add GLL and VTG to 'gpspipe -r' in binamry mode

2 files changed, 74 insertions, 0 deletions

diff --git a/recipes-navigation/gpsd/gpsd-3.20/0007-add-gll-vtg.patch b/recipes-navigation/gpsd/gpsd-3.20/0007-add-gll-vtg.patch
new file mode 100644
index 0000000..09f20b4
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.20/0007-add-gll-vtg.patch
@@ -0,0 +1,73 @@
+From c8a23e6f4223ce1bba8b5863943c7bf5fe88383c Mon Sep 17 00:00:00 2001
+From: Serhii Voloshynov <serhii.voloshynov@globallogic.com>
+Date: Wed, 9 Dec 2020 15:28:05 +0200
+Subject: [PATCH] add GLL and VTG to 'gpspipe -r' output in binary mode
+
+---
+ pseudonmea.c | 36 ++++++++++++++++++++++++++++++++++++
+ 1 file changed, 36 insertions(+)
+
+diff --git a/pseudonmea.c b/pseudonmea.c
+index 444be3d..c789adb 100644
+--- a/pseudonmea.c
++++ b/pseudonmea.c
+@@ -168,6 +168,21 @@ void gpsd_position_fix_dump(struct gps_device_t *session,
+          * Differential base station ID */
+ 	(void)strlcat(bufp, ",", len);
+         nmea_add_checksum(bufp);
++        //$GNGGA,103527.00,4957.22994,N,03618.97862,E,1,12,0.89,180.3,M,17.0,M,,*4B
++        //$GNGLL,4957.22997,N,03618.97858,E,103526.00,A,A*7B
++        char *bufgll = &bufp[strlen(bufp)];
++        (void)snprintf(bufgll, len,
++                       "$GPGLL,%s,%c,%s,%c,%s,%c,A,",
++                       degtodm_str(session->gpsdata.fix.latitude, "%09.4f",
++                                   lat_str),
++                       ((session->gpsdata.fix.latitude > 0) ? 'N' : 'S'),
++                       degtodm_str(session->gpsdata.fix.longitude, "%010.4f",
++                                   lon_str),
++                       ((session->gpsdata.fix.longitude > 0) ? 'E' : 'W'),
++                       time_str,
++                       fixquality == FIX_QUALITY_INVALID?'V':'A'
++                       );
++        nmea_add_checksum(bufgll);
+     }
+ }
+ 
+@@ -180,6 +195,7 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+     char lat_str[BUF_SZ];
+     char lon_str[BUF_SZ];
+     char speed_str[BUF_SZ];
++    char kspeed_str[BUF_SZ];
+     char track_str[BUF_SZ];
+     char var_str[BUF_SZ];
+     char *var_dir = "";
+@@ -219,6 +235,26 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+                    time2_str,
+                    var_str, var_dir);
+     nmea_add_checksum(bufp);
++    //$GNRMC,114740.00,A,4957.22826,N,03618.97015,E,0.054,,091220,,,A*65
++    //$GNVTG,,T,,M,0.054,N,0.100,K,A*3D
++    //1    = Track made good
++    //2    = Fixed text 'T' indicates that track made good is relative to true north
++    //3    = Track made good, degrees Magnetic
++    //4    = Magnetic track indicator - 'M'
++    //5    = Speed over ground in knots
++    //6    = Fixed text 'N' indicates that speed over ground in in knots
++    //7    = Speed over ground in kilometers/hour
++    //8    = Fixed text 'K' indicates that speed over ground is in kilometers/hour
++    char *bufvtg = &bufp[strlen(bufp)];
++    (void)snprintf(bufvtg, len,
++                   "$GPVTG,%s,T,%s,M,%s,N,%s,K,A,",
++                   f_str(session->gpsdata.fix.track, "%.3f", track_str),
++                   track_str,//it is not Magnetic track, but may be it is enough
++                   f_str(session->gpsdata.fix.speed * MPS_TO_KNOTS, "%.4f",
++                            kspeed_str),
++                   f_str(session->gpsdata.fix.speed, "%.4f", speed_str)
++                   );
++    nmea_add_checksum(bufvtg);
+ }
+ 
+ static void gpsd_binary_satellite_dump(struct gps_device_t *session,
+-- 
+2.7.4
+
diff --git a/recipes-navigation/gpsd/gpsd_3.20.bb b/recipes-navigation/gpsd/gpsd_3.20.bb
index 5793f46..5f5163f 100644
--- a/recipes-navigation/gpsd/gpsd_3.20.bb
+++ b/recipes-navigation/gpsd/gpsd_3.20.bb
@@ -18,6 +18,7 @@ SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
     file://0002-SConstruct-fix.patch \
     file://0006-ubxtimelps.patch \
     file://0006-itu_r_tf_460_6.patch \
+    file://0007-add-gll-vtg.patch \
     file://gpsd-default \
     file://gpsd \
     file://gpsd_ubx_fixed.sh \