Revision 1:d2ea48d59900, committed 2015-06-16

Comitter:

ftagius

Date:

Tue Jun 16 11:52:07 2015 +0000

Parent:

0:15611c7938a3

Commit message:

local updates

Changed in this revision

diff -r 15611c7938a3 -r d2ea48d59900 GPS.cpp
--- a/GPS.cpp	Tue Jun 08 14:10:27 2010 +0000
+++ b/GPS.cpp	Tue Jun 16 11:52:07 2015 +0000
@@ -23,38 +23,129 @@
 #include "GPS.h"
 
 GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
-    _gps.baud(4800);    
-    longitude = 0.0;
-    latitude = 0.0;        
+    _gps.baud(9600);    
+    l_longitude = 0.0;
+    l_latitude = 0.0;        
+    r_longitude = 0.0;
+    r_latitude = 0.0;   
+    distance = -1;
+    lock_valid = false;
+    sentences = 0;
+    sentence_index=0;
+    satelites=0;
+    sat_data0id=0; 
+    sat_data0elv=0; 
+    sat_data0azimuth=0;
+    sat_data0sig=0;
+    sat_data1id=0;
+    sat_data1elv=0;
+    sat_data1azimuth=0;
+    sat_data1sig=0;
+    sat_data2id=0;
+    sat_data2elv=0;
+    sat_data2azimuth=0;
+    sat_data2sig=0;
+    sat_data3id=0;
+    sat_data3elv=0;
+    sat_data3azimuth=0;
+    sat_data3sig=0;
 }
 
+void GPS::flushSerialBuffer(void) { char char1 = 0; while (_gps.readable()) { char1 = _gps.getc(); } return; }
+
 int GPS::sample() {
     float time;
     char ns, ew;
     int lock;
-
+    int rc = 0;
+    int line_parsed = 0;
+    //printf("in gpsd sample \r\n");
     while(1) {        
+     
         getline();
-
+       
         // Check if it is a GPGGA msg (matches both locked and non-locked msg)
-        if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) { 
+        // printf("$%s\r\n",msg);
+        if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &l_latitude, &ns, &l_longitude, &ew, &lock) >= 1) { 
             if(!lock) {
-                longitude = 0.0;
-                latitude = 0.0;        
-                return 0;
+                l_longitude = 0.0;
+                l_latitude = 0.0; 
+                lock_valid = false;  
+                printf("lock valid is false\r\n");     
+                return 1;
             } else {
-                if(ns == 'S') {    latitude  *= -1.0; }
-                if(ew == 'W') {    longitude *= -1.0; }
-                float degrees = trunc(latitude / 100.0f);
-                float minutes = latitude - (degrees * 100.0f);
-                latitude = degrees + minutes / 60.0f;    
-                degrees = trunc(longitude / 100.0f * 0.01f);
-                minutes = longitude - (degrees * 100.0f);
-                longitude = degrees + minutes / 60.0f;
-                return 1;
+                //printf("%s\r\n", msg);
+                if(ns == 'S') {    l_latitude  *= -1.0; }
+                if(ew == 'W') {    l_longitude *= -1.0; }
+                float degrees = trunc(l_latitude / 100.0f);
+               
+
+                float minutes = l_latitude - (degrees * 100.0f);
+                l_latitude = degrees + minutes / 60.0f;    
+                degrees = trunc(l_longitude / 100.0f);
+               //degrees = trunc(longitude / 100.0f * 0.01f);
+                //printf("my lon=%f deg=%f\r\n",longitude, degrees);
+                minutes = l_longitude - (degrees * 100.0f);
+                l_longitude = degrees + minutes / 60.0f;
+                lock_valid = true;
+                //printf("local: lat=%f lon=%f\r\n",l_latitude, l_longitude);
+               //printf("gpgga rcvd\r\n");
+
+               rc = 1;
             }
         }
+        // Check if it is a GPRMC msg
+        else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%f,%d", &utc_time, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
+            line_parsed = RMC;
+                    
+        }
+        // GLL - Geographic Position-Lat/Lon
+        else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &l_latitude, &ns, &l_longitude, &ew, &utc_time, &gll_status) >= 1) {
+                if(ns == 'S') {    l_latitude  *= -1.0; }
+                if(ew == 'W') {    l_longitude *= -1.0; }
+                float degrees = trunc(l_latitude / 100.0f);
+                //printf("my lat=%f deg=%f\r\n",latitude, degrees);
+
+                float minutes = l_latitude - (degrees * 100.0f);
+                l_latitude = degrees + minutes / 60.0f;    
+                degrees = trunc(l_longitude / 100.0f);
+               //degrees = trunc(longitude / 100.0f * 0.01f);
+                //printf("my lon=%f deg=%f\r\n",longitude, degrees);
+                minutes = l_longitude - (degrees * 100.0f);
+                l_longitude = degrees + minutes / 60.0f;
+                lock_valid = true;
+                line_parsed = GLL;
+                //printf("gpgll rcvd\r\n");
+
+                rc = 1;
+         
+        }
+        // VTG-Course Over Ground and Ground Speed
+        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) {
+            line_parsed = VTG;
+         
+        }
+        else if (sscanf(msg, "GPGSV,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d*",
+        &sentences, &sentence_index, &satelites,
+        &sat_data0id, &sat_data0elv, &sat_data0azimuth, &sat_data0sig,
+        &sat_data1id, &sat_data1elv, &sat_data1azimuth, &sat_data1sig,
+        &sat_data2id, &sat_data2elv, &sat_data2azimuth, &sat_data2sig,
+        &sat_data3id, &sat_data3elv, &sat_data3azimuth, &sat_data3sig) >= 1 )
+        {
+            int avg = (sat_data0sig+sat_data1sig+sat_data2sig)/3;
+            //printf("gps snr_01=%d snr_02=%d, snr_03=%d, avg=%d\r\n", sat_data0sig, sat_data1sig, sat_data3sig, avg );
+            rc = 1;
+        }
+        else
+            rc = 0;
+        if (rc == 1)
+        { 
+           
+            return rc;
+        }
     }
+ 
+    return rc;
 }
 
 float GPS::trunc(float v) {
@@ -69,13 +160,60 @@
 }
 
 void GPS::getline() {
+    //printf("in getline\r\n");
     while(_gps.getc() != '$');    // wait for the start of a line
-    for(int i=0; i<256; i++) {
+    for(int i=0; i<1022; i++) {
         msg[i] = _gps.getc();
         if(msg[i] == '\r') {
             msg[i] = 0;
+            //printf("return from getline\r\n");
             return;
         }
     }
+    //printf("overflowed message limit\r\n");
     error("Overflowed message limit");
 }
+
+
+void GPS::sendCommand(char *str) {
+  _gps.printf("%s",str);
+}
+
+void GPS::setBaud57600(void) {
+  
+   _gps.baud(9600);
+   wait_ms(100);
+#if 0   
+   _gps.printf("$PMTK251,57600*2C\r\n"); // set baud to 57600
+   wait(1);
+   _gps.baud(57600);
+   wait(1);
+#endif   
+  // getline();
+  //  printf("msg2=%s\r\n", msg);
+ 
+  //printf("gpsbaud is 57600\r\n");
+  //_gps.printf("$PMTK314,0,0,1,1,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2D\r\n"); // 
+  //_gps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");//
+   
+ 
+   _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n");// (output GGA only)
+  //_gps.printf("$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
+  //_gps.printf("$PMTK314,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n");// output GSV only
+  // _gps.printf("$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
+ //_gps.printf("$PMTK314,0,0,1,1,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2D\r\n"); //  VTG, GGA and GSA. GSA is only sent once every five transmissions.
+#if 1   
+   //_gps.printf("$MTK220,1000*1F\r\n"); // set 1 hz update rate
+   wait_ms(100);
+  _gps.printf("$PMTK220,200*2C\r\n"); // set 5 hz nmea echoe rate
+  wait_ms(100);
+  _gps.printf("$PMTK300,200,0,0,0,0*2F\r\n"); // set 5 hz position update rate
+  wait_ms(100);
+  //_gps.printf("$PMTK220,100*2\r\n");  // set  10 hz update rate
+#endif  
+
+
+  
+}
+
+ 

diff -r 15611c7938a3 -r d2ea48d59900 GPS.h
--- a/GPS.h	Tue Jun 08 14:10:27 2010 +0000
+++ b/GPS.h	Tue Jun 16 11:52:07 2015 +0000
@@ -24,6 +24,10 @@
 
 #ifndef MBED_GPS_H
 #define MBED_GPS_H
+#define GGA         3
+#define GLL         4
+#define RMC         5
+#define VTG         6
 
 /**  A GPS interface for reading from a Globalsat EM-406 GPS Module */
 class GPS {
@@ -38,20 +42,65 @@
      * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
      */
     int sample();
+    void flushSerialBuffer(void);
     
     /** The longitude (call sample() to set) */
-    float longitude;
-
+    float l_longitude;  // local longitude
+    float r_longitude;  // remote longitude
     /** The latitude (call sample() to set) */
-    float latitude;
+    float l_latitude;  // local latitude
+    float r_latitude;  // remote latitude
+    float nmea_longitude;
+    float nmea_latitude;    
+    float utc_time;
+    char rmc_status;
+    float speed_k;
+    float course_d;
+    int date;
+    float distance;
+    bool lock_valid;
+    // GLL
+    char gll_status;
     
+    // VTG - Course over ground, ground speed
+    float course_t; // ground speed true
+    char course_t_unit;
+    float course_m; // magnetic
+    char course_m_unit;
+    char speed_k_unit;
+    float speed_km; // speek km/hr
+    char speed_km_unit;
+    void sendCommand(char *str);
+    void setBaud57600(void);
+    int sentences;
+    int sentence_index;
+    int satelites;
+    int sat_data0id; 
+    int sat_data0elv; 
+    int sat_data0azimuth;
+    int sat_data0sig;
+    int sat_data1id;
+    int sat_data1elv;
+    int sat_data1azimuth;
+    int sat_data1sig;
+    int sat_data2id;
+    int sat_data2elv;
+    int sat_data2azimuth;
+    int sat_data2sig;
+    int sat_data3id;
+    int sat_data3elv;
+    int sat_data3azimuth;
+    int sat_data3sig;
+        
 private:
     float trunc(float v);
     void getline();
-    
+     
     Serial _gps;
-    char msg[256];
+    char msg[1024];
 
 };
 
+//extern GPS gps;
+
 #endif