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@3:662aa99c5266, 2015-10-22 (annotated)

Committer:
falingtrea
Date:
Thu Oct 22 19:39:17 2015 +0000
Revision:
3:662aa99c5266
Parent:
2:fbc098f1e7c0
Child:
4:ae35903cd8d2
V1.02 Fixed status value for no GPS detected. Increased report rate of GSV, GGA, and GSA NEMA Sentences

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
falingtrea 0:d2169fecf3fb 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
falingtrea 0:d2169fecf3fb 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
falingtrea 0:d2169fecf3fb 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");
falingtrea 0:d2169fecf3fb 61 }
falingtrea 2:fbc098f1e7c0 62 else{
falingtrea 3:662aa99c5266 63 printf("No GPS detected\r\n");
falingtrea 3:662aa99c5266 64 _fix_status = 0;
falingtrea 2:fbc098f1e7c0 65 }
falingtrea 2:fbc098f1e7c0 66
falingtrea 0:d2169fecf3fb 67 return;
falingtrea 0:d2169fecf3fb 68 }
falingtrea 0:d2169fecf3fb 69
falingtrea 0:d2169fecf3fb 70 GPSPARSER::~GPSPARSER(void){
falingtrea 0:d2169fecf3fb 71 if (_gps_detected)
falingtrea 0:d2169fecf3fb 72 _getSentenceThread.terminate();
falingtrea 0:d2169fecf3fb 73 }
falingtrea 0:d2169fecf3fb 74
falingtrea 0:d2169fecf3fb 75 uint8_t GPSPARSER::initGps (void){
falingtrea 0:d2169fecf3fb 76
falingtrea 0:d2169fecf3fb 77 // this code is specific to the Skytraq Venus GPS chip. This code could be re-written to detect another type of
falingtrea 0:d2169fecf3fb 78 // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
falingtrea 0:d2169fecf3fb 79
falingtrea 3:662aa99c5266 80 // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
falingtrea 0:d2169fecf3fb 81 // setup string for GPS GGA GSA GSV GLL RMC VTG ZDA cksum
falingtrea 3:662aa99c5266 82 char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
falingtrea 0:d2169fecf3fb 83 char chk_char;
falingtrea 0:d2169fecf3fb 84 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 85
falingtrea 0:d2169fecf3fb 86 _gps_uart->rxClear();
falingtrea 0:d2169fecf3fb 87 printf("Starting initGPS \r\n");
falingtrea 0:d2169fecf3fb 88
falingtrea 0:d2169fecf3fb 89 _gps_uart->write(init_gps,16);
falingtrea 0:d2169fecf3fb 90 printf("wrote control data\r\n");
falingtrea 0:d2169fecf3fb 91
falingtrea 0:d2169fecf3fb 92 do {
falingtrea 0:d2169fecf3fb 93 osDelay(10);
falingtrea 0:d2169fecf3fb 94 } while (!_gps_uart->txEmpty());
falingtrea 0:d2169fecf3fb 95
falingtrea 0:d2169fecf3fb 96 osDelay(15);
falingtrea 0:d2169fecf3fb 97
falingtrea 0:d2169fecf3fb 98 if (_gps_uart->readable()){
falingtrea 0:d2169fecf3fb 99 do{
falingtrea 0:d2169fecf3fb 100 _gps_uart->read(chk_char,20);
falingtrea 0:d2169fecf3fb 101 } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
falingtrea 0:d2169fecf3fb 102
falingtrea 0:d2169fecf3fb 103 printf ("found 0xA0 or rx empty\r\n");
falingtrea 0:d2169fecf3fb 104
falingtrea 0:d2169fecf3fb 105 if (chk_char == 0xA0){
falingtrea 0:d2169fecf3fb 106 _gps_uart->read(chk_char,15);
falingtrea 0:d2169fecf3fb 107 if (chk_char != 0xA1) {
falingtrea 0:d2169fecf3fb 108 printf( "initGPS failed no message\r\n");
falingtrea 0:d2169fecf3fb 109 ret = 1;
falingtrea 0:d2169fecf3fb 110 }
falingtrea 0:d2169fecf3fb 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);
falingtrea 0:d2169fecf3fb 117 if (chk_char != 0x83){
falingtrea 0:d2169fecf3fb 118 printf("initGPS failed not ack message\r\n");
falingtrea 0:d2169fecf3fb 119 ret = 1;
falingtrea 0:d2169fecf3fb 120 }
falingtrea 0:d2169fecf3fb 121 else {
falingtrea 0:d2169fecf3fb 122 printf("ACK message received\r\n");
falingtrea 0:d2169fecf3fb 123 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 124 printf("config message acknowledged - ID - %x\r\n",chk_char);
falingtrea 0:d2169fecf3fb 125 }
falingtrea 0:d2169fecf3fb 126 }
falingtrea 0:d2169fecf3fb 127 }
falingtrea 0:d2169fecf3fb 128 else {
falingtrea 0:d2169fecf3fb 129 printf("rx empty \r\n");
falingtrea 0:d2169fecf3fb 130 ret = 1;
falingtrea 0:d2169fecf3fb 131 }
falingtrea 0:d2169fecf3fb 132 }
falingtrea 0:d2169fecf3fb 133 else {
falingtrea 0:d2169fecf3fb 134 printf("No readable characters\r\n");
falingtrea 0:d2169fecf3fb 135 ret = 1;
falingtrea 0:d2169fecf3fb 136 }
falingtrea 0:d2169fecf3fb 137
falingtrea 0:d2169fecf3fb 138 printf("initGps done\r\n");
falingtrea 0:d2169fecf3fb 139 return ret;
falingtrea 0:d2169fecf3fb 140 }
falingtrea 0:d2169fecf3fb 141
falingtrea 0:d2169fecf3fb 142 void GPSPARSER::startSentenceThread(void const *p){
falingtrea 0:d2169fecf3fb 143 GPSPARSER *instance = (GPSPARSER*)p;
falingtrea 0:d2169fecf3fb 144 instance->readNemaSentence();
falingtrea 0:d2169fecf3fb 145 }
falingtrea 0:d2169fecf3fb 146
falingtrea 0:d2169fecf3fb 147 void GPSPARSER::readNemaSentence (void){
falingtrea 0:d2169fecf3fb 148 char chk_char;
falingtrea 0:d2169fecf3fb 149 uint8_t calc_cksum;
falingtrea 0:d2169fecf3fb 150 uint8_t nema_cksum;
falingtrea 0:d2169fecf3fb 151 char nema_id[2];
falingtrea 0:d2169fecf3fb 152 char nema_str[80];
falingtrea 0:d2169fecf3fb 153 char cksum_str[2];
falingtrea 0:d2169fecf3fb 154
falingtrea 0:d2169fecf3fb 155 _getSentenceThread.signal_wait(START_THREAD);
falingtrea 0:d2169fecf3fb 156 printf("Got thread start\r\n");
falingtrea 0:d2169fecf3fb 157
falingtrea 0:d2169fecf3fb 158 do {
falingtrea 0:d2169fecf3fb 159 if (_gps_uart->readable() > 80){
falingtrea 0:d2169fecf3fb 160 do{
falingtrea 0:d2169fecf3fb 161 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 162 } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
falingtrea 0:d2169fecf3fb 163
falingtrea 0:d2169fecf3fb 164 if (chk_char == '$') {
falingtrea 0:d2169fecf3fb 165 _gps_uart->read(nema_id,2);
falingtrea 0:d2169fecf3fb 166 if (strpbrk(nema_id,"GP") != NULL){
falingtrea 0:d2169fecf3fb 167 uint8_t i = 0;
falingtrea 0:d2169fecf3fb 168 calc_cksum = 0x17; // 8 bit XOR of G and P checksum seed
falingtrea 0:d2169fecf3fb 169 nema_cksum = 0; // initialize nema string checksum
falingtrea 0:d2169fecf3fb 170 memset(nema_str,0x00,80); // clear nema_str array
falingtrea 0:d2169fecf3fb 171 do {
falingtrea 0:d2169fecf3fb 172 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 173 if ((chk_char != 0x0D) && (chk_char != '*')){
falingtrea 0:d2169fecf3fb 174 nema_str[i++] = chk_char;
falingtrea 0:d2169fecf3fb 175 calc_cksum ^= chk_char; // 8 bit XOR checksum
falingtrea 0:d2169fecf3fb 176 }
falingtrea 0:d2169fecf3fb 177 if (chk_char == '*') {
falingtrea 0:d2169fecf3fb 178 _gps_uart->read(cksum_str,2);
falingtrea 0:d2169fecf3fb 179 nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
falingtrea 0:d2169fecf3fb 180 }
falingtrea 0:d2169fecf3fb 181 } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
falingtrea 0:d2169fecf3fb 182
falingtrea 0:d2169fecf3fb 183 if (nema_cksum == calc_cksum)
falingtrea 0:d2169fecf3fb 184 if (strncmp (nema_str,"GGA",3) == 0)
falingtrea 0:d2169fecf3fb 185 parseGGA(nema_str);
falingtrea 0:d2169fecf3fb 186 else if (strncmp (nema_str,"GSA",3) == 0)
falingtrea 0:d2169fecf3fb 187 parseGSA(nema_str);
falingtrea 0:d2169fecf3fb 188 else if (strncmp (nema_str,"GSV",3) == 0)
falingtrea 0:d2169fecf3fb 189 parseGSV(nema_str);
falingtrea 0:d2169fecf3fb 190 else if (strncmp (nema_str,"GLL",3) == 0)
falingtrea 0:d2169fecf3fb 191 parseGLL(nema_str);
falingtrea 0:d2169fecf3fb 192 else if (strncmp (nema_str,"RMC",3) == 0)
falingtrea 0:d2169fecf3fb 193 parseRMC(nema_str);
falingtrea 0:d2169fecf3fb 194 else if (strncmp (nema_str,"VTG",3) == 0)
falingtrea 0:d2169fecf3fb 195 parseVTG(nema_str);
falingtrea 0:d2169fecf3fb 196 else if (strncmp (nema_str,"ZDA",3) == 0)
falingtrea 0:d2169fecf3fb 197 parseZDA(nema_str);
falingtrea 0:d2169fecf3fb 198 else
falingtrea 0:d2169fecf3fb 199 printf("Unknown NEMA String Type\r\n");
falingtrea 0:d2169fecf3fb 200 else
falingtrea 0:d2169fecf3fb 201 printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
falingtrea 0:d2169fecf3fb 202 }
falingtrea 0:d2169fecf3fb 203 }
falingtrea 0:d2169fecf3fb 204 else
falingtrea 0:d2169fecf3fb 205 printf("RX empty before all data read\r\n");
falingtrea 0:d2169fecf3fb 206 }
falingtrea 0:d2169fecf3fb 207
falingtrea 0:d2169fecf3fb 208 osDelay(100);
falingtrea 0:d2169fecf3fb 209
falingtrea 0:d2169fecf3fb 210 } while(true);
falingtrea 0:d2169fecf3fb 211
falingtrea 0:d2169fecf3fb 212 }
falingtrea 0:d2169fecf3fb 213
falingtrea 0:d2169fecf3fb 214 uint8_t GPSPARSER::parseGGA(char *nema_buf){
falingtrea 0:d2169fecf3fb 215 char* token_str;
falingtrea 0:d2169fecf3fb 216 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 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, ",");
falingtrea 0:d2169fecf3fb 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
falingtrea 0:d2169fecf3fb 237 return ret;
falingtrea 0:d2169fecf3fb 238 }
falingtrea 0:d2169fecf3fb 239
falingtrea 0:d2169fecf3fb 240 uint8_t GPSPARSER::parseGSA(char *nema_buf){
falingtrea 0:d2169fecf3fb 241 char* token_str;
falingtrea 0:d2169fecf3fb 242 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 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
falingtrea 0:d2169fecf3fb 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
falingtrea 0:d2169fecf3fb 257 uint8_t GPSPARSER::parseGSV(char *nema_buf){
falingtrea 0:d2169fecf3fb 258 char* token_str;
falingtrea 0:d2169fecf3fb 259 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 260
falingtrea 0:d2169fecf3fb 261 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 262 // skip number of sentences and sentence number for now
falingtrea 0:d2169fecf3fb 263 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 264 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 265 // read Number of satellites
falingtrea 0:d2169fecf3fb 266 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 267 _num_satellites = atoi(token_str);
falingtrea 0:d2169fecf3fb 268 // add code to read satellite specs if needed
falingtrea 0:d2169fecf3fb 269
falingtrea 0:d2169fecf3fb 270 return ret;
falingtrea 0:d2169fecf3fb 271 }
falingtrea 0:d2169fecf3fb 272
falingtrea 0:d2169fecf3fb 273 uint8_t GPSPARSER::parseRMC(char *nema_buf){
falingtrea 0:d2169fecf3fb 274 char* token_str;
falingtrea 0:d2169fecf3fb 275 char temp_str[6];
falingtrea 0:d2169fecf3fb 276 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 277
falingtrea 0:d2169fecf3fb 278 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 279 // read timestamp
falingtrea 0:d2169fecf3fb 280 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 281 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 282 _timestamp.tm_hour = atoi(temp_str);
falingtrea 0:d2169fecf3fb 283 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 284 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 285 _timestamp.tm_min = atoi(temp_str);
falingtrea 0:d2169fecf3fb 286 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 287 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 288 _timestamp.tm_sec = atoi(temp_str);
falingtrea 0:d2169fecf3fb 289 // set gps_status true = active
falingtrea 0:d2169fecf3fb 290 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 291 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 292 strncpy(temp_str,token_str,1);
falingtrea 0:d2169fecf3fb 293 if (temp_str[0] == 'A')
falingtrea 0:d2169fecf3fb 294 _gps_status = true;
falingtrea 0:d2169fecf3fb 295 else
falingtrea 0:d2169fecf3fb 296 _gps_status = false;
falingtrea 0:d2169fecf3fb 297 // read latitude degrees minutes
falingtrea 0:d2169fecf3fb 298 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 299 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 300 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 301 _gps_latitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 302 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 303 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 304 _gps_latitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 305 // read fractional minutes
falingtrea 0:d2169fecf3fb 306 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 307 _gps_latitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 308 // read latitude hemisphere change sign if 'S'
falingtrea 0:d2169fecf3fb 309 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 310 if (token_str[0] == 'S')
falingtrea 0:d2169fecf3fb 311 _gps_latitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 312 // read longitude degree minutes
falingtrea 0:d2169fecf3fb 313 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 314 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 315 strncpy(temp_str,token_str,3);
falingtrea 0:d2169fecf3fb 316 _gps_longitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 317 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 318 strncpy(temp_str,token_str+3,2);
falingtrea 0:d2169fecf3fb 319 _gps_longitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 320 // read fractional minutes
falingtrea 0:d2169fecf3fb 321 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 322 _gps_longitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 323 // read longitude hemisphere change sign if 'W'
falingtrea 0:d2169fecf3fb 324 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 325 if (token_str[0] == 'W')
falingtrea 0:d2169fecf3fb 326 _gps_longitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 327 // skip speed and track angle
falingtrea 0:d2169fecf3fb 328 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 329 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 330 // read date
falingtrea 0:d2169fecf3fb 331 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 332 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 333 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 334 _timestamp.tm_mday = atoi(temp_str);
falingtrea 0:d2169fecf3fb 335 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 336 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 337 _timestamp.tm_mon = atoi(temp_str) - 1;
falingtrea 0:d2169fecf3fb 338 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 339 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 340 _timestamp.tm_year = atoi(temp_str) + 100;
falingtrea 0:d2169fecf3fb 341
falingtrea 0:d2169fecf3fb 342 return ret;
falingtrea 0:d2169fecf3fb 343 }
falingtrea 0:d2169fecf3fb 344
falingtrea 0:d2169fecf3fb 345 uint8_t GPSPARSER::parseVTG(char *nema_buf){
falingtrea 0:d2169fecf3fb 346 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 347 printf("ParseVTG****\r\n");
falingtrea 0:d2169fecf3fb 348 printf(nema_buf);
falingtrea 0:d2169fecf3fb 349 printf("\r\n");
falingtrea 0:d2169fecf3fb 350 return ret;
falingtrea 0:d2169fecf3fb 351 }
falingtrea 0:d2169fecf3fb 352
falingtrea 0:d2169fecf3fb 353 uint8_t GPSPARSER::parseGLL(char *nema_buf){
falingtrea 0:d2169fecf3fb 354 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 355 printf("ParseGLL*****\r\n");
falingtrea 0:d2169fecf3fb 356 printf(nema_buf);
falingtrea 0:d2169fecf3fb 357 printf("\r\n");
falingtrea 0:d2169fecf3fb 358 return ret;
falingtrea 0:d2169fecf3fb 359 }
falingtrea 0:d2169fecf3fb 360
falingtrea 0:d2169fecf3fb 361 uint8_t GPSPARSER::parseZDA(char *nema_buf){
falingtrea 0:d2169fecf3fb 362 uint8_t ret = 0;
falingtrea 0:d2169fecf3fb 363 printf("ParseZDA******\r\n");
falingtrea 0:d2169fecf3fb 364 printf(nema_buf);
falingtrea 0:d2169fecf3fb 365 printf("\r\n");
falingtrea 0:d2169fecf3fb 366 return ret;
falingtrea 0:d2169fecf3fb 367 }
falingtrea 0:d2169fecf3fb 368
falingtrea 0:d2169fecf3fb 369 bool GPSPARSER::gpsDetected(void){
falingtrea 0:d2169fecf3fb 370 return _gps_detected;
falingtrea 0:d2169fecf3fb 371 }
falingtrea 0:d2169fecf3fb 372
falingtrea 0:d2169fecf3fb 373 GPSPARSER::longitude GPSPARSER::getLongitude(void){
falingtrea 0:d2169fecf3fb 374 return _gps_longitude;
falingtrea 0:d2169fecf3fb 375 }
falingtrea 0:d2169fecf3fb 376
falingtrea 0:d2169fecf3fb 377 GPSPARSER::latitude GPSPARSER::getLatitude(void){
falingtrea 0:d2169fecf3fb 378 return _gps_latitude;
falingtrea 0:d2169fecf3fb 379 }
falingtrea 0:d2169fecf3fb 380
falingtrea 0:d2169fecf3fb 381 struct tm GPSPARSER::getTimestamp(void){
falingtrea 0:d2169fecf3fb 382 return _timestamp;
falingtrea 0:d2169fecf3fb 383 }
falingtrea 0:d2169fecf3fb 384
falingtrea 0:d2169fecf3fb 385 bool GPSPARSER::getLockStatus(void){
falingtrea 0:d2169fecf3fb 386 return _gps_status;
falingtrea 0:d2169fecf3fb 387 }
falingtrea 0:d2169fecf3fb 388
falingtrea 0:d2169fecf3fb 389 uint8_t GPSPARSER::getFixStatus(void){
falingtrea 0:d2169fecf3fb 390 return _fix_status;
falingtrea 0:d2169fecf3fb 391 }
falingtrea 0:d2169fecf3fb 392
falingtrea 0:d2169fecf3fb 393 uint8_t GPSPARSER::getFixQuality(void){
falingtrea 0:d2169fecf3fb 394 return _fix_quality;
falingtrea 0:d2169fecf3fb 395 }
falingtrea 0:d2169fecf3fb 396
falingtrea 0:d2169fecf3fb 397 uint8_t GPSPARSER::getNumSatellites(void){
falingtrea 0:d2169fecf3fb 398 return _num_satellites;
falingtrea 0:d2169fecf3fb 399 }
falingtrea 0:d2169fecf3fb 400
falingtrea 0:d2169fecf3fb 401 int16_t GPSPARSER::getAltitude(void){
falingtrea 0:d2169fecf3fb 402 return _msl_altitude;
falingtrea 0:d2169fecf3fb 403 }