local copy of gps code
Fork of GPS by
GPS.cpp@1:d2ea48d59900, 2015-06-16 (annotated)
- Committer:
- ftagius
- Date:
- Tue Jun 16 11:52:07 2015 +0000
- Revision:
- 1:d2ea48d59900
- Parent:
- 0:15611c7938a3
local updates
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
simon | 0:15611c7938a3 | 1 | /* mbed EM-406 GPS Module Library |
simon | 0:15611c7938a3 | 2 | * Copyright (c) 2008-2010, sford |
simon | 0:15611c7938a3 | 3 | * |
simon | 0:15611c7938a3 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
simon | 0:15611c7938a3 | 5 | * of this software and associated documentation files (the "Software"), to deal |
simon | 0:15611c7938a3 | 6 | * in the Software without restriction, including without limitation the rights |
simon | 0:15611c7938a3 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
simon | 0:15611c7938a3 | 8 | * copies of the Software, and to permit persons to whom the Software is |
simon | 0:15611c7938a3 | 9 | * furnished to do so, subject to the following conditions: |
simon | 0:15611c7938a3 | 10 | * |
simon | 0:15611c7938a3 | 11 | * The above copyright notice and this permission notice shall be included in |
simon | 0:15611c7938a3 | 12 | * all copies or substantial portions of the Software. |
simon | 0:15611c7938a3 | 13 | * |
simon | 0:15611c7938a3 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
simon | 0:15611c7938a3 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
simon | 0:15611c7938a3 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
simon | 0:15611c7938a3 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
simon | 0:15611c7938a3 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
simon | 0:15611c7938a3 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
simon | 0:15611c7938a3 | 20 | * THE SOFTWARE. |
simon | 0:15611c7938a3 | 21 | */ |
simon | 0:15611c7938a3 | 22 | |
simon | 0:15611c7938a3 | 23 | #include "GPS.h" |
simon | 0:15611c7938a3 | 24 | |
simon | 0:15611c7938a3 | 25 | GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) { |
ftagius | 1:d2ea48d59900 | 26 | _gps.baud(9600); |
ftagius | 1:d2ea48d59900 | 27 | l_longitude = 0.0; |
ftagius | 1:d2ea48d59900 | 28 | l_latitude = 0.0; |
ftagius | 1:d2ea48d59900 | 29 | r_longitude = 0.0; |
ftagius | 1:d2ea48d59900 | 30 | r_latitude = 0.0; |
ftagius | 1:d2ea48d59900 | 31 | distance = -1; |
ftagius | 1:d2ea48d59900 | 32 | lock_valid = false; |
ftagius | 1:d2ea48d59900 | 33 | sentences = 0; |
ftagius | 1:d2ea48d59900 | 34 | sentence_index=0; |
ftagius | 1:d2ea48d59900 | 35 | satelites=0; |
ftagius | 1:d2ea48d59900 | 36 | sat_data0id=0; |
ftagius | 1:d2ea48d59900 | 37 | sat_data0elv=0; |
ftagius | 1:d2ea48d59900 | 38 | sat_data0azimuth=0; |
ftagius | 1:d2ea48d59900 | 39 | sat_data0sig=0; |
ftagius | 1:d2ea48d59900 | 40 | sat_data1id=0; |
ftagius | 1:d2ea48d59900 | 41 | sat_data1elv=0; |
ftagius | 1:d2ea48d59900 | 42 | sat_data1azimuth=0; |
ftagius | 1:d2ea48d59900 | 43 | sat_data1sig=0; |
ftagius | 1:d2ea48d59900 | 44 | sat_data2id=0; |
ftagius | 1:d2ea48d59900 | 45 | sat_data2elv=0; |
ftagius | 1:d2ea48d59900 | 46 | sat_data2azimuth=0; |
ftagius | 1:d2ea48d59900 | 47 | sat_data2sig=0; |
ftagius | 1:d2ea48d59900 | 48 | sat_data3id=0; |
ftagius | 1:d2ea48d59900 | 49 | sat_data3elv=0; |
ftagius | 1:d2ea48d59900 | 50 | sat_data3azimuth=0; |
ftagius | 1:d2ea48d59900 | 51 | sat_data3sig=0; |
simon | 0:15611c7938a3 | 52 | } |
simon | 0:15611c7938a3 | 53 | |
ftagius | 1:d2ea48d59900 | 54 | void GPS::flushSerialBuffer(void) { char char1 = 0; while (_gps.readable()) { char1 = _gps.getc(); } return; } |
ftagius | 1:d2ea48d59900 | 55 | |
simon | 0:15611c7938a3 | 56 | int GPS::sample() { |
simon | 0:15611c7938a3 | 57 | float time; |
simon | 0:15611c7938a3 | 58 | char ns, ew; |
simon | 0:15611c7938a3 | 59 | int lock; |
ftagius | 1:d2ea48d59900 | 60 | int rc = 0; |
ftagius | 1:d2ea48d59900 | 61 | int line_parsed = 0; |
ftagius | 1:d2ea48d59900 | 62 | //printf("in gpsd sample \r\n"); |
simon | 0:15611c7938a3 | 63 | while(1) { |
ftagius | 1:d2ea48d59900 | 64 | |
simon | 0:15611c7938a3 | 65 | getline(); |
ftagius | 1:d2ea48d59900 | 66 | |
simon | 0:15611c7938a3 | 67 | // Check if it is a GPGGA msg (matches both locked and non-locked msg) |
ftagius | 1:d2ea48d59900 | 68 | // printf("$%s\r\n",msg); |
ftagius | 1:d2ea48d59900 | 69 | if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &l_latitude, &ns, &l_longitude, &ew, &lock) >= 1) { |
simon | 0:15611c7938a3 | 70 | if(!lock) { |
ftagius | 1:d2ea48d59900 | 71 | l_longitude = 0.0; |
ftagius | 1:d2ea48d59900 | 72 | l_latitude = 0.0; |
ftagius | 1:d2ea48d59900 | 73 | lock_valid = false; |
ftagius | 1:d2ea48d59900 | 74 | printf("lock valid is false\r\n"); |
ftagius | 1:d2ea48d59900 | 75 | return 1; |
simon | 0:15611c7938a3 | 76 | } else { |
ftagius | 1:d2ea48d59900 | 77 | //printf("%s\r\n", msg); |
ftagius | 1:d2ea48d59900 | 78 | if(ns == 'S') { l_latitude *= -1.0; } |
ftagius | 1:d2ea48d59900 | 79 | if(ew == 'W') { l_longitude *= -1.0; } |
ftagius | 1:d2ea48d59900 | 80 | float degrees = trunc(l_latitude / 100.0f); |
ftagius | 1:d2ea48d59900 | 81 | |
ftagius | 1:d2ea48d59900 | 82 | |
ftagius | 1:d2ea48d59900 | 83 | float minutes = l_latitude - (degrees * 100.0f); |
ftagius | 1:d2ea48d59900 | 84 | l_latitude = degrees + minutes / 60.0f; |
ftagius | 1:d2ea48d59900 | 85 | degrees = trunc(l_longitude / 100.0f); |
ftagius | 1:d2ea48d59900 | 86 | //degrees = trunc(longitude / 100.0f * 0.01f); |
ftagius | 1:d2ea48d59900 | 87 | //printf("my lon=%f deg=%f\r\n",longitude, degrees); |
ftagius | 1:d2ea48d59900 | 88 | minutes = l_longitude - (degrees * 100.0f); |
ftagius | 1:d2ea48d59900 | 89 | l_longitude = degrees + minutes / 60.0f; |
ftagius | 1:d2ea48d59900 | 90 | lock_valid = true; |
ftagius | 1:d2ea48d59900 | 91 | //printf("local: lat=%f lon=%f\r\n",l_latitude, l_longitude); |
ftagius | 1:d2ea48d59900 | 92 | //printf("gpgga rcvd\r\n"); |
ftagius | 1:d2ea48d59900 | 93 | |
ftagius | 1:d2ea48d59900 | 94 | rc = 1; |
simon | 0:15611c7938a3 | 95 | } |
simon | 0:15611c7938a3 | 96 | } |
ftagius | 1:d2ea48d59900 | 97 | // Check if it is a GPRMC msg |
ftagius | 1:d2ea48d59900 | 98 | else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%f,%d", &utc_time, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) { |
ftagius | 1:d2ea48d59900 | 99 | line_parsed = RMC; |
ftagius | 1:d2ea48d59900 | 100 | |
ftagius | 1:d2ea48d59900 | 101 | } |
ftagius | 1:d2ea48d59900 | 102 | // GLL - Geographic Position-Lat/Lon |
ftagius | 1:d2ea48d59900 | 103 | else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &l_latitude, &ns, &l_longitude, &ew, &utc_time, &gll_status) >= 1) { |
ftagius | 1:d2ea48d59900 | 104 | if(ns == 'S') { l_latitude *= -1.0; } |
ftagius | 1:d2ea48d59900 | 105 | if(ew == 'W') { l_longitude *= -1.0; } |
ftagius | 1:d2ea48d59900 | 106 | float degrees = trunc(l_latitude / 100.0f); |
ftagius | 1:d2ea48d59900 | 107 | //printf("my lat=%f deg=%f\r\n",latitude, degrees); |
ftagius | 1:d2ea48d59900 | 108 | |
ftagius | 1:d2ea48d59900 | 109 | float minutes = l_latitude - (degrees * 100.0f); |
ftagius | 1:d2ea48d59900 | 110 | l_latitude = degrees + minutes / 60.0f; |
ftagius | 1:d2ea48d59900 | 111 | degrees = trunc(l_longitude / 100.0f); |
ftagius | 1:d2ea48d59900 | 112 | //degrees = trunc(longitude / 100.0f * 0.01f); |
ftagius | 1:d2ea48d59900 | 113 | //printf("my lon=%f deg=%f\r\n",longitude, degrees); |
ftagius | 1:d2ea48d59900 | 114 | minutes = l_longitude - (degrees * 100.0f); |
ftagius | 1:d2ea48d59900 | 115 | l_longitude = degrees + minutes / 60.0f; |
ftagius | 1:d2ea48d59900 | 116 | lock_valid = true; |
ftagius | 1:d2ea48d59900 | 117 | line_parsed = GLL; |
ftagius | 1:d2ea48d59900 | 118 | //printf("gpgll rcvd\r\n"); |
ftagius | 1:d2ea48d59900 | 119 | |
ftagius | 1:d2ea48d59900 | 120 | rc = 1; |
ftagius | 1:d2ea48d59900 | 121 | |
ftagius | 1:d2ea48d59900 | 122 | } |
ftagius | 1:d2ea48d59900 | 123 | // VTG-Course Over Ground and Ground Speed |
ftagius | 1:d2ea48d59900 | 124 | else if (sscanf(msg, "GPVTG,%f,%c,%f,%c,%f,%c,%f,%c", &course_t, &course_t_unit, &course_m, &course_m_unit, &speed_k, &speed_k_unit, &speed_km, &speed_km_unit) >= 1) { |
ftagius | 1:d2ea48d59900 | 125 | line_parsed = VTG; |
ftagius | 1:d2ea48d59900 | 126 | |
ftagius | 1:d2ea48d59900 | 127 | } |
ftagius | 1:d2ea48d59900 | 128 | else if (sscanf(msg, "GPGSV,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d*", |
ftagius | 1:d2ea48d59900 | 129 | &sentences, &sentence_index, &satelites, |
ftagius | 1:d2ea48d59900 | 130 | &sat_data0id, &sat_data0elv, &sat_data0azimuth, &sat_data0sig, |
ftagius | 1:d2ea48d59900 | 131 | &sat_data1id, &sat_data1elv, &sat_data1azimuth, &sat_data1sig, |
ftagius | 1:d2ea48d59900 | 132 | &sat_data2id, &sat_data2elv, &sat_data2azimuth, &sat_data2sig, |
ftagius | 1:d2ea48d59900 | 133 | &sat_data3id, &sat_data3elv, &sat_data3azimuth, &sat_data3sig) >= 1 ) |
ftagius | 1:d2ea48d59900 | 134 | { |
ftagius | 1:d2ea48d59900 | 135 | int avg = (sat_data0sig+sat_data1sig+sat_data2sig)/3; |
ftagius | 1:d2ea48d59900 | 136 | //printf("gps snr_01=%d snr_02=%d, snr_03=%d, avg=%d\r\n", sat_data0sig, sat_data1sig, sat_data3sig, avg ); |
ftagius | 1:d2ea48d59900 | 137 | rc = 1; |
ftagius | 1:d2ea48d59900 | 138 | } |
ftagius | 1:d2ea48d59900 | 139 | else |
ftagius | 1:d2ea48d59900 | 140 | rc = 0; |
ftagius | 1:d2ea48d59900 | 141 | if (rc == 1) |
ftagius | 1:d2ea48d59900 | 142 | { |
ftagius | 1:d2ea48d59900 | 143 | |
ftagius | 1:d2ea48d59900 | 144 | return rc; |
ftagius | 1:d2ea48d59900 | 145 | } |
simon | 0:15611c7938a3 | 146 | } |
ftagius | 1:d2ea48d59900 | 147 | |
ftagius | 1:d2ea48d59900 | 148 | return rc; |
simon | 0:15611c7938a3 | 149 | } |
simon | 0:15611c7938a3 | 150 | |
simon | 0:15611c7938a3 | 151 | float GPS::trunc(float v) { |
simon | 0:15611c7938a3 | 152 | if(v < 0.0) { |
simon | 0:15611c7938a3 | 153 | v*= -1.0; |
simon | 0:15611c7938a3 | 154 | v = floor(v); |
simon | 0:15611c7938a3 | 155 | v*=-1.0; |
simon | 0:15611c7938a3 | 156 | } else { |
simon | 0:15611c7938a3 | 157 | v = floor(v); |
simon | 0:15611c7938a3 | 158 | } |
simon | 0:15611c7938a3 | 159 | return v; |
simon | 0:15611c7938a3 | 160 | } |
simon | 0:15611c7938a3 | 161 | |
simon | 0:15611c7938a3 | 162 | void GPS::getline() { |
ftagius | 1:d2ea48d59900 | 163 | //printf("in getline\r\n"); |
simon | 0:15611c7938a3 | 164 | while(_gps.getc() != '$'); // wait for the start of a line |
ftagius | 1:d2ea48d59900 | 165 | for(int i=0; i<1022; i++) { |
simon | 0:15611c7938a3 | 166 | msg[i] = _gps.getc(); |
simon | 0:15611c7938a3 | 167 | if(msg[i] == '\r') { |
simon | 0:15611c7938a3 | 168 | msg[i] = 0; |
ftagius | 1:d2ea48d59900 | 169 | //printf("return from getline\r\n"); |
simon | 0:15611c7938a3 | 170 | return; |
simon | 0:15611c7938a3 | 171 | } |
simon | 0:15611c7938a3 | 172 | } |
ftagius | 1:d2ea48d59900 | 173 | //printf("overflowed message limit\r\n"); |
simon | 0:15611c7938a3 | 174 | error("Overflowed message limit"); |
simon | 0:15611c7938a3 | 175 | } |
ftagius | 1:d2ea48d59900 | 176 | |
ftagius | 1:d2ea48d59900 | 177 | |
ftagius | 1:d2ea48d59900 | 178 | void GPS::sendCommand(char *str) { |
ftagius | 1:d2ea48d59900 | 179 | _gps.printf("%s",str); |
ftagius | 1:d2ea48d59900 | 180 | } |
ftagius | 1:d2ea48d59900 | 181 | |
ftagius | 1:d2ea48d59900 | 182 | void GPS::setBaud57600(void) { |
ftagius | 1:d2ea48d59900 | 183 | |
ftagius | 1:d2ea48d59900 | 184 | _gps.baud(9600); |
ftagius | 1:d2ea48d59900 | 185 | wait_ms(100); |
ftagius | 1:d2ea48d59900 | 186 | #if 0 |
ftagius | 1:d2ea48d59900 | 187 | _gps.printf("$PMTK251,57600*2C\r\n"); // set baud to 57600 |
ftagius | 1:d2ea48d59900 | 188 | wait(1); |
ftagius | 1:d2ea48d59900 | 189 | _gps.baud(57600); |
ftagius | 1:d2ea48d59900 | 190 | wait(1); |
ftagius | 1:d2ea48d59900 | 191 | #endif |
ftagius | 1:d2ea48d59900 | 192 | // getline(); |
ftagius | 1:d2ea48d59900 | 193 | // printf("msg2=%s\r\n", msg); |
ftagius | 1:d2ea48d59900 | 194 | |
ftagius | 1:d2ea48d59900 | 195 | //printf("gpsbaud is 57600\r\n"); |
ftagius | 1:d2ea48d59900 | 196 | //_gps.printf("$PMTK314,0,0,1,1,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2D\r\n"); // |
ftagius | 1:d2ea48d59900 | 197 | //_gps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");// |
ftagius | 1:d2ea48d59900 | 198 | |
ftagius | 1:d2ea48d59900 | 199 | |
ftagius | 1:d2ea48d59900 | 200 | _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n");// (output GGA only) |
ftagius | 1:d2ea48d59900 | 201 | //_gps.printf("$PMTK314,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); // output GGA and GSV |
ftagius | 1:d2ea48d59900 | 202 | //_gps.printf("$PMTK314,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n");// output GSV only |
ftagius | 1:d2ea48d59900 | 203 | // _gps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); // output all data |
ftagius | 1:d2ea48d59900 | 204 | //_gps.printf("$PMTK314,0,0,1,1,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2D\r\n"); // VTG, GGA and GSA. GSA is only sent once every five transmissions. |
ftagius | 1:d2ea48d59900 | 205 | #if 1 |
ftagius | 1:d2ea48d59900 | 206 | //_gps.printf("$MTK220,1000*1F\r\n"); // set 1 hz update rate |
ftagius | 1:d2ea48d59900 | 207 | wait_ms(100); |
ftagius | 1:d2ea48d59900 | 208 | _gps.printf("$PMTK220,200*2C\r\n"); // set 5 hz nmea echoe rate |
ftagius | 1:d2ea48d59900 | 209 | wait_ms(100); |
ftagius | 1:d2ea48d59900 | 210 | _gps.printf("$PMTK300,200,0,0,0,0*2F\r\n"); // set 5 hz position update rate |
ftagius | 1:d2ea48d59900 | 211 | wait_ms(100); |
ftagius | 1:d2ea48d59900 | 212 | //_gps.printf("$PMTK220,100*2\r\n"); // set 10 hz update rate |
ftagius | 1:d2ea48d59900 | 213 | #endif |
ftagius | 1:d2ea48d59900 | 214 | |
ftagius | 1:d2ea48d59900 | 215 | |
ftagius | 1:d2ea48d59900 | 216 | |
ftagius | 1:d2ea48d59900 | 217 | } |
ftagius | 1:d2ea48d59900 | 218 | |
ftagius | 1:d2ea48d59900 | 219 |