Adafruit GPS library
Revision 0:ba9ed1caafc3, committed 2015-12-05
- Comitter:
- ptcrews
- Date:
- Sat Dec 05 07:30:18 2015 +0000
- Commit message:
- Adafruit GPS library
Changed in this revision
MBed_Adafruit_GPS.cpp | Show annotated file Show diff for this revision Revisions of this file |
MBed_Adafruit_GPS.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MBed_Adafruit_GPS.cpp Sat Dec 05 07:30:18 2015 +0000 @@ -0,0 +1,350 @@ +/*********************************** +This is our GPS library + +Adafruit invests time and resources providing this open source code, +please support Adafruit and open-source hardware by purchasing +products from Adafruit! + +Written by Limor Fried/Ladyada for Adafruit Industries. +BSD license, check license.txt for more information +All text above must be included in any redistribution +****************************************/ + +#include "MBed_Adafruit_GPS.h" + +// how long are max NMEA lines to parse? +#define MAXLINELENGTH 120 + +// we double buffer: read one line in and leave one for the main program +volatile char line1[MAXLINELENGTH]; +volatile char line2[MAXLINELENGTH]; +// our index into filling the current line +volatile uint16_t lineidx=0; +// pointers to the double buffers +volatile char *currentline; +volatile char *lastline; +volatile bool recvdflag; +volatile bool inStandbyMode; + + +bool Adafruit_GPS::parse(char *nmea) { + // do checksum check + + // first look if we even have one + if (nmea[strlen(nmea)-4] == '*') { + uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16; + sum += parseHex(nmea[strlen(nmea)-2]); + + // check checksum + for (uint8_t i=1; i < (strlen(nmea)-4); i++) { + sum ^= nmea[i]; + } + if (sum != 0) { + // bad checksum :( + //return false; + } + } + + // look for a few common sentences + if (strstr(nmea, "$GPGGA")) { + // found GGA + char *p = nmea; + // get time + p = strchr(p, ',')+1; + float timef = atof(p); + uint32_t time = timef; + hour = time / 10000; + minute = (time % 10000) / 100; + seconds = (time % 100); + + milliseconds = fmod((double) timef, 1.0) * 1000; + + // parse out latitude + p = strchr(p, ',')+1; + latitude = atof(p); + + p = strchr(p, ',')+1; + if (p[0] == 'N') lat = 'N'; + else if (p[0] == 'S') lat = 'S'; + else if (p[0] == ',') lat = 0; + else return false; + + // parse out longitude + p = strchr(p, ',')+1; + longitude = atof(p); + + p = strchr(p, ',')+1; + if (p[0] == 'W') lon = 'W'; + else if (p[0] == 'E') lon = 'E'; + else if (p[0] == ',') lon = 0; + else return false; + + p = strchr(p, ',')+1; + fixquality = atoi(p); + + p = strchr(p, ',')+1; + satellites = atoi(p); + + p = strchr(p, ',')+1; + HDOP = atof(p); + + p = strchr(p, ',')+1; + altitude = atof(p); + p = strchr(p, ',')+1; + p = strchr(p, ',')+1; + geoidheight = atof(p); + return true; + } + if (strstr(nmea, "$GPRMC")) { + // found RMC + char *p = nmea; + + // get time + p = strchr(p, ',')+1; + float timef = atof(p); + uint32_t time = timef; + hour = time / 10000; + minute = (time % 10000) / 100; + seconds = (time % 100); + + milliseconds = fmod((double) timef, 1.0) * 1000; + + p = strchr(p, ',')+1; + // Serial.println(p); + if (p[0] == 'A') + fix = true; + else if (p[0] == 'V') + fix = false; + else + return false; + + // parse out latitude + p = strchr(p, ',')+1; + latitude = atof(p); + + p = strchr(p, ',')+1; + if (p[0] == 'N') lat = 'N'; + else if (p[0] == 'S') lat = 'S'; + else if (p[0] == ',') lat = 0; + else return false; + + // parse out longitude + p = strchr(p, ',')+1; + longitude = atof(p); + + p = strchr(p, ',')+1; + if (p[0] == 'W') lon = 'W'; + else if (p[0] == 'E') lon = 'E'; + else if (p[0] == ',') lon = 0; + else return false; + + // speed + p = strchr(p, ',')+1; + speed = atof(p); + + // angle + p = strchr(p, ',')+1; + angle = atof(p); + + p = strchr(p, ',')+1; + uint32_t fulldate = atof(p); + day = fulldate / 10000; + month = (fulldate % 10000) / 100; + year = (fulldate % 100); + + // we dont parse the remaining, yet! + return true; + } + + return false; +} + +char Adafruit_GPS::read(void) { + char c = 0; + + if (paused) return c; + + if(!gpsSerial->readable()) return c; + c = gpsSerial->getc(); + + //Serial.print(c); + + if (c == '$') { + currentline[lineidx] = 0; + lineidx = 0; + } + if (c == '\n') { + currentline[lineidx] = 0; + + if (currentline == line1) { + currentline = line2; + lastline = line1; + } else { + currentline = line1; + lastline = line2; + } + + lineidx = 0; + recvdflag = true; + } + + currentline[lineidx++] = c; + if (lineidx >= MAXLINELENGTH) + lineidx = MAXLINELENGTH-1; + + return c; +} + +Adafruit_GPS::Adafruit_GPS (Serial *ser) +{ + common_init(); // Set everything to common state, then... + gpsSerial = ser; // ...override gpsSwSerial with value passed. +} + +// Initialization code used by all constructor types +void Adafruit_GPS::common_init(void) { + gpsSerial = NULL; + recvdflag = false; + paused = false; + lineidx = 0; + currentline = line1; + lastline = line2; + + hour = minute = seconds = year = month = day = + fixquality = satellites = 0; // uint8_t + lat = lon = mag = 0; // char + fix = false; // bool + milliseconds = 0; // uint16_t + latitude = longitude = geoidheight = altitude = + speed = angle = magvariation = HDOP = 0.0; // float +} + +void Adafruit_GPS::begin(int baud) +{ + gpsSerial->baud(baud); + wait_ms(10); +} + +void Adafruit_GPS::sendCommand(char *str) { + gpsSerial->printf("%s",str); +} + +bool Adafruit_GPS::newNMEAreceived(void) { + return recvdflag; +} + +void Adafruit_GPS::pause(bool p) { + paused = p; +} + +char *Adafruit_GPS::lastNMEA(void) { + recvdflag = false; + return (char *)lastline; +} + +// read a Hex value and return the decimal equivalent +uint8_t Adafruit_GPS::parseHex(char c) { + if (c < '0') + return 0; + if (c <= '9') + return c - '0'; + if (c < 'A') + return 0; + if (c <= 'F') + return (c - 'A')+10; +} + +bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) { + char str[20]; + + uint8_t i=0; + while (i < max) { + if (newNMEAreceived()) { + char *nmea = lastNMEA(); + strncpy(str, nmea, 20); + str[19] = 0; + i++; + + if (strstr(str, wait4me)) + return true; + } + } + + return false; +} + +bool Adafruit_GPS::LOCUS_StartLogger(void) { + sendCommand(PMTK_LOCUS_STARTLOG); + recvdflag = false; + return waitForSentence(PMTK_LOCUS_LOGSTARTED); +} + +bool Adafruit_GPS::LOCUS_ReadStatus(void) { + sendCommand(PMTK_LOCUS_QUERY_STATUS); + + if (! waitForSentence("$PMTKLOG")) + return false; + + char *response = lastNMEA(); + uint16_t parsed[10]; + uint8_t i; + + for (i=0; i<10; i++) parsed[i] = -1; + + response = strchr(response, ','); + for (i=0; i<10; i++) { + if (!response || (response[0] == 0) || (response[0] == '*')) + break; + response++; + parsed[i]=0; + while ((response[0] != ',') && + (response[0] != '*') && (response[0] != 0)) { + parsed[i] *= 10; + char c = response[0]; + if (isdigit(c)) + parsed[i] += c - '0'; + else + parsed[i] = c; + response++; + } + } + LOCUS_serial = parsed[0]; + LOCUS_type = parsed[1]; + if (isalpha(parsed[2])) { + parsed[2] = parsed[2] - 'a' + 10; + } + LOCUS_mode = parsed[2]; + LOCUS_config = parsed[3]; + LOCUS_interval = parsed[4]; + LOCUS_distance = parsed[5]; + LOCUS_speed = parsed[6]; + LOCUS_status = !parsed[7]; + LOCUS_records = parsed[8]; + LOCUS_percent = parsed[9]; + + return true; +} + +// Standby Mode Switches +bool Adafruit_GPS::standby(void) { + if (inStandbyMode) { + return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS + } + else { + inStandbyMode = true; + sendCommand(PMTK_STANDBY); + //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working + return true; + } +} + +bool Adafruit_GPS::wakeup(void) { + if (inStandbyMode) { + inStandbyMode = false; + sendCommand(""); // send byte to wake it up + return waitForSentence(PMTK_AWAKE); + } + else { + return false; // Returns false if not in standby mode, nothing to wakeup + } +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MBed_Adafruit_GPS.h Sat Dec 05 07:30:18 2015 +0000 @@ -0,0 +1,115 @@ +/*********************************** +This is the Adafruit GPS library - the ultimate GPS library +for the ultimate GPS module! + +Tested and works great with the Adafruit Ultimate GPS module +using MTK33x9 chipset + ------> http://www.adafruit.com/products/746 +Pick one up today at the Adafruit electronics shop +and help support open source hardware & software! -ada + +Adafruit invests time and resources providing this open source code, +please support Adafruit and open-source hardware by purchasing +products from Adafruit! + +Written by Limor Fried/Ladyada for Adafruit Industries. +BSD license, check license.txt for more information +All text above must be included in any redistribution +****************************************/ +#include "mbed.h" +#include <stdint.h> +#include <math.h> +#include <ctype.h> + +#ifndef _MBED_ADAFRUIT_GPS_H +#define _MBED_ADAFRUIT_GPS_H + + +// different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz) +#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F" +#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" +#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F" + + +#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C" +#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17" + +// turn on only the second sentence (GPRMC) +#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" +// turn on GPRMC and GGA +#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" +// turn on ALL THE DATA +#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28" +// turn off output +#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" + +// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator +// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html + +#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22" +#define PMTK_LOCUS_LOGSTARTED "$PMTK001,185,3*3C" +#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38" +#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22" +#define LOCUS_OVERLAP 0 +#define LOCUS_FULLSTOP 1 + +// standby command & boot successful message +#define PMTK_STANDBY "$PMTK161,0*28" +#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently +#define PMTK_AWAKE "$PMTK010,002*2D" + +// ask for the release and version +#define PMTK_Q_RELEASE "$PMTK605*31" + +// request for updates on antenna status +#define PGCMD_ANTENNA "$PGCMD,33,1*6C" +#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" + +// how long to wait when we're looking for a response +#define MAXWAITSENTENCE 5 + + + +class Adafruit_GPS { + public: + void begin(int baud); + + Adafruit_GPS(Serial * ser); + + char *lastNMEA(void); + bool newNMEAreceived(); + void common_init(void); + void sendCommand(char *); + void pause(bool b); + + bool parseNMEA(char *response); + uint8_t parseHex(char c); + + char read(void); + bool parse(char * nmea); + void interruptReads(bool r); + + bool wakeup(void); + bool standby(void); + + uint8_t hour, minute, seconds, year, month, day; + uint16_t milliseconds; + float latitude, longitude, geoidheight, altitude; + float speed, angle, magvariation, HDOP; + char lat, lon, mag; + bool fix; + uint8_t fixquality, satellites; + + bool waitForSentence(char *wait, uint8_t max = MAXWAITSENTENCE); + bool LOCUS_StartLogger(void); + bool LOCUS_ReadStatus(void); + + uint16_t LOCUS_serial, LOCUS_records; + uint8_t LOCUS_type, LOCUS_mode, LOCUS_config, LOCUS_interval, LOCUS_distance, LOCUS_speed, LOCUS_status, LOCUS_percent; + private: + bool paused; + + Serial * gpsSerial; +}; + +#endif \ No newline at end of file