TinyGPSPlus.h

00001 /*
00002 TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
00003 Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
00004 Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
00005 Location precision improvements suggested by Wayne Holder.
00006 Copyright (C) 2008-2013 Mikal Hart
00007 All rights reserved.
00008 
00009 This library is free software; you can redistribute it and/or
00010 modify it under the terms of the GNU Lesser General Public
00011 License as published by the Free Software Foundation; either
00012 version 2.1 of the License, or (at your option) any later version.
00013 
00014 This library is distributed in the hope that it will be useful,
00015 but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00017 Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public
00020 License along with this library; if not, write to the Free Software
00021 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00022 */
00023 
00024 #ifndef __TinyGPSPlus_h
00025 #define __TinyGPSPlus_h
00026 
00027 /*#if defined(ARDUINO) && ARDUINO >= 100
00028 #include "Arduino.h"
00029 #else
00030 #include "WProgram.h"
00031 #endif
00032 */
00033 
00034 #include "mbed.h"
00035 #include "types.h"
00036 
00037 #include <stdlib.h>
00038 #include <limits.h>
00039 
00040 #define _GPS_VERSION "0.92" // software version of this library
00041 #define _GPS_MPH_PER_KNOT 1.15077945
00042 #define _GPS_MPS_PER_KNOT 0.51444444
00043 #define _GPS_KMPH_PER_KNOT 1.852
00044 #define _GPS_MILES_PER_METER 0.00062137112
00045 #define _GPS_KM_PER_METER 0.001
00046 #define _GPS_FEET_PER_METER 3.2808399
00047 #define _GPS_MAX_FIELD_SIZE 15
00048 
00049 #define PI 3.1415926535897932384626433832795
00050 #define HALF_PI 1.5707963267948966192313216916398
00051 #define TWO_PI 6.283185307179586476925286766559
00052 #define DEG_TO_RAD 0.017453292519943295769236907684886
00053 #define RAD_TO_DEG 57.295779513082320876798154814105
00054 #define EULER 2.718281828459045235360287471352
00055 #define radians(deg) ((deg)*DEG_TO_RAD)
00056 #define degrees(rad) ((rad)*RAD_TO_DEG)
00057 #define sq(x) ((x)*(x))
00058 
00059 
00060 struct RawDegrees
00061 {
00062    uint16_t deg;
00063    uint32_t billionths;
00064    bool negative;
00065 public:
00066    RawDegrees() : deg(0), billionths(0), negative(false)
00067    {}
00068 };
00069 
00070 struct TinyGPSLocation
00071 {
00072    friend class TinyGPSPlus;
00073 public:
00074    bool isValid() const    { return valid; }
00075    bool isUpdated() const  { return updated; }
00076    uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00077    const RawDegrees &rawLat()     { updated = false; return rawLatData; }
00078    const RawDegrees &rawLng()     { updated = false; return rawLngData; }
00079    double lat();
00080    double lng();
00081 
00082    TinyGPSLocation() : valid(false), updated(false)
00083    {}
00084 
00085 private:
00086    bool valid, updated;
00087    RawDegrees rawLatData, rawLngData, rawNewLatData, rawNewLngData;
00088    uint32_t lastCommitTime;
00089    void commit();
00090    void setLatitude(const char *term);
00091    void setLongitude(const char *term);
00092 };
00093 
00094 struct TinyGPSDate
00095 {
00096    friend class TinyGPSPlus;
00097 public:
00098    bool isValid() const       { return valid; }
00099    bool isUpdated() const     { return updated; }
00100    uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00101 
00102    uint32_t value()           { updated = false; return date; }
00103    uint16_t year();
00104    uint8_t month();
00105    uint8_t day();
00106 
00107    TinyGPSDate() : valid(false), updated(false), date(0)
00108    {}
00109 
00110 private:
00111    bool valid, updated;
00112    uint32_t date, newDate;
00113    uint32_t lastCommitTime;
00114    void commit();
00115    void setDate(const char *term);
00116 };
00117 
00118 struct TinyGPSTime
00119 {
00120    friend class TinyGPSPlus;
00121 public:
00122    bool isValid() const       { return valid; }
00123    bool isUpdated() const     { return updated; }
00124    uint32_t age() const       { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00125 
00126    uint32_t value()           { updated = false; return time; }
00127    uint8_t hour();
00128    uint8_t minute();
00129    uint8_t second();
00130    uint8_t centisecond();
00131 
00132    TinyGPSTime() : valid(false), updated(false), time(0)
00133    {}
00134 
00135 private:
00136    bool valid, updated;
00137    uint32_t time, newTime;
00138    uint32_t lastCommitTime;
00139    void commit();
00140    void setTime(const char *term);
00141 };
00142 
00143 struct TinyGPSDecimal
00144 {
00145    friend class TinyGPSPlus;
00146 public:
00147    bool isValid() const    { return valid; }
00148    bool isUpdated() const  { return updated; }
00149    uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00150    int32_t value()         { updated = false; return val; }
00151 
00152    TinyGPSDecimal() : valid(false), updated(false), val(0)
00153    {}
00154 
00155 private:
00156    bool valid, updated;
00157    uint32_t lastCommitTime;
00158    int32_t val, newval;
00159    void commit();
00160    void set(const char *term);
00161 };
00162 
00163 struct TinyGPSInteger
00164 {
00165    friend class TinyGPSPlus;
00166 public:
00167    bool isValid() const    { return valid; }
00168    bool isUpdated() const  { return updated; }
00169    uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00170    uint32_t value()        { updated = false; return val; }
00171 
00172    TinyGPSInteger() : valid(false), updated(false), val(0)
00173    {}
00174 
00175 private:
00176    bool valid, updated;
00177    uint32_t lastCommitTime;
00178    uint32_t val, newval;
00179    void commit();
00180    void set(const char *term);
00181 };
00182 
00183 struct TinyGPSSpeed : TinyGPSDecimal
00184 {
00185    double knots()    { return value() / 100.0; }
00186    double mph()      { return _GPS_MPH_PER_KNOT * value() / 100.0; }
00187    double mps()      { return _GPS_MPS_PER_KNOT * value() / 100.0; }
00188    double kmph()     { return _GPS_KMPH_PER_KNOT * value() / 100.0; }
00189 };
00190 
00191 struct TinyGPSCourse : public TinyGPSDecimal
00192 {
00193    double deg()      { return value() / 100.0; }
00194 };
00195 
00196 struct TinyGPSAltitude : TinyGPSDecimal
00197 {
00198    double meters()       { return value() / 100.0; }
00199    double miles()        { return _GPS_MILES_PER_METER * value() / 100.0; }
00200    double kilometers()   { return _GPS_KM_PER_METER * value() / 100.0; }
00201    double feet()         { return _GPS_FEET_PER_METER * value() / 100.0; }
00202 };
00203 
00204 class TinyGPSPlus;
00205 class TinyGPSCustom
00206 {
00207 public:
00208    TinyGPSCustom() {};
00209    TinyGPSCustom(TinyGPSPlus &gps, const char *sentenceName, int termNumber);
00210    void begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber);
00211 
00212    bool isUpdated() const  { return updated; }
00213    bool isValid() const    { return valid; }
00214    uint32_t age() const    { return valid ? millis() - lastCommitTime : (uint32_t)ULONG_MAX; }
00215    const char *value()     { updated = false; return buffer; }
00216 
00217 private:
00218    void commit();
00219    void set(const char *term);
00220 
00221    char stagingBuffer[_GPS_MAX_FIELD_SIZE + 1];
00222    char buffer[_GPS_MAX_FIELD_SIZE + 1];
00223    unsigned long lastCommitTime;
00224    bool valid, updated;
00225    const char *sentenceName;
00226    int termNumber;
00227    friend class TinyGPSPlus;
00228    TinyGPSCustom *next;
00229 };
00230 
00231 class TinyGPSPlus
00232 {
00233 public:
00234   TinyGPSPlus();
00235   bool encode(char c); // process one character received from GPS
00236   TinyGPSPlus &operator << (char c) {encode(c); return *this;}
00237 
00238   TinyGPSLocation location;
00239   TinyGPSDate date;
00240   TinyGPSTime time;
00241   TinyGPSSpeed speed;
00242   TinyGPSCourse course;
00243   TinyGPSAltitude altitude;
00244   TinyGPSInteger satellites;
00245   TinyGPSDecimal hdop;
00246 
00247   static const char *libraryVersion() { return _GPS_VERSION; }
00248 
00249   static double distanceBetween(double lat1, double long1, double lat2, double long2);
00250   static double courseTo(double lat1, double long1, double lat2, double long2);
00251   static const char *cardinal(double course);
00252 
00253   static int32_t parseDecimal(const char *term);
00254   static void parseDegrees(const char *term, RawDegrees &deg);
00255 
00256   uint32_t charsProcessed()   const { return encodedCharCount; }
00257   uint32_t sentencesWithFix() const { return sentencesWithFixCount; }
00258   uint32_t failedChecksum()   const { return failedChecksumCount; }
00259   uint32_t passedChecksum()   const { return passedChecksumCount; }
00260 
00261 private:
00262   enum {GPS_SENTENCE_GPGGA, GPS_SENTENCE_GPRMC, GPS_SENTENCE_OTHER};
00263 
00264   // parsing state variables
00265   uint8_t parity;
00266   bool isChecksumTerm;
00267   char term[_GPS_MAX_FIELD_SIZE];
00268   uint8_t curSentenceType;
00269   uint8_t curTermNumber;
00270   uint8_t curTermOffset;
00271   bool sentenceHasFix;
00272 
00273   // custom element support
00274   friend class TinyGPSCustom;
00275   TinyGPSCustom *customElts;
00276   TinyGPSCustom *customCandidates;
00277   void insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int index);
00278 
00279 
00280   // statistics
00281   uint32_t encodedCharCount;
00282   uint32_t sentencesWithFixCount;
00283   uint32_t failedChecksumCount;
00284   uint32_t passedChecksumCount;
00285 
00286   // internal utilities
00287   int fromHex(char a);
00288   bool endOfTermHandler();
00289 };
00290 
00291 #endif // def(__TinyGPSPlus_h)