Habinthesky / GroveGPS

final groupe 1

GroveGPS.h@0:5f13a3b8bc13, 2019-02-03 (annotated)

Committer:
GrandDiego
Date:
Sun Feb 03 19:36:08 2019 +0000
Revision:
0:5f13a3b8bc13
final groupe 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GrandDiego 0:5f13a3b8bc13 1 #ifndef _GROVE_GPS_H_
GrandDiego 0:5f13a3b8bc13 2 #define _GROVE_GPS_H_
GrandDiego 0:5f13a3b8bc13 3
GrandDiego 0:5f13a3b8bc13 4 #include "mbed.h"
GrandDiego 0:5f13a3b8bc13 5 #include <stdlib.h>
GrandDiego 0:5f13a3b8bc13 6 #include <string>
GrandDiego 0:5f13a3b8bc13 7
GrandDiego 0:5f13a3b8bc13 8 class GroveGPS {
GrandDiego 0:5f13a3b8bc13 9
GrandDiego 0:5f13a3b8bc13 10 public:
GrandDiego 0:5f13a3b8bc13 11
GrandDiego 0:5f13a3b8bc13 12 GroveGPS() : _last_line("") {}
GrandDiego 0:5f13a3b8bc13 13
GrandDiego 0:5f13a3b8bc13 14 void readCharacter(char newCharacter) {
GrandDiego 0:5f13a3b8bc13 15 if (newCharacter == '\n') {
GrandDiego 0:5f13a3b8bc13 16 parseLine();
GrandDiego 0:5f13a3b8bc13 17 _last_line = "";
GrandDiego 0:5f13a3b8bc13 18 } else {
GrandDiego 0:5f13a3b8bc13 19 _last_line += newCharacter;
GrandDiego 0:5f13a3b8bc13 20 }
GrandDiego 0:5f13a3b8bc13 21 }
GrandDiego 0:5f13a3b8bc13 22
GrandDiego 0:5f13a3b8bc13 23 struct GGA {
GrandDiego 0:5f13a3b8bc13 24 double utc_time; // Format: hhmmss.sss
GrandDiego 0:5f13a3b8bc13 25 double latitude; // Format: ddmm.mmmm
GrandDiego 0:5f13a3b8bc13 26 char ns_indicator; // Format: N=north or S=south
GrandDiego 0:5f13a3b8bc13 27 double longitude; // Format: dddmm.mmmm
GrandDiego 0:5f13a3b8bc13 28 char ew_indicator; // Format: E=east or W=west
GrandDiego 0:5f13a3b8bc13 29 int position_fix; // Options: [0=not available, 1=GPS SPS mode, 2=Differential GPS, 6=dead reckoning]
GrandDiego 0:5f13a3b8bc13 30 int sats_used; // Range: 0-12
GrandDiego 0:5f13a3b8bc13 31 double hdop; // Horizontal Dilution of Precision
GrandDiego 0:5f13a3b8bc13 32 double msl_altitude;
GrandDiego 0:5f13a3b8bc13 33 char msl_altitude_units;
GrandDiego 0:5f13a3b8bc13 34 double geoid_separation;
GrandDiego 0:5f13a3b8bc13 35 char geoid_separation_units;
GrandDiego 0:5f13a3b8bc13 36 long age_of_diff;
GrandDiego 0:5f13a3b8bc13 37 long diff_ref_station_id;
GrandDiego 0:5f13a3b8bc13 38 std::string checksum;
GrandDiego 0:5f13a3b8bc13 39 } gps_gga;
GrandDiego 0:5f13a3b8bc13 40
GrandDiego 0:5f13a3b8bc13 41 struct VTG {
GrandDiego 0:5f13a3b8bc13 42 double speed_over_ground;
GrandDiego 0:5f13a3b8bc13 43 } gps_vtg;
GrandDiego 0:5f13a3b8bc13 44
GrandDiego 0:5f13a3b8bc13 45 void getTimestamp(char* buffer) {
GrandDiego 0:5f13a3b8bc13 46 sprintf(buffer, "%f", gps_gga.utc_time);
GrandDiego 0:5f13a3b8bc13 47 }
GrandDiego 0:5f13a3b8bc13 48
GrandDiego 0:5f13a3b8bc13 49 void getLatitude(char* buffer) {
GrandDiego 0:5f13a3b8bc13 50 double coordinate = convertGPSToDecimal(gps_gga.latitude);
GrandDiego 0:5f13a3b8bc13 51 if (gps_gga.position_fix==0)
GrandDiego 0:5f13a3b8bc13 52 sprintf(buffer, "N/A");
GrandDiego 0:5f13a3b8bc13 53 else
GrandDiego 0:5f13a3b8bc13 54 sprintf(buffer, "%c%f", (gps_gga.ns_indicator == 'N') ? '0' : '-', coordinate);
GrandDiego 0:5f13a3b8bc13 55 }
GrandDiego 0:5f13a3b8bc13 56
GrandDiego 0:5f13a3b8bc13 57 void getLongitude(char* buffer) {
GrandDiego 0:5f13a3b8bc13 58 double coordinate = convertGPSToDecimal(gps_gga.longitude);
GrandDiego 0:5f13a3b8bc13 59 if (gps_gga.position_fix==0)
GrandDiego 0:5f13a3b8bc13 60 sprintf(buffer, "N/A");
GrandDiego 0:5f13a3b8bc13 61 else
GrandDiego 0:5f13a3b8bc13 62 sprintf(buffer, "%c%f", (gps_gga.ew_indicator == 'E') ? '0' : '-', coordinate);
GrandDiego 0:5f13a3b8bc13 63 }
GrandDiego 0:5f13a3b8bc13 64
GrandDiego 0:5f13a3b8bc13 65 void getAltitude(char* buffer) {
GrandDiego 0:5f13a3b8bc13 66 if (gps_gga.position_fix==0)
GrandDiego 0:5f13a3b8bc13 67 sprintf(buffer, "N/A");
GrandDiego 0:5f13a3b8bc13 68 else
GrandDiego 0:5f13a3b8bc13 69 sprintf(buffer, "%f", gps_gga.msl_altitude);
GrandDiego 0:5f13a3b8bc13 70 }
GrandDiego 0:5f13a3b8bc13 71
GrandDiego 0:5f13a3b8bc13 72 void getSpeed(char* buffer) {
GrandDiego 0:5f13a3b8bc13 73 if (gps_gga.position_fix==0)
GrandDiego 0:5f13a3b8bc13 74 sprintf(buffer, "N/A");
GrandDiego 0:5f13a3b8bc13 75 else
GrandDiego 0:5f13a3b8bc13 76 sprintf(buffer, "%f", gps_vtg.speed_over_ground);
GrandDiego 0:5f13a3b8bc13 77 }
GrandDiego 0:5f13a3b8bc13 78
GrandDiego 0:5f13a3b8bc13 79
GrandDiego 0:5f13a3b8bc13 80 private:
GrandDiego 0:5f13a3b8bc13 81 std::string _last_line;
GrandDiego 0:5f13a3b8bc13 82
GrandDiego 0:5f13a3b8bc13 83 double convertGPSToDecimal(double coordinate) {
GrandDiego 0:5f13a3b8bc13 84 int degrees = coordinate/100.0;
GrandDiego 0:5f13a3b8bc13 85 int minutes = ((int)coordinate) % 100;
GrandDiego 0:5f13a3b8bc13 86 double seconds = coordinate - ((int)coordinate);
GrandDiego 0:5f13a3b8bc13 87 return degrees + (minutes+seconds)/60;
GrandDiego 0:5f13a3b8bc13 88
GrandDiego 0:5f13a3b8bc13 89 }
GrandDiego 0:5f13a3b8bc13 90
GrandDiego 0:5f13a3b8bc13 91 void parseLine() {
GrandDiego 0:5f13a3b8bc13 92 if (_last_line.find("GPGGA") != std::string::npos) {
GrandDiego 0:5f13a3b8bc13 93 parseGGA();
GrandDiego 0:5f13a3b8bc13 94 }
GrandDiego 0:5f13a3b8bc13 95 if (_last_line.find("GPVTG") != std::string::npos) {
GrandDiego 0:5f13a3b8bc13 96 parseVTG();
GrandDiego 0:5f13a3b8bc13 97 }
GrandDiego 0:5f13a3b8bc13 98 }
GrandDiego 0:5f13a3b8bc13 99
GrandDiego 0:5f13a3b8bc13 100 void parseGGA() {
GrandDiego 0:5f13a3b8bc13 101 char* pEnd;
GrandDiego 0:5f13a3b8bc13 102 for (int i=0; i<16; i++) {
GrandDiego 0:5f13a3b8bc13 103 std::string current_item = _last_line.substr(0,_last_line.find(","));
GrandDiego 0:5f13a3b8bc13 104 _last_line = _last_line.substr(_last_line.find(",")+1);
GrandDiego 0:5f13a3b8bc13 105 if (i==0) { // NMEA Tag
GrandDiego 0:5f13a3b8bc13 106 } else if (i==1) { // UTC time
GrandDiego 0:5f13a3b8bc13 107 gps_gga.utc_time = strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 108 } else if (i==2) { // Latitude
GrandDiego 0:5f13a3b8bc13 109 gps_gga.latitude = strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 110 } else if (i==3) { // Latitude North/South indicator
GrandDiego 0:5f13a3b8bc13 111 gps_gga.ns_indicator = current_item[0];
GrandDiego 0:5f13a3b8bc13 112 } else if (i==4) { // Longitude
GrandDiego 0:5f13a3b8bc13 113 gps_gga.longitude = strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 114 } else if (i==5) { // Longitude indicator
GrandDiego 0:5f13a3b8bc13 115 gps_gga.ew_indicator = current_item[0];
GrandDiego 0:5f13a3b8bc13 116 } else if (i==6) {
GrandDiego 0:5f13a3b8bc13 117 gps_gga.position_fix = strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 118 }/* else if(i==7) {
GrandDiego 0:5f13a3b8bc13 119 gps_gga.sats_used=strtod(current_item.c_str(),&pEnd);
GrandDiego 0:5f13a3b8bc13 120 } else if(i==8) {
GrandDiego 0:5f13a3b8bc13 121 gps_gga.hdop=strtod(curernt_item.c_str(),&pend);
GrandDiego 0:5f13a3b8bc13 122 }*/ else if(i==9) {
GrandDiego 0:5f13a3b8bc13 123 gps_gga.msl_altitude=strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 124 }else if(i==10) {
GrandDiego 0:5f13a3b8bc13 125 gps_gga.msl_altitude_units=current_item[0];
GrandDiego 0:5f13a3b8bc13 126 }/*else if(i==11) {
GrandDiego 0:5f13a3b8bc13 127 gps_gga.geoid_separation=strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 128 } else if(i==12) {
GrandDiego 0:5f13a3b8bc13 129 gps_gga.geoid_seperation_units=current_item[0];
GrandDiego 0:5f13a3b8bc13 130 } else if(i==13) {
GrandDiego 0:5f13a3b8bc13 131 gps_gga.age_of_diff=strtol(current_item.c_str(), &pEnd, 10);
GrandDiego 0:5f13a3b8bc13 132 } else if(i==14) {
GrandDiego 0:5f13a3b8bc13 133 gps_gga.diff_ref_station_id=strtol(current_item.c_str(), &pEnd, 10);
GrandDiego 0:5f13a3b8bc13 134 } */
GrandDiego 0:5f13a3b8bc13 135 }
GrandDiego 0:5f13a3b8bc13 136 }
GrandDiego 0:5f13a3b8bc13 137
GrandDiego 0:5f13a3b8bc13 138 void parseVTG() {
GrandDiego 0:5f13a3b8bc13 139 char* pEnd;
GrandDiego 0:5f13a3b8bc13 140 for (int i=0; i<9; i++) {
GrandDiego 0:5f13a3b8bc13 141 std::string current_item = _last_line.substr(0,_last_line.find(","));
GrandDiego 0:5f13a3b8bc13 142 _last_line = _last_line.substr(_last_line.find(",")+1);
GrandDiego 0:5f13a3b8bc13 143 if (i==0) {
GrandDiego 0:5f13a3b8bc13 144 } else if (i==7) {
GrandDiego 0:5f13a3b8bc13 145 gps_vtg.speed_over_ground = strtod(current_item.c_str(), &pEnd);
GrandDiego 0:5f13a3b8bc13 146 }
GrandDiego 0:5f13a3b8bc13 147 }
GrandDiego 0:5f13a3b8bc13 148 }
GrandDiego 0:5f13a3b8bc13 149 };
GrandDiego 0:5f13a3b8bc13 150
GrandDiego 0:5f13a3b8bc13 151 #endif