aigamozu / MBed_Adafruit-GPS-Library

robot prog

Dependents:   aigamozu_program_ver2 aigamozu_program_ver2_yokokawa aigamozu_auto_ver1 aigamozu_auto_ver2 ... more

Fork of MBed_Adafruit-GPS-Library by Myron Lee

MBed_Adafruit_GPS.cpp@4:7ef0dd12940c, 2015-05-12 (annotated)

Committer:
kityann
Date:
Tue May 12 01:02:59 2015 +0000
Revision:
4:7ef0dd12940c
Parent:
2:8203e954d8e1 
2015/5/12

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
mlee350 0:a23e3099bb0a 15 // how long are max NMEA lines to parse?
mlee350 0:a23e3099bb0a 16 #define MAXLINELENGTH 120
mlee350 0:a23e3099bb0a 17
mlee350 0:a23e3099bb0a 18 // we double buffer: read one line in and leave one for the main program
mlee350 0:a23e3099bb0a 19 volatile char line1[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 20 volatile char line2[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 21 // our index into filling the current line
mlee350 0:a23e3099bb0a 22 volatile uint16_t lineidx=0;
mlee350 0:a23e3099bb0a 23 // pointers to the double buffers
mlee350 0:a23e3099bb0a 24 volatile char *currentline;
mlee350 0:a23e3099bb0a 25 volatile char *lastline;
mlee350 0:a23e3099bb0a 26 volatile bool recvdflag;
mlee350 0:a23e3099bb0a 27 volatile bool inStandbyMode;
mlee350 0:a23e3099bb0a 28
mlee350 0:a23e3099bb0a 29
mlee350 0:a23e3099bb0a 30 bool Adafruit_GPS::parse(char *nmea) {
mlee350 0:a23e3099bb0a 31 // do checksum check
mlee350 0:a23e3099bb0a 32
mlee350 0:a23e3099bb0a 33 // first look if we even have one
mlee350 0:a23e3099bb0a 34 if (nmea[strlen(nmea)-4] == '*') {
mlee350 0:a23e3099bb0a 35 uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
mlee350 0:a23e3099bb0a 36 sum += parseHex(nmea[strlen(nmea)-2]);
mlee350 0:a23e3099bb0a 37
mlee350 0:a23e3099bb0a 38 // check checksum
mlee350 0:a23e3099bb0a 39 for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
mlee350 0:a23e3099bb0a 40 sum ^= nmea[i];
mlee350 0:a23e3099bb0a 41 }
mlee350 0:a23e3099bb0a 42 if (sum != 0) {
mlee350 0:a23e3099bb0a 43 // bad checksum :(
mlee350 0:a23e3099bb0a 44 //return false;
mlee350 0:a23e3099bb0a 45 }
mlee350 0:a23e3099bb0a 46 }
mlee350 0:a23e3099bb0a 47
mlee350 0:a23e3099bb0a 48 // look for a few common sentences
mlee350 0:a23e3099bb0a 49 if (strstr(nmea, "$GPGGA")) {
mlee350 0:a23e3099bb0a 50 // found GGA
mlee350 0:a23e3099bb0a 51 char *p = nmea;
mlee350 0:a23e3099bb0a 52 // get time
mlee350 0:a23e3099bb0a 53 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 54 float timef = atof(p);
mlee350 0:a23e3099bb0a 55 uint32_t time = timef;
mlee350 0:a23e3099bb0a 56 hour = time / 10000;
mlee350 0:a23e3099bb0a 57 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 58 seconds = (time % 100);
mlee350 0:a23e3099bb0a 59
mlee350 0:a23e3099bb0a 60 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 61
mlee350 0:a23e3099bb0a 62 // parse out latitude
m5171135 2:8203e954d8e1 63 /*
mlee350 0:a23e3099bb0a 64 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 65 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 66 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 67 latitudeL = atol(p);
m5171135 2:8203e954d8e1 68 */
m5171135 2:8203e954d8e1 69
m5171135 2:8203e954d8e1 70 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 71 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 72 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 73 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 74
m5171135 2:8203e954d8e1 75 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 76 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 77
mlee350 0:a23e3099bb0a 78
mlee350 0:a23e3099bb0a 79 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 80 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 81 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 82 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 83 else return false;
mlee350 0:a23e3099bb0a 84
mlee350 0:a23e3099bb0a 85 // parse out longitude
m5171135 2:8203e954d8e1 86 /*p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 87 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 88 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 89 longitudeL = atol(p);
m5171135 2:8203e954d8e1 90 */
m5171135 2:8203e954d8e1 91
m5171135 2:8203e954d8e1 92 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 93 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 94 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 95 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 96
m5171135 2:8203e954d8e1 97 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 98 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 99
mlee350 0:a23e3099bb0a 100
mlee350 0:a23e3099bb0a 101 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 102 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 103 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 104 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 105 else return false;
mlee350 0:a23e3099bb0a 106
mlee350 0:a23e3099bb0a 107 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 108 fixquality = atoi(p);
mlee350 0:a23e3099bb0a 109
mlee350 0:a23e3099bb0a 110 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 111 satellites = atoi(p);
mlee350 0:a23e3099bb0a 112
mlee350 0:a23e3099bb0a 113 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 114 HDOP = atof(p);
mlee350 0:a23e3099bb0a 115
mlee350 0:a23e3099bb0a 116 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 117 altitude = atof(p);
mlee350 0:a23e3099bb0a 118 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 119 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 120 geoidheight = atof(p);
mlee350 0:a23e3099bb0a 121 return true;
mlee350 0:a23e3099bb0a 122 }
mlee350 0:a23e3099bb0a 123 if (strstr(nmea, "$GPRMC")) {
mlee350 0:a23e3099bb0a 124 // found RMC
mlee350 0:a23e3099bb0a 125 char *p = nmea;
mlee350 0:a23e3099bb0a 126
mlee350 0:a23e3099bb0a 127 // get time
mlee350 0:a23e3099bb0a 128 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 129 float timef = atof(p);
mlee350 0:a23e3099bb0a 130 uint32_t time = timef;
mlee350 0:a23e3099bb0a 131 hour = time / 10000;
mlee350 0:a23e3099bb0a 132 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 133 seconds = (time % 100);
mlee350 0:a23e3099bb0a 134
mlee350 0:a23e3099bb0a 135 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 136
mlee350 0:a23e3099bb0a 137 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 138 // Serial.println(p);
mlee350 0:a23e3099bb0a 139 if (p[0] == 'A')
mlee350 0:a23e3099bb0a 140 fix = true;
mlee350 0:a23e3099bb0a 141 else if (p[0] == 'V')
mlee350 0:a23e3099bb0a 142 fix = false;
mlee350 0:a23e3099bb0a 143 else
mlee350 0:a23e3099bb0a 144 return false;
mlee350 0:a23e3099bb0a 145
mlee350 0:a23e3099bb0a 146 // parse out latitude
m5171135 2:8203e954d8e1 147 /*
mlee350 0:a23e3099bb0a 148 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 149 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 150 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 151 latitudeL = atol(p);
m5171135 2:8203e954d8e1 152 */
m5171135 2:8203e954d8e1 153
m5171135 2:8203e954d8e1 154 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 155 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 156 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 157 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 158
m5171135 2:8203e954d8e1 159 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 160 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 161
mlee350 0:a23e3099bb0a 162
mlee350 0:a23e3099bb0a 163 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 164 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 165 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 166 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 167 else return false;
mlee350 0:a23e3099bb0a 168
mlee350 0:a23e3099bb0a 169 // parse out longitude
m5171135 2:8203e954d8e1 170 /*
mlee350 0:a23e3099bb0a 171 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 172 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 173 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 174 longitudeL = atol(p);
m5171135 2:8203e954d8e1 175 */
m5171135 2:8203e954d8e1 176
m5171135 2:8203e954d8e1 177 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 178 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 179 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 180 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 181
m5171135 2:8203e954d8e1 182 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 183 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 184
m5171135 2:8203e954d8e1 185
m5171135 1:ff72e93bcb0e 186
mlee350 0:a23e3099bb0a 187 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 188 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 189 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 190 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 191 else return false;
mlee350 0:a23e3099bb0a 192
mlee350 0:a23e3099bb0a 193 // speed
mlee350 0:a23e3099bb0a 194 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 195 speed = atof(p);
mlee350 0:a23e3099bb0a 196
mlee350 0:a23e3099bb0a 197 // angle
mlee350 0:a23e3099bb0a 198 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 199 angle = atof(p);
mlee350 0:a23e3099bb0a 200
mlee350 0:a23e3099bb0a 201 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 202 uint32_t fulldate = atof(p);
mlee350 0:a23e3099bb0a 203 day = fulldate / 10000;
mlee350 0:a23e3099bb0a 204 month = (fulldate % 10000) / 100;
mlee350 0:a23e3099bb0a 205 year = (fulldate % 100);
mlee350 0:a23e3099bb0a 206
mlee350 0:a23e3099bb0a 207 // we dont parse the remaining, yet!
mlee350 0:a23e3099bb0a 208 return true;
mlee350 0:a23e3099bb0a 209 }
mlee350 0:a23e3099bb0a 210
mlee350 0:a23e3099bb0a 211 return false;
mlee350 0:a23e3099bb0a 212 }
mlee350 0:a23e3099bb0a 213
mlee350 0:a23e3099bb0a 214 char Adafruit_GPS::read(void) {
mlee350 0:a23e3099bb0a 215 char c = 0;
mlee350 0:a23e3099bb0a 216
mlee350 0:a23e3099bb0a 217 if (paused) return c;
mlee350 0:a23e3099bb0a 218
mlee350 0:a23e3099bb0a 219 if(!gpsSerial->readable()) return c;
mlee350 0:a23e3099bb0a 220 c = gpsSerial->getc();
mlee350 0:a23e3099bb0a 221
mlee350 0:a23e3099bb0a 222 //Serial.print(c);
mlee350 0:a23e3099bb0a 223
mlee350 0:a23e3099bb0a 224 if (c == '$') {
mlee350 0:a23e3099bb0a 225 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 226 lineidx = 0;
mlee350 0:a23e3099bb0a 227 }
mlee350 0:a23e3099bb0a 228 if (c == '\n') {
mlee350 0:a23e3099bb0a 229 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 230
mlee350 0:a23e3099bb0a 231 if (currentline == line1) {
mlee350 0:a23e3099bb0a 232 currentline = line2;
mlee350 0:a23e3099bb0a 233 lastline = line1;
mlee350 0:a23e3099bb0a 234 } else {
mlee350 0:a23e3099bb0a 235 currentline = line1;
mlee350 0:a23e3099bb0a 236 lastline = line2;
mlee350 0:a23e3099bb0a 237 }
mlee350 0:a23e3099bb0a 238
mlee350 0:a23e3099bb0a 239 lineidx = 0;
mlee350 0:a23e3099bb0a 240 recvdflag = true;
mlee350 0:a23e3099bb0a 241 }
mlee350 0:a23e3099bb0a 242
mlee350 0:a23e3099bb0a 243 currentline[lineidx++] = c;
mlee350 0:a23e3099bb0a 244 if (lineidx >= MAXLINELENGTH)
mlee350 0:a23e3099bb0a 245 lineidx = MAXLINELENGTH-1;
mlee350 0:a23e3099bb0a 246
mlee350 0:a23e3099bb0a 247 return c;
mlee350 0:a23e3099bb0a 248 }
mlee350 0:a23e3099bb0a 249
mlee350 0:a23e3099bb0a 250 Adafruit_GPS::Adafruit_GPS (Serial *ser)
mlee350 0:a23e3099bb0a 251 {
mlee350 0:a23e3099bb0a 252 common_init(); // Set everything to common state, then...
mlee350 0:a23e3099bb0a 253 gpsSerial = ser; // ...override gpsSwSerial with value passed.
kityann 4:7ef0dd12940c 254 latitudeH=0;latitudeL=0;longitudeH=0;longitudeL=0;
kityann 4:7ef0dd12940c 255 latitudeKH=0;latitudeKL=0;longitudeKH=0;longitudeKL=0;
mlee350 0:a23e3099bb0a 256 }
mlee350 0:a23e3099bb0a 257
mlee350 0:a23e3099bb0a 258 // Initialization code used by all constructor types
mlee350 0:a23e3099bb0a 259 void Adafruit_GPS::common_init(void) {
mlee350 0:a23e3099bb0a 260 gpsSerial = NULL;
mlee350 0:a23e3099bb0a 261 recvdflag = false;
mlee350 0:a23e3099bb0a 262 paused = false;
mlee350 0:a23e3099bb0a 263 lineidx = 0;
mlee350 0:a23e3099bb0a 264 currentline = line1;
mlee350 0:a23e3099bb0a 265 lastline = line2;
mlee350 0:a23e3099bb0a 266
mlee350 0:a23e3099bb0a 267 hour = minute = seconds = year = month = day =
mlee350 0:a23e3099bb0a 268 fixquality = satellites = 0; // uint8_t
mlee350 0:a23e3099bb0a 269 lat = lon = mag = 0; // char
mlee350 0:a23e3099bb0a 270 fix = false; // bool
mlee350 0:a23e3099bb0a 271 milliseconds = 0; // uint16_t
m5171135 1:ff72e93bcb0e 272 geoidheight = altitude = speed = angle = magvariation = HDOP = 0.0; // float
m5171135 1:ff72e93bcb0e 273 latitudeH = latitudeL = longitudeH = longitudeL = 0;
m5171135 1:ff72e93bcb0e 274
mlee350 0:a23e3099bb0a 275 }
mlee350 0:a23e3099bb0a 276
mlee350 0:a23e3099bb0a 277 void Adafruit_GPS::begin(int baud)
mlee350 0:a23e3099bb0a 278 {
mlee350 0:a23e3099bb0a 279 gpsSerial->baud(baud);
mlee350 0:a23e3099bb0a 280 wait_ms(10);
mlee350 0:a23e3099bb0a 281 }
mlee350 0:a23e3099bb0a 282
mlee350 0:a23e3099bb0a 283 void Adafruit_GPS::sendCommand(char *str) {
mlee350 0:a23e3099bb0a 284 gpsSerial->printf("%s",str);
mlee350 0:a23e3099bb0a 285 }
mlee350 0:a23e3099bb0a 286
mlee350 0:a23e3099bb0a 287 bool Adafruit_GPS::newNMEAreceived(void) {
mlee350 0:a23e3099bb0a 288 return recvdflag;
mlee350 0:a23e3099bb0a 289 }
mlee350 0:a23e3099bb0a 290
mlee350 0:a23e3099bb0a 291 void Adafruit_GPS::pause(bool p) {
mlee350 0:a23e3099bb0a 292 paused = p;
mlee350 0:a23e3099bb0a 293 }
mlee350 0:a23e3099bb0a 294
mlee350 0:a23e3099bb0a 295 char *Adafruit_GPS::lastNMEA(void) {
mlee350 0:a23e3099bb0a 296 recvdflag = false;
mlee350 0:a23e3099bb0a 297 return (char *)lastline;
mlee350 0:a23e3099bb0a 298 }
mlee350 0:a23e3099bb0a 299
mlee350 0:a23e3099bb0a 300 // read a Hex value and return the decimal equivalent
mlee350 0:a23e3099bb0a 301 uint8_t Adafruit_GPS::parseHex(char c) {
mlee350 0:a23e3099bb0a 302 if (c < '0')
mlee350 0:a23e3099bb0a 303 return 0;
mlee350 0:a23e3099bb0a 304 if (c <= '9')
mlee350 0:a23e3099bb0a 305 return c - '0';
mlee350 0:a23e3099bb0a 306 if (c < 'A')
mlee350 0:a23e3099bb0a 307 return 0;
mlee350 0:a23e3099bb0a 308 if (c <= 'F')
mlee350 0:a23e3099bb0a 309 return (c - 'A')+10;
mlee350 0:a23e3099bb0a 310 }
mlee350 0:a23e3099bb0a 311
mlee350 0:a23e3099bb0a 312 bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
mlee350 0:a23e3099bb0a 313 char str[20];
mlee350 0:a23e3099bb0a 314
mlee350 0:a23e3099bb0a 315 uint8_t i=0;
mlee350 0:a23e3099bb0a 316 while (i < max) {
mlee350 0:a23e3099bb0a 317 if (newNMEAreceived()) {
mlee350 0:a23e3099bb0a 318 char *nmea = lastNMEA();
mlee350 0:a23e3099bb0a 319 strncpy(str, nmea, 20);
mlee350 0:a23e3099bb0a 320 str[19] = 0;
mlee350 0:a23e3099bb0a 321 i++;
mlee350 0:a23e3099bb0a 322
mlee350 0:a23e3099bb0a 323 if (strstr(str, wait4me))
mlee350 0:a23e3099bb0a 324 return true;
mlee350 0:a23e3099bb0a 325 }
mlee350 0:a23e3099bb0a 326 }
mlee350 0:a23e3099bb0a 327
mlee350 0:a23e3099bb0a 328 return false;
mlee350 0:a23e3099bb0a 329 }
mlee350 0:a23e3099bb0a 330
mlee350 0:a23e3099bb0a 331 bool Adafruit_GPS::LOCUS_StartLogger(void) {
mlee350 0:a23e3099bb0a 332 sendCommand(PMTK_LOCUS_STARTLOG);
mlee350 0:a23e3099bb0a 333 recvdflag = false;
mlee350 0:a23e3099bb0a 334 return waitForSentence(PMTK_LOCUS_LOGSTARTED);
mlee350 0:a23e3099bb0a 335 }
mlee350 0:a23e3099bb0a 336
mlee350 0:a23e3099bb0a 337 bool Adafruit_GPS::LOCUS_ReadStatus(void) {
mlee350 0:a23e3099bb0a 338 sendCommand(PMTK_LOCUS_QUERY_STATUS);
mlee350 0:a23e3099bb0a 339
mlee350 0:a23e3099bb0a 340 if (! waitForSentence("$PMTKLOG"))
mlee350 0:a23e3099bb0a 341 return false;
mlee350 0:a23e3099bb0a 342
mlee350 0:a23e3099bb0a 343 char *response = lastNMEA();
mlee350 0:a23e3099bb0a 344 uint16_t parsed[10];
mlee350 0:a23e3099bb0a 345 uint8_t i;
mlee350 0:a23e3099bb0a 346
mlee350 0:a23e3099bb0a 347 for (i=0; i<10; i++) parsed[i] = -1;
mlee350 0:a23e3099bb0a 348
mlee350 0:a23e3099bb0a 349 response = strchr(response, ',');
mlee350 0:a23e3099bb0a 350 for (i=0; i<10; i++) {
mlee350 0:a23e3099bb0a 351 if (!response || (response[0] == 0) || (response[0] == '*'))
mlee350 0:a23e3099bb0a 352 break;
mlee350 0:a23e3099bb0a 353 response++;
mlee350 0:a23e3099bb0a 354 parsed[i]=0;
mlee350 0:a23e3099bb0a 355 while ((response[0] != ',') &&
mlee350 0:a23e3099bb0a 356 (response[0] != '*') && (response[0] != 0)) {
mlee350 0:a23e3099bb0a 357 parsed[i] *= 10;
mlee350 0:a23e3099bb0a 358 char c = response[0];
mlee350 0:a23e3099bb0a 359 if (isdigit(c))
mlee350 0:a23e3099bb0a 360 parsed[i] += c - '0';
mlee350 0:a23e3099bb0a 361 else
mlee350 0:a23e3099bb0a 362 parsed[i] = c;
mlee350 0:a23e3099bb0a 363 response++;
mlee350 0:a23e3099bb0a 364 }
mlee350 0:a23e3099bb0a 365 }
mlee350 0:a23e3099bb0a 366 LOCUS_serial = parsed[0];
mlee350 0:a23e3099bb0a 367 LOCUS_type = parsed[1];
mlee350 0:a23e3099bb0a 368 if (isalpha(parsed[2])) {
mlee350 0:a23e3099bb0a 369 parsed[2] = parsed[2] - 'a' + 10;
mlee350 0:a23e3099bb0a 370 }
mlee350 0:a23e3099bb0a 371 LOCUS_mode = parsed[2];
mlee350 0:a23e3099bb0a 372 LOCUS_config = parsed[3];
mlee350 0:a23e3099bb0a 373 LOCUS_interval = parsed[4];
mlee350 0:a23e3099bb0a 374 LOCUS_distance = parsed[5];
mlee350 0:a23e3099bb0a 375 LOCUS_speed = parsed[6];
mlee350 0:a23e3099bb0a 376 LOCUS_status = !parsed[7];
mlee350 0:a23e3099bb0a 377 LOCUS_records = parsed[8];
mlee350 0:a23e3099bb0a 378 LOCUS_percent = parsed[9];
mlee350 0:a23e3099bb0a 379
mlee350 0:a23e3099bb0a 380 return true;
mlee350 0:a23e3099bb0a 381 }
mlee350 0:a23e3099bb0a 382
mlee350 0:a23e3099bb0a 383 // Standby Mode Switches
mlee350 0:a23e3099bb0a 384 bool Adafruit_GPS::standby(void) {
mlee350 0:a23e3099bb0a 385 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 386 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 387 }
mlee350 0:a23e3099bb0a 388 else {
mlee350 0:a23e3099bb0a 389 inStandbyMode = true;
mlee350 0:a23e3099bb0a 390 sendCommand(PMTK_STANDBY);
mlee350 0:a23e3099bb0a 391 //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 392 return true;
mlee350 0:a23e3099bb0a 393 }
mlee350 0:a23e3099bb0a 394 }
mlee350 0:a23e3099bb0a 395
mlee350 0:a23e3099bb0a 396 bool Adafruit_GPS::wakeup(void) {
mlee350 0:a23e3099bb0a 397 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 398 inStandbyMode = false;
mlee350 0:a23e3099bb0a 399 sendCommand(""); // send byte to wake it up
mlee350 0:a23e3099bb0a 400 return waitForSentence(PMTK_AWAKE);
mlee350 0:a23e3099bb0a 401 }
mlee350 0:a23e3099bb0a 402 else {
mlee350 0:a23e3099bb0a 403 return false; // Returns false if not in standby mode, nothing to wakeup
mlee350 0:a23e3099bb0a 404 }
mlee350 0:a23e3099bb0a 405 }