Penn Electric Racing / Venus838-GPS-Library

Final version of GPS library. Still may require some debugging regarding integer formatting, but it will be easiest to do this from an external program that is grabbing the values (the time and lat/long values in particular should be tested).

GPS.cpp@1:868c31bace68, 2015-10-17 (annotated)

Committer:
dhawkes
Date:
Sat Oct 17 23:12:26 2015 +0000
Revision:
1:868c31bace68
Parent:
0:8d2eedbb4c6f 
See previous message - I just took some leftover begun code out.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dhawkes 0:8d2eedbb4c6f 1 #include "GPS.h"
dhawkes 0:8d2eedbb4c6f 2
dhawkes 0:8d2eedbb4c6f 3 MODSERIAL pc(P0_2, P0_3); // tx, rx
dhawkes 0:8d2eedbb4c6f 4 MODSERIAL gps(P4_28, P4_29); // tx, rx
dhawkes 0:8d2eedbb4c6f 5
dhawkes 0:8d2eedbb4c6f 6 bool first = true;
dhawkes 0:8d2eedbb4c6f 7 bool firstTime = true;
dhawkes 0:8d2eedbb4c6f 8 bool filling = false;
dhawkes 0:8d2eedbb4c6f 9
dhawkes 0:8d2eedbb4c6f 10 double iniTime;
dhawkes 0:8d2eedbb4c6f 11
dhawkes 0:8d2eedbb4c6f 12 int32_t data[7];
dhawkes 0:8d2eedbb4c6f 13 int16_t miliseconds;
dhawkes 0:8d2eedbb4c6f 14 int32_t currentTime;
dhawkes 0:8d2eedbb4c6f 15
dhawkes 0:8d2eedbb4c6f 16 int fillIndex = 0;
dhawkes 0:8d2eedbb4c6f 17
dhawkes 0:8d2eedbb4c6f 18 const int MAX = 82;
dhawkes 0:8d2eedbb4c6f 19 char buffer[MAX];
dhawkes 0:8d2eedbb4c6f 20
dhawkes 0:8d2eedbb4c6f 21 int index = 0;
dhawkes 0:8d2eedbb4c6f 22
dhawkes 0:8d2eedbb4c6f 23 /* Relevant Data being Gathered
dhawkes 0:8d2eedbb4c6f 24 *
dhawkes 0:8d2eedbb4c6f 25 * INDEX NAME FORMAT NMEA STRING
dhawkes 0:8d2eedbb4c6f 26 * 0 Latitude ddmm.mmmm GGA
dhawkes 0:8d2eedbb4c6f 27 * 1 Longitude dddmm.mmmm GGA
dhawkes 0:8d2eedbb4c6f 28 * 2 GPS Quality x GGA
dhawkes 0:8d2eedbb4c6f 29 * 3 Satellites Used xx GGA
dhawkes 0:8d2eedbb4c6f 30 * 4 Altitude x.x GGA
dhawkes 0:8d2eedbb4c6f 31 * 5 Course x.x VTG
dhawkes 0:8d2eedbb4c6f 32 * 6 Speed in km/h x.x VTG
dhawkes 0:8d2eedbb4c6f 33 */
dhawkes 0:8d2eedbb4c6f 34
dhawkes 0:8d2eedbb4c6f 35 void move(char* source, char* destination, char delim)
dhawkes 0:8d2eedbb4c6f 36 {
dhawkes 0:8d2eedbb4c6f 37 int k = 0;
dhawkes 0:8d2eedbb4c6f 38 for(;index < 10000; index++)
dhawkes 0:8d2eedbb4c6f 39 {
dhawkes 0:8d2eedbb4c6f 40 if(source[index] == delim)
dhawkes 0:8d2eedbb4c6f 41 {
dhawkes 0:8d2eedbb4c6f 42 break;
dhawkes 0:8d2eedbb4c6f 43 }
dhawkes 0:8d2eedbb4c6f 44 destination[k] = source[index];
dhawkes 0:8d2eedbb4c6f 45 //pc.putc(source[index]);
dhawkes 0:8d2eedbb4c6f 46 k++;
dhawkes 0:8d2eedbb4c6f 47 }
dhawkes 0:8d2eedbb4c6f 48 destination[k] = NULL;
dhawkes 0:8d2eedbb4c6f 49 }
dhawkes 0:8d2eedbb4c6f 50
dhawkes 0:8d2eedbb4c6f 51 void move(char* source, char* destination, int num)
dhawkes 0:8d2eedbb4c6f 52 {
dhawkes 0:8d2eedbb4c6f 53 int k = 0;
dhawkes 0:8d2eedbb4c6f 54 for(;index < index + num; index++)
dhawkes 0:8d2eedbb4c6f 55 {
dhawkes 0:8d2eedbb4c6f 56 destination[k] = source[index];
dhawkes 0:8d2eedbb4c6f 57 k++;
dhawkes 0:8d2eedbb4c6f 58 }
dhawkes 0:8d2eedbb4c6f 59 destination[k] = NULL;
dhawkes 0:8d2eedbb4c6f 60 }
dhawkes 0:8d2eedbb4c6f 61
dhawkes 0:8d2eedbb4c6f 62
dhawkes 0:8d2eedbb4c6f 63
dhawkes 0:8d2eedbb4c6f 64 // Returns the first time value recorded as a double
dhawkes 0:8d2eedbb4c6f 65 double getInitialTime()
dhawkes 0:8d2eedbb4c6f 66 {
dhawkes 0:8d2eedbb4c6f 67 return iniTime;
dhawkes 0:8d2eedbb4c6f 68 }
dhawkes 0:8d2eedbb4c6f 69
dhawkes 0:8d2eedbb4c6f 70 // Return the time (without miliseconds) relative to the initial time
dhawkes 0:8d2eedbb4c6f 71 int32_t getTime()
dhawkes 0:8d2eedbb4c6f 72 {
dhawkes 0:8d2eedbb4c6f 73 return currentTime;
dhawkes 0:8d2eedbb4c6f 74 }
dhawkes 0:8d2eedbb4c6f 75
dhawkes 0:8d2eedbb4c6f 76 // Return just the miliseconds
dhawkes 0:8d2eedbb4c6f 77 int16_t getMiliseconds()
dhawkes 0:8d2eedbb4c6f 78 {
dhawkes 0:8d2eedbb4c6f 79 return miliseconds;
dhawkes 0:8d2eedbb4c6f 80 }
dhawkes 0:8d2eedbb4c6f 81
dhawkes 0:8d2eedbb4c6f 82 // returns everything except the time
dhawkes 0:8d2eedbb4c6f 83 int32_t* getGPSData()
dhawkes 0:8d2eedbb4c6f 84 {
dhawkes 0:8d2eedbb4c6f 85 int32_t * dataPointer = data;
dhawkes 0:8d2eedbb4c6f 86 return dataPointer;
dhawkes 0:8d2eedbb4c6f 87 }
dhawkes 0:8d2eedbb4c6f 88
dhawkes 0:8d2eedbb4c6f 89 int32_t getLatitude()
dhawkes 0:8d2eedbb4c6f 90 {
dhawkes 0:8d2eedbb4c6f 91 return data[0];
dhawkes 0:8d2eedbb4c6f 92 }
dhawkes 0:8d2eedbb4c6f 93
dhawkes 0:8d2eedbb4c6f 94 int32_t getLongitude()
dhawkes 0:8d2eedbb4c6f 95 {
dhawkes 0:8d2eedbb4c6f 96 return data[1];
dhawkes 0:8d2eedbb4c6f 97 }
dhawkes 0:8d2eedbb4c6f 98
dhawkes 0:8d2eedbb4c6f 99 int32_t getGPSQuality()
dhawkes 0:8d2eedbb4c6f 100 {
dhawkes 0:8d2eedbb4c6f 101 return data[2];
dhawkes 0:8d2eedbb4c6f 102 }
dhawkes 0:8d2eedbb4c6f 103
dhawkes 0:8d2eedbb4c6f 104 int32_t getSatellitesUsed()
dhawkes 0:8d2eedbb4c6f 105 {
dhawkes 0:8d2eedbb4c6f 106 return data[3];
dhawkes 0:8d2eedbb4c6f 107 }
dhawkes 0:8d2eedbb4c6f 108
dhawkes 0:8d2eedbb4c6f 109 int32_t getAltitude()
dhawkes 0:8d2eedbb4c6f 110 {
dhawkes 0:8d2eedbb4c6f 111 return data[4];
dhawkes 0:8d2eedbb4c6f 112 }
dhawkes 0:8d2eedbb4c6f 113
dhawkes 0:8d2eedbb4c6f 114 int32_t getCourse()
dhawkes 0:8d2eedbb4c6f 115 {
dhawkes 0:8d2eedbb4c6f 116 return data[5];
dhawkes 0:8d2eedbb4c6f 117 }
dhawkes 0:8d2eedbb4c6f 118
dhawkes 0:8d2eedbb4c6f 119 int32_t getSpeed()
dhawkes 0:8d2eedbb4c6f 120 {
dhawkes 0:8d2eedbb4c6f 121 return data[6];
dhawkes 0:8d2eedbb4c6f 122 }
dhawkes 0:8d2eedbb4c6f 123
dhawkes 0:8d2eedbb4c6f 124
dhawkes 0:8d2eedbb4c6f 125 void parse()
dhawkes 0:8d2eedbb4c6f 126 {
dhawkes 0:8d2eedbb4c6f 127 double t, t2;
dhawkes 0:8d2eedbb4c6f 128 index = 1;
dhawkes 0:8d2eedbb4c6f 129 char dat[MAX + 1];
dhawkes 0:8d2eedbb4c6f 130 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 131 index++;
dhawkes 0:8d2eedbb4c6f 132 if(strcmp(dat, "GPGGA") == 0) // Is it the GGA string?
dhawkes 0:8d2eedbb4c6f 133 {
dhawkes 0:8d2eedbb4c6f 134 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 135 t = strtod(dat, NULL);
dhawkes 0:8d2eedbb4c6f 136 if(firstTime)
dhawkes 0:8d2eedbb4c6f 137 {
dhawkes 0:8d2eedbb4c6f 138 firstTime = false;
dhawkes 0:8d2eedbb4c6f 139 iniTime = t;
dhawkes 0:8d2eedbb4c6f 140 }
dhawkes 0:8d2eedbb4c6f 141
dhawkes 0:8d2eedbb4c6f 142 t = t - iniTime;
dhawkes 0:8d2eedbb4c6f 143 t2 = floor(t);
dhawkes 0:8d2eedbb4c6f 144 currentTime = t2;
dhawkes 0:8d2eedbb4c6f 145 miliseconds = (int16_t)((t - t2) * 1000);
dhawkes 0:8d2eedbb4c6f 146
dhawkes 0:8d2eedbb4c6f 147
dhawkes 0:8d2eedbb4c6f 148 index++;
dhawkes 0:8d2eedbb4c6f 149
dhawkes 0:8d2eedbb4c6f 150 // latitude
dhawkes 0:8d2eedbb4c6f 151 char temp[2];
dhawkes 0:8d2eedbb4c6f 152 temp[0] = buffer[index];
dhawkes 0:8d2eedbb4c6f 153 index++;
dhawkes 0:8d2eedbb4c6f 154 temp[1] = buffer[index];
dhawkes 0:8d2eedbb4c6f 155 index++;
dhawkes 0:8d2eedbb4c6f 156 float total = 0;
dhawkes 0:8d2eedbb4c6f 157 total = 60 * atof(temp);
dhawkes 0:8d2eedbb4c6f 158 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 159 data[1] = (int32_t)((atof(dat)+total) * 10000);
dhawkes 0:8d2eedbb4c6f 160 index += 2;
dhawkes 0:8d2eedbb4c6f 161 if(buffer[index] == 'S')
dhawkes 0:8d2eedbb4c6f 162 {
dhawkes 0:8d2eedbb4c6f 163 data[1] *= -1;
dhawkes 0:8d2eedbb4c6f 164 }
dhawkes 0:8d2eedbb4c6f 165
dhawkes 0:8d2eedbb4c6f 166 index++;
dhawkes 0:8d2eedbb4c6f 167
dhawkes 0:8d2eedbb4c6f 168 // longitude
dhawkes 0:8d2eedbb4c6f 169 char temp2[3];
dhawkes 0:8d2eedbb4c6f 170 temp2[0] = buffer[index];
dhawkes 0:8d2eedbb4c6f 171 index++;
dhawkes 0:8d2eedbb4c6f 172 temp2[1] = buffer[index];
dhawkes 0:8d2eedbb4c6f 173 index++;
dhawkes 0:8d2eedbb4c6f 174 temp2[2] = buffer[index];
dhawkes 0:8d2eedbb4c6f 175 index++;
dhawkes 0:8d2eedbb4c6f 176
dhawkes 0:8d2eedbb4c6f 177 total = 60 * atof(temp2);
dhawkes 0:8d2eedbb4c6f 178 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 179 data[2] = (int32_t)((atof(dat)+total) * 10000);
dhawkes 0:8d2eedbb4c6f 180 index += 2;
dhawkes 0:8d2eedbb4c6f 181 if(buffer[index] == 'W')
dhawkes 0:8d2eedbb4c6f 182 {
dhawkes 0:8d2eedbb4c6f 183 data[1] *= -1;
dhawkes 0:8d2eedbb4c6f 184 }
dhawkes 0:8d2eedbb4c6f 185 index++;
dhawkes 0:8d2eedbb4c6f 186
dhawkes 0:8d2eedbb4c6f 187 // quality
dhawkes 0:8d2eedbb4c6f 188 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 189 data[2] = atoi(dat);
dhawkes 0:8d2eedbb4c6f 190
dhawkes 0:8d2eedbb4c6f 191 index++;
dhawkes 0:8d2eedbb4c6f 192
dhawkes 0:8d2eedbb4c6f 193 // satellites
dhawkes 0:8d2eedbb4c6f 194 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 195 data[3] = atoi(dat);
dhawkes 0:8d2eedbb4c6f 196
dhawkes 0:8d2eedbb4c6f 197 index++;
dhawkes 0:8d2eedbb4c6f 198 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 199
dhawkes 0:8d2eedbb4c6f 200
dhawkes 0:8d2eedbb4c6f 201 // altitude
dhawkes 0:8d2eedbb4c6f 202 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 203 data[4] = (int32_t)(atof(dat) * 10);
dhawkes 0:8d2eedbb4c6f 204 }
dhawkes 0:8d2eedbb4c6f 205 else if(strcmp(dat, "GPVTG") == 0) // Is it VTG?
dhawkes 0:8d2eedbb4c6f 206 {
dhawkes 0:8d2eedbb4c6f 207 // course
dhawkes 0:8d2eedbb4c6f 208 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 209
dhawkes 0:8d2eedbb4c6f 210 data[5] = (int32_t)(atof(dat) * 10);
dhawkes 0:8d2eedbb4c6f 211
dhawkes 0:8d2eedbb4c6f 212 index++;
dhawkes 0:8d2eedbb4c6f 213 for(int i = 0; i < 5; i++)
dhawkes 0:8d2eedbb4c6f 214 {
dhawkes 0:8d2eedbb4c6f 215 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 216 index++;
dhawkes 0:8d2eedbb4c6f 217 }
dhawkes 0:8d2eedbb4c6f 218 // speed (km/h)
dhawkes 0:8d2eedbb4c6f 219 move(buffer, dat, ',');
dhawkes 0:8d2eedbb4c6f 220 data[6] = (int32_t)(atof(dat) * 10);
dhawkes 0:8d2eedbb4c6f 221
dhawkes 0:8d2eedbb4c6f 222 }
dhawkes 0:8d2eedbb4c6f 223 }
dhawkes 0:8d2eedbb4c6f 224
dhawkes 0:8d2eedbb4c6f 225 bool updateValues()
dhawkes 0:8d2eedbb4c6f 226 {
dhawkes 0:8d2eedbb4c6f 227 signed char c = gps.getcNb();
dhawkes 0:8d2eedbb4c6f 228
dhawkes 0:8d2eedbb4c6f 229 while(c != -1)
dhawkes 0:8d2eedbb4c6f 230 {
dhawkes 0:8d2eedbb4c6f 231 if(!filling)
dhawkes 0:8d2eedbb4c6f 232 {
dhawkes 0:8d2eedbb4c6f 233 if(c == '$')
dhawkes 0:8d2eedbb4c6f 234 {
dhawkes 0:8d2eedbb4c6f 235 filling = true;
dhawkes 0:8d2eedbb4c6f 236 buffer[0] = c;
dhawkes 0:8d2eedbb4c6f 237 fillIndex = 1;
dhawkes 0:8d2eedbb4c6f 238 }
dhawkes 0:8d2eedbb4c6f 239 }
dhawkes 0:8d2eedbb4c6f 240 else
dhawkes 0:8d2eedbb4c6f 241 {
dhawkes 0:8d2eedbb4c6f 242 if(c == '\n')
dhawkes 0:8d2eedbb4c6f 243 {
dhawkes 0:8d2eedbb4c6f 244 buffer[fillIndex] = c;
dhawkes 0:8d2eedbb4c6f 245 fillIndex++;
dhawkes 0:8d2eedbb4c6f 246 filling = false;
dhawkes 0:8d2eedbb4c6f 247 parse();
dhawkes 0:8d2eedbb4c6f 248 }
dhawkes 0:8d2eedbb4c6f 249 else
dhawkes 0:8d2eedbb4c6f 250 {
dhawkes 0:8d2eedbb4c6f 251 buffer[fillIndex] = c;
dhawkes 0:8d2eedbb4c6f 252 fillIndex++;
dhawkes 0:8d2eedbb4c6f 253 }
dhawkes 0:8d2eedbb4c6f 254 }
dhawkes 0:8d2eedbb4c6f 255 c = gps.getcNb();
dhawkes 0:8d2eedbb4c6f 256 }
dhawkes 0:8d2eedbb4c6f 257 return true;
dhawkes 0:8d2eedbb4c6f 258 }