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| -rw-r--r-- | cphidgetgps.h | 231 |
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diff --git a/cphidgetgps.h b/cphidgetgps.h new file mode 100644 index 0000000..c3fa97b --- /dev/null +++ b/cphidgetgps.h @@ -0,0 +1,231 @@ +#ifndef __CPHIDGETGPS +#define __CPHIDGETGPS +#include "cphidget.h" + +/** \defgroup phidgps Phidget GPS + * \ingroup phidgets + * Calls specific to the Phidget GPS. See the product manual for more specific API details, supported functionality, units, etc. + * @{ + */ + +/** + * GPS Time in UTC. + */ +struct __GPSTime +{ + short tm_ms; /**< Milliseconds. */ + short tm_sec; /**< Seconds. */ + short tm_min; /**< Minutes. */ + short tm_hour; /**< Hours. */ +} typedef GPSTime; +/** + * GPS Date in UTC. + */ +struct __GPSDate +{ + short tm_mday; /**< Day of the month (1-31). */ + short tm_mon; /**< Month (1-12). */ + short tm_year; /**< Year. */ +} typedef GPSDate; + +/** + * Satellite info - used in GSV sentence. + */ +struct __GPSSatInfo +{ + short ID; + short elevation; + int azimuth; + short SNR; +} typedef GPSSatInfo; + +/** + * NMEA GGA Sentence + */ +struct __GPGGA +{ + GPSTime time; + double latitude; + double longitude; + short fixQuality; + short numSatellites; + double horizontalDilution; + double altitude; + double heightOfGeoid; +} typedef GPGGA; + +/** + * NMEA GSA Sentence + */ +struct __GPGSA +{ + char mode; + /* A = auto + * M = forced */ + short fixType; + /* 1 = no fix + * 2 = 2D + * 3 = 3D */ + short satUsed[12]; + /* IDs of used sats in no real order, 0 means nothing */ + double posnDilution; + double horizDilution; + double vertDilution; +} typedef GPGSA; + +/** + * NMEA GSV Sentence + */ +struct __GPGSV +{ + short satsInView; + GPSSatInfo satInfo[12]; +} typedef GPGSV; + +/** + * NMEA RMC Sentence + */ +struct __GPRMC +{ + GPSTime time; + char status; + double latitude; + double longitude; + double speedKnots; + double heading; + GPSDate date; + double magneticVariation; + char mode; +} typedef GPRMC; + +/** + * NMEA VTG Sentence + */ +struct __GPVTG +{ + double trueHeading; + double magneticHeading; + double speedKnots; + double speed; //km/hour + char mode; +} typedef GPVTG; + +/** + * NMEA Data Structure. Contains a set of supported NMEA sentences. + */ +struct __NMEAData +{ + GPGGA GGA; /**< GPS Fix and position data. */ + GPGSA GSA; /**< GPS DOP and active satellites. */ + GPGSV GSV; /**< Detailed satellite information. */ + GPRMC RMC; /**< Recommended minimum data. */ + GPVTG VTG; /**< Heading and Speed over the Ground. */ +} typedef NMEAData; + +DPHANDLE(GPS) +CHDRSTANDARD(GPS) + +/** + * Gets the current latitude. + * @param phid An attached phidget gps handle. + * @param latitude The latitude. + */ +CHDRGET(GPS,Latitude,double *latitude) +/** + * Gets the current longitude. + * @param phid An attached phidget gps handle. + * @param longitude The longitude. + */ +CHDRGET(GPS,Longitude,double *longitude) +/** + * Gets the current altitude, in meters. + * @param phid An attached phidget gps handle. + * @param altitude The altitude. + */ +CHDRGET(GPS,Altitude,double *altitude) +/** + * Gets the current heading, in degrees. + * @param phid An attached phidget gps handle. + * @param heading The heading. + */ +CHDRGET(GPS,Heading,double *heading) +/** + * Gets the current velocity, in km/h. + * @param phid An attached phidget gps handle. + * @param velocity The velocity. + */ +CHDRGET(GPS,Velocity,double *velocity) +/** + * Gets the current GPS time, in UTC. + * @param phid An attached phidget gps handle. + * @param time The GPS time. + */ +CHDRGET(GPS,Time,GPSTime *time) +/** + * Gets the current GPS date, in UTC + * @param phid An attached phidget gps handle. + * @param date The GPS date. + */ +CHDRGET(GPS,Date,GPSDate *date) +/** + * Gets the position fix status. + * @param phid An attached phidget gps handle. + * @param fixStatus The fix status. + */ +CHDRGET(GPS,PositionFixStatus,int *fixStatus) +/** + * Gets Raw NMEA Data. This function is only available in the C API, + * and cannot be used over the webservice. + * The NMEA data reference points to a structure which is updated + * dynamically as data comes in - if you wish to work with the data + * statically, you must make a local copy. This should be done from within + * a position change event handler to avoid the structure changing as + * you read it. + * @param phid An attached phidget gps handle. + * @param data The NMEA Data. + */ +CHDRGET(GPS,NMEAData,NMEAData *data) + +/** + * Sets a position change event handler. This is called when any of latitude, longitude, or altitude change. + * @param phid A phidget gps handle. + * @param fptr Callback function pointer. + * @param userPtr A pointer for use by the user - this value is passed back into the callback function. + */ +CHDREVENT(GPS,PositionChange,double latitude,double longitude,double altitude) +/** + * Sets a position fix status change event handler. This is called when a position fix is aquired or lost. + * @param phid A phidget gps handle. + * @param fptr Callback function pointer. + * @param userPtr A pointer for use by the user - this value is passed back into the callback function. + */ +CHDREVENT(GPS,PositionFixStatusChange,int status) + +#ifndef EXTERNALPROTO + +struct _CPhidgetGPS { + CPhidget phid; + + int (CCONV *fptrPositionChange)(CPhidgetGPSHandle, void *, double latitude, double longitude, double altitude); + void *fptrPositionChangeptr; + int (CCONV *fptrPositionFixStatusChange)(CPhidgetGPSHandle, void *, int status); + void *fptrPositionFixStatusChangeptr; + + NMEAData GPSData; + + double heading, velocity, altitude, latitude, longitude; + unsigned char fix; + + unsigned char haveTime, haveDate; + + double lastLongitude, lastLatitude, lastAltitude; + unsigned char lastFix; + + unsigned char sckbuf[256]; + unsigned char sckbuf_write, sckbuf_read; +} typedef CPhidgetGPSInfo; +#endif + +/** @} */ + +#endif |