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@ -1,21 +1,190 @@
MIT License Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
Copyright (c) 2024 Richard Patching TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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Copyright 2024 Richard Patching
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
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Unless required by applicable law or agreed to in writing, software
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See the License for the specific language governing permissions and
limitations under the License.

142
src/main.rs
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@ -1,4 +1,5 @@
use aniker_gps::{parse_gga, GpsError}; use aniker_gps::gps::{is_valid_nmea_sentence, parse_gll};
use aniker_gps::{parse_gga, GpsError, Position};
use esp_idf_hal::peripherals::Peripherals; use esp_idf_hal::peripherals::Peripherals;
use esp_idf_hal::prelude::*; use esp_idf_hal::prelude::*;
use esp_idf_hal::uart::{UartConfig, UartDriver}; use esp_idf_hal::uart::{UartConfig, UartDriver};
@ -22,79 +23,22 @@ fn decimal_to_dms(decimal: f32) -> (i32, i32, f32) {
(degrees, minutes, seconds) (degrees, minutes, seconds)
} }
fn format_coordinates(lat: f32, long: f32) -> String { fn format_coordinate_dms(value: f32, is_longitude: bool) -> String {
// Decimal degrees (DD) let (deg, min, sec) = decimal_to_dms(value);
let dd = format!("Decimal degrees (DD): {:.5}, {:.5}", lat, long); let direction = if is_longitude {
if value >= 0.0 {
// Degrees, minutes and seconds (DMS) "E"
let (lat_deg, lat_min, lat_sec) = decimal_to_dms(lat); } else {
let (long_deg, long_min, long_sec) = decimal_to_dms(long); "W"
let dms = format!(
"Degrees, minutes and seconds (DMS): {}°{}'{:.1}\"{}, {}°{}'{:.1}\"{}",
lat_deg,
lat_min,
lat_sec,
if lat >= 0.0 { "N" } else { "S" },
long_deg,
long_min,
long_sec,
if long >= 0.0 { "E" } else { "W" }
);
// Degrees and decimal minutes (DMM)
let dmm = format!(
"Degrees and decimal minutes (DMM): {} {:.4}, {} {:.4}",
lat_deg,
(lat.abs() - lat_deg as f32) * 60.0,
long_deg,
(long.abs() - long_deg as f32) * 60.0
);
format!("{}\n{}\n{}", dd, dms, dmm)
} }
} else {
fn parse_gll(sentence: &str) -> Option<(f32, f32)> { if value >= 0.0 {
let parts: Vec<&str> = sentence.split(',').collect(); "N"
if parts.len() < 7 { } else {
return None; "S"
} }
};
// Parse latitude (DDMM.MMMM format) format!("{}°{}'{:.1}\"{}", deg, min, sec, direction)
if let (Ok(lat_deg), Ok(lat_min)) = (parts[1][..2].parse::<f32>(), parts[1][2..].parse::<f32>())
{
let lat = lat_deg + lat_min / 60.0;
let lat = if parts[2] == "S" { -lat } else { lat };
// Parse longitude (DDDMM.MMMM format)
if let (Ok(long_deg), Ok(long_min)) =
(parts[3][..3].parse::<f32>(), parts[3][3..].parse::<f32>())
{
let long = long_deg + long_min / 60.0;
let long = if parts[4] == "W" { -long } else { long };
return Some((lat, long));
}
}
None
}
fn is_valid_nmea_sentence(sentence: &str) -> bool {
// Check if sentence starts with $ and ends with * followed by checksum
if !sentence.starts_with('$') || !sentence.contains('*') {
return false;
}
// Check if sentence has at least 6 characters (minimum valid NMEA length)
if sentence.len() < 6 {
return false;
}
// Check if sentence has at least one comma (all NMEA sentences have fields)
if !sentence.contains(',') {
return false;
}
true
} }
fn main() -> Result<(), Box<dyn std::error::Error>> { fn main() -> Result<(), Box<dyn std::error::Error>> {
@ -145,7 +89,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
let mut last_data_time = 0; let mut last_data_time = 0;
let start_time = 0; let start_time = 0;
let mut partial_sentence = String::new(); let mut partial_sentence = String::new();
let mut last_position: Option<(f32, f32)> = None; let mut last_position: Option<Position> = None;
loop { loop {
let current_time = last_data_time + 1; let current_time = last_data_time + 1;
@ -177,9 +121,19 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
match parse_gga(&mut sentence.clone()) { match parse_gga(&mut sentence.clone()) {
Ok(position) => { Ok(position) => {
info!("Successfully parsed GPS data from GGA:"); info!("Successfully parsed GPS data from GGA:");
info!("{}", format_coordinates(position.lat, position.long)); info!(
info!(" Altitude: {:.1} meters", position.alt); "Latitude: {}",
last_position = Some((position.lat, position.long)); format_coordinate_dms(position.lat, false)
);
info!(
"Longitude: {}",
format_coordinate_dms(position.long, true)
);
info!(
" Altitude: {:.1} {}",
position.alt, position.altitude_unit
);
last_position = Some(position);
} }
Err(e) => { Err(e) => {
info!("Error parsing GGA sentence:"); info!("Error parsing GGA sentence:");
@ -198,10 +152,34 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
} }
} }
} else if sentence.starts_with("$GPGLL") { } else if sentence.starts_with("$GPGLL") {
if let Some((lat, long)) = parse_gll(&sentence) { match parse_gll(&sentence) {
Ok(position) => {
info!("Successfully parsed GPS data from GLL:"); info!("Successfully parsed GPS data from GLL:");
info!("{}", format_coordinates(lat, long)); info!(
last_position = Some((lat, long)); "Latitude: {}",
format_coordinate_dms(position.lat, false)
);
info!(
"Longitude: {}",
format_coordinate_dms(position.long, true)
);
last_position = Some(position);
}
Err(e) => {
info!("Error parsing GLL sentence:");
match e {
GpsError::InvalidMessageType => {
info!(" Invalid message type, expected GLL")
}
GpsError::InvalidLength => {
info!(" Invalid GLL sentence length")
}
GpsError::ParseError(msg) => {
info!(" Parse error: {}", msg)
}
GpsError::Other(msg) => info!(" Other error: {}", msg),
}
}
} }
} else if sentence.starts_with("$GPRMC") { } else if sentence.starts_with("$GPRMC") {
// Parse RMC for speed and course // Parse RMC for speed and course
@ -224,8 +202,10 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
partial_sentence.clear(); partial_sentence.clear();
} }
if last_position != None { if let Some(position) = &last_position {
info!("Last position: {:?}", last_position); info!("Last position:");
info!("Latitude: {}", format_coordinate_dms(position.lat, false));
info!("Longitude: {}", format_coordinate_dms(position.long, true));
} }
// Add a small delay between reads to prevent buffer overflow // Add a small delay between reads to prevent buffer overflow