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@4:ae35903cd8d2, 2015-10-27 (annotated)

Committer:
mfiore
Date:
Tue Oct 27 19:54:49 2015 +0000
Revision:
4:ae35903cd8d2
Parent:
3:662aa99c5266
Child:
6:2050b4795b66
<CTRL><SHIFT><f> to fix formatting

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
falingtrea 0:d2169fecf3fb 34 GPSPARSER::GPSPARSER(MTSSerial *uart)
falingtrea 0:d2169fecf3fb 35 : _getSentenceThread(&GPSPARSER::startSentenceThread,this)
falingtrea 0:d2169fecf3fb 36 {
falingtrea 0:d2169fecf3fb 37 _gps_uart = uart;
falingtrea 0:d2169fecf3fb 38 _gps_uart->baud(9600); //set GPS baud rate here
mfiore 4:ae35903cd8d2 39
falingtrea 0:d2169fecf3fb 40 _gps_latitude.degrees = 0;
falingtrea 0:d2169fecf3fb 41 _gps_longitude.degrees = 0;
falingtrea 0:d2169fecf3fb 42 _timestamp.tm_sec = 0;
falingtrea 0:d2169fecf3fb 43 _timestamp.tm_min = 0;
falingtrea 0:d2169fecf3fb 44 _timestamp.tm_hour = 0;
falingtrea 0:d2169fecf3fb 45 _timestamp.tm_mday = 0;
falingtrea 0:d2169fecf3fb 46 _timestamp.tm_mon = 0;
falingtrea 0:d2169fecf3fb 47 _timestamp.tm_year = 0;
falingtrea 0:d2169fecf3fb 48 _timestamp.tm_wday = 0;
falingtrea 0:d2169fecf3fb 49 _timestamp.tm_yday = 0;
falingtrea 0:d2169fecf3fb 50 _timestamp.tm_isdst = -1; // time is UTC so no Daylight savings time
mfiore 4:ae35903cd8d2 51
falingtrea 0:d2169fecf3fb 52 _gps_status = false;
falingtrea 2:fbc098f1e7c0 53 _fix_status = 1;
falingtrea 0:d2169fecf3fb 54 _num_satellites =0;
falingtrea 0:d2169fecf3fb 55 _gps_detected = false;
falingtrea 0:d2169fecf3fb 56
mfiore 4:ae35903cd8d2 57 if (GPSPARSER::initGps() == 0) {
falingtrea 0:d2169fecf3fb 58 _gps_detected = true;
falingtrea 0:d2169fecf3fb 59 _getSentenceThread.signal_set(START_THREAD);
falingtrea 0:d2169fecf3fb 60 printf("Started Nema Sentence Thread\r\n");
mfiore 4:ae35903cd8d2 61 } else {
falingtrea 3:662aa99c5266 62 printf("No GPS detected\r\n");
falingtrea 3:662aa99c5266 63 _fix_status = 0;
falingtrea 2:fbc098f1e7c0 64 }
mfiore 4:ae35903cd8d2 65
falingtrea 0:d2169fecf3fb 66 return;
falingtrea 0:d2169fecf3fb 67 }
falingtrea 0:d2169fecf3fb 68
mfiore 4:ae35903cd8d2 69 GPSPARSER::~GPSPARSER(void)
mfiore 4:ae35903cd8d2 70 {
falingtrea 0:d2169fecf3fb 71 if (_gps_detected)
falingtrea 0:d2169fecf3fb 72 _getSentenceThread.terminate();
falingtrea 0:d2169fecf3fb 73 }
falingtrea 0:d2169fecf3fb 74
mfiore 4:ae35903cd8d2 75 uint8_t GPSPARSER::initGps (void)
mfiore 4:ae35903cd8d2 76 {
mfiore 4:ae35903cd8d2 77
falingtrea 0:d2169fecf3fb 78 // this code is specific to the Skytraq Venus GPS chip. This code could be re-written to detect another type of
falingtrea 0:d2169fecf3fb 79 // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
mfiore 4:ae35903cd8d2 80
falingtrea 3:662aa99c5266 81 // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
falingtrea 0:d2169fecf3fb 82 // setup string for GPS GGA GSA GSV GLL RMC VTG ZDA cksum
falingtrea 3:662aa99c5266 83 char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
falingtrea 0:d2169fecf3fb 84 char chk_char;
falingtrea 0:d2169fecf3fb 85 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 86
falingtrea 0:d2169fecf3fb 87 _gps_uart->rxClear();
falingtrea 0:d2169fecf3fb 88 printf("Starting initGPS \r\n");
mfiore 4:ae35903cd8d2 89
falingtrea 0:d2169fecf3fb 90 _gps_uart->write(init_gps,16);
falingtrea 0:d2169fecf3fb 91 printf("wrote control data\r\n");
mfiore 4:ae35903cd8d2 92
falingtrea 0:d2169fecf3fb 93 do {
falingtrea 0:d2169fecf3fb 94 osDelay(10);
falingtrea 0:d2169fecf3fb 95 } while (!_gps_uart->txEmpty());
mfiore 4:ae35903cd8d2 96
falingtrea 0:d2169fecf3fb 97 osDelay(15);
mfiore 4:ae35903cd8d2 98
mfiore 4:ae35903cd8d2 99 if (_gps_uart->readable()) {
mfiore 4:ae35903cd8d2 100 do {
falingtrea 0:d2169fecf3fb 101 _gps_uart->read(chk_char,20);
falingtrea 0:d2169fecf3fb 102 } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 103
falingtrea 0:d2169fecf3fb 104 printf ("found 0xA0 or rx empty\r\n");
mfiore 4:ae35903cd8d2 105
mfiore 4:ae35903cd8d2 106 if (chk_char == 0xA0) {
falingtrea 0:d2169fecf3fb 107 _gps_uart->read(chk_char,15);
falingtrea 0:d2169fecf3fb 108 if (chk_char != 0xA1) {
falingtrea 0:d2169fecf3fb 109 printf( "initGPS failed no message\r\n");
falingtrea 0:d2169fecf3fb 110 ret = 1;
mfiore 4:ae35903cd8d2 111 } else {
falingtrea 0:d2169fecf3fb 112 printf("message received\r\n");
falingtrea 0:d2169fecf3fb 113 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 114 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 115 printf("message size - %x\r\n",chk_char);
falingtrea 0:d2169fecf3fb 116 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 117 if (chk_char != 0x83) {
falingtrea 0:d2169fecf3fb 118 printf("initGPS failed not ack message\r\n");
falingtrea 0:d2169fecf3fb 119 ret = 1;
mfiore 4:ae35903cd8d2 120 } else {
falingtrea 0:d2169fecf3fb 121 printf("ACK message received\r\n");
falingtrea 0:d2169fecf3fb 122 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 123 printf("config message acknowledged - ID - %x\r\n",chk_char);
falingtrea 0:d2169fecf3fb 124 }
falingtrea 0:d2169fecf3fb 125 }
mfiore 4:ae35903cd8d2 126 } else {
falingtrea 0:d2169fecf3fb 127 printf("rx empty \r\n");
falingtrea 0:d2169fecf3fb 128 ret = 1;
falingtrea 0:d2169fecf3fb 129 }
mfiore 4:ae35903cd8d2 130 } else {
falingtrea 0:d2169fecf3fb 131 printf("No readable characters\r\n");
falingtrea 0:d2169fecf3fb 132 ret = 1;
falingtrea 0:d2169fecf3fb 133 }
falingtrea 0:d2169fecf3fb 134
falingtrea 0:d2169fecf3fb 135 printf("initGps done\r\n");
falingtrea 0:d2169fecf3fb 136 return ret;
falingtrea 0:d2169fecf3fb 137 }
falingtrea 0:d2169fecf3fb 138
mfiore 4:ae35903cd8d2 139 void GPSPARSER::startSentenceThread(void const *p)
mfiore 4:ae35903cd8d2 140 {
mfiore 4:ae35903cd8d2 141 GPSPARSER *instance = (GPSPARSER*)p;
mfiore 4:ae35903cd8d2 142 instance->readNemaSentence();
falingtrea 0:d2169fecf3fb 143 }
falingtrea 0:d2169fecf3fb 144
mfiore 4:ae35903cd8d2 145 void GPSPARSER::readNemaSentence (void)
mfiore 4:ae35903cd8d2 146 {
falingtrea 0:d2169fecf3fb 147 char chk_char;
mfiore 4:ae35903cd8d2 148 uint8_t calc_cksum;
falingtrea 0:d2169fecf3fb 149 uint8_t nema_cksum;
falingtrea 0:d2169fecf3fb 150 char nema_id[2];
falingtrea 0:d2169fecf3fb 151 char nema_str[80];
falingtrea 0:d2169fecf3fb 152 char cksum_str[2];
mfiore 4:ae35903cd8d2 153
falingtrea 0:d2169fecf3fb 154 _getSentenceThread.signal_wait(START_THREAD);
falingtrea 0:d2169fecf3fb 155 printf("Got thread start\r\n");
mfiore 4:ae35903cd8d2 156
falingtrea 0:d2169fecf3fb 157 do {
mfiore 4:ae35903cd8d2 158 if (_gps_uart->readable() > 80) {
mfiore 4:ae35903cd8d2 159 do {
falingtrea 0:d2169fecf3fb 160 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 161 } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 162
falingtrea 0:d2169fecf3fb 163 if (chk_char == '$') {
falingtrea 0:d2169fecf3fb 164 _gps_uart->read(nema_id,2);
mfiore 4:ae35903cd8d2 165 if (strpbrk(nema_id,"GP") != NULL) {
falingtrea 0:d2169fecf3fb 166 uint8_t i = 0;
falingtrea 0:d2169fecf3fb 167 calc_cksum = 0x17; // 8 bit XOR of G and P checksum seed
falingtrea 0:d2169fecf3fb 168 nema_cksum = 0; // initialize nema string checksum
falingtrea 0:d2169fecf3fb 169 memset(nema_str,0x00,80); // clear nema_str array
falingtrea 0:d2169fecf3fb 170 do {
falingtrea 0:d2169fecf3fb 171 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 172 if ((chk_char != 0x0D) && (chk_char != '*')) {
falingtrea 0:d2169fecf3fb 173 nema_str[i++] = chk_char;
falingtrea 0:d2169fecf3fb 174 calc_cksum ^= chk_char; // 8 bit XOR checksum
falingtrea 0:d2169fecf3fb 175 }
falingtrea 0:d2169fecf3fb 176 if (chk_char == '*') {
mfiore 4:ae35903cd8d2 177 _gps_uart->read(cksum_str,2);
falingtrea 0:d2169fecf3fb 178 nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
falingtrea 0:d2169fecf3fb 179 }
falingtrea 0:d2169fecf3fb 180 } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
mfiore 4:ae35903cd8d2 181
falingtrea 0:d2169fecf3fb 182 if (nema_cksum == calc_cksum)
falingtrea 0:d2169fecf3fb 183 if (strncmp (nema_str,"GGA",3) == 0)
falingtrea 0:d2169fecf3fb 184 parseGGA(nema_str);
falingtrea 0:d2169fecf3fb 185 else if (strncmp (nema_str,"GSA",3) == 0)
mfiore 4:ae35903cd8d2 186 parseGSA(nema_str);
mfiore 4:ae35903cd8d2 187 else if (strncmp (nema_str,"GSV",3) == 0)
mfiore 4:ae35903cd8d2 188 parseGSV(nema_str);
mfiore 4:ae35903cd8d2 189 else if (strncmp (nema_str,"GLL",3) == 0)
mfiore 4:ae35903cd8d2 190 parseGLL(nema_str);
mfiore 4:ae35903cd8d2 191 else if (strncmp (nema_str,"RMC",3) == 0)
mfiore 4:ae35903cd8d2 192 parseRMC(nema_str);
mfiore 4:ae35903cd8d2 193 else if (strncmp (nema_str,"VTG",3) == 0)
mfiore 4:ae35903cd8d2 194 parseVTG(nema_str);
mfiore 4:ae35903cd8d2 195 else if (strncmp (nema_str,"ZDA",3) == 0)
mfiore 4:ae35903cd8d2 196 parseZDA(nema_str);
mfiore 4:ae35903cd8d2 197 else
mfiore 4:ae35903cd8d2 198 printf("Unknown NEMA String Type\r\n");
falingtrea 0:d2169fecf3fb 199 else
falingtrea 0:d2169fecf3fb 200 printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
falingtrea 0:d2169fecf3fb 201 }
mfiore 4:ae35903cd8d2 202 } else
falingtrea 0:d2169fecf3fb 203 printf("RX empty before all data read\r\n");
falingtrea 0:d2169fecf3fb 204 }
falingtrea 0:d2169fecf3fb 205
falingtrea 0:d2169fecf3fb 206 osDelay(100);
falingtrea 0:d2169fecf3fb 207
falingtrea 0:d2169fecf3fb 208 } while(true);
falingtrea 0:d2169fecf3fb 209
falingtrea 0:d2169fecf3fb 210 }
falingtrea 0:d2169fecf3fb 211
mfiore 4:ae35903cd8d2 212 uint8_t GPSPARSER::parseGGA(char *nema_buf)
mfiore 4:ae35903cd8d2 213 {
falingtrea 0:d2169fecf3fb 214 char* token_str;
falingtrea 0:d2169fecf3fb 215 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 216
falingtrea 0:d2169fecf3fb 217 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 218 // skip timestamp
falingtrea 0:d2169fecf3fb 219 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 220 // skip latitude degrees minutes
falingtrea 0:d2169fecf3fb 221 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 222 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 223 // skip longitude degree minutes
falingtrea 0:d2169fecf3fb 224 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 225 token_str = strtok(NULL, ",");
mfiore 4:ae35903cd8d2 226 // read fix quality
falingtrea 0:d2169fecf3fb 227 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 228 _fix_quality = atoi(token_str);
falingtrea 0:d2169fecf3fb 229 // skip number of satellites and horizontal dilution
falingtrea 0:d2169fecf3fb 230 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 231 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 232 // read msl altitude in meters
falingtrea 0:d2169fecf3fb 233 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 234 _msl_altitude = atoi(token_str);
falingtrea 0:d2169fecf3fb 235
falingtrea 0:d2169fecf3fb 236 return ret;
falingtrea 0:d2169fecf3fb 237 }
mfiore 4:ae35903cd8d2 238
mfiore 4:ae35903cd8d2 239 uint8_t GPSPARSER::parseGSA(char *nema_buf)
mfiore 4:ae35903cd8d2 240 {
falingtrea 0:d2169fecf3fb 241 char* token_str;
falingtrea 0:d2169fecf3fb 242 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 243
falingtrea 0:d2169fecf3fb 244 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 245 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 246 // read fix status
falingtrea 0:d2169fecf3fb 247 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 248 _fix_status = atoi(token_str);
falingtrea 0:d2169fecf3fb 249 // read satellite PRNs
mfiore 4:ae35903cd8d2 250 for (uint8_t i=0; i<12; i++) {
falingtrea 0:d2169fecf3fb 251 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 252 _satellite_prn[i] = atoi(token_str);
falingtrea 0:d2169fecf3fb 253 }
falingtrea 0:d2169fecf3fb 254 return ret;
falingtrea 0:d2169fecf3fb 255 }
falingtrea 0:d2169fecf3fb 256
mfiore 4:ae35903cd8d2 257 uint8_t GPSPARSER::parseGSV(char *nema_buf)
mfiore 4:ae35903cd8d2 258 {
falingtrea 0:d2169fecf3fb 259 char* token_str;
falingtrea 0:d2169fecf3fb 260 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 261
falingtrea 0:d2169fecf3fb 262 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 263 // skip number of sentences and sentence number for now
falingtrea 0:d2169fecf3fb 264 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 265 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 266 // read Number of satellites
falingtrea 0:d2169fecf3fb 267 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 268 _num_satellites = atoi(token_str);
falingtrea 0:d2169fecf3fb 269 // add code to read satellite specs if needed
falingtrea 0:d2169fecf3fb 270
falingtrea 0:d2169fecf3fb 271 return ret;
falingtrea 0:d2169fecf3fb 272 }
falingtrea 0:d2169fecf3fb 273
mfiore 4:ae35903cd8d2 274 uint8_t GPSPARSER::parseRMC(char *nema_buf)
mfiore 4:ae35903cd8d2 275 {
falingtrea 0:d2169fecf3fb 276 char* token_str;
falingtrea 0:d2169fecf3fb 277 char temp_str[6];
falingtrea 0:d2169fecf3fb 278 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 279
falingtrea 0:d2169fecf3fb 280 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 281 // read timestamp
falingtrea 0:d2169fecf3fb 282 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 283 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 284 _timestamp.tm_hour = atoi(temp_str);
falingtrea 0:d2169fecf3fb 285 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 286 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 287 _timestamp.tm_min = atoi(temp_str);
falingtrea 0:d2169fecf3fb 288 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 289 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 290 _timestamp.tm_sec = atoi(temp_str);
falingtrea 0:d2169fecf3fb 291 // set gps_status true = active
falingtrea 0:d2169fecf3fb 292 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 293 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 294 strncpy(temp_str,token_str,1);
falingtrea 0:d2169fecf3fb 295 if (temp_str[0] == 'A')
falingtrea 0:d2169fecf3fb 296 _gps_status = true;
falingtrea 0:d2169fecf3fb 297 else
falingtrea 0:d2169fecf3fb 298 _gps_status = false;
falingtrea 0:d2169fecf3fb 299 // read latitude degrees minutes
falingtrea 0:d2169fecf3fb 300 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 301 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 302 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 303 _gps_latitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 304 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 305 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 306 _gps_latitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 307 // read fractional minutes
falingtrea 0:d2169fecf3fb 308 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 309 _gps_latitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 310 // read latitude hemisphere change sign if 'S'
falingtrea 0:d2169fecf3fb 311 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 312 if (token_str[0] == 'S')
falingtrea 0:d2169fecf3fb 313 _gps_latitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 314 // read longitude degree minutes
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,3);
falingtrea 0:d2169fecf3fb 318 _gps_longitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 319 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 320 strncpy(temp_str,token_str+3,2);
falingtrea 0:d2169fecf3fb 321 _gps_longitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 322 // read fractional minutes
falingtrea 0:d2169fecf3fb 323 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 324 _gps_longitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 325 // read longitude hemisphere change sign if 'W'
falingtrea 0:d2169fecf3fb 326 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 327 if (token_str[0] == 'W')
falingtrea 0:d2169fecf3fb 328 _gps_longitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 329 // skip speed and track angle
falingtrea 0:d2169fecf3fb 330 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 331 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 332 // read date
falingtrea 0:d2169fecf3fb 333 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 334 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 335 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 336 _timestamp.tm_mday = atoi(temp_str);
falingtrea 0:d2169fecf3fb 337 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 338 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 339 _timestamp.tm_mon = atoi(temp_str) - 1;
falingtrea 0:d2169fecf3fb 340 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 341 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 342 _timestamp.tm_year = atoi(temp_str) + 100;
falingtrea 0:d2169fecf3fb 343
falingtrea 0:d2169fecf3fb 344 return ret;
falingtrea 0:d2169fecf3fb 345 }
falingtrea 0:d2169fecf3fb 346
mfiore 4:ae35903cd8d2 347 uint8_t GPSPARSER::parseVTG(char *nema_buf)
mfiore 4:ae35903cd8d2 348 {
falingtrea 0:d2169fecf3fb 349 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 350 printf("ParseVTG****\r\n");
falingtrea 0:d2169fecf3fb 351 printf(nema_buf);
falingtrea 0:d2169fecf3fb 352 printf("\r\n");
falingtrea 0:d2169fecf3fb 353 return ret;
falingtrea 0:d2169fecf3fb 354 }
falingtrea 0:d2169fecf3fb 355
mfiore 4:ae35903cd8d2 356 uint8_t GPSPARSER::parseGLL(char *nema_buf)
mfiore 4:ae35903cd8d2 357 {
falingtrea 0:d2169fecf3fb 358 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 359 printf("ParseGLL*****\r\n");
falingtrea 0:d2169fecf3fb 360 printf(nema_buf);
falingtrea 0:d2169fecf3fb 361 printf("\r\n");
falingtrea 0:d2169fecf3fb 362 return ret;
falingtrea 0:d2169fecf3fb 363 }
falingtrea 0:d2169fecf3fb 364
mfiore 4:ae35903cd8d2 365 uint8_t GPSPARSER::parseZDA(char *nema_buf)
mfiore 4:ae35903cd8d2 366 {
falingtrea 0:d2169fecf3fb 367 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 368 printf("ParseZDA******\r\n");
falingtrea 0:d2169fecf3fb 369 printf(nema_buf);
falingtrea 0:d2169fecf3fb 370 printf("\r\n");
falingtrea 0:d2169fecf3fb 371 return ret;
falingtrea 0:d2169fecf3fb 372 }
falingtrea 0:d2169fecf3fb 373
mfiore 4:ae35903cd8d2 374 bool GPSPARSER::gpsDetected(void)
mfiore 4:ae35903cd8d2 375 {
falingtrea 0:d2169fecf3fb 376 return _gps_detected;
falingtrea 0:d2169fecf3fb 377 }
falingtrea 0:d2169fecf3fb 378
mfiore 4:ae35903cd8d2 379 GPSPARSER::longitude GPSPARSER::getLongitude(void)
mfiore 4:ae35903cd8d2 380 {
falingtrea 0:d2169fecf3fb 381 return _gps_longitude;
falingtrea 0:d2169fecf3fb 382 }
falingtrea 0:d2169fecf3fb 383
mfiore 4:ae35903cd8d2 384 GPSPARSER::latitude GPSPARSER::getLatitude(void)
mfiore 4:ae35903cd8d2 385 {
falingtrea 0:d2169fecf3fb 386 return _gps_latitude;
falingtrea 0:d2169fecf3fb 387 }
falingtrea 0:d2169fecf3fb 388
mfiore 4:ae35903cd8d2 389 struct tm GPSPARSER::getTimestamp(void) {
falingtrea 0:d2169fecf3fb 390 return _timestamp;
falingtrea 0:d2169fecf3fb 391 }
falingtrea 0:d2169fecf3fb 392
mfiore 4:ae35903cd8d2 393 bool GPSPARSER::getLockStatus(void)
mfiore 4:ae35903cd8d2 394 {
falingtrea 0:d2169fecf3fb 395 return _gps_status;
falingtrea 0:d2169fecf3fb 396 }
falingtrea 0:d2169fecf3fb 397
mfiore 4:ae35903cd8d2 398 uint8_t GPSPARSER::getFixStatus(void)
mfiore 4:ae35903cd8d2 399 {
falingtrea 0:d2169fecf3fb 400 return _fix_status;
falingtrea 0:d2169fecf3fb 401 }
falingtrea 0:d2169fecf3fb 402
mfiore 4:ae35903cd8d2 403 uint8_t GPSPARSER::getFixQuality(void)
mfiore 4:ae35903cd8d2 404 {
falingtrea 0:d2169fecf3fb 405 return _fix_quality;
falingtrea 0:d2169fecf3fb 406 }
falingtrea 0:d2169fecf3fb 407
mfiore 4:ae35903cd8d2 408 uint8_t GPSPARSER::getNumSatellites(void)
mfiore 4:ae35903cd8d2 409 {
falingtrea 0:d2169fecf3fb 410 return _num_satellites;
falingtrea 0:d2169fecf3fb 411 }
falingtrea 0:d2169fecf3fb 412
mfiore 4:ae35903cd8d2 413 int16_t GPSPARSER::getAltitude(void)
mfiore 4:ae35903cd8d2 414 {
falingtrea 0:d2169fecf3fb 415 return _msl_altitude;
falingtrea 0:d2169fecf3fb 416 }