Revision 4:ae35903cd8d2, committed 2015-10-27

Comitter:

mfiore

Date:

Tue Oct 27 19:54:49 2015 +0000

Parent:

3:662aa99c5266

Child:

5:11f41dee386b

Commit message:

<CTRL><SHIFT><f> to fix formatting

Changed in this revision

--- a/GPSPARSER.cpp	Thu Oct 22 19:39:17 2015 +0000
+++ b/GPSPARSER.cpp	Tue Oct 27 19:54:49 2015 +0000
@@ -36,7 +36,7 @@
 {
     _gps_uart = uart;
     _gps_uart->baud(9600);    //set GPS baud rate here
-    
+
     _gps_latitude.degrees = 0;
     _gps_longitude.degrees = 0;
     _timestamp.tm_sec = 0;
@@ -48,35 +48,36 @@
     _timestamp.tm_wday = 0;
     _timestamp.tm_yday = 0;
     _timestamp.tm_isdst = -1; // time is UTC so no Daylight savings time
- 
+
     _gps_status = false;
     _fix_status = 1;
     _num_satellites =0;
     _gps_detected = false;
 
-    if (GPSPARSER::initGps() == 0){
+    if (GPSPARSER::initGps() == 0) {
         _gps_detected = true;
         _getSentenceThread.signal_set(START_THREAD);
         printf("Started Nema Sentence Thread\r\n");
-    }
-    else{
+    } else {
         printf("No GPS detected\r\n");
         _fix_status = 0;
     }
-    
+
     return;
 }
 
-GPSPARSER::~GPSPARSER(void){
+GPSPARSER::~GPSPARSER(void)
+{
     if (_gps_detected)
         _getSentenceThread.terminate();
 }
 
-uint8_t GPSPARSER::initGps (void){
- 
+uint8_t GPSPARSER::initGps (void)
+{
+
     // this code is specific to the Skytraq Venus GPS chip. This code could be re-written to detect another type of
     // GPS device. Maybe read serial port for a specific time and detect $GP from NEMA string
- 
+
     // Sets Skytraq Venus GPS to output GGA,GSA,GSV every 10 seconds, and RMC every second, no ZDA,GLL,VTG
     // setup string for GPS                       GGA  GSA  GSV  GLL  RMC  VTG  ZDA       cksum
     char init_gps[16] = {0xA0,0xA1,0x00,0x09,0x08,0x0A,0x0A,0x0A,0x00,0x01,0x00,0x00,0x00,0x03,0x0D,0x0A};
@@ -85,52 +86,48 @@
 
     _gps_uart->rxClear();
     printf("Starting initGPS \r\n");
-    
+
     _gps_uart->write(init_gps,16);
     printf("wrote control data\r\n");
-    
+
     do {
         osDelay(10);
     } while (!_gps_uart->txEmpty());
-    
+
     osDelay(15);
-    
-    if (_gps_uart->readable()){
-        do{
+
+    if (_gps_uart->readable()) {
+        do {
             _gps_uart->read(chk_char,20);
         } while ((chk_char != 0xA0) && (!_gps_uart->rxEmpty()));
-        
+
         printf ("found 0xA0 or rx empty\r\n");
-        
-        if (chk_char == 0xA0){
+
+        if (chk_char == 0xA0) {
             _gps_uart->read(chk_char,15);
             if (chk_char != 0xA1) {
                 printf( "initGPS  failed no message\r\n");
                 ret = 1;
-            }
-            else {
+            } else {
                 printf("message received\r\n");
                 _gps_uart->read(chk_char);
                 _gps_uart->read(chk_char);
                 printf("message size - %x\r\n",chk_char);
                 _gps_uart->read(chk_char);
-                if (chk_char != 0x83){
+                if (chk_char != 0x83) {
                     printf("initGPS failed not ack message\r\n");
                     ret = 1;
-                }
-                else {
+                } else {
                     printf("ACK message received\r\n");
                     _gps_uart->read(chk_char);
                     printf("config message acknowledged - ID - %x\r\n",chk_char);
                 }
             }
-        }
-        else {
+        } else {
             printf("rx empty \r\n");
             ret = 1;
         }
-    }
-    else {
+    } else {
         printf("No readable characters\r\n");
         ret = 1;
     }
@@ -139,69 +136,70 @@
     return ret;
 }
 
-void GPSPARSER::startSentenceThread(void const *p){
-   GPSPARSER *instance = (GPSPARSER*)p;
-  instance->readNemaSentence(); 
+void GPSPARSER::startSentenceThread(void const *p)
+{
+    GPSPARSER *instance = (GPSPARSER*)p;
+    instance->readNemaSentence();
 }
 
-void GPSPARSER::readNemaSentence (void){
+void GPSPARSER::readNemaSentence (void)
+{
     char chk_char;
-    uint8_t calc_cksum; 
+    uint8_t calc_cksum;
     uint8_t nema_cksum;
     char nema_id[2];
     char nema_str[80];
     char cksum_str[2];
- 
+
     _getSentenceThread.signal_wait(START_THREAD);
     printf("Got thread start\r\n");
-    
+
     do {
-        if (_gps_uart->readable() > 80){
-            do{
+        if (_gps_uart->readable() > 80) {
+            do {
                 _gps_uart->read(chk_char);
             } while ((chk_char != '$') && (!_gps_uart->rxEmpty()));
-        
+
             if (chk_char == '$') {
                 _gps_uart->read(nema_id,2);
-                if (strpbrk(nema_id,"GP") != NULL){
+                if (strpbrk(nema_id,"GP") != NULL) {
                     uint8_t i = 0;
                     calc_cksum = 0x17;          // 8 bit XOR of G and P checksum seed
                     nema_cksum = 0;             // initialize nema string checksum
                     memset(nema_str,0x00,80);   // clear nema_str array
                     do {
                         _gps_uart->read(chk_char);
-                        if ((chk_char != 0x0D) && (chk_char != '*')){
+                        if ((chk_char != 0x0D) && (chk_char != '*')) {
                             nema_str[i++] = chk_char;
                             calc_cksum ^= chk_char;         // 8 bit XOR checksum
                         }
                         if (chk_char == '*') {
-                        _gps_uart->read(cksum_str,2);
+                            _gps_uart->read(cksum_str,2);
                             nema_cksum = (uint8_t)strtoul(cksum_str,NULL,16);
                         }
                     } while (( chk_char != 0x0D) && !_gps_uart->rxEmpty());
-                    
+
                     if (nema_cksum == calc_cksum)
                         if (strncmp (nema_str,"GGA",3) == 0)
                             parseGGA(nema_str);
                         else if (strncmp (nema_str,"GSA",3) == 0)
-                                parseGSA(nema_str);
-                            else if (strncmp (nema_str,"GSV",3) == 0)
-                                    parseGSV(nema_str);
-                                else if (strncmp (nema_str,"GLL",3) == 0)
-                                        parseGLL(nema_str);
-                                    else if (strncmp (nema_str,"RMC",3) == 0)
-                                            parseRMC(nema_str);
-                                        else if (strncmp (nema_str,"VTG",3) == 0)
-                                                parseVTG(nema_str);
-                                            else if (strncmp (nema_str,"ZDA",3) == 0)
-                                                    parseZDA(nema_str);
-                                                else
-                                                    printf("Unknown NEMA String Type\r\n");
+                            parseGSA(nema_str);
+                        else if (strncmp (nema_str,"GSV",3) == 0)
+                            parseGSV(nema_str);
+                        else if (strncmp (nema_str,"GLL",3) == 0)
+                            parseGLL(nema_str);
+                        else if (strncmp (nema_str,"RMC",3) == 0)
+                            parseRMC(nema_str);
+                        else if (strncmp (nema_str,"VTG",3) == 0)
+                            parseVTG(nema_str);
+                        else if (strncmp (nema_str,"ZDA",3) == 0)
+                            parseZDA(nema_str);
+                        else
+                            printf("Unknown NEMA String Type\r\n");
                     else
                         printf("NEMA String checksum error %x != %x\r\n",nema_cksum,calc_cksum);
                 }
-            }
-            else
+            } else
                 printf("RX empty before all data read\r\n");
         }
 
@@ -211,10 +209,11 @@
 
 }
 
-uint8_t GPSPARSER::parseGGA(char *nema_buf){
+uint8_t GPSPARSER::parseGGA(char *nema_buf)
+{
     char* token_str;
     uint8_t ret = 0;
-    
+
     token_str = strtok(nema_buf, ",");
 // skip timestamp
     token_str = strtok(NULL, ",");
@@ -224,7 +223,7 @@
 // skip longitude degree minutes
     token_str = strtok(NULL, ",");
     token_str = strtok(NULL, ",");
-// read fix quality        
+// read fix quality
     token_str = strtok(NULL, ",");
     _fix_quality = atoi(token_str);
 // skip number of satellites and horizontal dilution
@@ -236,28 +235,30 @@
 
     return ret;
 }
-    
-uint8_t GPSPARSER::parseGSA(char *nema_buf){
+
+uint8_t GPSPARSER::parseGSA(char *nema_buf)
+{
     char* token_str;
     uint8_t ret = 0;
-    
+
     token_str = strtok(nema_buf, ",");
     token_str = strtok(NULL, ",");
 // read fix status
     token_str = strtok(NULL, ",");
     _fix_status = atoi(token_str);
 // read satellite PRNs
-    for (uint8_t i=0;i<12;i++){
+    for (uint8_t i=0; i<12; i++) {
         token_str = strtok(NULL, ",");
         _satellite_prn[i] = atoi(token_str);
     }
     return ret;
 }
 
-uint8_t GPSPARSER::parseGSV(char *nema_buf){
+uint8_t GPSPARSER::parseGSV(char *nema_buf)
+{
     char* token_str;
     uint8_t ret = 0;
-    
+
     token_str = strtok(nema_buf, ",");
 // skip number of sentences and sentence number for now
     token_str = strtok(NULL, ",");
@@ -270,11 +271,12 @@
     return ret;
 }
 
-uint8_t GPSPARSER::parseRMC(char *nema_buf){
+uint8_t GPSPARSER::parseRMC(char *nema_buf)
+{
     char* token_str;
     char temp_str[6];
     uint8_t ret = 0;
-    
+
     token_str = strtok(nema_buf, ",");
 // read timestamp
     token_str = strtok(NULL, ",");
@@ -342,7 +344,8 @@
     return ret;
 }
 
-uint8_t GPSPARSER::parseVTG(char *nema_buf){
+uint8_t GPSPARSER::parseVTG(char *nema_buf)
+{
     uint8_t ret = 0;
     printf("ParseVTG****\r\n");
     printf(nema_buf);
@@ -350,7 +353,8 @@
     return ret;
 }
 
-uint8_t GPSPARSER::parseGLL(char *nema_buf){
+uint8_t GPSPARSER::parseGLL(char *nema_buf)
+{
     uint8_t ret = 0;
     printf("ParseGLL*****\r\n");
     printf(nema_buf);
@@ -358,7 +362,8 @@
     return ret;
 }
 
-uint8_t GPSPARSER::parseZDA(char *nema_buf){
+uint8_t GPSPARSER::parseZDA(char *nema_buf)
+{
     uint8_t ret = 0;
     printf("ParseZDA******\r\n");
     printf(nema_buf);
@@ -366,38 +371,46 @@
     return ret;
 }
 
-bool GPSPARSER::gpsDetected(void){
+bool GPSPARSER::gpsDetected(void)
+{
     return _gps_detected;
 }
 
-GPSPARSER::longitude GPSPARSER::getLongitude(void){
+GPSPARSER::longitude GPSPARSER::getLongitude(void)
+{
     return _gps_longitude;
 }
 
-GPSPARSER::latitude GPSPARSER::getLatitude(void){
+GPSPARSER::latitude GPSPARSER::getLatitude(void)
+{
     return _gps_latitude;
 }
 
-struct tm GPSPARSER::getTimestamp(void){
+struct tm GPSPARSER::getTimestamp(void) {
     return _timestamp;
 }
 
-bool GPSPARSER::getLockStatus(void){
+bool GPSPARSER::getLockStatus(void)
+{
     return _gps_status;
 }
 
-uint8_t GPSPARSER::getFixStatus(void){
+uint8_t GPSPARSER::getFixStatus(void)
+{
     return _fix_status;
 }
 
-uint8_t GPSPARSER::getFixQuality(void){
+uint8_t GPSPARSER::getFixQuality(void)
+{
     return _fix_quality;
 }
 
-uint8_t GPSPARSER::getNumSatellites(void){
+uint8_t GPSPARSER::getNumSatellites(void)
+{
     return _num_satellites;
 }
 
-int16_t GPSPARSER::getAltitude(void){
+int16_t GPSPARSER::getAltitude(void)
+{
     return _msl_altitude;
 }