Skip to content
This repository has been archived by the owner on May 26, 2024. It is now read-only.

Add support for BDS NMEA messages #58

Merged
merged 4 commits into from
Nov 21, 2022
Merged

Add support for BDS NMEA messages #58

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
5d6ca64
feat: add BeiDou
klren0312 Nov 13, 2022
bcd9b97
fix: BeiDou change to BDS
klren0312 Nov 20, 2022
5ab2284
Add missing space for aligned format.
aentinger Nov 21, 2022
44f0481
Adding test-statement for BDS RMC string.
aentinger Nov 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions examples/NMEA-Basic/NMEA-Basic.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ void onRmcUpdate(nmea::RmcData const rmc)
else if (rmc.source == nmea::RmcSource::GLONASS) Serial.print("GLONASS");
else if (rmc.source == nmea::RmcSource::Galileo) Serial.print("Galileo");
else if (rmc.source == nmea::RmcSource::GNSS) Serial.print("GNSS");
else if (rmc.source == nmea::RmcSource::BDS) Serial.print("BDS");

Serial.print(" ");
Serial.print(rmc.time_utc.hour);
Expand Down Expand Up @@ -96,6 +97,7 @@ void onGgaUpdate(nmea::GgaData const gga)
else if (gga.source == nmea::GgaSource::GLONASS) Serial.print("GLONASS");
else if (gga.source == nmea::GgaSource::Galileo) Serial.print("Galileo");
else if (gga.source == nmea::GgaSource::GNSS) Serial.print("GNSS");
else if (gga.source == nmea::GgaSource::BDS) Serial.print("BDS");

Serial.print(" ");
Serial.print(gga.time_utc.hour);
Expand Down
30 changes: 16 additions & 14 deletions extras/test/src/test_ArduinoNmeaParser.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -141,9 +141,11 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-06]")
{
ArduinoNmeaParser parser(nullptr, nullptr);

std::vector<std::string> const GPRMC =
std::vector<std::string> const NMEA_RMC =
{
std::string("$GPRMC,052852.105,A,5230.868,N,01320.958,E,077.0,023.5,080720,000.0,W*79\r\n"),
std::string("$BDRMC,052852.105,A,5230.868,N,01320.958,E,077.0,023.5,080720,000.0,W*68\r\n"),

std::string("$GPRMC,052853.105,A,5230.888,N,01320.967,E,084.5,069.2,080720,000.0,W*7A\r\n"),
std::string("$GPRMC,052854.105,A,5230.901,N,01321.000,E,085.8,099.8,080720,000.0,W*7D\r\n"),
std::string("$GPRMC,052855.105,A,5230.894,N,01321.038,E,084.3,138.7,080720,000.0,W*75\r\n"),
Expand All @@ -152,47 +154,47 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-06]")

std::vector<nmea::RmcSource> const SOURCE_EXPECTED =
{
nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS
nmea::RmcSource::GPS, nmea::RmcSource::BDS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS, nmea::RmcSource::GPS
};

std::vector<float> const LATITUDE_EXPECTED =
{
52.514467f, 52.514800f, 52.515017f, 52.514900f, 48.633246f
52.514467f, 52.514467f, 52.514800f, 52.515017f, 52.514900f, 48.633246f
};

std::vector<float> const LONGITUDE_EXPECTED =
{
13.349300, 13.349450, 13.350000, 13.350633f, 13.025575f
13.349300, 13.349300, 13.349450, 13.350000, 13.350633f, 13.025575f
};

std::vector<float> const SPEED_EXPECTED =
{
39.6122f, 43.47056f, 44.139333f, 43.36767f, 14.363289f
39.6122f, 39.6122f, 43.47056f, 44.139333f, 43.36767f, 14.363289f
};

std::vector<float> const COURSE_EXPECTED =
{
23.5f, 69.2f, 99.8f, 138.7f, 247.03f
23.5f, 23.5f, 69.2f, 99.8f, 138.7f, 247.03f
};

std::vector<float> const MAGNETIC_VARIATION_EXPECTED =
{
0.0f, 0.0f, 0.0f, 0.0f, NAN
0.0f, 0.0f, 0.0f, 0.0f, 0.0f, NAN
};

std::vector<int> const DAY_EXPECTED =
{
8, 8, 8, 8, 12
8, 8, 8, 8, 8, 12
};

std::vector<int> const MONTH_EXPECTED =
{
7, 7, 7, 7, 10
7, 7, 7, 7, 7, 10
};

std::vector<int> const YEAR_EXPECTED =
{
2020, 2020, 2020, 2020, 2020
2020, 2020, 2020, 2020, 2020, 2020
};


Expand All @@ -206,11 +208,11 @@ TEST_CASE("Multiple NMEA messages received", "[Parser-06]")
auto month = MONTH_EXPECTED.begin();
auto year = YEAR_EXPECTED.begin();

std::for_each(std::begin(GPRMC),
std::end(GPRMC),
[&](std::string const & gprmc)
std::for_each(std::begin(NMEA_RMC),
std::end(NMEA_RMC),
[&](std::string const & rmc)
{
encode(parser, gprmc);
encode(parser, rmc);

REQUIRE(parser.error() == ArduinoNmeaParser::Error::None);
REQUIRE(parser.rmc().source == *source);
Expand Down
2 changes: 2 additions & 0 deletions src/nmea/GxGGA.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,8 @@ GxGGA::ParserState GxGGA::handle_MessageId(char const * token, GgaSource & sourc
source = GgaSource::Galileo;
else if (util::gga_isGNGGA(token))
source = GgaSource::GNSS;
else if (util::rmc_isBDGGA(token))
source = GgaSource::BDS;

return ParserState::UTCPositionFix;
}
Expand Down
2 changes: 2 additions & 0 deletions src/nmea/GxRMC.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,8 @@ GxRMC::ParserState GxRMC::handle_MessageId(char const * token, RmcSource & sourc
source = RmcSource::Galileo;
else if (util::rmc_isGNRMC(token))
source = RmcSource::GNSS;
else if (util::rmc_isBDRMC(token))
source = RmcSource::BDS;

return ParserState::UTCPositionFix;
}
Expand Down
2 changes: 1 addition & 1 deletion src/nmea/Types.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ typedef struct

enum class RmcSource
{
Unknown, GPS, Galileo, GLONASS, GNSS
Unknown, GPS, Galileo, GLONASS, GNSS, BDS
};

typedef struct
Expand Down
8 changes: 7 additions & 1 deletion src/nmea/util/gga.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,15 @@ bool gga_isGNGGA(char const * nmea)
return (strncmp(nmea, "$GNGGA", 6) == 0);
}

bool rmc_isBDGGA(char const * nmea)
{
return (strncmp(nmea, "$BDGGA", 6) == 0);
}


bool gga_isGxGGA(char const * nmea)
{
return (gga_isGPGGA(nmea) || gga_isGLGGA(nmea) || gga_isGAGGA(nmea) || gga_isGNGGA(nmea));
return (gga_isGPGGA(nmea) || gga_isGLGGA(nmea) || gga_isGAGGA(nmea) || gga_isGNGGA(nmea) || rmc_isBDGGA(nmea));
}

/**************************************************************************************
Expand Down
1 change: 1 addition & 0 deletions src/nmea/util/gga.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ bool gga_isGPGGA(char const * nmea);
bool gga_isGLGGA(char const * nmea);
bool gga_isGAGGA(char const * nmea);
bool gga_isGNGGA(char const * nmea);
bool rmc_isBDGGA(char const * nmea);
bool gga_isGxGGA(char const * nmea);

/**************************************************************************************
Expand Down
7 changes: 6 additions & 1 deletion src/nmea/util/rmc.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,14 @@ bool rmc_isGNRMC(char const * nmea)
return (strncmp(nmea, "$GNRMC", 6) == 0);
}

bool rmc_isBDRMC(char const * nmea)
{
return (strncmp(nmea, "$BDRMC", 6) == 0);
}

bool rmc_isGxRMC(char const * nmea)
{
return (rmc_isGPRMC(nmea) || rmc_isGLRMC(nmea) || rmc_isGARMC(nmea) || rmc_isGNRMC(nmea));
return (rmc_isGPRMC(nmea) || rmc_isGLRMC(nmea) || rmc_isGARMC(nmea) || rmc_isGNRMC(nmea) || rmc_isBDRMC(nmea));
}

void rmc_parseDate(char const * token, Date & date)
Expand Down
1 change: 1 addition & 0 deletions src/nmea/util/rmc.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ bool rmc_isGPRMC (char const * nmea);
bool rmc_isGLRMC (char const * nmea);
bool rmc_isGARMC (char const * nmea);
bool rmc_isGNRMC (char const * nmea);
bool rmc_isBDRMC (char const * nmea);
bool rmc_isGxRMC (char const * nmea);
void rmc_parseDate (char const * token, Date & date);

Expand Down