tinygps.h

#ifndef NMEA_STRUCTS_H
#define NMEA_STRUCTS_H

#define NMEA_MINUTE_FRACTS 4
#define NMEA_ALTITUDE_FRACTS 2

#define NMEA_RMC_FLAGS_STATUS_OK 0
#define NMEA_RMC_FLAGS_LAT_NORTH 1
#define NMEA_RMC_FLAGS_LON_EAST 2

struct coord {
  /* degrees, 0-180 or 0-90 */
  uint8_t deg;
  /* minutes, 0-60 */
  uint8_t min;
  /* fractions of minutes saved as BCD */
  uint8_t frac[(NMEA_MINUTE_FRACTS+1)/2];
};

struct altitude_t {
  int16_t m;
  uint8_t frac[(NMEA_ALTITUDE_FRACTS+1)/2];
};

struct clock_t {
  uint8_t hour;
  uint8_t minute;
  uint8_t second;
};

struct date_t {
  uint8_t day;
  uint8_t month;
  uint8_t year;
};

struct nmea_data_t {
  uint8_t flags;
  struct date_t date;
  struct clock_t clock;
  struct coord lat;
  struct coord lon;
  struct altitude_t alt;
  uint8_t quality;
  uint8_t sats;
};

#endif

#ifndef OPTICAL_STRUCTS_H
#define OPTICAL_STRUCTS_H

struct optical_data_t {
  int16_t dx;
  int16_t dy;
};

#endif

#ifndef SONAR_STRUCTS_H
#define SONAR_STRUCTS_H

struct sonar_data_t {
  int16_t distance;
};

#endif

#ifndef NAV_STRUCTS_H
#define NAV_STRUCTS_H
struct nav_data_t {
  struct nmea_data_t gps;
  struct sonar_data_t sonar;
  struct optical_data_t optical;
};
#endif