GPSPARSER.h

00001 /**
00002  * @file    GpsParser.h
00003  * @brief   NEMA String to Packet Parser - NEMA strings to compact packet data
00004  * @author  Tim Barr
00005  * @version 1.0
00006  * @see     http://www.kh-gps.de/nmea.faq
00007  * @see     http://www.catb.org/gpsd/NMEA.html
00008  * @see     http://www.skytraq.com.tw/products/Venus638LPx_PB_v3.pdf
00009  *
00010  * Copyright (c) 2015
00011  *
00012  * Licensed under the Apache License, Version 2.0 (the "License");
00013  * you may not use this file except in compliance with the License.
00014  * You may obtain a copy of the License at
00015  *
00016  *     http://www.apache.org/licenses/LICENSE-2.0
00017  *
00018  * Unless required by applicable law or agreed to in writing, software
00019  * distributed under the License is distributed on an "AS IS" BASIS,
00020  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00021  * See the License for the specific language governing permissions and
00022  * limitations under the License.
00023  *
00024  */
00025 
00026 #ifndef GPSPARSER_H
00027 #define GPSPARSER_H
00028 
00029 #include "mbed.h"
00030 #include "rtos.h"
00031 #include "MTSSerial.h"
00032 #include "NCP5623B.h"
00033 #include <string>
00034 #include <vector>
00035 #include <ctime>
00036 #define START_THREAD 1
00037 
00038 using namespace mts;
00039 
00040 class GPSPARSER
00041 {
00042 public:
00043 
00044     /**
00045      * @typedef struct latitude
00046      * @brief latitude degrees, minutes, seconds structure
00047      * range of degrees : 0 to 90 signed (negative degrees is South)
00048      * range of minutes : 0 to 60 unsigned
00049      * Range of seconds : 0-9999 unsigned or 1/10000 of a minute.
00050      * Multiply by 6 and divide or modulus by 1000 to get seconds and fractional seconds
00051      */
00052     typedef struct{int8_t degrees; uint8_t minutes; uint16_t seconds;} latitude;
00053     
00054     /**
00055      * @typedef struct longitude
00056      * @brief longitude degrees, minutes, seconds structure negative degrees is West
00057      * range of degrees : 0 to 180 signed (negative degrees is West)
00058      * range of minutes : 0 to 60 unsigned
00059      * Range of seconds : 0-9999 unsigned or 1/10000 of a minute.
00060      * Multiply by 6 and divide or modulus by 1000 to get seconds and fractional seconds
00061      */
00062     typedef struct{int16_t degrees; uint8_t minutes; uint16_t seconds;} longitude;
00063     
00064     /**
00065      * @typdef satellite_prn
00066      * @brief satellite prn list, up to 12 valid
00067      */
00068     typedef uint8_t satellite_prn[12];
00069 
00070     /** Create the GPSPARSER object
00071      *  @param uart - an MTSSerial object
00072      *  @param led - an NCP5623B led controller object
00073      */ 
00074     GPSPARSER(MTSSerial *uart, NCP5623B* led = NULL);
00075 
00076     /** destroy the GPSPARSER object
00077      */ 
00078     ~GPSPARSER(void);
00079     
00080     /** GPS device detected
00081      *  @return boolean whether GPS device detected
00082      */
00083     bool gpsDetected(void);
00084 
00085     /** get longitude structure
00086      *  @return last valid NEMA string longitude data
00087      */
00088     longitude getLongitude(void);
00089 
00090     /** get latitude structure
00091      *  @return last valid NEMA string latitude data
00092      */
00093     latitude getLatitude(void);
00094 
00095     /** get timestamp structure
00096      *  @return last valid NEMA string time and date data
00097      *  uses tm struc from ctime standard library
00098      */
00099     struct tm getTimestamp(void);
00100 
00101     /** get GPS Lock status
00102      *  @return boolean of last valid NEMA string lock status data
00103      */
00104     bool getLockStatus(void);
00105 
00106     /** get GPS Fix status
00107      *  @return last valid NEMA Fix status data
00108      *  1 = no fix
00109      *  2 = 2D fix - latitude, longitude, time only valid
00110      *  3 = 3D fix - all data valid
00111      */
00112     uint8_t getFixStatus(void);
00113 
00114     /** get GPS Fix qualty
00115      *  @return last valid NEMA string Fix Quality data
00116      *  0 = invalid
00117      *  1 = GPS fix (SPS)
00118      *  2 = DGPS fix
00119      *  3 = PPS fix
00120      *  4 = Real Time Kinematic
00121      *  5 = Float RTK
00122      *  6 = estimated (dead reckoning) (2.3 feature)
00123      *  7 = Manual input mode
00124      *  8 = Simulation mode
00125      */
00126     uint8_t getFixQuality(void);
00127 
00128     /** get number of visible satellites
00129      *  @return last valid NEMA string number of satellites visible
00130      */
00131     uint8_t getNumSatellites(void);
00132 
00133     /** get calculated altitude
00134      *  @return last valid NEMA string altitude data in meters 
00135      */
00136     int16_t getAltitude(void);
00137 
00138 private:
00139 
00140     std::string _nema_buff;
00141     bool _gps_detected;
00142     latitude _gps_latitude;
00143     longitude _gps_longitude;
00144     struct tm _timestamp;
00145     bool _gps_status;
00146     uint8_t _fix_status;
00147     uint8_t _fix_quality;
00148     uint8_t _num_satellites;
00149     satellite_prn _satellite_prn;
00150     int16_t _msl_altitude;
00151     
00152     MTSSerial *_gps_uart;
00153     Thread _getSentenceThread;
00154     NCP5623B* _led;
00155     int8_t _led_state;
00156     int8_t _led_state_out;
00157     Ticker _tick;
00158     bool _tick_running;
00159     Mutex _mutex;
00160     
00161     /** Start sentence parser thread
00162      *  
00163      */
00164     static void startSentenceThread (void const *p);
00165 
00166     /** Read NEMA sentences from specified serial port and call specific sentence parser
00167      */
00168     void readNemaSentence (void);
00169 
00170     /** Parse GGA NEMA sentence
00171      *  @return status of parser attempt
00172      */
00173     uint8_t parseGGA(char *nema_buf);
00174 
00175     /** Parse GSA NEMA sentence
00176      *  @return status of parser attempt
00177      */
00178     uint8_t parseGSA(char *nema_buf);
00179 
00180     /** Parse GSV NEMA sentence
00181      *  @return status of parser attempt
00182      */
00183     uint8_t parseGSV(char *nema_buf);
00184 
00185     /** Parse RMC NEMA sentence
00186      *  @return status of parser attempt
00187      */
00188     uint8_t parseRMC(char *nema_buf);
00189 
00190     /** Parse VTG NEMA sentence
00191      *  @return status of parser attempt
00192      */
00193     uint8_t parseVTG(char *nema_buf);
00194 
00195     /** Parse GLL NEMA sentence
00196      *  @return status of parser attempt
00197      */
00198     uint8_t parseGLL(char *nema_buff);
00199 
00200     /** Parse ZDA NEMA sentence
00201      *  @return status of parser attempt
00202      */
00203     uint8_t parseZDA(char *nema_buff);
00204 
00205     void blinker();
00206 
00207 };
00208 #endif