Bmag incl gps rettelse
Dependencies: mbed WDT MODSERIAL BME280
NMEA/NMEA.cpp@63:168f5498a3c5, 2019-07-08 (annotated)
- Committer:
- gert_lauritsen
- Date:
- Mon Jul 08 08:56:50 2019 +0000
- Branch:
- MbedBMAGThrRev
- Revision:
- 63:168f5498a3c5
- Parent:
- 61:52a6d0ffd8e5
add altitude to SPS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
MAA | 0:b3313c5ffca3 | 1 | #include "NMEA.h" |
MAA | 0:b3313c5ffca3 | 2 | |
MAA | 18:87f243168f05 | 3 | //! NMEA, default constructor |
MAA | 0:b3313c5ffca3 | 4 | NMEA::NMEA(){ |
MAA | 0:b3313c5ffca3 | 5 | |
MAA | 0:b3313c5ffca3 | 6 | currentGGAString.resize(128); |
MAA | 0:b3313c5ffca3 | 7 | currentGPRMCString.resize(128); |
MAA | 0:b3313c5ffca3 | 8 | currentUTCFromGPRMC.resize(20); |
MAA | 0:b3313c5ffca3 | 9 | currentDATEFromGPRMC.resize(10); |
MAA | 4:c70ef089a3fd | 10 | currentLongitude.resize(15); |
MAA | 4:c70ef089a3fd | 11 | currentLatitude.resize(15); |
MAA | 0:b3313c5ffca3 | 12 | |
MAA | 30:072e918663b8 | 13 | currentLongitude = "NaN"; |
MAA | 30:072e918663b8 | 14 | currentLatitude = "NaN"; |
MAA | 30:072e918663b8 | 15 | |
MAA | 0:b3313c5ffca3 | 16 | chkSumGps.resize(2); |
MAA | 4:c70ef089a3fd | 17 | |
MAA | 4:c70ef089a3fd | 18 | memset(tmpArrDeg,'\0',7); |
MAA | 4:c70ef089a3fd | 19 | memset(tmpArrMin, '\0', 7); |
MAA | 4:c70ef089a3fd | 20 | memset(tmpLongitude, '\0', 15); |
MAA | 4:c70ef089a3fd | 21 | memset(tmpLatitude, '\0', 15); |
MAA | 0:b3313c5ffca3 | 22 | |
MAA | 4:c70ef089a3fd | 23 | iterationIndex = 0; |
MAA | 4:c70ef089a3fd | 24 | longitudeDD = 0.0; |
MAA | 4:c70ef089a3fd | 25 | latitudeDD = 0.0; |
MAA | 4:c70ef089a3fd | 26 | |
MAA | 34:c6c5e7ec9163 | 27 | cnt_GPRMC = 0; |
MAA | 34:c6c5e7ec9163 | 28 | |
MAA | 4:c70ef089a3fd | 29 | north = false; |
MAA | 4:c70ef089a3fd | 30 | south = false; |
MAA | 4:c70ef089a3fd | 31 | east = false; |
MAA | 4:c70ef089a3fd | 32 | west = false; |
MAA | 0:b3313c5ffca3 | 33 | }; |
MAA | 0:b3313c5ffca3 | 34 | |
MAA | 18:87f243168f05 | 35 | //! ValidateData, method taking a text string for NMEA validation |
MAA | 18:87f243168f05 | 36 | /*! |
MAA | 18:87f243168f05 | 37 | ValidateData validates that the NMEA data string isn't corrupted. |
MAA | 18:87f243168f05 | 38 | (Verification of crc) |
MAA | 18:87f243168f05 | 39 | |
MAA | 18:87f243168f05 | 40 | \param cstStr An NMEA ascii string. |
MAA | 18:87f243168f05 | 41 | \return boolean return value, true if crc corresponds to own calculated crc, else false. |
MAA | 18:87f243168f05 | 42 | */ |
MAA | 4:c70ef089a3fd | 43 | bool NMEA::ValidateData(string cstStr){ |
MAA | 0:b3313c5ffca3 | 44 | |
MAA | 0:b3313c5ffca3 | 45 | //Temporary variables used locally only |
MAA | 0:b3313c5ffca3 | 46 | chkSum = 0; |
MAA | 0:b3313c5ffca3 | 47 | |
MAA | 0:b3313c5ffca3 | 48 | //If for some reason the index is wrong, and the first character is not |
MAA | 0:b3313c5ffca3 | 49 | //the beginning dollar sign of a gps string, return false at once. |
MAA | 0:b3313c5ffca3 | 50 | if(cstStr[0] != '$'){ |
MAA | 0:b3313c5ffca3 | 51 | return false; |
MAA | 0:b3313c5ffca3 | 52 | } |
MAA | 0:b3313c5ffca3 | 53 | |
MAA | 0:b3313c5ffca3 | 54 | iterationIndex = 0; |
MAA | 0:b3313c5ffca3 | 55 | |
MAA | 0:b3313c5ffca3 | 56 | //initializing calculated checksum |
MAA | 0:b3313c5ffca3 | 57 | chkSumGps = " "; |
MAA | 0:b3313c5ffca3 | 58 | |
MAA | 0:b3313c5ffca3 | 59 | //Calculating checksum to verify string integrity |
MAA | 0:b3313c5ffca3 | 60 | for(char i = 1; i < cstStr.size(); i++){ |
MAA | 0:b3313c5ffca3 | 61 | //If at end of line for crc check, break |
MAA | 0:b3313c5ffca3 | 62 | if(cstStr[i] == '*' || cstStr[i] == '\0'){ |
MAA | 0:b3313c5ffca3 | 63 | iterationIndex = i; |
MAA | 0:b3313c5ffca3 | 64 | break; |
MAA | 0:b3313c5ffca3 | 65 | } |
MAA | 0:b3313c5ffca3 | 66 | //XOR crc calculation |
MAA | 0:b3313c5ffca3 | 67 | chkSum ^= cstStr[i]; |
MAA | 0:b3313c5ffca3 | 68 | |
MAA | 0:b3313c5ffca3 | 69 | } |
MAA | 0:b3313c5ffca3 | 70 | |
MAA | 0:b3313c5ffca3 | 71 | //Moving the checksum received into chkSumGps |
MAA | 0:b3313c5ffca3 | 72 | iterationIndex++; |
MAA | 0:b3313c5ffca3 | 73 | chkSumGps[0] = cstStr[iterationIndex]; |
MAA | 0:b3313c5ffca3 | 74 | iterationIndex++; |
MAA | 0:b3313c5ffca3 | 75 | chkSumGps[1] = cstStr[iterationIndex]; |
MAA | 0:b3313c5ffca3 | 76 | |
MAA | 0:b3313c5ffca3 | 77 | GpsCheck = strtol(chkSumGps.c_str(), NULL ,16); |
MAA | 0:b3313c5ffca3 | 78 | |
MAA | 0:b3313c5ffca3 | 79 | //Verify received and calculated crc equality |
MAA | 0:b3313c5ffca3 | 80 | if(GpsCheck == chkSum){ |
MAA | 0:b3313c5ffca3 | 81 | return true; |
MAA | 0:b3313c5ffca3 | 82 | } |
MAA | 0:b3313c5ffca3 | 83 | |
MAA | 0:b3313c5ffca3 | 84 | //If unequal crc bytes found return false |
MAA | 0:b3313c5ffca3 | 85 | return false; |
MAA | 0:b3313c5ffca3 | 86 | }; |
MAA | 0:b3313c5ffca3 | 87 | |
MAA | 18:87f243168f05 | 88 | //! StoreString, method taking a text string as argument for further handling |
MAA | 18:87f243168f05 | 89 | /*! |
MAA | 18:87f243168f05 | 90 | StoreString, replaces current GPRMC or GGA string, with new valid GPRMC or GGA string. |
MAA | 0:b3313c5ffca3 | 91 | |
MAA | 18:87f243168f05 | 92 | \param cstStr An NMEA ascii string. |
MAA | 18:87f243168f05 | 93 | */ |
MAA | 3:38eabaa92552 | 94 | void NMEA::StoreString(string cstStr){ |
MAA | 0:b3313c5ffca3 | 95 | static std::string gga = "$GPGGA"; |
MAA | 0:b3313c5ffca3 | 96 | static std::string rmc = "$GPRMC"; |
MAA | 0:b3313c5ffca3 | 97 | |
MAA | 0:b3313c5ffca3 | 98 | //If received string is a GPGGA string |
MAA | 0:b3313c5ffca3 | 99 | //copy GPGGA string to currentGGAString |
MAA | 0:b3313c5ffca3 | 100 | if(cstStr.compare(0, 6, gga) == 0){ |
MAA | 3:38eabaa92552 | 101 | |
MAA | 0:b3313c5ffca3 | 102 | //replace current valid gga string with new valid gga string |
MAA | 3:38eabaa92552 | 103 | currentGGAString.replace(0, 128, cstStr); |
MAA | 3:38eabaa92552 | 104 | |
MAA | 0:b3313c5ffca3 | 105 | } |
MAA | 0:b3313c5ffca3 | 106 | |
MAA | 0:b3313c5ffca3 | 107 | //If received string is a GPRMC string |
MAA | 0:b3313c5ffca3 | 108 | //copy GPRMC string to currentGPRMCString |
MAA | 0:b3313c5ffca3 | 109 | if(cstStr.compare(0, 6, rmc) == 0){ |
MAA | 3:38eabaa92552 | 110 | |
MAA | 34:c6c5e7ec9163 | 111 | if(cnt_GPRMC > 1000){ |
MAA | 34:c6c5e7ec9163 | 112 | cnt_GPRMC = 0; |
MAA | 34:c6c5e7ec9163 | 113 | } |
MAA | 34:c6c5e7ec9163 | 114 | cnt_GPRMC += 1; |
MAA | 34:c6c5e7ec9163 | 115 | |
MAA | 0:b3313c5ffca3 | 116 | //replace current valid rmc string with new valid rmc string |
MAA | 0:b3313c5ffca3 | 117 | currentGPRMCString.replace(0, 128, cstStr); |
MAA | 3:38eabaa92552 | 118 | |
MAA | 0:b3313c5ffca3 | 119 | } |
MAA | 0:b3313c5ffca3 | 120 | |
MAA | 0:b3313c5ffca3 | 121 | }; |
MAA | 0:b3313c5ffca3 | 122 | |
MAA | 0:b3313c5ffca3 | 123 | |
MAA | 18:87f243168f05 | 124 | //! ParseCurrentUTCFromGPRMC, grabs UTC timestamp from current stored GPRMC string. |
MAA | 18:87f243168f05 | 125 | /*! |
MAA | 18:87f243168f05 | 126 | ParseCurrentUTCFromGPRMC, grabs UTC timestamp from current stored GPRMC string. |
MAA | 18:87f243168f05 | 127 | Stores the UTC timestamp in local text string. |
MAA | 18:87f243168f05 | 128 | |
MAA | 18:87f243168f05 | 129 | Depending on the format it will be saved as: |
MAA | 18:87f243168f05 | 130 | HH:MM:SS.FFF |
MAA | 18:87f243168f05 | 131 | In this case FFF are read values fom the string. |
MAA | 18:87f243168f05 | 132 | eg. 14:10:22.007 |
MAA | 18:87f243168f05 | 133 | |
MAA | 18:87f243168f05 | 134 | or |
MAA | 18:87f243168f05 | 135 | |
MAA | 18:87f243168f05 | 136 | HH:MM:SS.FFF |
MAA | 18:87f243168f05 | 137 | In this case FFF are predetermined values set to 0. |
MAA | 18:87f243168f05 | 138 | eg. 14:10:22.000 |
MAA | 18:87f243168f05 | 139 | */ |
MAA | 4:c70ef089a3fd | 140 | void NMEA::ParseCurrentUTCFromGPRMC(){ |
MAA | 0:b3313c5ffca3 | 141 | |
MAA | 28:ed0d29f63b55 | 142 | //getting utc from GPRMC string, assigned to tmpStr |
MAA | 4:c70ef089a3fd | 143 | getXFromNMEAString(1,currentGPRMCString); |
MAA | 2:39c4a85dc2a4 | 144 | |
MAA | 2:39c4a85dc2a4 | 145 | currentUTCFromGPRMC = ""; |
MAA | 2:39c4a85dc2a4 | 146 | currentUTCFromGPRMC.resize(20); |
MAA | 2:39c4a85dc2a4 | 147 | |
MAA | 2:39c4a85dc2a4 | 148 | //if time format == 10 characters |
MAA | 28:ed0d29f63b55 | 149 | if(strlen(tmpStr.c_str()) > 6){ |
MAA | 2:39c4a85dc2a4 | 150 | |
MAA | 2:39c4a85dc2a4 | 151 | //HH |
MAA | 2:39c4a85dc2a4 | 152 | currentUTCFromGPRMC[0] = tmpStr[0]; |
MAA | 2:39c4a85dc2a4 | 153 | currentUTCFromGPRMC[1] = tmpStr[1]; |
MAA | 2:39c4a85dc2a4 | 154 | currentUTCFromGPRMC[2] = ':'; |
MAA | 2:39c4a85dc2a4 | 155 | |
MAA | 2:39c4a85dc2a4 | 156 | //MM |
MAA | 2:39c4a85dc2a4 | 157 | currentUTCFromGPRMC[3] = tmpStr[2]; |
MAA | 2:39c4a85dc2a4 | 158 | currentUTCFromGPRMC[4] = tmpStr[3]; |
MAA | 2:39c4a85dc2a4 | 159 | currentUTCFromGPRMC[5] = ':'; |
MAA | 2:39c4a85dc2a4 | 160 | |
MAA | 2:39c4a85dc2a4 | 161 | //SS |
MAA | 2:39c4a85dc2a4 | 162 | currentUTCFromGPRMC[6] = tmpStr[4]; |
MAA | 2:39c4a85dc2a4 | 163 | currentUTCFromGPRMC[7] = tmpStr[5]; |
MAA | 2:39c4a85dc2a4 | 164 | currentUTCFromGPRMC[8] = '.'; |
MAA | 2:39c4a85dc2a4 | 165 | |
MAA | 2:39c4a85dc2a4 | 166 | //FFF |
MAA | 2:39c4a85dc2a4 | 167 | currentUTCFromGPRMC[9] = tmpStr[7]; |
MAA | 2:39c4a85dc2a4 | 168 | currentUTCFromGPRMC[10] = tmpStr[8]; |
MAA | 2:39c4a85dc2a4 | 169 | currentUTCFromGPRMC[11] = tmpStr[9]; |
MAA | 2:39c4a85dc2a4 | 170 | } |
MAA | 2:39c4a85dc2a4 | 171 | |
MAA | 2:39c4a85dc2a4 | 172 | //if time format == 6 characters |
MAA | 2:39c4a85dc2a4 | 173 | if(strlen(tmpStr.c_str()) == 6){ |
MAA | 2:39c4a85dc2a4 | 174 | |
MAA | 2:39c4a85dc2a4 | 175 | //HH |
MAA | 2:39c4a85dc2a4 | 176 | currentUTCFromGPRMC[0] = tmpStr[0]; |
MAA | 2:39c4a85dc2a4 | 177 | currentUTCFromGPRMC[1] = tmpStr[1]; |
MAA | 2:39c4a85dc2a4 | 178 | currentUTCFromGPRMC[2] = ':'; |
MAA | 2:39c4a85dc2a4 | 179 | |
MAA | 2:39c4a85dc2a4 | 180 | //MM |
MAA | 2:39c4a85dc2a4 | 181 | currentUTCFromGPRMC[3] = tmpStr[2]; |
MAA | 2:39c4a85dc2a4 | 182 | currentUTCFromGPRMC[4] = tmpStr[3]; |
MAA | 2:39c4a85dc2a4 | 183 | currentUTCFromGPRMC[5] = ':'; |
MAA | 2:39c4a85dc2a4 | 184 | |
MAA | 2:39c4a85dc2a4 | 185 | //SS |
MAA | 2:39c4a85dc2a4 | 186 | currentUTCFromGPRMC[6] = tmpStr[4]; |
MAA | 2:39c4a85dc2a4 | 187 | currentUTCFromGPRMC[7] = tmpStr[5]; |
MAA | 2:39c4a85dc2a4 | 188 | currentUTCFromGPRMC[8] = '.'; |
MAA | 2:39c4a85dc2a4 | 189 | |
MAA | 2:39c4a85dc2a4 | 190 | //FFF |
MAA | 2:39c4a85dc2a4 | 191 | currentUTCFromGPRMC[9] = '0'; |
MAA | 2:39c4a85dc2a4 | 192 | currentUTCFromGPRMC[10] = '0'; |
MAA | 2:39c4a85dc2a4 | 193 | currentUTCFromGPRMC[11] = '0'; |
MAA | 2:39c4a85dc2a4 | 194 | } |
MAA | 0:b3313c5ffca3 | 195 | |
MAA | 0:b3313c5ffca3 | 196 | }; |
MAA | 0:b3313c5ffca3 | 197 | |
gert_lauritsen | 63:168f5498a3c5 | 198 | //ParseCurrentAltitudeFromGGA grabs current altitude from GGA string |
gert_lauritsen | 63:168f5498a3c5 | 199 | |
gert_lauritsen | 63:168f5498a3c5 | 200 | void NMEA::ParseCurrentAltitudeFromGGA(void) { |
gert_lauritsen | 63:168f5498a3c5 | 201 | getXFromNMEAString(9,currentGGAString); |
gert_lauritsen | 63:168f5498a3c5 | 202 | if (GGAFixVerification()) |
gert_lauritsen | 63:168f5498a3c5 | 203 | currentAltitude= tmpStr; |
gert_lauritsen | 63:168f5498a3c5 | 204 | else |
gert_lauritsen | 63:168f5498a3c5 | 205 | currentAltitude="NaN"; |
gert_lauritsen | 63:168f5498a3c5 | 206 | |
gert_lauritsen | 63:168f5498a3c5 | 207 | } |
gert_lauritsen | 63:168f5498a3c5 | 208 | |
MAA | 18:87f243168f05 | 209 | //! ParseCurrentDateFromGPRMC, grabs current date from current GPRMC string. |
MAA | 18:87f243168f05 | 210 | /*! |
MAA | 18:87f243168f05 | 211 | ParseCurrentDateFromGPRMC, grabs current date from current GPRMC string. |
MAA | 18:87f243168f05 | 212 | Stores the Date in a local text string. |
MAA | 18:87f243168f05 | 213 | |
MAA | 18:87f243168f05 | 214 | will be stored in the format: |
MAA | 18:87f243168f05 | 215 | YYYY/MM/DD |
MAA | 18:87f243168f05 | 216 | */ |
gert_lauritsen | 61:52a6d0ffd8e5 | 217 | int strtoint(string str, int index) { |
gert_lauritsen | 61:52a6d0ffd8e5 | 218 | char value[3]; |
gert_lauritsen | 61:52a6d0ffd8e5 | 219 | value[0]=str[index]; |
gert_lauritsen | 61:52a6d0ffd8e5 | 220 | value[1]=str[index+1]; |
gert_lauritsen | 61:52a6d0ffd8e5 | 221 | value[2]=0; |
gert_lauritsen | 61:52a6d0ffd8e5 | 222 | return atoi(value); |
gert_lauritsen | 61:52a6d0ffd8e5 | 223 | } |
gert_lauritsen | 61:52a6d0ffd8e5 | 224 | |
MAA | 4:c70ef089a3fd | 225 | void NMEA::ParseCurrentDateFromGPRMC(){ |
MAA | 2:39c4a85dc2a4 | 226 | |
MAA | 2:39c4a85dc2a4 | 227 | //Getting date from GPRMC string, assigning to tmpStr |
MAA | 4:c70ef089a3fd | 228 | getXFromNMEAString(9,currentGPRMCString); |
gert_lauritsen | 61:52a6d0ffd8e5 | 229 | |
MAA | 2:39c4a85dc2a4 | 230 | currentDATEFromGPRMC = ""; |
MAA | 2:39c4a85dc2a4 | 231 | currentDATEFromGPRMC.resize(20); |
gert_lauritsen | 61:52a6d0ffd8e5 | 232 | char tmpdate[20]; |
MAA | 2:39c4a85dc2a4 | 233 | //if date string is the expected length |
MAA | 2:39c4a85dc2a4 | 234 | if(strlen(tmpStr.c_str()) == 6){ |
gert_lauritsen | 61:52a6d0ffd8e5 | 235 | int y=strtoint(tmpStr,4); |
gert_lauritsen | 61:52a6d0ffd8e5 | 236 | int m=strtoint(tmpStr,2); |
gert_lauritsen | 61:52a6d0ffd8e5 | 237 | int d=strtoint(tmpStr,0); |
gert_lauritsen | 61:52a6d0ffd8e5 | 238 | struct tm t = { .tm_year=y, .tm_mon=m-1, .tm_mday=d }; |
gert_lauritsen | 61:52a6d0ffd8e5 | 239 | t.tm_mday += 1024*7; //rollover compentation |
gert_lauritsen | 61:52a6d0ffd8e5 | 240 | mktime(&t); |
gert_lauritsen | 61:52a6d0ffd8e5 | 241 | strftime (tmpdate,20,"%G/%m/%d",&t); |
gert_lauritsen | 61:52a6d0ffd8e5 | 242 | for (int i=0; i<20; i++) currentDATEFromGPRMC[i]=tmpdate[i]; |
MAA | 3:38eabaa92552 | 243 | } |
MAA | 0:b3313c5ffca3 | 244 | }; |
MAA | 0:b3313c5ffca3 | 245 | |
MAA | 18:87f243168f05 | 246 | //! GGAFixVerification, returns gps fix indication. |
MAA | 18:87f243168f05 | 247 | /*! |
MAA | 18:87f243168f05 | 248 | GGAFixVerification verifies gga fix status in current GGA string. |
MAA | 18:87f243168f05 | 249 | |
MAA | 18:87f243168f05 | 250 | \return boolean value indicating GGA fix if true, else false. |
MAA | 18:87f243168f05 | 251 | */ |
MAA | 3:38eabaa92552 | 252 | bool NMEA::GGAFixVerification(){ |
MAA | 3:38eabaa92552 | 253 | |
MAA | 0:b3313c5ffca3 | 254 | //accessing the string after the sixth comma, which is the gga fix column |
MAA | 0:b3313c5ffca3 | 255 | |
MAA | 0:b3313c5ffca3 | 256 | char commaCount = 0; |
MAA | 0:b3313c5ffca3 | 257 | char index = 0; |
MAA | 5:11782a2008c2 | 258 | char stringLength = strlen(currentGGAString.c_str()); |
MAA | 0:b3313c5ffca3 | 259 | |
MAA | 5:11782a2008c2 | 260 | while((commaCount < 7) && (currentGGAString[index] != '\0') && (index < stringLength) ){ |
MAA | 0:b3313c5ffca3 | 261 | if(currentGGAString[index] == ','){ |
MAA | 0:b3313c5ffca3 | 262 | commaCount += 1; |
MAA | 0:b3313c5ffca3 | 263 | } |
MAA | 0:b3313c5ffca3 | 264 | |
MAA | 0:b3313c5ffca3 | 265 | |
MAA | 0:b3313c5ffca3 | 266 | //if gga fix is 1 or 2, gga fix is sufficient, return true |
MAA | 0:b3313c5ffca3 | 267 | if(commaCount == 6){ |
MAA | 0:b3313c5ffca3 | 268 | if(currentGGAString[index+1] == '1'){ |
MAA | 0:b3313c5ffca3 | 269 | return true; |
MAA | 0:b3313c5ffca3 | 270 | } |
MAA | 0:b3313c5ffca3 | 271 | |
MAA | 0:b3313c5ffca3 | 272 | if(currentGGAString[index+1] == '2'){ |
MAA | 0:b3313c5ffca3 | 273 | return true; |
MAA | 0:b3313c5ffca3 | 274 | } |
MAA | 0:b3313c5ffca3 | 275 | |
MAA | 0:b3313c5ffca3 | 276 | break; |
MAA | 0:b3313c5ffca3 | 277 | } |
MAA | 0:b3313c5ffca3 | 278 | |
MAA | 0:b3313c5ffca3 | 279 | index += 1; |
MAA | 0:b3313c5ffca3 | 280 | |
MAA | 0:b3313c5ffca3 | 281 | } |
MAA | 3:38eabaa92552 | 282 | |
MAA | 3:38eabaa92552 | 283 | return false; |
MAA | 3:38eabaa92552 | 284 | }; |
MAA | 3:38eabaa92552 | 285 | |
MAA | 18:87f243168f05 | 286 | //! ParseCurrentLatitudeFromGPRMC, grabs current latitude from current GPRMC string. |
MAA | 18:87f243168f05 | 287 | /*! |
MAA | 18:87f243168f05 | 288 | Converts the latitude into decimaldegrees and stores the current latitude. |
MAA | 18:87f243168f05 | 289 | */ |
MAA | 4:c70ef089a3fd | 290 | void NMEA::ParseCurrentLatitudeFromGPRMC(){ |
MAA | 0:b3313c5ffca3 | 291 | |
MAA | 4:c70ef089a3fd | 292 | north = false; |
MAA | 4:c70ef089a3fd | 293 | south = false; |
MAA | 4:c70ef089a3fd | 294 | |
MAA | 4:c70ef089a3fd | 295 | memset(tmpArrDeg,'\0',7); |
MAA | 4:c70ef089a3fd | 296 | memset(tmpArrMin, '\0', 7); |
MAA | 4:c70ef089a3fd | 297 | memset(tmpLatitude, '\0', 15); |
MAA | 3:38eabaa92552 | 298 | currentLatitude = ""; |
MAA | 3:38eabaa92552 | 299 | currentLatitude.resize(20); |
MAA | 3:38eabaa92552 | 300 | |
MAA | 4:c70ef089a3fd | 301 | |
MAA | 4:c70ef089a3fd | 302 | //Getting Latitude from GPRMC string, assigning to tmpStr |
MAA | 4:c70ef089a3fd | 303 | getXFromNMEAString(3,currentGPRMCString); |
MAA | 4:c70ef089a3fd | 304 | |
MAA | 4:c70ef089a3fd | 305 | tmpArrDeg[0] = tmpStr[0]; |
MAA | 4:c70ef089a3fd | 306 | tmpArrDeg[1] = tmpStr[1]; |
MAA | 3:38eabaa92552 | 307 | |
MAA | 4:c70ef089a3fd | 308 | tmpArrMin[0] = tmpStr[2]; |
MAA | 4:c70ef089a3fd | 309 | tmpArrMin[1] = tmpStr[3]; |
MAA | 4:c70ef089a3fd | 310 | tmpArrMin[2] = tmpStr[4]; |
MAA | 4:c70ef089a3fd | 311 | tmpArrMin[3] = tmpStr[5]; |
MAA | 4:c70ef089a3fd | 312 | tmpArrMin[4] = tmpStr[6]; |
MAA | 4:c70ef089a3fd | 313 | |
MAA | 3:38eabaa92552 | 314 | //getting N/S |
MAA | 5:11782a2008c2 | 315 | getXFromNMEAString(4,currentGPRMCString); |
MAA | 4:c70ef089a3fd | 316 | if(tmpStr[0] == 'N' || tmpStr[0] == 'n'){ |
MAA | 4:c70ef089a3fd | 317 | north = true; |
MAA | 4:c70ef089a3fd | 318 | currentLatitude[0] = '+'; |
MAA | 4:c70ef089a3fd | 319 | } |
MAA | 3:38eabaa92552 | 320 | |
MAA | 4:c70ef089a3fd | 321 | if(tmpStr[0] == 'S' || tmpStr[0] == 's'){ |
MAA | 4:c70ef089a3fd | 322 | south = true; |
MAA | 4:c70ef089a3fd | 323 | currentLatitude[0] = '-'; |
MAA | 4:c70ef089a3fd | 324 | } |
MAA | 4:c70ef089a3fd | 325 | |
MAA | 3:38eabaa92552 | 326 | |
MAA | 4:c70ef089a3fd | 327 | latitudeDD = ((atof(tmpArrDeg) + (atof(tmpArrMin)/60))); |
MAA | 4:c70ef089a3fd | 328 | |
MAA | 4:c70ef089a3fd | 329 | sprintf(tmpLatitude, "%0.6f",latitudeDD); |
MAA | 4:c70ef089a3fd | 330 | for(int i = 0; i < strlen(tmpLatitude); i++){ |
MAA | 4:c70ef089a3fd | 331 | currentLatitude[i+1] = tmpLatitude[i]; |
MAA | 4:c70ef089a3fd | 332 | } |
MAA | 3:38eabaa92552 | 333 | }; |
MAA | 3:38eabaa92552 | 334 | |
MAA | 18:87f243168f05 | 335 | //! ParseCurrentLongitudeFromGPRMC, grabs current longitude from current GPRMC string. |
MAA | 18:87f243168f05 | 336 | /*! |
MAA | 18:87f243168f05 | 337 | Converts the longitude into decimaldegrees and stores the current longitude. |
MAA | 18:87f243168f05 | 338 | */ |
MAA | 4:c70ef089a3fd | 339 | void NMEA::ParseCurrentLongitudeFromGPRMC(){ |
MAA | 4:c70ef089a3fd | 340 | |
MAA | 4:c70ef089a3fd | 341 | east = false; |
MAA | 4:c70ef089a3fd | 342 | west = false; |
MAA | 4:c70ef089a3fd | 343 | |
MAA | 4:c70ef089a3fd | 344 | memset(tmpArrDeg,'\0',7); |
MAA | 4:c70ef089a3fd | 345 | memset(tmpArrMin, '\0', 7); |
MAA | 4:c70ef089a3fd | 346 | memset(tmpLongitude, '\0', 15); |
MAA | 3:38eabaa92552 | 347 | currentLongitude = ""; |
MAA | 3:38eabaa92552 | 348 | currentLongitude.resize(20); |
MAA | 3:38eabaa92552 | 349 | |
MAA | 4:c70ef089a3fd | 350 | |
MAA | 4:c70ef089a3fd | 351 | //Getting Longitude from GPRMC string, assigning to tmpStr |
MAA | 4:c70ef089a3fd | 352 | getXFromNMEAString(5,currentGPRMCString); |
MAA | 4:c70ef089a3fd | 353 | |
MAA | 4:c70ef089a3fd | 354 | tmpArrDeg[0] = tmpStr[0]; |
MAA | 4:c70ef089a3fd | 355 | tmpArrDeg[1] = tmpStr[1]; |
MAA | 4:c70ef089a3fd | 356 | tmpArrDeg[2] = tmpStr[2]; |
MAA | 3:38eabaa92552 | 357 | |
MAA | 4:c70ef089a3fd | 358 | tmpArrMin[0] = tmpStr[3]; |
MAA | 4:c70ef089a3fd | 359 | tmpArrMin[1] = tmpStr[4]; |
MAA | 4:c70ef089a3fd | 360 | tmpArrMin[2] = tmpStr[5]; |
MAA | 4:c70ef089a3fd | 361 | tmpArrMin[3] = tmpStr[6]; |
MAA | 4:c70ef089a3fd | 362 | tmpArrMin[4] = tmpStr[7]; |
MAA | 4:c70ef089a3fd | 363 | tmpArrMin[5] = tmpStr[8]; |
MAA | 4:c70ef089a3fd | 364 | tmpArrMin[6] = tmpStr[9]; |
MAA | 4:c70ef089a3fd | 365 | |
MAA | 3:38eabaa92552 | 366 | //getting E/W |
MAA | 5:11782a2008c2 | 367 | getXFromNMEAString(6,currentGPRMCString); |
MAA | 4:c70ef089a3fd | 368 | if(tmpStr[0] == 'E' || tmpStr[0] == 'e'){ |
MAA | 4:c70ef089a3fd | 369 | east = true; |
MAA | 4:c70ef089a3fd | 370 | currentLongitude[0] = '+'; |
MAA | 4:c70ef089a3fd | 371 | } |
MAA | 4:c70ef089a3fd | 372 | if(tmpStr[0] == 'W' || tmpStr[0] == 'w'){ |
MAA | 4:c70ef089a3fd | 373 | west = true; |
MAA | 4:c70ef089a3fd | 374 | currentLongitude[0] = '-'; |
MAA | 4:c70ef089a3fd | 375 | } |
MAA | 4:c70ef089a3fd | 376 | |
MAA | 4:c70ef089a3fd | 377 | longitudeDD = ((atof(tmpArrDeg) + (atof(tmpArrMin)/60))); |
MAA | 3:38eabaa92552 | 378 | |
MAA | 4:c70ef089a3fd | 379 | sprintf(tmpLongitude, "%0.6f",longitudeDD); |
MAA | 4:c70ef089a3fd | 380 | for(int i = 0; i < strlen(tmpLongitude); i++){ |
MAA | 4:c70ef089a3fd | 381 | currentLongitude[i+1] = tmpLongitude[i]; |
MAA | 4:c70ef089a3fd | 382 | } |
MAA | 4:c70ef089a3fd | 383 | |
MAA | 2:39c4a85dc2a4 | 384 | }; |
MAA | 2:39c4a85dc2a4 | 385 | |
MAA | 18:87f243168f05 | 386 | |
MAA | 18:87f243168f05 | 387 | //! getXFromNMEAString, grabs desired data column from NMEA string, stores it for further manipulation in tmpStr |
MAA | 18:87f243168f05 | 388 | /*! |
MAA | 18:87f243168f05 | 389 | \param desiredCommaCount integer designating which column to store |
MAA | 18:87f243168f05 | 390 | \param stringToParse string parameter containing the NMEA string. |
MAA | 18:87f243168f05 | 391 | */ |
MAA | 4:c70ef089a3fd | 392 | void NMEA::getXFromNMEAString(int desiredCommaCount, string stringToParse){ |
MAA | 2:39c4a85dc2a4 | 393 | |
MAA | 2:39c4a85dc2a4 | 394 | //clearing tmpStr |
MAA | 2:39c4a85dc2a4 | 395 | tmpStr = ""; |
MAA | 3:38eabaa92552 | 396 | tmpStr.resize(15); |
MAA | 5:11782a2008c2 | 397 | char stringLength = strlen(stringToParse.c_str()); |
MAA | 2:39c4a85dc2a4 | 398 | |
MAA | 2:39c4a85dc2a4 | 399 | int commaCnt = 0; |
MAA | 2:39c4a85dc2a4 | 400 | int index = 0; |
MAA | 2:39c4a85dc2a4 | 401 | int idx = 0; |
MAA | 2:39c4a85dc2a4 | 402 | |
MAA | 5:11782a2008c2 | 403 | while(commaCnt < (desiredCommaCount+1) && (index < stringLength)){ |
MAA | 2:39c4a85dc2a4 | 404 | |
MAA | 2:39c4a85dc2a4 | 405 | if(stringToParse[index] == ','){ |
MAA | 2:39c4a85dc2a4 | 406 | commaCnt += 1; |
MAA | 2:39c4a85dc2a4 | 407 | } |
MAA | 2:39c4a85dc2a4 | 408 | |
MAA | 2:39c4a85dc2a4 | 409 | if((commaCnt == desiredCommaCount) && (stringToParse[index] != ',')){ |
MAA | 2:39c4a85dc2a4 | 410 | tmpStr[idx] = stringToParse[index]; |
MAA | 2:39c4a85dc2a4 | 411 | idx += 1; |
MAA | 2:39c4a85dc2a4 | 412 | } |
MAA | 2:39c4a85dc2a4 | 413 | |
MAA | 2:39c4a85dc2a4 | 414 | index += 1; |
MAA | 2:39c4a85dc2a4 | 415 | } |
MAA | 2:39c4a85dc2a4 | 416 | |
MAA | 21:325cb82f1838 | 417 | }; |
MAA | 21:325cb82f1838 | 418 | |
MAA | 21:325cb82f1838 | 419 | //! getCurrentTime, getter method returning current time from gps |
MAA | 21:325cb82f1838 | 420 | /*! |
MAA | 21:325cb82f1838 | 421 | \return returns current time from gps in format "HH:MM:SS.FFF" |
MAA | 21:325cb82f1838 | 422 | */ |
MAA | 21:325cb82f1838 | 423 | string NMEA::getCurrentTime(void){ |
MAA | 21:325cb82f1838 | 424 | return this->currentUTCFromGPRMC; |
MAA | 0:b3313c5ffca3 | 425 | }; |