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@13:b41779d6cddb, 2018-01-31 (annotated)

Committer:
Evan Hosseini
Date:
Wed Jan 31 09:14:03 2018 -0600
Revision:
13:b41779d6cddb
Parent:
12:179474537b42 
Pull LED i2c write out of the Ticker ISR

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),
Evan Hosseini 13:b41779d6cddb 38 _led_state_out(0),
Mike Fiore 7:bd1013ba8afd 39 _tick_running(false)
falingtrea 0:d2169fecf3fb 40 {
falingtrea 0:d2169fecf3fb 41 _gps_uart = uart;
falingtrea 0:d2169fecf3fb 42 _gps_uart->baud(9600); //set GPS baud rate here
mfiore 4:ae35903cd8d2 43
falingtrea 0:d2169fecf3fb 44 _gps_latitude.degrees = 0;
falingtrea 0:d2169fecf3fb 45 _gps_longitude.degrees = 0;
falingtrea 0:d2169fecf3fb 46 _timestamp.tm_sec = 0;
falingtrea 0:d2169fecf3fb 47 _timestamp.tm_min = 0;
falingtrea 0:d2169fecf3fb 48 _timestamp.tm_hour = 0;
falingtrea 0:d2169fecf3fb 49 _timestamp.tm_mday = 0;
falingtrea 0:d2169fecf3fb 50 _timestamp.tm_mon = 0;
falingtrea 0:d2169fecf3fb 51 _timestamp.tm_year = 0;
falingtrea 0:d2169fecf3fb 52 _timestamp.tm_wday = 0;
falingtrea 0:d2169fecf3fb 53 _timestamp.tm_yday = 0;
falingtrea 0:d2169fecf3fb 54 _timestamp.tm_isdst = -1; // time is UTC so no Daylight savings time
mfiore 4:ae35903cd8d2 55
falingtrea 0:d2169fecf3fb 56 _gps_status = false;
falingtrea 2:fbc098f1e7c0 57 _fix_status = 1;
falingtrea 0:d2169fecf3fb 58 _num_satellites =0;
falingtrea 0:d2169fecf3fb 59 _gps_detected = false;
falingtrea 0:d2169fecf3fb 60
Mike Fiore 10:465f9db415ea 61 _getSentenceThread.signal_set(START_THREAD);
mfiore 4:ae35903cd8d2 62
falingtrea 0:d2169fecf3fb 63 return;
falingtrea 0:d2169fecf3fb 64 }
falingtrea 0:d2169fecf3fb 65
mfiore 4:ae35903cd8d2 66 GPSPARSER::~GPSPARSER(void)
mfiore 4:ae35903cd8d2 67 {
falingtrea 0:d2169fecf3fb 68 if (_gps_detected)
falingtrea 0:d2169fecf3fb 69 _getSentenceThread.terminate();
falingtrea 0:d2169fecf3fb 70 }
falingtrea 0:d2169fecf3fb 71
mfiore 4:ae35903cd8d2 72 void GPSPARSER::startSentenceThread(void const *p)
mfiore 4:ae35903cd8d2 73 {
mfiore 4:ae35903cd8d2 74 GPSPARSER *instance = (GPSPARSER*)p;
mfiore 4:ae35903cd8d2 75 instance->readNemaSentence();
falingtrea 0:d2169fecf3fb 76 }
falingtrea 0:d2169fecf3fb 77
mfiore 4:ae35903cd8d2 78 void GPSPARSER::readNemaSentence (void)
mfiore 4:ae35903cd8d2 79 {
Mike Fiore 10:465f9db415ea 80 // this code is specific to the Skytraq Venus GPS chip. This code could be re-written to detect another type of
Mike Fiore 10:465f9db415ea 81 // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
Mike Fiore 10:465f9db415ea 82
Mike Fiore 10:465f9db415ea 83 // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
Mike Fiore 10:465f9db415ea 84 // setup string for GPS GGA GSA GSV GLL RMC VTG ZDA cksum
Mike Fiore 10:465f9db415ea 85 char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
falingtrea 0:d2169fecf3fb 86 char chk_char;
mfiore 4:ae35903cd8d2 87 uint8_t calc_cksum;
falingtrea 0:d2169fecf3fb 88 uint8_t nema_cksum;
falingtrea 0:d2169fecf3fb 89 char nema_id[2];
falingtrea 0:d2169fecf3fb 90 char nema_str[80];
falingtrea 0:d2169fecf3fb 91 char cksum_str[2];
mfiore 4:ae35903cd8d2 92
falingtrea 0:d2169fecf3fb 93 _getSentenceThread.signal_wait(START_THREAD);
Mike Fiore 10:465f9db415ea 94 //printf("GPS starting\r\n");
rklaassen 12:179474537b42 95 for(int i = 0; i < 20; i++){
Mike Fiore 10:465f9db415ea 96 _gps_uart->rxClear();
Mike Fiore 10:465f9db415ea 97 _gps_uart->write(init_gps, sizeof(init_gps));
Mike Fiore 10:465f9db415ea 98 while (! _gps_uart->readable())
Mike Fiore 10:465f9db415ea 99 osDelay(100);
Mike Fiore 10:465f9db415ea 100 do {
Mike Fiore 10:465f9db415ea 101 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 102 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 103 } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
Mike Fiore 10:465f9db415ea 104 if (chk_char == 0xA0) {
Mike Fiore 10:465f9db415ea 105 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 106 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 107 if (chk_char == 0xA1) {
Mike Fiore 10:465f9db415ea 108 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 109 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 110 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 111 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 112 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 113 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 114 if (chk_char == 0x83) {
Mike Fiore 10:465f9db415ea 115 _gps_detected = true;
rklaassen 11:73e776e41d23 116 break;
Mike Fiore 10:465f9db415ea 117 }
Mike Fiore 10:465f9db415ea 118 }
Mike Fiore 10:465f9db415ea 119 }
rklaassen 11:73e776e41d23 120 osDelay(50);
rklaassen 11:73e776e41d23 121 }
Mike Fiore 10:465f9db415ea 122 //printf("GPS detected %s\r\n", _gps_detected ? "true" : "false");
Mike Fiore 10:465f9db415ea 123
Mike Fiore 10:465f9db415ea 124 if (! _gps_detected) {
Mike Fiore 10:465f9db415ea 125 _fix_status = 0;
Mike Fiore 10:465f9db415ea 126 return;
Mike Fiore 10:465f9db415ea 127 }
Mike Fiore 10:465f9db415ea 128
Mike Fiore 7:bd1013ba8afd 129 if (_led) {
Mike Fiore 7:bd1013ba8afd 130 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 131 _tick_running = true;
Mike Fiore 7:bd1013ba8afd 132 }
mfiore 4:ae35903cd8d2 133
falingtrea 0:d2169fecf3fb 134 do {
mfiore 4:ae35903cd8d2 135 if (_gps_uart->readable() > 80) {
mfiore 4:ae35903cd8d2 136 do {
falingtrea 0:d2169fecf3fb 137 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 138 } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 139
falingtrea 0:d2169fecf3fb 140 if (chk_char == '$') {
falingtrea 0:d2169fecf3fb 141 _gps_uart->read(nema_id,2);
mfiore 4:ae35903cd8d2 142 if (strpbrk(nema_id,"GP") != NULL) {
falingtrea 0:d2169fecf3fb 143 uint8_t i = 0;
falingtrea 0:d2169fecf3fb 144 calc_cksum = 0x17; // 8 bit XOR of G and P checksum seed
falingtrea 0:d2169fecf3fb 145 nema_cksum = 0; // initialize nema string checksum
falingtrea 0:d2169fecf3fb 146 memset(nema_str,0x00,80); // clear nema_str array
falingtrea 0:d2169fecf3fb 147 do {
falingtrea 0:d2169fecf3fb 148 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 149 if ((chk_char != 0x0D) && (chk_char != '*')) {
falingtrea 0:d2169fecf3fb 150 nema_str[i++] = chk_char;
falingtrea 0:d2169fecf3fb 151 calc_cksum ^= chk_char; // 8 bit XOR checksum
falingtrea 0:d2169fecf3fb 152 }
falingtrea 0:d2169fecf3fb 153 if (chk_char == '*') {
mfiore 4:ae35903cd8d2 154 _gps_uart->read(cksum_str,2);
falingtrea 0:d2169fecf3fb 155 nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
falingtrea 0:d2169fecf3fb 156 }
falingtrea 0:d2169fecf3fb 157 } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
mfiore 4:ae35903cd8d2 158
Mike Fiore 9:a4d4ab3b0f23 159 if (nema_cksum == calc_cksum) {
falingtrea 0:d2169fecf3fb 160 if (strncmp (nema_str,"GGA",3) == 0)
falingtrea 0:d2169fecf3fb 161 parseGGA(nema_str);
falingtrea 0:d2169fecf3fb 162 else if (strncmp (nema_str,"GSA",3) == 0)
mfiore 4:ae35903cd8d2 163 parseGSA(nema_str);
mfiore 4:ae35903cd8d2 164 else if (strncmp (nema_str,"GSV",3) == 0)
mfiore 4:ae35903cd8d2 165 parseGSV(nema_str);
mfiore 4:ae35903cd8d2 166 else if (strncmp (nema_str,"GLL",3) == 0)
mfiore 4:ae35903cd8d2 167 parseGLL(nema_str);
mfiore 4:ae35903cd8d2 168 else if (strncmp (nema_str,"RMC",3) == 0)
mfiore 4:ae35903cd8d2 169 parseRMC(nema_str);
mfiore 4:ae35903cd8d2 170 else if (strncmp (nema_str,"VTG",3) == 0)
mfiore 4:ae35903cd8d2 171 parseVTG(nema_str);
mfiore 4:ae35903cd8d2 172 else if (strncmp (nema_str,"ZDA",3) == 0)
mfiore 4:ae35903cd8d2 173 parseZDA(nema_str);
mfiore 4:ae35903cd8d2 174 else
Mike Fiore 9:a4d4ab3b0f23 175 printf("Unknown NEMA String Type\r\n");
Mike Fiore 9:a4d4ab3b0f23 176 } else {
Mike Fiore 9:a4d4ab3b0f23 177 printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
Mike Fiore 9:a4d4ab3b0f23 178 }
falingtrea 0:d2169fecf3fb 179 }
mfiore 4:ae35903cd8d2 180 } else
Mike Fiore 9:a4d4ab3b0f23 181 printf("RX empty before all data read\r\n");
falingtrea 0:d2169fecf3fb 182 }
falingtrea 0:d2169fecf3fb 183
Mike Fiore 6:2050b4795b66 184 if (_led) {
Mike Fiore 6:2050b4795b66 185 if (_fix_status >= 2) {
Mike Fiore 7:bd1013ba8afd 186 if (_tick_running) {
Mike Fiore 7:bd1013ba8afd 187 _tick.detach();
Mike Fiore 7:bd1013ba8afd 188 _tick_running = false;
Mike Fiore 7:bd1013ba8afd 189 }
Mike Fiore 6:2050b4795b66 190 _led->setPWM(NCP5623B::LED_3, 8);
Mike Fiore 7:bd1013ba8afd 191 } else {
Mike Fiore 7:bd1013ba8afd 192 if (! _tick_running) {
Mike Fiore 7:bd1013ba8afd 193 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 194 _tick_running = true;
Evan Hosseini 13:b41779d6cddb 195 } else {
Evan Hosseini 13:b41779d6cddb 196 if (_led_state_out != _led_state)
Evan Hosseini 13:b41779d6cddb 197 {
Evan Hosseini 13:b41779d6cddb 198 _led_state_out = _led_state;
Evan Hosseini 13:b41779d6cddb 199 _led->setPWM(NCP5623B::LED_3, _led_state_out);
Evan Hosseini 13:b41779d6cddb 200 }
Mike Fiore 7:bd1013ba8afd 201 }
Mike Fiore 6:2050b4795b66 202 }
Mike Fiore 6:2050b4795b66 203 }
Mike Fiore 6:2050b4795b66 204
falingtrea 0:d2169fecf3fb 205 osDelay(100);
falingtrea 0:d2169fecf3fb 206
falingtrea 0:d2169fecf3fb 207 } while(true);
falingtrea 0:d2169fecf3fb 208
falingtrea 0:d2169fecf3fb 209 }
falingtrea 0:d2169fecf3fb 210
mfiore 4:ae35903cd8d2 211 uint8_t GPSPARSER::parseGGA(char *nema_buf)
mfiore 4:ae35903cd8d2 212 {
falingtrea 0:d2169fecf3fb 213 char* token_str;
falingtrea 0:d2169fecf3fb 214 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 215
Mike Fiore 8:5fa40fa372e2 216 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 217
falingtrea 0:d2169fecf3fb 218 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 219 // skip timestamp
falingtrea 0:d2169fecf3fb 220 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 221 // skip latitude degrees minutes
falingtrea 0:d2169fecf3fb 222 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 223 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 224 // skip longitude degree minutes
falingtrea 0:d2169fecf3fb 225 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 226 token_str = strtok(NULL, ",");
mfiore 4:ae35903cd8d2 227 // read fix quality
falingtrea 0:d2169fecf3fb 228 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 229 _fix_quality = atoi(token_str);
falingtrea 0:d2169fecf3fb 230 // skip number of satellites and horizontal dilution
falingtrea 0:d2169fecf3fb 231 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 232 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 233 // read msl altitude in meters
falingtrea 0:d2169fecf3fb 234 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 235 _msl_altitude = atoi(token_str);
falingtrea 0:d2169fecf3fb 236
Mike Fiore 8:5fa40fa372e2 237 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 238
falingtrea 0:d2169fecf3fb 239 return ret;
falingtrea 0:d2169fecf3fb 240 }
mfiore 4:ae35903cd8d2 241
mfiore 4:ae35903cd8d2 242 uint8_t GPSPARSER::parseGSA(char *nema_buf)
mfiore 4:ae35903cd8d2 243 {
falingtrea 0:d2169fecf3fb 244 char* token_str;
falingtrea 0:d2169fecf3fb 245 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 246
Mike Fiore 8:5fa40fa372e2 247 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 248
falingtrea 0:d2169fecf3fb 249 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 250 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 251 // read fix status
falingtrea 0:d2169fecf3fb 252 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 253 _fix_status = atoi(token_str);
falingtrea 0:d2169fecf3fb 254 // read satellite PRNs
mfiore 4:ae35903cd8d2 255 for (uint8_t i=0; i<12; i++) {
falingtrea 0:d2169fecf3fb 256 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 257 _satellite_prn[i] = atoi(token_str);
falingtrea 0:d2169fecf3fb 258 }
Mike Fiore 8:5fa40fa372e2 259
Mike Fiore 8:5fa40fa372e2 260 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 261
falingtrea 0:d2169fecf3fb 262 return ret;
falingtrea 0:d2169fecf3fb 263 }
falingtrea 0:d2169fecf3fb 264
mfiore 4:ae35903cd8d2 265 uint8_t GPSPARSER::parseGSV(char *nema_buf)
mfiore 4:ae35903cd8d2 266 {
falingtrea 0:d2169fecf3fb 267 char* token_str;
falingtrea 0:d2169fecf3fb 268 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 269
Mike Fiore 8:5fa40fa372e2 270 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 271
falingtrea 0:d2169fecf3fb 272 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 273 // skip number of sentences and sentence number for now
falingtrea 0:d2169fecf3fb 274 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 275 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 276 // read Number of satellites
falingtrea 0:d2169fecf3fb 277 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 278 _num_satellites = atoi(token_str);
falingtrea 0:d2169fecf3fb 279 // add code to read satellite specs if needed
Mike Fiore 8:5fa40fa372e2 280
Mike Fiore 8:5fa40fa372e2 281 _mutex.unlock();
falingtrea 0:d2169fecf3fb 282
falingtrea 0:d2169fecf3fb 283 return ret;
falingtrea 0:d2169fecf3fb 284 }
falingtrea 0:d2169fecf3fb 285
mfiore 4:ae35903cd8d2 286 uint8_t GPSPARSER::parseRMC(char *nema_buf)
mfiore 4:ae35903cd8d2 287 {
falingtrea 0:d2169fecf3fb 288 char* token_str;
falingtrea 0:d2169fecf3fb 289 char temp_str[6];
falingtrea 0:d2169fecf3fb 290 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 291
Mike Fiore 8:5fa40fa372e2 292 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 293
falingtrea 0:d2169fecf3fb 294 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 295 // read timestamp
falingtrea 0:d2169fecf3fb 296 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 297 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 298 _timestamp.tm_hour = atoi(temp_str);
falingtrea 0:d2169fecf3fb 299 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 300 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 301 _timestamp.tm_min = atoi(temp_str);
falingtrea 0:d2169fecf3fb 302 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 303 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 304 _timestamp.tm_sec = atoi(temp_str);
falingtrea 0:d2169fecf3fb 305 // set gps_status true = active
falingtrea 0:d2169fecf3fb 306 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 307 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 308 strncpy(temp_str,token_str,1);
falingtrea 0:d2169fecf3fb 309 if (temp_str[0] == 'A')
falingtrea 0:d2169fecf3fb 310 _gps_status = true;
falingtrea 0:d2169fecf3fb 311 else
falingtrea 0:d2169fecf3fb 312 _gps_status = false;
falingtrea 0:d2169fecf3fb 313 // read latitude degrees minutes
falingtrea 0:d2169fecf3fb 314 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 315 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 316 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 317 _gps_latitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 318 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 319 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 320 _gps_latitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 321 // read fractional minutes
falingtrea 0:d2169fecf3fb 322 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 323 _gps_latitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 324 // read latitude hemisphere change sign if 'S'
falingtrea 0:d2169fecf3fb 325 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 326 if (token_str[0] == 'S')
falingtrea 0:d2169fecf3fb 327 _gps_latitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 328 // read longitude degree minutes
falingtrea 0:d2169fecf3fb 329 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 330 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 331 strncpy(temp_str,token_str,3);
falingtrea 0:d2169fecf3fb 332 _gps_longitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 333 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 334 strncpy(temp_str,token_str+3,2);
falingtrea 0:d2169fecf3fb 335 _gps_longitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 336 // read fractional minutes
falingtrea 0:d2169fecf3fb 337 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 338 _gps_longitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 339 // read longitude hemisphere change sign if 'W'
falingtrea 0:d2169fecf3fb 340 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 341 if (token_str[0] == 'W')
falingtrea 0:d2169fecf3fb 342 _gps_longitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 343 // skip speed and track angle
falingtrea 0:d2169fecf3fb 344 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 345 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 346 // read date
falingtrea 0:d2169fecf3fb 347 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 348 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 349 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 350 _timestamp.tm_mday = atoi(temp_str);
falingtrea 0:d2169fecf3fb 351 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 352 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 353 _timestamp.tm_mon = atoi(temp_str) - 1;
falingtrea 0:d2169fecf3fb 354 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 355 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 356 _timestamp.tm_year = atoi(temp_str) + 100;
falingtrea 0:d2169fecf3fb 357
Mike Fiore 8:5fa40fa372e2 358 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 359
falingtrea 0:d2169fecf3fb 360 return ret;
falingtrea 0:d2169fecf3fb 361 }
falingtrea 0:d2169fecf3fb 362
mfiore 4:ae35903cd8d2 363 uint8_t GPSPARSER::parseVTG(char *nema_buf)
mfiore 4:ae35903cd8d2 364 {
falingtrea 0:d2169fecf3fb 365 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 366 //printf("ParseVTG****\r\n");
Mike Fiore 8:5fa40fa372e2 367 //printf(nema_buf);
Mike Fiore 8:5fa40fa372e2 368 //printf("\r\n");
falingtrea 0:d2169fecf3fb 369 return ret;
falingtrea 0:d2169fecf3fb 370 }
falingtrea 0:d2169fecf3fb 371
mfiore 4:ae35903cd8d2 372 uint8_t GPSPARSER::parseGLL(char *nema_buf)
mfiore 4:ae35903cd8d2 373 {
falingtrea 0:d2169fecf3fb 374 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 375 //printf("ParseGLL*****\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::parseZDA(char *nema_buf)
mfiore 4:ae35903cd8d2 382 {
falingtrea 0:d2169fecf3fb 383 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 384 //printf("ParseZDA******\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 bool GPSPARSER::gpsDetected(void)
mfiore 4:ae35903cd8d2 391 {
Mike Fiore 8:5fa40fa372e2 392 bool detected;
Mike Fiore 8:5fa40fa372e2 393
Mike Fiore 8:5fa40fa372e2 394 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 395 detected = _gps_detected;
Mike Fiore 8:5fa40fa372e2 396 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 397
Mike Fiore 8:5fa40fa372e2 398 return detected;
falingtrea 0:d2169fecf3fb 399 }
falingtrea 0:d2169fecf3fb 400
mfiore 4:ae35903cd8d2 401 GPSPARSER::longitude GPSPARSER::getLongitude(void)
mfiore 4:ae35903cd8d2 402 {
Mike Fiore 8:5fa40fa372e2 403 longitude lon;
Mike Fiore 8:5fa40fa372e2 404
Mike Fiore 8:5fa40fa372e2 405 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 406 lon = _gps_longitude;
Mike Fiore 8:5fa40fa372e2 407 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 408
Mike Fiore 8:5fa40fa372e2 409 return lon;
falingtrea 0:d2169fecf3fb 410 }
falingtrea 0:d2169fecf3fb 411
mfiore 4:ae35903cd8d2 412 GPSPARSER::latitude GPSPARSER::getLatitude(void)
mfiore 4:ae35903cd8d2 413 {
Mike Fiore 8:5fa40fa372e2 414 latitude lat;
Mike Fiore 8:5fa40fa372e2 415
Mike Fiore 8:5fa40fa372e2 416 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 417 lat = _gps_latitude;
Mike Fiore 8:5fa40fa372e2 418 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 419
Mike Fiore 8:5fa40fa372e2 420 return lat;
falingtrea 0:d2169fecf3fb 421 }
falingtrea 0:d2169fecf3fb 422
mfiore 4:ae35903cd8d2 423 struct tm GPSPARSER::getTimestamp(void) {
Mike Fiore 8:5fa40fa372e2 424 struct tm time;
Mike Fiore 8:5fa40fa372e2 425
Mike Fiore 8:5fa40fa372e2 426 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 427 time = _timestamp;
Mike Fiore 8:5fa40fa372e2 428 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 429
Mike Fiore 8:5fa40fa372e2 430 return time;
falingtrea 0:d2169fecf3fb 431 }
falingtrea 0:d2169fecf3fb 432
mfiore 4:ae35903cd8d2 433 bool GPSPARSER::getLockStatus(void)
mfiore 4:ae35903cd8d2 434 {
Mike Fiore 8:5fa40fa372e2 435 bool status;
Mike Fiore 8:5fa40fa372e2 436
Mike Fiore 8:5fa40fa372e2 437 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 438 status = _gps_status;
Mike Fiore 8:5fa40fa372e2 439 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 440
Mike Fiore 8:5fa40fa372e2 441 return status;
falingtrea 0:d2169fecf3fb 442 }
falingtrea 0:d2169fecf3fb 443
mfiore 4:ae35903cd8d2 444 uint8_t GPSPARSER::getFixStatus(void)
mfiore 4:ae35903cd8d2 445 {
Mike Fiore 8:5fa40fa372e2 446 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 447
Mike Fiore 8:5fa40fa372e2 448 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 449 fix = _fix_status;
Mike Fiore 8:5fa40fa372e2 450 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 451
Mike Fiore 8:5fa40fa372e2 452 return fix;
falingtrea 0:d2169fecf3fb 453 }
falingtrea 0:d2169fecf3fb 454
mfiore 4:ae35903cd8d2 455 uint8_t GPSPARSER::getFixQuality(void)
mfiore 4:ae35903cd8d2 456 {
Mike Fiore 8:5fa40fa372e2 457 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 458
Mike Fiore 8:5fa40fa372e2 459 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 460 fix = _fix_quality;
Mike Fiore 8:5fa40fa372e2 461 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 462
Mike Fiore 8:5fa40fa372e2 463 return fix;
falingtrea 0:d2169fecf3fb 464 }
falingtrea 0:d2169fecf3fb 465
mfiore 4:ae35903cd8d2 466 uint8_t GPSPARSER::getNumSatellites(void)
mfiore 4:ae35903cd8d2 467 {
Mike Fiore 8:5fa40fa372e2 468 uint8_t sats;
Mike Fiore 8:5fa40fa372e2 469
Mike Fiore 8:5fa40fa372e2 470 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 471 sats = _num_satellites;
Mike Fiore 8:5fa40fa372e2 472 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 473
Mike Fiore 8:5fa40fa372e2 474 return sats;
falingtrea 0:d2169fecf3fb 475 }
falingtrea 0:d2169fecf3fb 476
mfiore 4:ae35903cd8d2 477 int16_t GPSPARSER::getAltitude(void)
mfiore 4:ae35903cd8d2 478 {
Mike Fiore 8:5fa40fa372e2 479 int16_t alt;
Mike Fiore 8:5fa40fa372e2 480
Mike Fiore 8:5fa40fa372e2 481 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 482 alt = _msl_altitude;
Mike Fiore 8:5fa40fa372e2 483 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 484
Mike Fiore 8:5fa40fa372e2 485 return alt;
falingtrea 0:d2169fecf3fb 486 }
Mike Fiore 6:2050b4795b66 487
Mike Fiore 7:bd1013ba8afd 488 void GPSPARSER::blinker() {
Mike Fiore 7:bd1013ba8afd 489 _led_state = (_led_state == 0) ? 8 : 0;
Mike Fiore 7:bd1013ba8afd 490 }
Mike Fiore 7:bd1013ba8afd 491