GitHub - ucnl/UCNLNMEA: NMEA 0183 protocol support library https://github.

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NMEA 0183 protocol support library

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UCNLNMEA
Releases 2

NMEA 0183 protocol support library

Common improvements Latest
on Jun 4, 2020

+ 1 release
This repository is a supported version of a library I posted back in 2011 at
CodeProject

The library is able to parse and build any NMEA0183-sentences. Common used
standard sentences are supported 'from the box'.

If you looking for a tiny and fast C/Arduino code for

parsing NMEA0183-sentences, please, refer to
UCNL_ALibs library

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The parser/builder is made as a static class.

Packages
To use it, just:

No packagesAdd
published
UCNLNMEA to your project's references list.
Add a propriate using declaration: using UCNLNMEA;

Contributors 2
List of supported standard sentences
AlekUnderwater Aleksandr
Sentence ID Description
stolzkc Kirill
AAM Waypoint Arrival Alarm

ALM GPS Almanac Data

Languages
APB Autopilot Sentence "B"

C# 100.0%APA Autopilot Sentence "A"

ASD Autopilot System Data

BEC Bearing & Distance to Waypoint, Dead reckoning

BOD Bearing, Origin to Destination

BWC Bearing & Distance to Waypoint, Great Circle

BWR Bearing & Distance to Waypoint, Rhumb Line

BWW Bearing, Waypoint to Waypoint

DBK Depth Below Keel

DBS Depth Below Surface

DBT Depth Below Transduser

DCN Obsolete Decca Position

DPT Depth

DSC Digital Selective Calling Information

DSE Extended DSC

DSI DSC Transponder Initiate

DSR DSC Transponder Response

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Sentence ID Description

DTM Datum Reference

FSI Frequency Set Information

GBS GBS Satellite Fault Detection

GGA Global Positioning System Fix Data

GLC Geographic Position, Loran-C

GLL Geographic Position, Latitude/Longitude

GRS GPS Range Residuals

GSA GPS DOP and Active Satellites

GST GPS Pseudorange Noise Statistics

GSV GPS Sattelites in View

GTD Geograpic Location in Time Differences

GXA Transit Position

HDG Heading, Deviation & Variation

HDM Heading, Magnetic

HDT Heading, True

HSC Heading Steering Command

LCD Loran-C Signal Data

MSK MSK Receiver Interface (for DGPS Beacon Receivers)

MSS MSK Receiver Signal Status

MTW Water Temperature

MWD Wind Direction & Speed

MWV Wind Speed & Angle

OLN Obsolete Omega Line Numbers

OSD Own Ship Data

RMA Recommend Minimum Specific Loran-C Data

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Sentence ID Description

RMB Recommend Minimum Navigation Information

RMC Recommend Minimum Specific GPS/TRANSIT Data

ROO Waypoints in Active Route

ROT Rate of Turn

RPM Revolutions

RSA Rudder Sensor Angle

RSD RADAR System Data

RTE Routes

SFI Scanning Frequency Information

STN Multiple Data ID

TLL Target Latitude & Longitude

TRF Obsolete TRANSIT Fix Data

TTM Tracked Target Message

VBW Dual Ground/Water Speed

VDR Set and Drift

VHW Water Speed and Heading

VLW Distance Traveled through Water

VPW Speed, Measured Parallel to Wind

VTG Track Made Good and Ground Speed

VWR Relative Wind Speed & Angle

WCV Waypoint Closure Velocity

WDC Distance to Waypoint, Great Circle

WDR Distance to Waypoint, Rhumb Line

WNC Distance, Waypoint to Waypoint

WPL Waypoint Location

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Sentence ID Description

XDR Transducer Measurement

XTE Cross-Track Error, Measured

XTR Cross-Track Error, Dead Reckoning

ZDA Time & Date

ZDL Time & Distance to Variable Point

ZFO UTC & Time from Origin Waypoint

ZTG UTC & Time to Destination Waypoint

List of known Talkers

Talker ID Description

AG Autopilot - General

AP Autopilot - Magnetic

CD Communications - Digital Selective Calling (DSC)

CR Communications - Receiver / Beacon Receiver

CS Communications - Sattelite

CT Communications - Radio-Telephone (MF/HF)

CV Communications - Radio-Telephone (VHF)

CX Communications - Scanning Receiver

DF Direction Finder

EC Electronic Chart Display & Information System (ECDIS)

EP Emergency Position Indicating Beacon (EPIRB)

ER Engine Room Monitoring Systems

GA Gallileo

GB BeiDou

GL GLONASS

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Talker ID Description

GP Global Positioning System (GPS)

GN Mixed satellite fix

HC Heading - Magnetic Compass

HE Heading - North Seeking Gyro

HN Heading - Non North Seeking Gyro

II Integrated instrumentation

IN Integrated Navigation

LC Loran C

P Proprietary Code

RA RADAR and/or ARPA

SD Sounder, Depth

SN Electronic Positioning System, other/general

SS Souder, Scanning

TI Turn Rate Indicator

VD Velocity Sensor, Doppler, other/general

DM Velocity Sensor, Speed Log, Water, Magnetic

VW Velocity Sensor, Speed Log, Water, Mechanical

WI Weather Instruments

YX Transduser

ZA Timekeeper - Atomic Clock

ZC Timekeeper - Chronometer

ZQ Timekeeper - Quartz

ZV Radio Update, WWV or WWVH

Standard sentences examples

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Building & parsing of a HDT sentence (Heading from True North)

double shipHeading = 48.123;

string hdt_sentence = NMEAParser.BuildSentence(
TalkerIdentifiers.GN, // Talker identifier = GN (GPS + GLONASS)
SentenceIdentifiers.HDT, // Sentense identifier = HDT (Heading from True
North)
new object[] // Parameters list
{
shipHeading, // Heading value in degrees
"T" // T stands for True
}));

after that, hdt_sentence will has a value "$GNHDT,48.123,T*17\r\n"

To parse new built sentence, one can use following code:

// parseResult can be NMEAStandardSentence or NMEAProprietarySentence

// to use it, you have to check type of the result and make a cast
try parseResult = NMEAParser.Parse(hdt_sentence);

if (parseResult is NMEAStandardSentence) // check if it is a standard sentence

{
// sentence parameters are stored in 'paramters' field, which is an
object[]
// accoring to HDT sentence format, the first parameter (index = 0) is a
double value for heading
Console.WriteLine(string.Format("Heading: {0:F03}", (parseResult as
NMEAStandardSentence).parameters[0]));
}

Building & parsing of a RMC sentence (Recommended minimum,

sentence C)

double lat = 48.50963056;

double lon = 44.55977778;
double speedKmh = 0.5;

string rmc_sentence = NMEAParser.BuildSentence(

TalkerIdentifiers.GN, // Talker identifier = GN (GPS + GLONASS)
SentenceIdentifiers.RMC, // Sentence identifier = RMC
new object[] // Parameters list

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{
DateTime.Now, // UTC time
"Valid", // Time is valid
lat, "N", // Position latitude, degrees
lon, "E", // Position longitude, degrees
speedKmh.Value / 0.5144, // Speed
null, // track true
DateTime.Now, // UTC date
null, // magnetic variation
null, // magnetic variation direction
"D", // Positioning system mode indicator, D =
differential
});

after that, rmc_sentence will has value

$GNRMC,233843.698,A,4830.5778,N,04433.5867,E,0.972006,,270719,,,D*6F\r\n

To parse it, use following code:

// parseResult can be NMEAStandardSentence or NMEAProprietarySentence

// to use it, you have to check type of the result and make a cast
try parseResult = NMEAParser.Parse(rmc_sentence);

if (parseResult is NMEAStandardSentence) // check if it is a standard sentence

{
// sentence parameters are stored in 'paramters' field, which is an
object[]
var rmcResult = (parseResult as NMEAStandardSentence);
Console.WriteLine(string.Format("Lat: {0:F06}, Lon: {1:F06}",
rmcResult.parameters[2], // latitude value as double
rmcResult.parameters[4] // longitude value as double
// ... etc
));
}

Proprietary sentence definition, building & parsing example

Dealing with proprietary sentences is pretty the same process as with standard ones,
except few diffirencies: First, you should add a description for a sentence. Consider we
need an ACK sentence, which should has single integer parameter - error code.

NMEAParser.AddManufacturerToProprietarySentencesBase(ManufacturerCodes.UWV);
// Add new entry to proprietary sentences descriptor

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// message identifier "0", parameters: integer, double, string and a byte

array
// parameters go as a string, where items are separated with commas
// x stands for an integer value
// x.x stands for double
// c--c stands for string
// h--h stands for a hex string or a byte array (e.g. "ff0123aa4d5a")
NMEAParser.AddProprietarySentenceDescription(ManufacturerCodes.UWV, "0",
"x,x.x,c--c,h--h");

Now we can build and parse sentence $PUWV0 as follows:

int int_parameter = 12345;

double double_parameter = 3.1415;
string string_parameter = "this is a string parameter";
byte[] byte_array_parameter = new byte[] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };

var uwv0_sentence = NMEAParser.BuildSentence(

ManufacturerCodes.UWV,
"0",
new object[] {
int_parameter,
double_parameter,
string_parameter,
byte_array_parameter
});

After the call, uwv0_sentence will has value " $PUWV0,12345,3.1415,this is a string
parameter,0x010203040506070809*51\r\n "

Parsing this proprietary sentence is as follows:

var pResult = NMEAParser.Parse(uwv0_sentence);

if (pResult is NMEAProprietarySentence)
{
var prop_sentence = (pResult as NMEAProprietarySentence);

// here we can check:

// Manufacturer identifier, by accessing prop_sentence.Manufacturer
// Sentence identifier, by accessing prop_sentence.SentenceID

// and all the parameters, as with standard sentences:

int_parameter = (int)prop_sentence.parameters[0];

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double_parameter = (double)prop_sentence.parameters[1];
string_parameter = (string)prop_sentence.parameters[2];
byte_array_parameter = (byte[])prop_sentence.parameters[3];
}

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