Multi-Hackers / GpsParser

GPS NEMA String parser library. Only supports SkyTraq Venus chip at this time.

Dependents:   MTDOT-EVB-LinkCheck-AL MTDOT-BOX-EVB-Factory-Firmware-LIB-108 TelitSensorToCloud mDot_sensor_to_cloud ... more

GPSPARSER.cpp@9:a4d4ab3b0f23, 2015-12-14 (annotated)

Committer:
Mike Fiore
Date:
Mon Dec 14 09:08:31 2015 -0600
Revision:
9:a4d4ab3b0f23
Parent:
8:5fa40fa372e2
Child:
10:465f9db415ea
fix build break

Who changed what in which revision?

UserRevisionLine numberNew contents of line
falingtrea 0:d2169fecf3fb 1 /**
falingtrea 0:d2169fecf3fb 2 * @file NemaParser.cpp
falingtrea 0:d2169fecf3fb 3 * @brief NEMA String to Packet Parser - NEMA strings to compact packet data
falingtrea 0:d2169fecf3fb 4 * @author Tim Barr
falingtrea 1:58c50bb3c60c 5 * @version 1.01
falingtrea 0:d2169fecf3fb 6 * @see http://www.kh-gps.de/nmea.faq
falingtrea 0:d2169fecf3fb 7 * @see http://www.catb.org/gpsd/NMEA.html
falingtrea 0:d2169fecf3fb 8 *
falingtrea 0:d2169fecf3fb 9 * Copyright (c) 2015
falingtrea 0:d2169fecf3fb 10 *
falingtrea 0:d2169fecf3fb 11 * Licensed under the Apache License, Version 2.0 (the "License");
falingtrea 0:d2169fecf3fb 12 * you may not use this file except in compliance with the License.
falingtrea 0:d2169fecf3fb 13 * You may obtain a copy of the License at
falingtrea 0:d2169fecf3fb 14 *
falingtrea 0:d2169fecf3fb 15 * http://www.apache.org/licenses/LICENSE-2.0
falingtrea 0:d2169fecf3fb 16 *
falingtrea 0:d2169fecf3fb 17 * Unless required by applicable law or agreed to in writing, software
falingtrea 0:d2169fecf3fb 18 * distributed under the License is distributed on an "AS IS" BASIS,
falingtrea 0:d2169fecf3fb 19 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
falingtrea 0:d2169fecf3fb 20 * See the License for the specific language governing permissions and
falingtrea 0:d2169fecf3fb 21 * limitations under the License.
falingtrea 0:d2169fecf3fb 22 *
falingtrea 1:58c50bb3c60c 23 * 09/16/15 TAB V1.01 Changed report rate of GGA and GSA NEMA sentences
falingtrea 3:662aa99c5266 24 * 09/22/15 TAB V1.02 Fixed status value for no GPS detected. Increased report rate
falingtrea 3:662aa99c5266 25 * of GSV, GGA, and GSA NEMA Sentences
falingtrea 1:58c50bb3c60c 26 *
falingtrea 0:d2169fecf3fb 27 * TODO: Add speed, compass direction, error (DOP) data. Make init more generic
falingtrea 0:d2169fecf3fb 28 */
falingtrea 0:d2169fecf3fb 29
falingtrea 0:d2169fecf3fb 30 #include "GPSPARSER.h"
falingtrea 0:d2169fecf3fb 31
falingtrea 0:d2169fecf3fb 32 using namespace mts;
falingtrea 0:d2169fecf3fb 33
Mike Fiore 6:2050b4795b66 34 GPSPARSER::GPSPARSER(MTSSerial *uart, NCP5623B* led)
Mike Fiore 6:2050b4795b66 35 : _getSentenceThread(&GPSPARSER::startSentenceThread,this),
Mike Fiore 6:2050b4795b66 36 _led(led),
Mike Fiore 7:bd1013ba8afd 37 _led_state(0),
Mike Fiore 7:bd1013ba8afd 38 _tick_running(false)
falingtrea 0:d2169fecf3fb 39 {
falingtrea 0:d2169fecf3fb 40 _gps_uart = uart;
falingtrea 0:d2169fecf3fb 41 _gps_uart->baud(9600); //set GPS baud rate here
mfiore 4:ae35903cd8d2 42
falingtrea 0:d2169fecf3fb 43 _gps_latitude.degrees = 0;
falingtrea 0:d2169fecf3fb 44 _gps_longitude.degrees = 0;
falingtrea 0:d2169fecf3fb 45 _timestamp.tm_sec = 0;
falingtrea 0:d2169fecf3fb 46 _timestamp.tm_min = 0;
falingtrea 0:d2169fecf3fb 47 _timestamp.tm_hour = 0;
falingtrea 0:d2169fecf3fb 48 _timestamp.tm_mday = 0;
falingtrea 0:d2169fecf3fb 49 _timestamp.tm_mon = 0;
falingtrea 0:d2169fecf3fb 50 _timestamp.tm_year = 0;
falingtrea 0:d2169fecf3fb 51 _timestamp.tm_wday = 0;
falingtrea 0:d2169fecf3fb 52 _timestamp.tm_yday = 0;
falingtrea 0:d2169fecf3fb 53 _timestamp.tm_isdst = -1; // time is UTC so no Daylight savings time
mfiore 4:ae35903cd8d2 54
falingtrea 0:d2169fecf3fb 55 _gps_status = false;
falingtrea 2:fbc098f1e7c0 56 _fix_status = 1;
falingtrea 0:d2169fecf3fb 57 _num_satellites =0;
falingtrea 0:d2169fecf3fb 58 _gps_detected = false;
falingtrea 0:d2169fecf3fb 59
mfiore 4:ae35903cd8d2 60 if (GPSPARSER::initGps() == 0) {
falingtrea 0:d2169fecf3fb 61 _gps_detected = true;
falingtrea 0:d2169fecf3fb 62 _getSentenceThread.signal_set(START_THREAD);
mfiore 4:ae35903cd8d2 63 } else {
falingtrea 3:662aa99c5266 64 _fix_status = 0;
falingtrea 2:fbc098f1e7c0 65 }
mfiore 4:ae35903cd8d2 66
falingtrea 0:d2169fecf3fb 67 return;
falingtrea 0:d2169fecf3fb 68 }
falingtrea 0:d2169fecf3fb 69
mfiore 4:ae35903cd8d2 70 GPSPARSER::~GPSPARSER(void)
mfiore 4:ae35903cd8d2 71 {
falingtrea 0:d2169fecf3fb 72 if (_gps_detected)
falingtrea 0:d2169fecf3fb 73 _getSentenceThread.terminate();
falingtrea 0:d2169fecf3fb 74 }
falingtrea 0:d2169fecf3fb 75
mfiore 4:ae35903cd8d2 76 uint8_t GPSPARSER::initGps (void)
mfiore 4:ae35903cd8d2 77 {
mfiore 4:ae35903cd8d2 78
falingtrea 0:d2169fecf3fb 79 // this code is specific to the Skytraq Venus GPS chip. This code could be re-written to detect another type of
falingtrea 0:d2169fecf3fb 80 // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
mfiore 4:ae35903cd8d2 81
falingtrea 3:662aa99c5266 82 // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
falingtrea 0:d2169fecf3fb 83 // setup string for GPS GGA GSA GSV GLL RMC VTG ZDA cksum
falingtrea 3:662aa99c5266 84 char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
falingtrea 0:d2169fecf3fb 85 char chk_char;
falingtrea 0:d2169fecf3fb 86 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 87
falingtrea 0:d2169fecf3fb 88 _gps_uart->rxClear();
mfiore 4:ae35903cd8d2 89
falingtrea 0:d2169fecf3fb 90 _gps_uart->write(init_gps,16);
mfiore 4:ae35903cd8d2 91
falingtrea 0:d2169fecf3fb 92 do {
falingtrea 0:d2169fecf3fb 93 osDelay(10);
falingtrea 0:d2169fecf3fb 94 } while (!_gps_uart->txEmpty());
mfiore 4:ae35903cd8d2 95
falingtrea 0:d2169fecf3fb 96 osDelay(15);
mfiore 4:ae35903cd8d2 97
mfiore 4:ae35903cd8d2 98 if (_gps_uart->readable()) {
mfiore 4:ae35903cd8d2 99 do {
falingtrea 0:d2169fecf3fb 100 _gps_uart->read(chk_char,20);
falingtrea 0:d2169fecf3fb 101 } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 102
mfiore 4:ae35903cd8d2 103 if (chk_char == 0xA0) {
falingtrea 0:d2169fecf3fb 104 _gps_uart->read(chk_char,15);
falingtrea 0:d2169fecf3fb 105 if (chk_char != 0xA1) {
falingtrea 0:d2169fecf3fb 106 ret = 1;
mfiore 4:ae35903cd8d2 107 } else {
falingtrea 0:d2169fecf3fb 108 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 109 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 110 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 111 if (chk_char != 0x83) {
falingtrea 0:d2169fecf3fb 112 ret = 1;
mfiore 4:ae35903cd8d2 113 } else {
falingtrea 0:d2169fecf3fb 114 _gps_uart->read(chk_char);
Mike Fiore 8:5fa40fa372e2 115 //printf("config message acknowledged - ID - %x\r\n",chk_char);
falingtrea 0:d2169fecf3fb 116 }
falingtrea 0:d2169fecf3fb 117 }
mfiore 4:ae35903cd8d2 118 } else {
falingtrea 0:d2169fecf3fb 119 ret = 1;
falingtrea 0:d2169fecf3fb 120 }
mfiore 4:ae35903cd8d2 121 } else {
falingtrea 0:d2169fecf3fb 122 ret = 1;
falingtrea 0:d2169fecf3fb 123 }
falingtrea 0:d2169fecf3fb 124
falingtrea 0:d2169fecf3fb 125 return ret;
falingtrea 0:d2169fecf3fb 126 }
falingtrea 0:d2169fecf3fb 127
mfiore 4:ae35903cd8d2 128 void GPSPARSER::startSentenceThread(void const *p)
mfiore 4:ae35903cd8d2 129 {
mfiore 4:ae35903cd8d2 130 GPSPARSER *instance = (GPSPARSER*)p;
mfiore 4:ae35903cd8d2 131 instance->readNemaSentence();
falingtrea 0:d2169fecf3fb 132 }
falingtrea 0:d2169fecf3fb 133
mfiore 4:ae35903cd8d2 134 void GPSPARSER::readNemaSentence (void)
mfiore 4:ae35903cd8d2 135 {
falingtrea 0:d2169fecf3fb 136 char chk_char;
mfiore 4:ae35903cd8d2 137 uint8_t calc_cksum;
falingtrea 0:d2169fecf3fb 138 uint8_t nema_cksum;
falingtrea 0:d2169fecf3fb 139 char nema_id[2];
falingtrea 0:d2169fecf3fb 140 char nema_str[80];
falingtrea 0:d2169fecf3fb 141 char cksum_str[2];
mfiore 4:ae35903cd8d2 142
falingtrea 0:d2169fecf3fb 143 _getSentenceThread.signal_wait(START_THREAD);
Mike Fiore 7:bd1013ba8afd 144 if (_led) {
Mike Fiore 7:bd1013ba8afd 145 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 146 _tick_running = true;
Mike Fiore 7:bd1013ba8afd 147 }
mfiore 4:ae35903cd8d2 148
falingtrea 0:d2169fecf3fb 149 do {
mfiore 4:ae35903cd8d2 150 if (_gps_uart->readable() > 80) {
mfiore 4:ae35903cd8d2 151 do {
falingtrea 0:d2169fecf3fb 152 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 153 } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 154
falingtrea 0:d2169fecf3fb 155 if (chk_char == '$') {
falingtrea 0:d2169fecf3fb 156 _gps_uart->read(nema_id,2);
mfiore 4:ae35903cd8d2 157 if (strpbrk(nema_id,"GP") != NULL) {
falingtrea 0:d2169fecf3fb 158 uint8_t i = 0;
falingtrea 0:d2169fecf3fb 159 calc_cksum = 0x17; // 8 bit XOR of G and P checksum seed
falingtrea 0:d2169fecf3fb 160 nema_cksum = 0; // initialize nema string checksum
falingtrea 0:d2169fecf3fb 161 memset(nema_str,0x00,80); // clear nema_str array
falingtrea 0:d2169fecf3fb 162 do {
falingtrea 0:d2169fecf3fb 163 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 164 if ((chk_char != 0x0D) && (chk_char != '*')) {
falingtrea 0:d2169fecf3fb 165 nema_str[i++] = chk_char;
falingtrea 0:d2169fecf3fb 166 calc_cksum ^= chk_char; // 8 bit XOR checksum
falingtrea 0:d2169fecf3fb 167 }
falingtrea 0:d2169fecf3fb 168 if (chk_char == '*') {
mfiore 4:ae35903cd8d2 169 _gps_uart->read(cksum_str,2);
falingtrea 0:d2169fecf3fb 170 nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
falingtrea 0:d2169fecf3fb 171 }
falingtrea 0:d2169fecf3fb 172 } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
mfiore 4:ae35903cd8d2 173
Mike Fiore 9:a4d4ab3b0f23 174 if (nema_cksum == calc_cksum) {
falingtrea 0:d2169fecf3fb 175 if (strncmp (nema_str,"GGA",3) == 0)
falingtrea 0:d2169fecf3fb 176 parseGGA(nema_str);
falingtrea 0:d2169fecf3fb 177 else if (strncmp (nema_str,"GSA",3) == 0)
mfiore 4:ae35903cd8d2 178 parseGSA(nema_str);
mfiore 4:ae35903cd8d2 179 else if (strncmp (nema_str,"GSV",3) == 0)
mfiore 4:ae35903cd8d2 180 parseGSV(nema_str);
mfiore 4:ae35903cd8d2 181 else if (strncmp (nema_str,"GLL",3) == 0)
mfiore 4:ae35903cd8d2 182 parseGLL(nema_str);
mfiore 4:ae35903cd8d2 183 else if (strncmp (nema_str,"RMC",3) == 0)
mfiore 4:ae35903cd8d2 184 parseRMC(nema_str);
mfiore 4:ae35903cd8d2 185 else if (strncmp (nema_str,"VTG",3) == 0)
mfiore 4:ae35903cd8d2 186 parseVTG(nema_str);
mfiore 4:ae35903cd8d2 187 else if (strncmp (nema_str,"ZDA",3) == 0)
mfiore 4:ae35903cd8d2 188 parseZDA(nema_str);
mfiore 4:ae35903cd8d2 189 else
Mike Fiore 9:a4d4ab3b0f23 190 printf("Unknown NEMA String Type\r\n");
Mike Fiore 9:a4d4ab3b0f23 191 } else {
Mike Fiore 9:a4d4ab3b0f23 192 printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
Mike Fiore 9:a4d4ab3b0f23 193 }
falingtrea 0:d2169fecf3fb 194 }
mfiore 4:ae35903cd8d2 195 } else
Mike Fiore 9:a4d4ab3b0f23 196 printf("RX empty before all data read\r\n");
falingtrea 0:d2169fecf3fb 197 }
falingtrea 0:d2169fecf3fb 198
Mike Fiore 6:2050b4795b66 199 if (_led) {
Mike Fiore 6:2050b4795b66 200 if (_fix_status >= 2) {
Mike Fiore 7:bd1013ba8afd 201 if (_tick_running) {
Mike Fiore 7:bd1013ba8afd 202 _tick.detach();
Mike Fiore 7:bd1013ba8afd 203 _tick_running = false;
Mike Fiore 7:bd1013ba8afd 204 }
Mike Fiore 6:2050b4795b66 205 _led->setPWM(NCP5623B::LED_3, 8);
Mike Fiore 7:bd1013ba8afd 206 } else {
Mike Fiore 7:bd1013ba8afd 207 if (! _tick_running) {
Mike Fiore 7:bd1013ba8afd 208 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 209 _tick_running = true;
Mike Fiore 7:bd1013ba8afd 210 }
Mike Fiore 6:2050b4795b66 211 }
Mike Fiore 6:2050b4795b66 212 }
Mike Fiore 6:2050b4795b66 213
falingtrea 0:d2169fecf3fb 214 osDelay(100);
falingtrea 0:d2169fecf3fb 215
falingtrea 0:d2169fecf3fb 216 } while(true);
falingtrea 0:d2169fecf3fb 217
falingtrea 0:d2169fecf3fb 218 }
falingtrea 0:d2169fecf3fb 219
mfiore 4:ae35903cd8d2 220 uint8_t GPSPARSER::parseGGA(char *nema_buf)
mfiore 4:ae35903cd8d2 221 {
falingtrea 0:d2169fecf3fb 222 char* token_str;
falingtrea 0:d2169fecf3fb 223 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 224
Mike Fiore 8:5fa40fa372e2 225 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 226
falingtrea 0:d2169fecf3fb 227 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 228 // skip timestamp
falingtrea 0:d2169fecf3fb 229 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 230 // skip latitude degrees minutes
falingtrea 0:d2169fecf3fb 231 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 232 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 233 // skip longitude degree minutes
falingtrea 0:d2169fecf3fb 234 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 235 token_str = strtok(NULL, ",");
mfiore 4:ae35903cd8d2 236 // read fix quality
falingtrea 0:d2169fecf3fb 237 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 238 _fix_quality = atoi(token_str);
falingtrea 0:d2169fecf3fb 239 // skip number of satellites and horizontal dilution
falingtrea 0:d2169fecf3fb 240 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 241 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 242 // read msl altitude in meters
falingtrea 0:d2169fecf3fb 243 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 244 _msl_altitude = atoi(token_str);
falingtrea 0:d2169fecf3fb 245
Mike Fiore 8:5fa40fa372e2 246 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 247
falingtrea 0:d2169fecf3fb 248 return ret;
falingtrea 0:d2169fecf3fb 249 }
mfiore 4:ae35903cd8d2 250
mfiore 4:ae35903cd8d2 251 uint8_t GPSPARSER::parseGSA(char *nema_buf)
mfiore 4:ae35903cd8d2 252 {
falingtrea 0:d2169fecf3fb 253 char* token_str;
falingtrea 0:d2169fecf3fb 254 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 255
Mike Fiore 8:5fa40fa372e2 256 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 257
falingtrea 0:d2169fecf3fb 258 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 259 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 260 // read fix status
falingtrea 0:d2169fecf3fb 261 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 262 _fix_status = atoi(token_str);
falingtrea 0:d2169fecf3fb 263 // read satellite PRNs
mfiore 4:ae35903cd8d2 264 for (uint8_t i=0; i<12; i++) {
falingtrea 0:d2169fecf3fb 265 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 266 _satellite_prn[i] = atoi(token_str);
falingtrea 0:d2169fecf3fb 267 }
Mike Fiore 8:5fa40fa372e2 268
Mike Fiore 8:5fa40fa372e2 269 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 270
falingtrea 0:d2169fecf3fb 271 return ret;
falingtrea 0:d2169fecf3fb 272 }
falingtrea 0:d2169fecf3fb 273
mfiore 4:ae35903cd8d2 274 uint8_t GPSPARSER::parseGSV(char *nema_buf)
mfiore 4:ae35903cd8d2 275 {
falingtrea 0:d2169fecf3fb 276 char* token_str;
falingtrea 0:d2169fecf3fb 277 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 278
Mike Fiore 8:5fa40fa372e2 279 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 280
falingtrea 0:d2169fecf3fb 281 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 282 // skip number of sentences and sentence number for now
falingtrea 0:d2169fecf3fb 283 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 284 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 285 // read Number of satellites
falingtrea 0:d2169fecf3fb 286 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 287 _num_satellites = atoi(token_str);
falingtrea 0:d2169fecf3fb 288 // add code to read satellite specs if needed
Mike Fiore 8:5fa40fa372e2 289
Mike Fiore 8:5fa40fa372e2 290 _mutex.unlock();
falingtrea 0:d2169fecf3fb 291
falingtrea 0:d2169fecf3fb 292 return ret;
falingtrea 0:d2169fecf3fb 293 }
falingtrea 0:d2169fecf3fb 294
mfiore 4:ae35903cd8d2 295 uint8_t GPSPARSER::parseRMC(char *nema_buf)
mfiore 4:ae35903cd8d2 296 {
falingtrea 0:d2169fecf3fb 297 char* token_str;
falingtrea 0:d2169fecf3fb 298 char temp_str[6];
falingtrea 0:d2169fecf3fb 299 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 300
Mike Fiore 8:5fa40fa372e2 301 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 302
falingtrea 0:d2169fecf3fb 303 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 304 // read timestamp
falingtrea 0:d2169fecf3fb 305 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 306 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 307 _timestamp.tm_hour = atoi(temp_str);
falingtrea 0:d2169fecf3fb 308 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 309 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 310 _timestamp.tm_min = atoi(temp_str);
falingtrea 0:d2169fecf3fb 311 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 312 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 313 _timestamp.tm_sec = atoi(temp_str);
falingtrea 0:d2169fecf3fb 314 // set gps_status true = active
falingtrea 0:d2169fecf3fb 315 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 316 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 317 strncpy(temp_str,token_str,1);
falingtrea 0:d2169fecf3fb 318 if (temp_str[0] == 'A')
falingtrea 0:d2169fecf3fb 319 _gps_status = true;
falingtrea 0:d2169fecf3fb 320 else
falingtrea 0:d2169fecf3fb 321 _gps_status = false;
falingtrea 0:d2169fecf3fb 322 // read latitude degrees minutes
falingtrea 0:d2169fecf3fb 323 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 324 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 325 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 326 _gps_latitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 327 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 328 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 329 _gps_latitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 330 // read fractional minutes
falingtrea 0:d2169fecf3fb 331 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 332 _gps_latitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 333 // read latitude hemisphere change sign if 'S'
falingtrea 0:d2169fecf3fb 334 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 335 if (token_str[0] == 'S')
falingtrea 0:d2169fecf3fb 336 _gps_latitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 337 // read longitude degree minutes
falingtrea 0:d2169fecf3fb 338 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 339 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 340 strncpy(temp_str,token_str,3);
falingtrea 0:d2169fecf3fb 341 _gps_longitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 342 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 343 strncpy(temp_str,token_str+3,2);
falingtrea 0:d2169fecf3fb 344 _gps_longitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 345 // read fractional minutes
falingtrea 0:d2169fecf3fb 346 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 347 _gps_longitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 348 // read longitude hemisphere change sign if 'W'
falingtrea 0:d2169fecf3fb 349 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 350 if (token_str[0] == 'W')
falingtrea 0:d2169fecf3fb 351 _gps_longitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 352 // skip speed and track angle
falingtrea 0:d2169fecf3fb 353 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 354 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 355 // read date
falingtrea 0:d2169fecf3fb 356 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 357 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 358 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 359 _timestamp.tm_mday = atoi(temp_str);
falingtrea 0:d2169fecf3fb 360 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 361 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 362 _timestamp.tm_mon = atoi(temp_str) - 1;
falingtrea 0:d2169fecf3fb 363 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 364 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 365 _timestamp.tm_year = atoi(temp_str) + 100;
falingtrea 0:d2169fecf3fb 366
Mike Fiore 8:5fa40fa372e2 367 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 368
falingtrea 0:d2169fecf3fb 369 return ret;
falingtrea 0:d2169fecf3fb 370 }
falingtrea 0:d2169fecf3fb 371
mfiore 4:ae35903cd8d2 372 uint8_t GPSPARSER::parseVTG(char *nema_buf)
mfiore 4:ae35903cd8d2 373 {
falingtrea 0:d2169fecf3fb 374 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 375 //printf("ParseVTG****\r\n");
Mike Fiore 8:5fa40fa372e2 376 //printf(nema_buf);
Mike Fiore 8:5fa40fa372e2 377 //printf("\r\n");
falingtrea 0:d2169fecf3fb 378 return ret;
falingtrea 0:d2169fecf3fb 379 }
falingtrea 0:d2169fecf3fb 380
mfiore 4:ae35903cd8d2 381 uint8_t GPSPARSER::parseGLL(char *nema_buf)
mfiore 4:ae35903cd8d2 382 {
falingtrea 0:d2169fecf3fb 383 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 384 //printf("ParseGLL*****\r\n");
Mike Fiore 8:5fa40fa372e2 385 //printf(nema_buf);
Mike Fiore 8:5fa40fa372e2 386 //printf("\r\n");
falingtrea 0:d2169fecf3fb 387 return ret;
falingtrea 0:d2169fecf3fb 388 }
falingtrea 0:d2169fecf3fb 389
mfiore 4:ae35903cd8d2 390 uint8_t GPSPARSER::parseZDA(char *nema_buf)
mfiore 4:ae35903cd8d2 391 {
falingtrea 0:d2169fecf3fb 392 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 393 //printf("ParseZDA******\r\n");
Mike Fiore 8:5fa40fa372e2 394 //printf(nema_buf);
Mike Fiore 8:5fa40fa372e2 395 //printf("\r\n");
falingtrea 0:d2169fecf3fb 396 return ret;
falingtrea 0:d2169fecf3fb 397 }
falingtrea 0:d2169fecf3fb 398
mfiore 4:ae35903cd8d2 399 bool GPSPARSER::gpsDetected(void)
mfiore 4:ae35903cd8d2 400 {
Mike Fiore 8:5fa40fa372e2 401 bool detected;
Mike Fiore 8:5fa40fa372e2 402
Mike Fiore 8:5fa40fa372e2 403 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 404 detected = _gps_detected;
Mike Fiore 8:5fa40fa372e2 405 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 406
Mike Fiore 8:5fa40fa372e2 407 return detected;
falingtrea 0:d2169fecf3fb 408 }
falingtrea 0:d2169fecf3fb 409
mfiore 4:ae35903cd8d2 410 GPSPARSER::longitude GPSPARSER::getLongitude(void)
mfiore 4:ae35903cd8d2 411 {
Mike Fiore 8:5fa40fa372e2 412 longitude lon;
Mike Fiore 8:5fa40fa372e2 413
Mike Fiore 8:5fa40fa372e2 414 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 415 lon = _gps_longitude;
Mike Fiore 8:5fa40fa372e2 416 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 417
Mike Fiore 8:5fa40fa372e2 418 return lon;
falingtrea 0:d2169fecf3fb 419 }
falingtrea 0:d2169fecf3fb 420
mfiore 4:ae35903cd8d2 421 GPSPARSER::latitude GPSPARSER::getLatitude(void)
mfiore 4:ae35903cd8d2 422 {
Mike Fiore 8:5fa40fa372e2 423 latitude lat;
Mike Fiore 8:5fa40fa372e2 424
Mike Fiore 8:5fa40fa372e2 425 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 426 lat = _gps_latitude;
Mike Fiore 8:5fa40fa372e2 427 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 428
Mike Fiore 8:5fa40fa372e2 429 return lat;
falingtrea 0:d2169fecf3fb 430 }
falingtrea 0:d2169fecf3fb 431
mfiore 4:ae35903cd8d2 432 struct tm GPSPARSER::getTimestamp(void) {
Mike Fiore 8:5fa40fa372e2 433 struct tm time;
Mike Fiore 8:5fa40fa372e2 434
Mike Fiore 8:5fa40fa372e2 435 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 436 time = _timestamp;
Mike Fiore 8:5fa40fa372e2 437 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 438
Mike Fiore 8:5fa40fa372e2 439 return time;
falingtrea 0:d2169fecf3fb 440 }
falingtrea 0:d2169fecf3fb 441
mfiore 4:ae35903cd8d2 442 bool GPSPARSER::getLockStatus(void)
mfiore 4:ae35903cd8d2 443 {
Mike Fiore 8:5fa40fa372e2 444 bool status;
Mike Fiore 8:5fa40fa372e2 445
Mike Fiore 8:5fa40fa372e2 446 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 447 status = _gps_status;
Mike Fiore 8:5fa40fa372e2 448 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 449
Mike Fiore 8:5fa40fa372e2 450 return status;
falingtrea 0:d2169fecf3fb 451 }
falingtrea 0:d2169fecf3fb 452
mfiore 4:ae35903cd8d2 453 uint8_t GPSPARSER::getFixStatus(void)
mfiore 4:ae35903cd8d2 454 {
Mike Fiore 8:5fa40fa372e2 455 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 456
Mike Fiore 8:5fa40fa372e2 457 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 458 fix = _fix_status;
Mike Fiore 8:5fa40fa372e2 459 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 460
Mike Fiore 8:5fa40fa372e2 461 return fix;
falingtrea 0:d2169fecf3fb 462 }
falingtrea 0:d2169fecf3fb 463
mfiore 4:ae35903cd8d2 464 uint8_t GPSPARSER::getFixQuality(void)
mfiore 4:ae35903cd8d2 465 {
Mike Fiore 8:5fa40fa372e2 466 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 467
Mike Fiore 8:5fa40fa372e2 468 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 469 fix = _fix_quality;
Mike Fiore 8:5fa40fa372e2 470 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 471
Mike Fiore 8:5fa40fa372e2 472 return fix;
falingtrea 0:d2169fecf3fb 473 }
falingtrea 0:d2169fecf3fb 474
mfiore 4:ae35903cd8d2 475 uint8_t GPSPARSER::getNumSatellites(void)
mfiore 4:ae35903cd8d2 476 {
Mike Fiore 8:5fa40fa372e2 477 uint8_t sats;
Mike Fiore 8:5fa40fa372e2 478
Mike Fiore 8:5fa40fa372e2 479 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 480 sats = _num_satellites;
Mike Fiore 8:5fa40fa372e2 481 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 482
Mike Fiore 8:5fa40fa372e2 483 return sats;
falingtrea 0:d2169fecf3fb 484 }
falingtrea 0:d2169fecf3fb 485
mfiore 4:ae35903cd8d2 486 int16_t GPSPARSER::getAltitude(void)
mfiore 4:ae35903cd8d2 487 {
Mike Fiore 8:5fa40fa372e2 488 int16_t alt;
Mike Fiore 8:5fa40fa372e2 489
Mike Fiore 8:5fa40fa372e2 490 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 491 alt = _msl_altitude;
Mike Fiore 8:5fa40fa372e2 492 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 493
Mike Fiore 8:5fa40fa372e2 494 return alt;
falingtrea 0:d2169fecf3fb 495 }
Mike Fiore 6:2050b4795b66 496
Mike Fiore 7:bd1013ba8afd 497 void GPSPARSER::blinker() {
Mike Fiore 7:bd1013ba8afd 498 _led_state = (_led_state == 0) ? 8 : 0;
Mike Fiore 7:bd1013ba8afd 499 _led->setPWM(NCP5623B::LED_3, _led_state);
Mike Fiore 7:bd1013ba8afd 500 }
Mike Fiore 7:bd1013ba8afd 501