Projet_BMC / MBed_Adafruit-GPS-Library

gps

Dependents:   adafruit-gps BMC

MBed_Adafruit_GPS.cpp@2:90f2232bbdfd, 2020-01-23 (annotated)

Committer:
the_nabil
Date:
Thu Jan 23 22:25:47 2020 +0000
Revision:
2:90f2232bbdfd
Parent:
1:42f840c832b6 
GPS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mlee350 0:a23e3099bb0a 1 /***********************************
mlee350 0:a23e3099bb0a 2 This is our GPS library
mlee350 0:a23e3099bb0a 3
mlee350 0:a23e3099bb0a 4 Adafruit invests time and resources providing this open source code,
mlee350 0:a23e3099bb0a 5 please support Adafruit and open-source hardware by purchasing
mlee350 0:a23e3099bb0a 6 products from Adafruit!
mlee350 0:a23e3099bb0a 7
mlee350 0:a23e3099bb0a 8 Written by Limor Fried/Ladyada for Adafruit Industries.
mlee350 0:a23e3099bb0a 9 BSD license, check license.txt for more information
mlee350 0:a23e3099bb0a 10 All text above must be included in any redistribution
mlee350 0:a23e3099bb0a 11 ****************************************/
mlee350 0:a23e3099bb0a 12
mlee350 0:a23e3099bb0a 13 #include "MBed_Adafruit_GPS.h"
mlee350 0:a23e3099bb0a 14
the_nabil 1:42f840c832b6 15 #define M_PI 3.14159265358979323846
the_nabil 1:42f840c832b6 16
mlee350 0:a23e3099bb0a 17 // how long are max NMEA lines to parse?
mlee350 0:a23e3099bb0a 18 #define MAXLINELENGTH 120
mlee350 0:a23e3099bb0a 19
mlee350 0:a23e3099bb0a 20 // we double buffer: read one line in and leave one for the main program
mlee350 0:a23e3099bb0a 21 volatile char line1[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 22 volatile char line2[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 23 // our index into filling the current line
mlee350 0:a23e3099bb0a 24 volatile uint16_t lineidx=0;
mlee350 0:a23e3099bb0a 25 // pointers to the double buffers
mlee350 0:a23e3099bb0a 26 volatile char *currentline;
mlee350 0:a23e3099bb0a 27 volatile char *lastline;
mlee350 0:a23e3099bb0a 28 volatile bool recvdflag;
mlee350 0:a23e3099bb0a 29 volatile bool inStandbyMode;
mlee350 0:a23e3099bb0a 30
mlee350 0:a23e3099bb0a 31
mlee350 0:a23e3099bb0a 32 bool Adafruit_GPS::parse(char *nmea) {
mlee350 0:a23e3099bb0a 33 // do checksum check
mlee350 0:a23e3099bb0a 34
mlee350 0:a23e3099bb0a 35 // first look if we even have one
mlee350 0:a23e3099bb0a 36 if (nmea[strlen(nmea)-4] == '*') {
mlee350 0:a23e3099bb0a 37 uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
mlee350 0:a23e3099bb0a 38 sum += parseHex(nmea[strlen(nmea)-2]);
mlee350 0:a23e3099bb0a 39
mlee350 0:a23e3099bb0a 40 // check checksum
mlee350 0:a23e3099bb0a 41 for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
mlee350 0:a23e3099bb0a 42 sum ^= nmea[i];
mlee350 0:a23e3099bb0a 43 }
mlee350 0:a23e3099bb0a 44 if (sum != 0) {
mlee350 0:a23e3099bb0a 45 // bad checksum :(
mlee350 0:a23e3099bb0a 46 //return false;
mlee350 0:a23e3099bb0a 47 }
mlee350 0:a23e3099bb0a 48 }
mlee350 0:a23e3099bb0a 49
mlee350 0:a23e3099bb0a 50 // look for a few common sentences
mlee350 0:a23e3099bb0a 51 if (strstr(nmea, "$GPGGA")) {
mlee350 0:a23e3099bb0a 52 // found GGA
mlee350 0:a23e3099bb0a 53 char *p = nmea;
mlee350 0:a23e3099bb0a 54 // get time
mlee350 0:a23e3099bb0a 55 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 56 float timef = atof(p);
mlee350 0:a23e3099bb0a 57 uint32_t time = timef;
mlee350 0:a23e3099bb0a 58 hour = time / 10000;
mlee350 0:a23e3099bb0a 59 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 60 seconds = (time % 100);
mlee350 0:a23e3099bb0a 61
mlee350 0:a23e3099bb0a 62 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 63
mlee350 0:a23e3099bb0a 64 // parse out latitude
mlee350 0:a23e3099bb0a 65 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 66 latitude = atof(p);
mlee350 0:a23e3099bb0a 67
mlee350 0:a23e3099bb0a 68 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 69 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 70 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 71 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 72 else return false;
mlee350 0:a23e3099bb0a 73
mlee350 0:a23e3099bb0a 74 // parse out longitude
mlee350 0:a23e3099bb0a 75 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 76 longitude = atof(p);
mlee350 0:a23e3099bb0a 77
mlee350 0:a23e3099bb0a 78 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 79 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 80 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 81 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 82 else return false;
mlee350 0:a23e3099bb0a 83
mlee350 0:a23e3099bb0a 84 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 85 fixquality = atoi(p);
mlee350 0:a23e3099bb0a 86
mlee350 0:a23e3099bb0a 87 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 88 satellites = atoi(p);
mlee350 0:a23e3099bb0a 89
mlee350 0:a23e3099bb0a 90 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 91 HDOP = atof(p);
mlee350 0:a23e3099bb0a 92
mlee350 0:a23e3099bb0a 93 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 94 altitude = atof(p);
mlee350 0:a23e3099bb0a 95 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 96 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 97 geoidheight = atof(p);
mlee350 0:a23e3099bb0a 98 return true;
mlee350 0:a23e3099bb0a 99 }
mlee350 0:a23e3099bb0a 100 if (strstr(nmea, "$GPRMC")) {
mlee350 0:a23e3099bb0a 101 // found RMC
mlee350 0:a23e3099bb0a 102 char *p = nmea;
mlee350 0:a23e3099bb0a 103
mlee350 0:a23e3099bb0a 104 // get time
mlee350 0:a23e3099bb0a 105 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 106 float timef = atof(p);
mlee350 0:a23e3099bb0a 107 uint32_t time = timef;
mlee350 0:a23e3099bb0a 108 hour = time / 10000;
mlee350 0:a23e3099bb0a 109 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 110 seconds = (time % 100);
mlee350 0:a23e3099bb0a 111
mlee350 0:a23e3099bb0a 112 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 113
mlee350 0:a23e3099bb0a 114 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 115 // Serial.println(p);
mlee350 0:a23e3099bb0a 116 if (p[0] == 'A')
mlee350 0:a23e3099bb0a 117 fix = true;
mlee350 0:a23e3099bb0a 118 else if (p[0] == 'V')
mlee350 0:a23e3099bb0a 119 fix = false;
mlee350 0:a23e3099bb0a 120 else
mlee350 0:a23e3099bb0a 121 return false;
mlee350 0:a23e3099bb0a 122
mlee350 0:a23e3099bb0a 123 // parse out latitude
mlee350 0:a23e3099bb0a 124 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 125 latitude = atof(p);
mlee350 0:a23e3099bb0a 126
mlee350 0:a23e3099bb0a 127 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 128 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 129 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 130 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 131 else return false;
mlee350 0:a23e3099bb0a 132
mlee350 0:a23e3099bb0a 133 // parse out longitude
mlee350 0:a23e3099bb0a 134 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 135 longitude = atof(p);
mlee350 0:a23e3099bb0a 136
mlee350 0:a23e3099bb0a 137 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 138 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 139 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 140 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 141 else return false;
mlee350 0:a23e3099bb0a 142
mlee350 0:a23e3099bb0a 143 // speed
mlee350 0:a23e3099bb0a 144 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 145 speed = atof(p);
mlee350 0:a23e3099bb0a 146
mlee350 0:a23e3099bb0a 147 // angle
mlee350 0:a23e3099bb0a 148 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 149 angle = atof(p);
mlee350 0:a23e3099bb0a 150
mlee350 0:a23e3099bb0a 151 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 152 uint32_t fulldate = atof(p);
mlee350 0:a23e3099bb0a 153 day = fulldate / 10000;
mlee350 0:a23e3099bb0a 154 month = (fulldate % 10000) / 100;
mlee350 0:a23e3099bb0a 155 year = (fulldate % 100);
mlee350 0:a23e3099bb0a 156
mlee350 0:a23e3099bb0a 157 // we dont parse the remaining, yet!
mlee350 0:a23e3099bb0a 158 return true;
mlee350 0:a23e3099bb0a 159 }
mlee350 0:a23e3099bb0a 160
mlee350 0:a23e3099bb0a 161 return false;
mlee350 0:a23e3099bb0a 162 }
mlee350 0:a23e3099bb0a 163
mlee350 0:a23e3099bb0a 164 char Adafruit_GPS::read(void) {
mlee350 0:a23e3099bb0a 165 char c = 0;
mlee350 0:a23e3099bb0a 166
mlee350 0:a23e3099bb0a 167 if (paused) return c;
mlee350 0:a23e3099bb0a 168
mlee350 0:a23e3099bb0a 169 if(!gpsSerial->readable()) return c;
mlee350 0:a23e3099bb0a 170 c = gpsSerial->getc();
mlee350 0:a23e3099bb0a 171
mlee350 0:a23e3099bb0a 172 //Serial.print(c);
mlee350 0:a23e3099bb0a 173
mlee350 0:a23e3099bb0a 174 if (c == '$') {
mlee350 0:a23e3099bb0a 175 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 176 lineidx = 0;
mlee350 0:a23e3099bb0a 177 }
mlee350 0:a23e3099bb0a 178 if (c == '\n') {
mlee350 0:a23e3099bb0a 179 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 180
mlee350 0:a23e3099bb0a 181 if (currentline == line1) {
mlee350 0:a23e3099bb0a 182 currentline = line2;
mlee350 0:a23e3099bb0a 183 lastline = line1;
mlee350 0:a23e3099bb0a 184 } else {
mlee350 0:a23e3099bb0a 185 currentline = line1;
mlee350 0:a23e3099bb0a 186 lastline = line2;
mlee350 0:a23e3099bb0a 187 }
mlee350 0:a23e3099bb0a 188
mlee350 0:a23e3099bb0a 189 lineidx = 0;
mlee350 0:a23e3099bb0a 190 recvdflag = true;
mlee350 0:a23e3099bb0a 191 }
mlee350 0:a23e3099bb0a 192
mlee350 0:a23e3099bb0a 193 currentline[lineidx++] = c;
mlee350 0:a23e3099bb0a 194 if (lineidx >= MAXLINELENGTH)
mlee350 0:a23e3099bb0a 195 lineidx = MAXLINELENGTH-1;
mlee350 0:a23e3099bb0a 196
mlee350 0:a23e3099bb0a 197 return c;
mlee350 0:a23e3099bb0a 198 }
mlee350 0:a23e3099bb0a 199
mlee350 0:a23e3099bb0a 200 Adafruit_GPS::Adafruit_GPS (Serial *ser)
mlee350 0:a23e3099bb0a 201 {
mlee350 0:a23e3099bb0a 202 common_init(); // Set everything to common state, then...
mlee350 0:a23e3099bb0a 203 gpsSerial = ser; // ...override gpsSwSerial with value passed.
mlee350 0:a23e3099bb0a 204 }
mlee350 0:a23e3099bb0a 205
mlee350 0:a23e3099bb0a 206 // Initialization code used by all constructor types
mlee350 0:a23e3099bb0a 207 void Adafruit_GPS::common_init(void) {
mlee350 0:a23e3099bb0a 208 gpsSerial = NULL;
mlee350 0:a23e3099bb0a 209 recvdflag = false;
mlee350 0:a23e3099bb0a 210 paused = false;
mlee350 0:a23e3099bb0a 211 lineidx = 0;
mlee350 0:a23e3099bb0a 212 currentline = line1;
mlee350 0:a23e3099bb0a 213 lastline = line2;
mlee350 0:a23e3099bb0a 214
mlee350 0:a23e3099bb0a 215 hour = minute = seconds = year = month = day =
mlee350 0:a23e3099bb0a 216 fixquality = satellites = 0; // uint8_t
mlee350 0:a23e3099bb0a 217 lat = lon = mag = 0; // char
mlee350 0:a23e3099bb0a 218 fix = false; // bool
mlee350 0:a23e3099bb0a 219 milliseconds = 0; // uint16_t
mlee350 0:a23e3099bb0a 220 latitude = longitude = geoidheight = altitude =
mlee350 0:a23e3099bb0a 221 speed = angle = magvariation = HDOP = 0.0; // float
mlee350 0:a23e3099bb0a 222 }
mlee350 0:a23e3099bb0a 223
mlee350 0:a23e3099bb0a 224 void Adafruit_GPS::begin(int baud)
mlee350 0:a23e3099bb0a 225 {
mlee350 0:a23e3099bb0a 226 gpsSerial->baud(baud);
mlee350 0:a23e3099bb0a 227 wait_ms(10);
mlee350 0:a23e3099bb0a 228 }
mlee350 0:a23e3099bb0a 229
mlee350 0:a23e3099bb0a 230 void Adafruit_GPS::sendCommand(char *str) {
mlee350 0:a23e3099bb0a 231 gpsSerial->printf("%s",str);
mlee350 0:a23e3099bb0a 232 }
mlee350 0:a23e3099bb0a 233
mlee350 0:a23e3099bb0a 234 bool Adafruit_GPS::newNMEAreceived(void) {
mlee350 0:a23e3099bb0a 235 return recvdflag;
mlee350 0:a23e3099bb0a 236 }
mlee350 0:a23e3099bb0a 237
mlee350 0:a23e3099bb0a 238 void Adafruit_GPS::pause(bool p) {
mlee350 0:a23e3099bb0a 239 paused = p;
mlee350 0:a23e3099bb0a 240 }
mlee350 0:a23e3099bb0a 241
mlee350 0:a23e3099bb0a 242 char *Adafruit_GPS::lastNMEA(void) {
mlee350 0:a23e3099bb0a 243 recvdflag = false;
mlee350 0:a23e3099bb0a 244 return (char *)lastline;
mlee350 0:a23e3099bb0a 245 }
mlee350 0:a23e3099bb0a 246
mlee350 0:a23e3099bb0a 247 // read a Hex value and return the decimal equivalent
mlee350 0:a23e3099bb0a 248 uint8_t Adafruit_GPS::parseHex(char c) {
mlee350 0:a23e3099bb0a 249 if (c < '0')
mlee350 0:a23e3099bb0a 250 return 0;
mlee350 0:a23e3099bb0a 251 if (c <= '9')
mlee350 0:a23e3099bb0a 252 return c - '0';
mlee350 0:a23e3099bb0a 253 if (c < 'A')
mlee350 0:a23e3099bb0a 254 return 0;
mlee350 0:a23e3099bb0a 255 if (c <= 'F')
mlee350 0:a23e3099bb0a 256 return (c - 'A')+10;
mlee350 0:a23e3099bb0a 257 }
mlee350 0:a23e3099bb0a 258
mlee350 0:a23e3099bb0a 259 bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
mlee350 0:a23e3099bb0a 260 char str[20];
mlee350 0:a23e3099bb0a 261
mlee350 0:a23e3099bb0a 262 uint8_t i=0;
mlee350 0:a23e3099bb0a 263 while (i < max) {
mlee350 0:a23e3099bb0a 264 if (newNMEAreceived()) {
mlee350 0:a23e3099bb0a 265 char *nmea = lastNMEA();
mlee350 0:a23e3099bb0a 266 strncpy(str, nmea, 20);
mlee350 0:a23e3099bb0a 267 str[19] = 0;
mlee350 0:a23e3099bb0a 268 i++;
mlee350 0:a23e3099bb0a 269
mlee350 0:a23e3099bb0a 270 if (strstr(str, wait4me))
mlee350 0:a23e3099bb0a 271 return true;
mlee350 0:a23e3099bb0a 272 }
mlee350 0:a23e3099bb0a 273 }
mlee350 0:a23e3099bb0a 274
mlee350 0:a23e3099bb0a 275 return false;
mlee350 0:a23e3099bb0a 276 }
mlee350 0:a23e3099bb0a 277
mlee350 0:a23e3099bb0a 278 bool Adafruit_GPS::LOCUS_StartLogger(void) {
mlee350 0:a23e3099bb0a 279 sendCommand(PMTK_LOCUS_STARTLOG);
mlee350 0:a23e3099bb0a 280 recvdflag = false;
mlee350 0:a23e3099bb0a 281 return waitForSentence(PMTK_LOCUS_LOGSTARTED);
mlee350 0:a23e3099bb0a 282 }
mlee350 0:a23e3099bb0a 283
mlee350 0:a23e3099bb0a 284 bool Adafruit_GPS::LOCUS_ReadStatus(void) {
mlee350 0:a23e3099bb0a 285 sendCommand(PMTK_LOCUS_QUERY_STATUS);
mlee350 0:a23e3099bb0a 286
mlee350 0:a23e3099bb0a 287 if (! waitForSentence("$PMTKLOG"))
mlee350 0:a23e3099bb0a 288 return false;
mlee350 0:a23e3099bb0a 289
mlee350 0:a23e3099bb0a 290 char *response = lastNMEA();
mlee350 0:a23e3099bb0a 291 uint16_t parsed[10];
mlee350 0:a23e3099bb0a 292 uint8_t i;
mlee350 0:a23e3099bb0a 293
mlee350 0:a23e3099bb0a 294 for (i=0; i<10; i++) parsed[i] = -1;
mlee350 0:a23e3099bb0a 295
mlee350 0:a23e3099bb0a 296 response = strchr(response, ',');
mlee350 0:a23e3099bb0a 297 for (i=0; i<10; i++) {
mlee350 0:a23e3099bb0a 298 if (!response || (response[0] == 0) || (response[0] == '*'))
mlee350 0:a23e3099bb0a 299 break;
mlee350 0:a23e3099bb0a 300 response++;
mlee350 0:a23e3099bb0a 301 parsed[i]=0;
mlee350 0:a23e3099bb0a 302 while ((response[0] != ',') &&
mlee350 0:a23e3099bb0a 303 (response[0] != '*') && (response[0] != 0)) {
mlee350 0:a23e3099bb0a 304 parsed[i] *= 10;
mlee350 0:a23e3099bb0a 305 char c = response[0];
mlee350 0:a23e3099bb0a 306 if (isdigit(c))
mlee350 0:a23e3099bb0a 307 parsed[i] += c - '0';
mlee350 0:a23e3099bb0a 308 else
mlee350 0:a23e3099bb0a 309 parsed[i] = c;
mlee350 0:a23e3099bb0a 310 response++;
mlee350 0:a23e3099bb0a 311 }
mlee350 0:a23e3099bb0a 312 }
mlee350 0:a23e3099bb0a 313 LOCUS_serial = parsed[0];
mlee350 0:a23e3099bb0a 314 LOCUS_type = parsed[1];
mlee350 0:a23e3099bb0a 315 if (isalpha(parsed[2])) {
mlee350 0:a23e3099bb0a 316 parsed[2] = parsed[2] - 'a' + 10;
mlee350 0:a23e3099bb0a 317 }
mlee350 0:a23e3099bb0a 318 LOCUS_mode = parsed[2];
mlee350 0:a23e3099bb0a 319 LOCUS_config = parsed[3];
mlee350 0:a23e3099bb0a 320 LOCUS_interval = parsed[4];
mlee350 0:a23e3099bb0a 321 LOCUS_distance = parsed[5];
mlee350 0:a23e3099bb0a 322 LOCUS_speed = parsed[6];
mlee350 0:a23e3099bb0a 323 LOCUS_status = !parsed[7];
mlee350 0:a23e3099bb0a 324 LOCUS_records = parsed[8];
mlee350 0:a23e3099bb0a 325 LOCUS_percent = parsed[9];
mlee350 0:a23e3099bb0a 326
mlee350 0:a23e3099bb0a 327 return true;
mlee350 0:a23e3099bb0a 328 }
mlee350 0:a23e3099bb0a 329
mlee350 0:a23e3099bb0a 330 // Standby Mode Switches
mlee350 0:a23e3099bb0a 331 bool Adafruit_GPS::standby(void) {
mlee350 0:a23e3099bb0a 332 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 333 return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS
mlee350 0:a23e3099bb0a 334 }
mlee350 0:a23e3099bb0a 335 else {
mlee350 0:a23e3099bb0a 336 inStandbyMode = true;
mlee350 0:a23e3099bb0a 337 sendCommand(PMTK_STANDBY);
mlee350 0:a23e3099bb0a 338 //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working
mlee350 0:a23e3099bb0a 339 return true;
mlee350 0:a23e3099bb0a 340 }
mlee350 0:a23e3099bb0a 341 }
mlee350 0:a23e3099bb0a 342
mlee350 0:a23e3099bb0a 343 bool Adafruit_GPS::wakeup(void) {
mlee350 0:a23e3099bb0a 344 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 345 inStandbyMode = false;
mlee350 0:a23e3099bb0a 346 sendCommand(""); // send byte to wake it up
mlee350 0:a23e3099bb0a 347 return waitForSentence(PMTK_AWAKE);
mlee350 0:a23e3099bb0a 348 }
mlee350 0:a23e3099bb0a 349 else {
mlee350 0:a23e3099bb0a 350 return false; // Returns false if not in standby mode, nothing to wakeup
mlee350 0:a23e3099bb0a 351 }
the_nabil 1:42f840c832b6 352 }
the_nabil 1:42f840c832b6 353
the_nabil 1:42f840c832b6 354 float Adafruit_GPS::coordToDegDec(float coord) {
the_nabil 1:42f840c832b6 355 float dd, ss, codd;
the_nabil 1:42f840c832b6 356
the_nabil 1:42f840c832b6 357 dd = (int)(coord/100);
the_nabil 1:42f840c832b6 358 dd = (float)dd;
the_nabil 1:42f840c832b6 359 ss = coord - dd*100;
the_nabil 1:42f840c832b6 360 codd = dd + (ss/60);
the_nabil 1:42f840c832b6 361
the_nabil 1:42f840c832b6 362 return codd;
the_nabil 1:42f840c832b6 363 }
the_nabil 1:42f840c832b6 364
the_nabil 1:42f840c832b6 365 float Adafruit_GPS::getDistance(float lat_1, float lon_1, float lat_2, float lon_2) {
the_nabil 1:42f840c832b6 366 float dlat;
the_nabil 1:42f840c832b6 367 float dlon;
the_nabil 1:42f840c832b6 368 float a, c, d;
the_nabil 1:42f840c832b6 369 float R = 6371000;
the_nabil 1:42f840c832b6 370 //char u[] = "km";
the_nabil 1:42f840c832b6 371
the_nabil 1:42f840c832b6 372 dlat = (lat_2-lat_1)/100;
the_nabil 1:42f840c832b6 373 dlon = (lon_2-lon_1)/100;
the_nabil 1:42f840c832b6 374
the_nabil 1:42f840c832b6 375 dlat = dlat * (M_PI/180);
the_nabil 1:42f840c832b6 376 dlon = dlon * (M_PI/180);
the_nabil 1:42f840c832b6 377
the_nabil 1:42f840c832b6 378 lat_1 = (lat_1/100) * (M_PI/180);
the_nabil 1:42f840c832b6 379 lat_2 = (lat_2/100) * (M_PI/180);
the_nabil 1:42f840c832b6 380
the_nabil 1:42f840c832b6 381 a = pow((sin(dlat/2)),2)+cos(lat_1)*cos(lat_2)*pow((sin(dlon/2)),2);
the_nabil 1:42f840c832b6 382 c = 2*atan2((sqrt(a)),(sqrt(1-a)));
the_nabil 1:42f840c832b6 383 d = R*c;
the_nabil 1:42f840c832b6 384
the_nabil 1:42f840c832b6 385 //if (R<1) {
the_nabil 1:42f840c832b6 386 // u = "m"
the_nabil 1:42f840c832b6 387 // }
the_nabil 1:42f840c832b6 388
the_nabil 1:42f840c832b6 389 return d;
the_nabil 1:42f840c832b6 390 }
the_nabil 1:42f840c832b6 391
the_nabil 1:42f840c832b6 392 float Adafruit_GPS::getSteps(float distance, float height) {
the_nabil 1:42f840c832b6 393 float steps, avg_steps;
the_nabil 1:42f840c832b6 394
the_nabil 1:42f840c832b6 395 avg_steps = 0.413*(height/100);
the_nabil 1:42f840c832b6 396 steps = distance/avg_steps;
the_nabil 1:42f840c832b6 397
the_nabil 1:42f840c832b6 398 return steps;
the_nabil 1:42f840c832b6 399 }
the_nabil 1:42f840c832b6 400
the_nabil 2:90f2232bbdfd 401 double Adafruit_GPS::getAvgSpeed(float distance, int t) {
the_nabil 1:42f840c832b6 402 float avg_speed;
the_nabil 1:42f840c832b6 403
the_nabil 1:42f840c832b6 404 t = (float) t;
the_nabil 1:42f840c832b6 405
the_nabil 2:90f2232bbdfd 406 avg_speed = (double)(distance/t);
the_nabil 2:90f2232bbdfd 407 avg_speed = (avg_speed/1000)*3600;
the_nabil 2:90f2232bbdfd 408 //avg_speed = (double)(distance/1000)/(t/3600);
the_nabil 1:42f840c832b6 409
the_nabil 1:42f840c832b6 410 return avg_speed;
the_nabil 1:42f840c832b6 411 }
the_nabil 1:42f840c832b6 412
the_nabil 1:42f840c832b6 413 /*
the_nabil 1:42f840c832b6 414 float toRadians(float deg) {
the_nabil 1:42f840c832b6 415 float rad;
the_nabil 1:42f840c832b6 416
the_nabil 1:42f840c832b6 417 rad = deg * (M_PI/180);
the_nabil 1:42f840c832b6 418
the_nabil 1:42f840c832b6 419 return rad;
the_nabil 1:42f840c832b6 420 }
the_nabil 1:42f840c832b6 421 */
the_nabil 1:42f840c832b6 422