Diff: GPSPARSER.h

Revision:

0:d2169fecf3fb

Child:

5:11f41dee386b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSPARSER.h	Thu Sep 10 20:03:21 2015 +0000
@@ -0,0 +1,204 @@
+/**
+ * @file    GpsParser.h
+ * @brief   NEMA String to Packet Parser - NEMA strings to compact packet data
+ * @author  Tim Barr
+ * @version 1.0
+ * @see     http://www.kh-gps.de/nmea.faq
+ * @see     http://www.catb.org/gpsd/NMEA.html
+ * @see     http://www.skytraq.com.tw/products/Venus638LPx_PB_v3.pdf
+ *
+ * Copyright (c) 2015
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GPSPARSER_H
+#define GPSPARSER_H
+
+#include "mbed.h"
+#include "rtos.h"
+#include "MTSSerial.h"
+#include <string>
+#include <vector>
+#include <ctime>
+#define START_THREAD 1
+
+using namespace mts;
+
+class GPSPARSER
+{
+public:
+
+    /**
+     * @typedef struct latitude
+     * @brief latitude degrees, minutes, seconds structure
+     * range of degrees : 0 to 90 signed (negative degrees is South)
+     * range of minutes : 0 to 60 unsigned
+     * Range of seconds : 0-9999 unsigned or 1/10000 of a minute.
+     * Multiply by 6 and divide or modulus by 1000 to get seconds and fractional seconds
+     */
+    typedef struct{int8_t degrees; uint8_t minutes; uint16_t seconds;} latitude;
+    
+    /**
+     * @typedef struct longitude
+     * @brief longitude degrees, minutes, seconds structure negative degrees is West
+     * range of degrees : 0 to 180 signed (negative degrees is West)
+     * range of minutes : 0 to 60 unsigned
+     * Range of seconds : 0-9999 unsigned or 1/10000 of a minute.
+     * Multiply by 6 and divide or modulus by 1000 to get seconds and fractional seconds
+     */
+    typedef struct{int16_t degrees; uint8_t minutes; uint16_t seconds;} longitude;
+    
+    /**
+     * @typdef satellite_prn
+     * @brief satellite prn list, up to 12 valid
+     */
+    typedef uint8_t satellite_prn[12];
+
+    /** Create the GPSPARSER object
+     *  @param uart - an MTSSerial object
+     */ 
+    GPSPARSER(MTSSerial *uart);
+
+    /** destroy the GPSPARSER object
+     */ 
+    ~GPSPARSER(void);
+    
+    /** GPS device detected
+     *  @return boolean whether GPS device detected
+     */
+    bool gpsDetected(void);
+
+    /** get longitude structure
+     *  @return last valid NEMA string longitude data
+     */
+    longitude getLongitude(void);
+
+    /** get latitude structure
+     *  @return last valid NEMA string latitude data
+     */
+    latitude getLatitude(void);
+
+    /** get timestamp structure
+     *  @return last valid NEMA string time and date data
+     *  uses tm struc from ctime standard library
+     */
+    struct tm getTimestamp(void);
+
+    /** get GPS Lock status
+     *  @return boolean of last valid NEMA string lock status data
+     */
+    bool getLockStatus(void);
+
+    /** get GPS Fix status
+     *  @return last valid NEMA Fix status data
+     *  1 = no fix
+     *  2 = 2D fix - latitude, longitude, time only valid
+     *  3 = 3D fix - all data valid
+     */
+    uint8_t getFixStatus(void);
+
+    /** get GPS Fix qualty
+     *  @return last valid NEMA string Fix Quality data
+     *  0 = invalid
+     *  1 = GPS fix (SPS)
+     *  2 = DGPS fix
+     *  3 = PPS fix
+     *  4 = Real Time Kinematic
+     *  5 = Float RTK
+     *  6 = estimated (dead reckoning) (2.3 feature)
+     *  7 = Manual input mode
+     *  8 = Simulation mode
+     */
+    uint8_t getFixQuality(void);
+
+    /** get number of visible satellites
+     *  @return last valid NEMA string number of satellites visible
+     */
+    uint8_t getNumSatellites(void);
+
+    /** get calculated altitude
+     *  @return last valid NEMA string altitude data in meters 
+     */
+    int16_t getAltitude(void);
+
+private:
+
+    std::string _nema_buff;
+    bool _gps_detected;
+    latitude _gps_latitude;
+    longitude _gps_longitude;
+    struct tm _timestamp;
+    bool _gps_status;
+    uint8_t _fix_status;
+    uint8_t _fix_quality;
+    uint8_t _num_satellites;
+    satellite_prn _satellite_prn;
+    int16_t _msl_altitude;
+    
+    MTSSerial::MTSSerial *_gps_uart;
+    Thread _getSentenceThread;
+    
+    /** Detect and initialize GPS device
+     *  @return status of initialization
+     *  @note rewrite this code for specific GPS device. This code supports Skytraq Venus chip
+     */
+    uint8_t initGps (void);
+    
+    /** Start sentence parser thread
+     *  
+     */
+    static void startSentenceThread (void const *p);
+
+    /** Read NEMA sentences from specified serial port and call specific sentence parser
+     */
+    void readNemaSentence (void);
+
+    /** Parse GGA NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseGGA(char *nema_buf);
+
+    /** Parse GSA NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseGSA(char *nema_buf);
+
+    /** Parse GSV NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseGSV(char *nema_buf);
+
+    /** Parse RMC NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseRMC(char *nema_buf);
+
+    /** Parse VTG NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseVTG(char *nema_buf);
+
+    /** Parse GLL NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseGLL(char *nema_buff);
+
+    /** Parse ZDA NEMA sentence
+     *  @return status of parser attempt
+     */
+    uint8_t parseZDA(char *nema_buff);
+
+};
+#endif
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