fwinter.cpp

OpenSource GPS is software for x86 PCs that allows you to acquire, track and demodulate signals from

/***********************************************************************
// Clifford Kelley <[e-mail]>
// This program is licensed under BSD LICENSE
    Version 0.7 3/13/04 
	1.) Added Geoidal Seperation to GGA. Hard coded to 0.0
	2.) Set Mode to A in GAS
	Version 0.6 2/26/04 Removed channels structure definition
	Version 0.4 Added buad rate selection and NMEA sentence selection capablity
	Version 0.3 Turned off hardware flow control
	Version 0.2 Fixed SV in view bug
	Version 0.1 Initial release
***********************************************************************/
#include "stdlib.h" 
#include "stdio.h"
#include "math.h"  
#include "FwInter.h"
#include "Nmea.h"
#include "Structs.h"

//
// NMEA These function provide an interface API 
// between the GPS firmware and external modules, like the serial interface
// module.
//

extern unsigned int GPGGA;
extern unsigned int GPGSV;
extern unsigned int GPGSA;
extern unsigned int GPVTG;
extern unsigned int GPRMC;
extern unsigned int GPZDA;

void GetNmeaSentenceEables( pNMEA_ENABLES pNmeaEnables )
{
	pNmeaEnables->GPGGA = GPGGA;
	pNmeaEnables->GPGSV = GPGSV;
	pNmeaEnables->GPGSA = GPGSA;
	pNmeaEnables->GPVTG = GPVTG;
	pNmeaEnables->GPRMC = GPRMC;
	pNmeaEnables->GPZDA = GPZDA;
		
}


#ifdef HOST_TEST

int GetEastWest( void )
{
	if( GetLongitude() < 0 )
	{
		return NMEA_WEST;
	}
	else
	{
		return NMEA_EAST;
	}
}

int GetNorthSouth( void )
{
	if( GetLatitude() < 0 )
	{
		return NMEA_SOUTH;
	}
	else
	{
		return NMEA_NORTH;
	}
}



int GetFixQuality( void )
{
	return 1; 
}

double GetAltitude( void )
{
	return -33.8;
}

double GetLongitude( void )
{
   return -121.570;
}

double GetLongitudeAbs( void )
{
	return fabs( GetLongitude() );
}

double GetLatitude( void )
{
	return 37.2994;
}

double GetLatitudeAbs( void )
{
	return fabs( GetLatitude() );
}

int GetHDOP( void )
{
	return 20;
}

int GetNumberOfSVs( void )
{
	return 6;
}

double GetTimeOfFixUTC( void )
{
	return 123519.89;
}

double GetHrMinSecUTC( void )
{

	return 201530.8;
}

#else // Embedded

char gSimulate = 0;

char TempBuf[ 100 ];

#include <time.h>  

//double const pi=3.1415926535898E0,r_to_d=57.29577951308232;
double const r_to_d=57.29577951308232;


extern satvis  xyz[33];
enum {off,acquisition,confirm,pull_in,track};
enum {cold_start,warm_start,hot_start,tracking,navigating};
extern channel chan[12];
extern double speed;
extern double heading;
extern        llh rec_pos_llh;
extern        time_t thetime;
extern double m_time[];
extern float gdop;
extern float hdop;
extern float vdop;
extern float tdop;
extern int   n_track;
extern int status;

int GetEastWest( void )
{
	if( GetLongitude() < 0 )
	{
		return NMEA_WEST;
	}
	else
	{
		return NMEA_EAST;
	}
}

int GetNorthSouth( void )
{
	if( GetLatitude() < 0 )
	{
		return NMEA_SOUTH;
	}
	else
	{
		return NMEA_NORTH;
	}
}
  
int GetFixQuality( void )
{
	return 1; // Cliff TODO
}

double GetAltitude( void )
{
	return  rec_pos_llh.hae; // Cliff Is this in meters?  yes
}

double GetLongitude( void )
{
   return rec_pos_llh.lon * r_to_d;
}

double GetLongitudeAbs( void )
{
	return fabs( GetLongitude() );
}

double GetLatitude( void )
{
	return rec_pos_llh.lat * r_to_d;
}

double GetLatitudeAbs( void )
{
	return fabs( GetLatitude() );
}

double GetHDOP( void )
{
	return hdop;
}

double GetVDOP( void )
{
	return vdop;
}

double GetPDOP( void )
{
	return sqrt(vdop*vdop+hdop*hdop); // Cliff TODO
}


void GetTrackingPRNs( pTRACKING_PRNs pTrackingPRNs )
{
	int ch;
	
	for ( ch = 0; ch <= 11; ch++ )
	{
		if( chan[ ch ].state == track )
		{
			pTrackingPRNs[ ch ].PRN = chan[ ch ].prn;
		}
	}
}

VISIBLE_SV_DATA VisibleSVData[ 12 ];


pVISIBLE_SV_DATA GetVisibleSVData( void )
{
	return VisibleSVData;
}

int GetNumberOfVisibleSVs( void )
{
	int ch;
	int SVDataIndex = 0;
	int NumberOfVisibleSVs = 0;

	if( gSimulate )
	{
		for ( ch = 0; ch <= 11; ch++ )
		{
			if( chan[ ch ].state >=  acquisition  )
			{
				NumberOfVisibleSVs++;
				VisibleSVData[ SVDataIndex ].elevation	= xyz[chan[ch].prn].elevation * 57.3;
				VisibleSVData[ SVDataIndex ].azimuth		= xyz[chan[ch].prn].azimuth * 57.3;
				VisibleSVData[ SVDataIndex ].CNo			= 23.0;// chan[ ch ].CNo;
				VisibleSVData[ SVDataIndex ].PRN			= chan[ ch ].prn;
				SVDataIndex++;
			}
				
		}
	}
	else
	{

		for ( ch = 0; ch <= 11; ch++ )
		{
			if( chan[ ch ].state >= acquisition  )
			{
				NumberOfVisibleSVs++;
				VisibleSVData[ SVDataIndex ].elevation	= xyz[ chan[ ch ].prn].elevation * 57.3;
				VisibleSVData[ SVDataIndex ].azimuth	= xyz[chan[ch].prn].azimuth * 57.3;
				VisibleSVData[ SVDataIndex ].CNo		= chan[ ch ].CNo;
				VisibleSVData[ SVDataIndex ].PRN		= chan[ ch ].prn;
				SVDataIndex++;
			}
				
	/*		printf(" %2d %2d  %2d  %6ld   %6ld   %2d     %2d     %2d   %4d\n",
			ch, chan[ ch ].prn, chan[ ch ].state, chan[ch].TLM, chan[ch].TOW,
			gps_eph[chan[ch].prn].health,gps_eph[chan[ch].prn].valid,chan[ch].tow_sync,
			chan[ch].offset);
			
			printf(
			" %2d %2d  %2d  %3d   %4.0f  %3.0f   %6.0f   %4d  %4d  %2d  %3d  %3d%5d   %4.1f\n",
			ch,chan[ch].prn,chan[ch].state,chan[ch].n_freq,
			xyz[chan[ch].prn].azimuth * 57.3, xyz[chan[ch].prn].elevation * 57.3,
			xyz[chan[ch].prn].doppler,chan[ch].t_count,chan[ch].n_frame,chan[ch].sfid,
			gps_eph[chan[ch].prn].ura,chan[ch].page5,chan[ch].missed, chan[ ch ].CNo);
			
			
			
			
			
			
			*/
		}
	}
	
	
	return NumberOfVisibleSVs;
}

int GetNumberOfTrackingSVs( void )
{
	return n_track;
}

int GetNavStatus( void )
{
	 if ( status == navigating )
	 {
		 return 1;
	 }
	 else
	 {
		 return 0;
	 }
}

void GetDayMonthYear( pDMY pDmy )
{
	struct tm* LocalTime;
	LocalTime   = localtime( &thetime );
	pDmy->Day   = LocalTime->tm_mday;
	pDmy->Month = LocalTime->tm_mon + 1;
	pDmy->Year  = LocalTime->tm_year + 1900;
	return;
}

double GetUTC( void )
{

	double    UTCInt;
	struct tm* LocalTime;
	LocalTime = localtime( &thetime );

	UTCInt = ( ( ( double )LocalTime->tm_hour * 10000 ) +
		        ( ( double )LocalTime->tm_min * 100 ) + ( double )LocalTime->tm_sec );

	return UTCInt;  	

}

double GetTimeOfFixUTC( void )
{
	return GetUTC(); // Cliff What var should I use here?
}

double GetHrMinSecUTC( void )
{
	return GetUTC(); // Cliff What var should I use here?
}

double GetGroundSpeedKnots( void  )
{
	
	return speed;
}

double GetTrueHeading( void )
{
	if( heading < 0 )
	{
		return heading = 180 + ( 180 - ( ( fabs( heading ) * r_to_d ) ) );
	}
	else
	{
		return heading * r_to_d;
	}
}

double GroundSpeedKilos( void )
{
	return 999.0; // TODO
}

double GetHeightOfGeoid( void )
{
	return 0.0; // TODO Cliff
}

#endif