS_USART_BUFFER_GET_CHAR   TM_USART_Getc(GPS_USART)
#endif

/* Init function for GPS */
#ifndef GPS_USART_INIT
#define GPS_USART_INIT(baudrate)    TM_USART_Init(GPS_USART, GPS_USART_PINSPACK, baudrate)
#endif

/* Maximum number of custom GPGxx values */
#ifndef GPS_CUSTOM_NUMBER
#define GPS_CUSTOM_NUMBER       10
#endif

/* Is character a digit */
#define GPS_IS_DIGIT(x)         ((x) >= '0' && (x) <= '9')

/* Char 2 digit conversions */
#define GPS_C2N(a)              (((a) - 48))
#define GPS_C2NM(a, x)          C2N(a) * (x)
#define GPS_CONCAT(x, y)        ((x) << 5 | (y))

/* NMEA statements */
#define GPS_GPGGA               0
#define GPS_GPRMC               1
#define GPS_GPGSA               2
#define GPS_GPGSV               3
#define GPS_ERR                 4

/* GPGGA Flags */
#define GPS_FLAG_LATITUDE       0x00000001  //GPGGA
#define GPS_FLAG_LONGITUDE      0x00000002  //GPGGA
#define GPS_FLAG_SATS           0x00000004  //GPGGA
#define GPS_FLAG_FIX            0x00000008  //GPGGA
#define GPS_FLAG_ALTITUDE       0x00000010  //GPGGA
#define GPS_FLAG_EW             0x00000020  //GPGGA
#define GPS_FLAG_NS             0x00000040  //GPGGA
#define GPS_FLAG_TIME           0x00000080  //GPGGA
/* GPRMC Flags */
#define GPS_FLAG_SPEED          0x00000100  //GPRMC
#define GPS_FLAG_DATE           0x00000200  //GPRMC
#define GPS_FLAG_VALIDITY       0x00000400  //GPRMC
#define GPS_FLAG_DIRECTION      0x00008000  //GPRMC
/* GPGSA Flags */
#define GPS_FLAG_HDOP           0x00000800  //GPGSA
#define GPS_FLAG_VDOP           0x00001000  //GPGSA
#define GPS_FLAG_PDOP           0x00002000  //GPGSA
#define GPS_FLAG_FIXMODE        0x00004000  //GPGSA
#define GPS_FLAG_SATS1_12       0x00020000  //GPGSA
/* GPGSV Flags */
#define GPS_FLAG_SATSINVIEW     0x00010000  //GPGSV
#define GPS_FLAG_SATSDESC       0x00040000  //GPGSV

/* GPGGA Positions */
#define GPS_POS_LATITUDE        GPS_CONCAT(GPS_GPGGA, 2)    //
#define GPS_POS_LONGITUDE       GPS_CONCAT(GPS_GPGGA, 4)    //
#define GPS_POS_SATS            GPS_CONCAT(GPS_GPGGA, 7)    //
#define GPS_POS_FIX             GPS_CONCAT(GPS_GPGGA, 6)    //
#define GPS_POS_ALTITUDE        GPS_CONCAT(GPS_GPGGA, 9)    //
#define GPS_POS_TIME            GPS_CONCAT(GPS_GPGGA, 1)    //
#define GPS_POS_EW              GPS_CONCAT(GPS_GPGGA, 5)    //
#define GPS_POS_NS              GPS_CONCAT(GPS_GPGGA, 3)    //

/* GPRMC Positions */
#define GPS_POS_SPEED           GPS_CONCAT(GPS_GPRMC, 7)    //
#define GPS_POS_DATE            GPS_CONCAT(GPS_GPRMC, 9)    //
#define GPS_POS_VALIDITY        GPS_CONCAT(GPS_GPRMC, 2)    //
#define GPS_POS_DIRECTION       GPS_CONCAT(GPS_GPRMC, 8)    //

/* GPGSA Positions */
#define GPS_POS_PDOP            GPS_CONCAT(GPS_GPGSA, 15)   //
#define GPS_POS_HDOP            GPS_CONCAT(GPS_GPGSA, 16)   //
#define GPS_POS_VDOP            GPS_CONCAT(GPS_GPGSA, 17)   //
#define GPS_POS_FIXMODE         GPS_CONCAT(GPS_GPGSA, 2)    //

#define GPS_POS_SAT1            GPS_CONCAT(GPS_GPGSA, 3)    //
#define GPS_POS_SAT2            GPS_CONCAT(GPS_GPGSA, 4)    //
#define GPS_POS_SAT3            GPS_CONCAT(GPS_GPGSA, 5)    //
#define GPS_POS_SAT4            GPS_CONCAT(GPS_GPGSA, 6)    //
#define GPS_POS_SAT5            GPS_CONCAT(GPS_GPGSA, 7)    //
#define GPS_POS_SAT6            GPS_CONCAT(GPS_GPGSA, 8)    //
#define GPS_POS_SAT7            GPS_CONCAT(GPS_GPGSA, 9)    //
#define GPS_POS_SAT8            GPS_CONCAT(GPS_GPGSA, 10)   //
#define GPS_POS_SAT9            GPS_CONCAT(GPS_GPGSA, 11)   //
#define GPS_POS_SAT10           GPS_CONCAT(GPS_GPGSA, 12)   //
#define GPS_POS_SAT11           GPS_CONCAT(GPS_GPGSA, 13)   //
#define GPS_POS_SAT12           GPS_CONCAT(GPS_GPGSA, 14)   //

/* GPGSV Positions */
#define GPS_POS_SATSINVIEW      GPS_CONCAT(GPS_GPGSV, 3)    //

/* Earth radius */
#define GPS_EARTH_RADIUS        6371

/* Degrees to radians converter */
#define GPS_DEGREES2RADIANS(x)  ((x) * (float)0.01745329251994)
/* Radians to degrees */
#define GPS_RADIANS2DEGREES(x)  ((x) * (float)57.29577951308232)
    
/* Maximal number of satellites in view */
#define GPS_MAX_SATS_IN_VIEW    24

typedef enum {
    TM_GPS_Result_NewData,          
    TM_GPS_Result_OldData,          
    TM_GPS_Result_FirstDataWaiting, 
} TM_GPS_Result_t;


typedef enum {
    /* Metric */
    TM_GPS_Speed_KilometerPerSecond,  
    TM_GPS_Speed_MeterPerSecond,      
    TM_GPS_Speed_KilometerPerHour,    
    TM_GPS_Speed_MeterPerMinute,      
    /* Imperial */
    TM_GPS_Speed_MilePerSecond,       
    TM_GPS_Speed_MilePerHour,         
    TM_GPS_Speed_FootPerSecond,       
    TM_GPS_Speed_FootPerMinute,       
    /* For Runners and Joggers */
    TM_GPS_Speed_MinutePerKilometer,  
    TM_GPS_Speed_SecondPerKilometer,  
    TM_GPS_Speed_SecondPer100Meters,  
    TM_GPS_Speed_MinutePerMile,       
    TM_GPS_Speed_SecondPerMile,       
    TM_GPS_Speed_SecondPer100Yards,   
    /* Nautical */
    TM_GPS_Speed_SeaMilePerHour,      
} TM_GPS_Speed_t;


typedef struct {
    int32_t Integer;   
    uint32_t Decimal;  
} TM_GPS_Float_t;

typedef struct {
    uint8_t Date;  
    uint8_t Month; 
    uint8_t Year;  
} TM_GPS_Date_t;

typedef struct {
    uint8_t Hours;      
    uint8_t Minutes;    
    uint8_t Seconds;    
    uint8_t Hundredths; 
} TM_GPS_Time_t;

typedef struct {
    uint8_t ID;        
    uint8_t Elevation; 
    uint16_t Azimuth;  
    uint8_t SNR;       
} TM_GPS_Satellite_t;

typedef struct {
    char Statement[7];  
    uint8_t TermNumber; 
    char Value[15];     
    uint8_t Updated;    
} TM_GPS_Custom_t;

typedef struct {
#ifndef GPS_DISABLE_GPGGA
    float Latitude;                                       
    float Longitude;                                      
    uint8_t Satellites;                                   
    uint8_t Fix;                                          
    float Altitude;                                       
    TM_GPS_Time_t Time;                                   
#endif
#ifndef GPS_DISABLE_GPRMC
    TM_GPS_Date_t Date;                                   
    float Speed;                                          
    uint8_t Validity;                                     
    float Direction;                                      
#endif
#ifndef GPS_DISABLE_GPGSA
    float HDOP;                                           
    float PDOP;                                           
    float VDOP;                                           
    uint8_t FixMode;                                      
    uint8_t SatelliteIDs[12];                             
#endif
#ifndef GPS_DISABLE_GPGSV   
    uint8_t SatellitesInView;                             
    TM_GPS_Satellite_t SatDesc[30];                       
#endif
    TM_GPS_Result_t Status;                               
    TM_GPS_Custom_t* CustomStatements[GPS_CUSTOM_NUMBER]; 
    uint8_t CustomStatementsCount;                        
} TM_GPS_t;

/* Backward compatibility */
typedef TM_GPS_t TM_GPS_Data_t;

typedef struct {
    float Latitude1;  
    float Longitude1; 
    float Latitude2;  
    float Longitude2; 
    float Distance;   
    float Bearing;    
} TM_GPS_Distance_t;

void TM_GPS_Init(TM_GPS_t* GPS_Data, uint32_t baudrate);

TM_GPS_Result_t TM_GPS_Update(TM_GPS_t* GPS_Data);

float TM_GPS_ConvertSpeed(float SpeedInKnots, TM_GPS_Speed_t toSpeed);

void TM_GPS_ConvertFloat(float num, TM_GPS_Float_t* Float_Data, uint8_t decimals);

void TM_GPS_DistanceBetween(TM_GPS_Distance_t* Distance_Data);

TM_GPS_Custom_t * TM_GPS_AddCustom(TM_GPS_t* GPS_Data, char* GPG_Statement, uint8_t TermNumber);

#endif