Multi-Hackers / GpsParser

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GPSPARSER.cpp@10:465f9db415ea, 2016-01-11 (annotated)

Committer:
Mike Fiore
Date:
Mon Jan 11 11:42:19 2016 -0600
Revision:
10:465f9db415ea
Parent:
9:a4d4ab3b0f23
Child:
11:73e776e41d23
move GPS detect and initialization into GPS thread & make that code more robust

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),
Mike Fiore 7:bd1013ba8afd 38 _tick_running(false)
falingtrea 0:d2169fecf3fb 39 {
falingtrea 0:d2169fecf3fb 40 _gps_uart = uart;
falingtrea 0:d2169fecf3fb 41 _gps_uart->baud(9600); //set GPS baud rate here
mfiore 4:ae35903cd8d2 42
falingtrea 0:d2169fecf3fb 43 _gps_latitude.degrees = 0;
falingtrea 0:d2169fecf3fb 44 _gps_longitude.degrees = 0;
falingtrea 0:d2169fecf3fb 45 _timestamp.tm_sec = 0;
falingtrea 0:d2169fecf3fb 46 _timestamp.tm_min = 0;
falingtrea 0:d2169fecf3fb 47 _timestamp.tm_hour = 0;
falingtrea 0:d2169fecf3fb 48 _timestamp.tm_mday = 0;
falingtrea 0:d2169fecf3fb 49 _timestamp.tm_mon = 0;
falingtrea 0:d2169fecf3fb 50 _timestamp.tm_year = 0;
falingtrea 0:d2169fecf3fb 51 _timestamp.tm_wday = 0;
falingtrea 0:d2169fecf3fb 52 _timestamp.tm_yday = 0;
falingtrea 0:d2169fecf3fb 53 _timestamp.tm_isdst = -1; // time is UTC so no Daylight savings time
mfiore 4:ae35903cd8d2 54
falingtrea 0:d2169fecf3fb 55 _gps_status = false;
falingtrea 2:fbc098f1e7c0 56 _fix_status = 1;
falingtrea 0:d2169fecf3fb 57 _num_satellites =0;
falingtrea 0:d2169fecf3fb 58 _gps_detected = false;
falingtrea 0:d2169fecf3fb 59
Mike Fiore 10:465f9db415ea 60 _getSentenceThread.signal_set(START_THREAD);
mfiore 4:ae35903cd8d2 61
falingtrea 0:d2169fecf3fb 62 return;
falingtrea 0:d2169fecf3fb 63 }
falingtrea 0:d2169fecf3fb 64
mfiore 4:ae35903cd8d2 65 GPSPARSER::~GPSPARSER(void)
mfiore 4:ae35903cd8d2 66 {
falingtrea 0:d2169fecf3fb 67 if (_gps_detected)
falingtrea 0:d2169fecf3fb 68 _getSentenceThread.terminate();
falingtrea 0:d2169fecf3fb 69 }
falingtrea 0:d2169fecf3fb 70
mfiore 4:ae35903cd8d2 71 void GPSPARSER::startSentenceThread(void const *p)
mfiore 4:ae35903cd8d2 72 {
mfiore 4:ae35903cd8d2 73 GPSPARSER *instance = (GPSPARSER*)p;
mfiore 4:ae35903cd8d2 74 instance->readNemaSentence();
falingtrea 0:d2169fecf3fb 75 }
falingtrea 0:d2169fecf3fb 76
mfiore 4:ae35903cd8d2 77 void GPSPARSER::readNemaSentence (void)
mfiore 4:ae35903cd8d2 78 {
Mike Fiore 10:465f9db415ea 79 // 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 80 // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
Mike Fiore 10:465f9db415ea 81
Mike Fiore 10:465f9db415ea 82 // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
Mike Fiore 10:465f9db415ea 83 // setup string for GPS GGA GSA GSV GLL RMC VTG ZDA cksum
Mike Fiore 10:465f9db415ea 84 char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
falingtrea 0:d2169fecf3fb 85 char chk_char;
mfiore 4:ae35903cd8d2 86 uint8_t calc_cksum;
falingtrea 0:d2169fecf3fb 87 uint8_t nema_cksum;
falingtrea 0:d2169fecf3fb 88 char nema_id[2];
falingtrea 0:d2169fecf3fb 89 char nema_str[80];
falingtrea 0:d2169fecf3fb 90 char cksum_str[2];
mfiore 4:ae35903cd8d2 91
falingtrea 0:d2169fecf3fb 92 _getSentenceThread.signal_wait(START_THREAD);
Mike Fiore 10:465f9db415ea 93 //printf("GPS starting\r\n");
Mike Fiore 10:465f9db415ea 94
Mike Fiore 10:465f9db415ea 95 _gps_uart->rxClear();
Mike Fiore 10:465f9db415ea 96 _gps_uart->write(init_gps, sizeof(init_gps));
Mike Fiore 10:465f9db415ea 97 while (! _gps_uart->readable())
Mike Fiore 10:465f9db415ea 98 osDelay(100);
Mike Fiore 10:465f9db415ea 99 do {
Mike Fiore 10:465f9db415ea 100 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 101 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 102 } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
Mike Fiore 10:465f9db415ea 103 if (chk_char == 0xA0) {
Mike Fiore 10:465f9db415ea 104 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 105 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 106 if (chk_char == 0xA1) {
Mike Fiore 10:465f9db415ea 107 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 108 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 109 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 110 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 111 _gps_uart->read(chk_char);
Mike Fiore 10:465f9db415ea 112 //printf("read char %#X\r\n", chk_char);
Mike Fiore 10:465f9db415ea 113 if (chk_char == 0x83) {
Mike Fiore 10:465f9db415ea 114 _gps_detected = true;
Mike Fiore 10:465f9db415ea 115 }
Mike Fiore 10:465f9db415ea 116 }
Mike Fiore 10:465f9db415ea 117 }
Mike Fiore 10:465f9db415ea 118
Mike Fiore 10:465f9db415ea 119 //printf("GPS detected %s\r\n", _gps_detected ? "true" : "false");
Mike Fiore 10:465f9db415ea 120
Mike Fiore 10:465f9db415ea 121 if (! _gps_detected) {
Mike Fiore 10:465f9db415ea 122 _fix_status = 0;
Mike Fiore 10:465f9db415ea 123 return;
Mike Fiore 10:465f9db415ea 124 }
Mike Fiore 10:465f9db415ea 125
Mike Fiore 7:bd1013ba8afd 126 if (_led) {
Mike Fiore 7:bd1013ba8afd 127 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 128 _tick_running = true;
Mike Fiore 7:bd1013ba8afd 129 }
mfiore 4:ae35903cd8d2 130
falingtrea 0:d2169fecf3fb 131 do {
mfiore 4:ae35903cd8d2 132 if (_gps_uart->readable() > 80) {
mfiore 4:ae35903cd8d2 133 do {
falingtrea 0:d2169fecf3fb 134 _gps_uart->read(chk_char);
falingtrea 0:d2169fecf3fb 135 } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
mfiore 4:ae35903cd8d2 136
falingtrea 0:d2169fecf3fb 137 if (chk_char == '$') {
falingtrea 0:d2169fecf3fb 138 _gps_uart->read(nema_id,2);
mfiore 4:ae35903cd8d2 139 if (strpbrk(nema_id,"GP") != NULL) {
falingtrea 0:d2169fecf3fb 140 uint8_t i = 0;
falingtrea 0:d2169fecf3fb 141 calc_cksum = 0x17; // 8 bit XOR of G and P checksum seed
falingtrea 0:d2169fecf3fb 142 nema_cksum = 0; // initialize nema string checksum
falingtrea 0:d2169fecf3fb 143 memset(nema_str,0x00,80); // clear nema_str array
falingtrea 0:d2169fecf3fb 144 do {
falingtrea 0:d2169fecf3fb 145 _gps_uart->read(chk_char);
mfiore 4:ae35903cd8d2 146 if ((chk_char != 0x0D) && (chk_char != '*')) {
falingtrea 0:d2169fecf3fb 147 nema_str[i++] = chk_char;
falingtrea 0:d2169fecf3fb 148 calc_cksum ^= chk_char; // 8 bit XOR checksum
falingtrea 0:d2169fecf3fb 149 }
falingtrea 0:d2169fecf3fb 150 if (chk_char == '*') {
mfiore 4:ae35903cd8d2 151 _gps_uart->read(cksum_str,2);
falingtrea 0:d2169fecf3fb 152 nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
falingtrea 0:d2169fecf3fb 153 }
falingtrea 0:d2169fecf3fb 154 } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
mfiore 4:ae35903cd8d2 155
Mike Fiore 9:a4d4ab3b0f23 156 if (nema_cksum == calc_cksum) {
falingtrea 0:d2169fecf3fb 157 if (strncmp (nema_str,"GGA",3) == 0)
falingtrea 0:d2169fecf3fb 158 parseGGA(nema_str);
falingtrea 0:d2169fecf3fb 159 else if (strncmp (nema_str,"GSA",3) == 0)
mfiore 4:ae35903cd8d2 160 parseGSA(nema_str);
mfiore 4:ae35903cd8d2 161 else if (strncmp (nema_str,"GSV",3) == 0)
mfiore 4:ae35903cd8d2 162 parseGSV(nema_str);
mfiore 4:ae35903cd8d2 163 else if (strncmp (nema_str,"GLL",3) == 0)
mfiore 4:ae35903cd8d2 164 parseGLL(nema_str);
mfiore 4:ae35903cd8d2 165 else if (strncmp (nema_str,"RMC",3) == 0)
mfiore 4:ae35903cd8d2 166 parseRMC(nema_str);
mfiore 4:ae35903cd8d2 167 else if (strncmp (nema_str,"VTG",3) == 0)
mfiore 4:ae35903cd8d2 168 parseVTG(nema_str);
mfiore 4:ae35903cd8d2 169 else if (strncmp (nema_str,"ZDA",3) == 0)
mfiore 4:ae35903cd8d2 170 parseZDA(nema_str);
mfiore 4:ae35903cd8d2 171 else
Mike Fiore 9:a4d4ab3b0f23 172 printf("Unknown NEMA String Type\r\n");
Mike Fiore 9:a4d4ab3b0f23 173 } else {
Mike Fiore 9:a4d4ab3b0f23 174 printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
Mike Fiore 9:a4d4ab3b0f23 175 }
falingtrea 0:d2169fecf3fb 176 }
mfiore 4:ae35903cd8d2 177 } else
Mike Fiore 9:a4d4ab3b0f23 178 printf("RX empty before all data read\r\n");
falingtrea 0:d2169fecf3fb 179 }
falingtrea 0:d2169fecf3fb 180
Mike Fiore 6:2050b4795b66 181 if (_led) {
Mike Fiore 6:2050b4795b66 182 if (_fix_status >= 2) {
Mike Fiore 7:bd1013ba8afd 183 if (_tick_running) {
Mike Fiore 7:bd1013ba8afd 184 _tick.detach();
Mike Fiore 7:bd1013ba8afd 185 _tick_running = false;
Mike Fiore 7:bd1013ba8afd 186 }
Mike Fiore 6:2050b4795b66 187 _led->setPWM(NCP5623B::LED_3, 8);
Mike Fiore 7:bd1013ba8afd 188 } else {
Mike Fiore 7:bd1013ba8afd 189 if (! _tick_running) {
Mike Fiore 7:bd1013ba8afd 190 _tick.attach(this, &GPSPARSER::blinker, 0.5);
Mike Fiore 7:bd1013ba8afd 191 _tick_running = true;
Mike Fiore 7:bd1013ba8afd 192 }
Mike Fiore 6:2050b4795b66 193 }
Mike Fiore 6:2050b4795b66 194 }
Mike Fiore 6:2050b4795b66 195
falingtrea 0:d2169fecf3fb 196 osDelay(100);
falingtrea 0:d2169fecf3fb 197
falingtrea 0:d2169fecf3fb 198 } while(true);
falingtrea 0:d2169fecf3fb 199
falingtrea 0:d2169fecf3fb 200 }
falingtrea 0:d2169fecf3fb 201
mfiore 4:ae35903cd8d2 202 uint8_t GPSPARSER::parseGGA(char *nema_buf)
mfiore 4:ae35903cd8d2 203 {
falingtrea 0:d2169fecf3fb 204 char* token_str;
falingtrea 0:d2169fecf3fb 205 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 206
Mike Fiore 8:5fa40fa372e2 207 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 208
falingtrea 0:d2169fecf3fb 209 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 210 // skip timestamp
falingtrea 0:d2169fecf3fb 211 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 212 // skip latitude degrees minutes
falingtrea 0:d2169fecf3fb 213 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 214 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 215 // skip longitude degree minutes
falingtrea 0:d2169fecf3fb 216 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 217 token_str = strtok(NULL, ",");
mfiore 4:ae35903cd8d2 218 // read fix quality
falingtrea 0:d2169fecf3fb 219 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 220 _fix_quality = atoi(token_str);
falingtrea 0:d2169fecf3fb 221 // skip number of satellites and horizontal dilution
falingtrea 0:d2169fecf3fb 222 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 223 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 224 // read msl altitude in meters
falingtrea 0:d2169fecf3fb 225 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 226 _msl_altitude = atoi(token_str);
falingtrea 0:d2169fecf3fb 227
Mike Fiore 8:5fa40fa372e2 228 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 229
falingtrea 0:d2169fecf3fb 230 return ret;
falingtrea 0:d2169fecf3fb 231 }
mfiore 4:ae35903cd8d2 232
mfiore 4:ae35903cd8d2 233 uint8_t GPSPARSER::parseGSA(char *nema_buf)
mfiore 4:ae35903cd8d2 234 {
falingtrea 0:d2169fecf3fb 235 char* token_str;
falingtrea 0:d2169fecf3fb 236 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 237
Mike Fiore 8:5fa40fa372e2 238 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 239
falingtrea 0:d2169fecf3fb 240 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 241 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 242 // read fix status
falingtrea 0:d2169fecf3fb 243 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 244 _fix_status = atoi(token_str);
falingtrea 0:d2169fecf3fb 245 // read satellite PRNs
mfiore 4:ae35903cd8d2 246 for (uint8_t i=0; i<12; i++) {
falingtrea 0:d2169fecf3fb 247 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 248 _satellite_prn[i] = atoi(token_str);
falingtrea 0:d2169fecf3fb 249 }
Mike Fiore 8:5fa40fa372e2 250
Mike Fiore 8:5fa40fa372e2 251 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 252
falingtrea 0:d2169fecf3fb 253 return ret;
falingtrea 0:d2169fecf3fb 254 }
falingtrea 0:d2169fecf3fb 255
mfiore 4:ae35903cd8d2 256 uint8_t GPSPARSER::parseGSV(char *nema_buf)
mfiore 4:ae35903cd8d2 257 {
falingtrea 0:d2169fecf3fb 258 char* token_str;
falingtrea 0:d2169fecf3fb 259 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 260
Mike Fiore 8:5fa40fa372e2 261 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 262
falingtrea 0:d2169fecf3fb 263 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 264 // skip number of sentences and sentence number for now
falingtrea 0:d2169fecf3fb 265 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 266 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 267 // read Number of satellites
falingtrea 0:d2169fecf3fb 268 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 269 _num_satellites = atoi(token_str);
falingtrea 0:d2169fecf3fb 270 // add code to read satellite specs if needed
Mike Fiore 8:5fa40fa372e2 271
Mike Fiore 8:5fa40fa372e2 272 _mutex.unlock();
falingtrea 0:d2169fecf3fb 273
falingtrea 0:d2169fecf3fb 274 return ret;
falingtrea 0:d2169fecf3fb 275 }
falingtrea 0:d2169fecf3fb 276
mfiore 4:ae35903cd8d2 277 uint8_t GPSPARSER::parseRMC(char *nema_buf)
mfiore 4:ae35903cd8d2 278 {
falingtrea 0:d2169fecf3fb 279 char* token_str;
falingtrea 0:d2169fecf3fb 280 char temp_str[6];
falingtrea 0:d2169fecf3fb 281 uint8_t ret = 0;
mfiore 4:ae35903cd8d2 282
Mike Fiore 8:5fa40fa372e2 283 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 284
falingtrea 0:d2169fecf3fb 285 token_str = strtok(nema_buf, ",");
falingtrea 0:d2169fecf3fb 286 // read timestamp
falingtrea 0:d2169fecf3fb 287 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 288 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 289 _timestamp.tm_hour = atoi(temp_str);
falingtrea 0:d2169fecf3fb 290 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 291 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 292 _timestamp.tm_min = atoi(temp_str);
falingtrea 0:d2169fecf3fb 293 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 294 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 295 _timestamp.tm_sec = atoi(temp_str);
falingtrea 0:d2169fecf3fb 296 // set gps_status true = active
falingtrea 0:d2169fecf3fb 297 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 298 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 299 strncpy(temp_str,token_str,1);
falingtrea 0:d2169fecf3fb 300 if (temp_str[0] == 'A')
falingtrea 0:d2169fecf3fb 301 _gps_status = true;
falingtrea 0:d2169fecf3fb 302 else
falingtrea 0:d2169fecf3fb 303 _gps_status = false;
falingtrea 0:d2169fecf3fb 304 // read latitude degrees minutes
falingtrea 0:d2169fecf3fb 305 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 306 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 307 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 308 _gps_latitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 309 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 310 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 311 _gps_latitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 312 // read fractional minutes
falingtrea 0:d2169fecf3fb 313 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 314 _gps_latitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 315 // read latitude hemisphere change sign if 'S'
falingtrea 0:d2169fecf3fb 316 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 317 if (token_str[0] == 'S')
falingtrea 0:d2169fecf3fb 318 _gps_latitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 319 // read longitude degree minutes
falingtrea 0:d2169fecf3fb 320 token_str = strtok(NULL, ".");
falingtrea 0:d2169fecf3fb 321 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 322 strncpy(temp_str,token_str,3);
falingtrea 0:d2169fecf3fb 323 _gps_longitude.degrees = atoi(temp_str);
falingtrea 0:d2169fecf3fb 324 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 325 strncpy(temp_str,token_str+3,2);
falingtrea 0:d2169fecf3fb 326 _gps_longitude.minutes = atoi(temp_str);
falingtrea 0:d2169fecf3fb 327 // read fractional minutes
falingtrea 0:d2169fecf3fb 328 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 329 _gps_longitude.seconds = atoi(token_str);
falingtrea 0:d2169fecf3fb 330 // read longitude hemisphere change sign if 'W'
falingtrea 0:d2169fecf3fb 331 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 332 if (token_str[0] == 'W')
falingtrea 0:d2169fecf3fb 333 _gps_longitude.degrees *= -1;
falingtrea 0:d2169fecf3fb 334 // skip speed and track angle
falingtrea 0:d2169fecf3fb 335 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 336 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 337 // read date
falingtrea 0:d2169fecf3fb 338 token_str = strtok(NULL, ",");
falingtrea 0:d2169fecf3fb 339 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 340 strncpy(temp_str,token_str,2);
falingtrea 0:d2169fecf3fb 341 _timestamp.tm_mday = atoi(temp_str);
falingtrea 0:d2169fecf3fb 342 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 343 strncpy(temp_str,token_str+2,2);
falingtrea 0:d2169fecf3fb 344 _timestamp.tm_mon = atoi(temp_str) - 1;
falingtrea 0:d2169fecf3fb 345 memset(temp_str,0x00,6);
falingtrea 0:d2169fecf3fb 346 strncpy(temp_str,token_str+4,2);
falingtrea 0:d2169fecf3fb 347 _timestamp.tm_year = atoi(temp_str) + 100;
falingtrea 0:d2169fecf3fb 348
Mike Fiore 8:5fa40fa372e2 349 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 350
falingtrea 0:d2169fecf3fb 351 return ret;
falingtrea 0:d2169fecf3fb 352 }
falingtrea 0:d2169fecf3fb 353
mfiore 4:ae35903cd8d2 354 uint8_t GPSPARSER::parseVTG(char *nema_buf)
mfiore 4:ae35903cd8d2 355 {
falingtrea 0:d2169fecf3fb 356 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 357 //printf("ParseVTG****\r\n");
Mike Fiore 8:5fa40fa372e2 358 //printf(nema_buf);
Mike Fiore 8:5fa40fa372e2 359 //printf("\r\n");
falingtrea 0:d2169fecf3fb 360 return ret;
falingtrea 0:d2169fecf3fb 361 }
falingtrea 0:d2169fecf3fb 362
mfiore 4:ae35903cd8d2 363 uint8_t GPSPARSER::parseGLL(char *nema_buf)
mfiore 4:ae35903cd8d2 364 {
falingtrea 0:d2169fecf3fb 365 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 366 //printf("ParseGLL*****\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::parseZDA(char *nema_buf)
mfiore 4:ae35903cd8d2 373 {
falingtrea 0:d2169fecf3fb 374 uint8_t ret = 0;
Mike Fiore 8:5fa40fa372e2 375 //printf("ParseZDA******\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 bool GPSPARSER::gpsDetected(void)
mfiore 4:ae35903cd8d2 382 {
Mike Fiore 8:5fa40fa372e2 383 bool detected;
Mike Fiore 8:5fa40fa372e2 384
Mike Fiore 8:5fa40fa372e2 385 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 386 detected = _gps_detected;
Mike Fiore 8:5fa40fa372e2 387 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 388
Mike Fiore 8:5fa40fa372e2 389 return detected;
falingtrea 0:d2169fecf3fb 390 }
falingtrea 0:d2169fecf3fb 391
mfiore 4:ae35903cd8d2 392 GPSPARSER::longitude GPSPARSER::getLongitude(void)
mfiore 4:ae35903cd8d2 393 {
Mike Fiore 8:5fa40fa372e2 394 longitude lon;
Mike Fiore 8:5fa40fa372e2 395
Mike Fiore 8:5fa40fa372e2 396 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 397 lon = _gps_longitude;
Mike Fiore 8:5fa40fa372e2 398 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 399
Mike Fiore 8:5fa40fa372e2 400 return lon;
falingtrea 0:d2169fecf3fb 401 }
falingtrea 0:d2169fecf3fb 402
mfiore 4:ae35903cd8d2 403 GPSPARSER::latitude GPSPARSER::getLatitude(void)
mfiore 4:ae35903cd8d2 404 {
Mike Fiore 8:5fa40fa372e2 405 latitude lat;
Mike Fiore 8:5fa40fa372e2 406
Mike Fiore 8:5fa40fa372e2 407 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 408 lat = _gps_latitude;
Mike Fiore 8:5fa40fa372e2 409 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 410
Mike Fiore 8:5fa40fa372e2 411 return lat;
falingtrea 0:d2169fecf3fb 412 }
falingtrea 0:d2169fecf3fb 413
mfiore 4:ae35903cd8d2 414 struct tm GPSPARSER::getTimestamp(void) {
Mike Fiore 8:5fa40fa372e2 415 struct tm time;
Mike Fiore 8:5fa40fa372e2 416
Mike Fiore 8:5fa40fa372e2 417 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 418 time = _timestamp;
Mike Fiore 8:5fa40fa372e2 419 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 420
Mike Fiore 8:5fa40fa372e2 421 return time;
falingtrea 0:d2169fecf3fb 422 }
falingtrea 0:d2169fecf3fb 423
mfiore 4:ae35903cd8d2 424 bool GPSPARSER::getLockStatus(void)
mfiore 4:ae35903cd8d2 425 {
Mike Fiore 8:5fa40fa372e2 426 bool status;
Mike Fiore 8:5fa40fa372e2 427
Mike Fiore 8:5fa40fa372e2 428 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 429 status = _gps_status;
Mike Fiore 8:5fa40fa372e2 430 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 431
Mike Fiore 8:5fa40fa372e2 432 return status;
falingtrea 0:d2169fecf3fb 433 }
falingtrea 0:d2169fecf3fb 434
mfiore 4:ae35903cd8d2 435 uint8_t GPSPARSER::getFixStatus(void)
mfiore 4:ae35903cd8d2 436 {
Mike Fiore 8:5fa40fa372e2 437 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 438
Mike Fiore 8:5fa40fa372e2 439 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 440 fix = _fix_status;
Mike Fiore 8:5fa40fa372e2 441 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 442
Mike Fiore 8:5fa40fa372e2 443 return fix;
falingtrea 0:d2169fecf3fb 444 }
falingtrea 0:d2169fecf3fb 445
mfiore 4:ae35903cd8d2 446 uint8_t GPSPARSER::getFixQuality(void)
mfiore 4:ae35903cd8d2 447 {
Mike Fiore 8:5fa40fa372e2 448 uint8_t fix;
Mike Fiore 8:5fa40fa372e2 449
Mike Fiore 8:5fa40fa372e2 450 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 451 fix = _fix_quality;
Mike Fiore 8:5fa40fa372e2 452 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 453
Mike Fiore 8:5fa40fa372e2 454 return fix;
falingtrea 0:d2169fecf3fb 455 }
falingtrea 0:d2169fecf3fb 456
mfiore 4:ae35903cd8d2 457 uint8_t GPSPARSER::getNumSatellites(void)
mfiore 4:ae35903cd8d2 458 {
Mike Fiore 8:5fa40fa372e2 459 uint8_t sats;
Mike Fiore 8:5fa40fa372e2 460
Mike Fiore 8:5fa40fa372e2 461 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 462 sats = _num_satellites;
Mike Fiore 8:5fa40fa372e2 463 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 464
Mike Fiore 8:5fa40fa372e2 465 return sats;
falingtrea 0:d2169fecf3fb 466 }
falingtrea 0:d2169fecf3fb 467
mfiore 4:ae35903cd8d2 468 int16_t GPSPARSER::getAltitude(void)
mfiore 4:ae35903cd8d2 469 {
Mike Fiore 8:5fa40fa372e2 470 int16_t alt;
Mike Fiore 8:5fa40fa372e2 471
Mike Fiore 8:5fa40fa372e2 472 _mutex.lock();
Mike Fiore 8:5fa40fa372e2 473 alt = _msl_altitude;
Mike Fiore 8:5fa40fa372e2 474 _mutex.unlock();
Mike Fiore 8:5fa40fa372e2 475
Mike Fiore 8:5fa40fa372e2 476 return alt;
falingtrea 0:d2169fecf3fb 477 }
Mike Fiore 6:2050b4795b66 478
Mike Fiore 7:bd1013ba8afd 479 void GPSPARSER::blinker() {
Mike Fiore 7:bd1013ba8afd 480 _led_state = (_led_state == 0) ? 8 : 0;
Mike Fiore 7:bd1013ba8afd 481 _led->setPWM(NCP5623B::LED_3, _led_state);
Mike Fiore 7:bd1013ba8afd 482 }
Mike Fiore 7:bd1013ba8afd 483