JuReceiver/system_sensors/gnss.h

#ifndef _J_SYS_SENS_GNSS_H
#define _J_SYS_SENS_GNSS_H

#define jType_S_GNSS 0x23
#define jCommand_GNSS_location 0
#define jCommand_GNSS_date 1
#define jCommand_GNSS_time 2
#define jCommand_GNSS_speed 3
#define jCommand_GNSS_course 4
#define jCommand_GNSS_altitude 5
#define jCommand_GNSS_satellites 6
#define jCommand_GNSS_hdop 7

#define jCommand_GNSS_fail 0xff

typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_location;

    byte isValid;

    double lat;
    double lng;
} gnssLocData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_date;

    byte isValid;

    uint32_t value;
    uint16_t year;
    uint8_t month;
    uint8_t day;
} gnssDateData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_time;

    byte isValid;

    uint32_t value;
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
    uint8_t centisecond;
} gnssTimeData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_speed;

    byte isValid;

    double mps;
} gnssSpeedData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_course;

    byte isValid;

    double deg;
} gnssCourseData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_altitude;

    byte isValid;

    double m;
} gnssAltData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_satellites;

    byte isValid;

    uint32_t n;
} gnssSatData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_hdop;

    byte isValid;

    double hdop;
} gnssHdopData;
typedef struct {
    byte type = jType_S_GNSS;
    byte command = jCommand_GNSS_fail;
} gnssFailData;

#ifdef jGNSS

#include <TinyGPS++.h>  //TinyGPSPlus

TinyGPSPlus gps;

void initGNSS() { Serial2.begin(9600, SERIAL_8N1, 16, 17); }

void GNSSLoop() {
    while (Serial2.available() > 0) {
        int readd = Serial2.read();
        gps.encode(readd);
    }
}

void GNSSradioTask() {
    switch (jRCbuff[1]) {
        case jCommand_GNSS_location: {
            gnssLocData data;

            data.isValid =
                gps.location.isValid() | (gps.location.isUpdated() << 1);
            data.lat = gps.location.lat();
            data.lng = gps.location.lng();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_date: {
            gnssDateData data;

            data.isValid = gps.date.isValid() | (gps.date.isUpdated() << 1);
            data.value = gps.date.value();
            data.year = gps.date.year();
            data.month = gps.date.month();
            data.day = gps.date.day();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_time: {
            gnssTimeData data;

            data.isValid = gps.time.isValid() | (gps.time.isUpdated() << 1);
            data.value = gps.time.value();
            data.hour = gps.time.hour();
            data.minute = gps.time.minute();
            data.second = gps.time.second();
            data.centisecond = gps.time.centisecond();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_speed: {
            gnssSpeedData data;

            data.isValid = gps.speed.isValid() | (gps.speed.isUpdated() << 1);
            data.mps = gps.speed.mps();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_course: {
            gnssCourseData data;

            data.isValid = gps.course.isValid() | (gps.course.isUpdated() << 1);
            data.deg = gps.course.deg();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_altitude: {
            gnssAltData data;

            data.isValid =
                gps.altitude.isValid() | (gps.altitude.isUpdated() << 1);
            data.m = gps.altitude.meters();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_satellites: {
            gnssSatData data;

            data.isValid =
                gps.satellites.isValid() | (gps.satellites.isUpdated() << 1);
            data.n = gps.satellites.value();

            jSendNRF(&data, sizeof(data));
        } break;
        case jCommand_GNSS_hdop: {
            gnssHdopData data;

            data.isValid = gps.hdop.isValid() | (gps.hdop.isUpdated() << 1);
            data.hdop = gps.hdop.hdop();

            jSendNRF(&data, sizeof(data));
        } break;
    }
}

#else

void initGNSS() {}

void GNSSLoop() {}

void GNSSradioTask() {
    gnssFailData data;
    jSendNRF(&data, sizeof(data));
}

#endif
#endif