robot prog
Dependents: aigamozu_program_ver2 aigamozu_program_ver2_yokokawa aigamozu_auto_ver1 aigamozu_auto_ver2 ... more
Fork of MBed_Adafruit-GPS-Library by
MBed_Adafruit_GPS.h
- Committer:
- kityann
- Date:
- 2015-05-12
- Revision:
- 4:7ef0dd12940c
- Parent:
- 3:cc9ab73d0624
File content as of revision 4:7ef0dd12940c:
/*********************************** This is the Adafruit GPS library - the ultimate GPS library for the ultimate GPS module! Tested and works great with the Adafruit Ultimate GPS module using MTK33x9 chipset ------> http://www.adafruit.com/products/746 Pick one up today at the Adafruit electronics shop and help support open source hardware & software! -ada Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. BSD license, check license.txt for more information All text above must be included in any redistribution ****************************************/ #include "mbed.h" #include <stdint.h> #include <math.h> #include <ctype.h> #ifndef _MBED_ADAFRUIT_GPS_H #define _MBED_ADAFRUIT_GPS_H // different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz) #define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F" #define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" #define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F" #define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C" #define PMTK_SET_BAUD_9600 "$PMTK251,9600*17" // turn on only the second sentence (GPRMC) #define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" // turn on GPRMC and GGA #define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" // turn on ALL THE DATA #define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28" // turn off output #define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" // to generate your own sentences, check out the MTK command datasheet and use a checksum calculator // such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html #define PMTK_LOCUS_STARTLOG "$PMTK185,0*22" #define PMTK_LOCUS_LOGSTARTED "$PMTK001,185,3*3C" #define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38" #define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22" #define LOCUS_OVERLAP 0 #define LOCUS_FULLSTOP 1 // standby command & boot successful message #define PMTK_STANDBY "$PMTK161,0*28" #define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently #define PMTK_AWAKE "$PMTK010,002*2D" // ask for the release and version #define PMTK_Q_RELEASE "$PMTK605*31" // request for updates on antenna status #define PGCMD_ANTENNA "$PGCMD,33,1*6C" #define PGCMD_NOANTENNA "$PGCMD,33,0*6D" // how long to wait when we're looking for a response #define MAXWAITSENTENCE 5 class Adafruit_GPS { public: void begin(int baud); Adafruit_GPS(Serial * ser); char *lastNMEA(void); bool newNMEAreceived(); void common_init(void); void sendCommand(char *); void pause(bool b); bool parseNMEA(char *response); uint8_t parseHex(char c); char read(void); bool parse(char * nmea); void interruptReads(bool r); bool wakeup(void); bool standby(void); uint8_t hour, minute, seconds, year, month, day; uint16_t milliseconds; float geoidheight, altitude; long latitudeH,latitudeL,longitudeH,longitudeL; long latitudeKH,latitudeKL,longitudeKH,longitudeKL; float speed, angle, magvariation, HDOP; char lat, lon, mag; bool fix; uint8_t fixquality, satellites; bool waitForSentence(char *wait, uint8_t max = MAXWAITSENTENCE); bool LOCUS_StartLogger(void); bool LOCUS_ReadStatus(void); uint16_t LOCUS_serial, LOCUS_records; uint8_t LOCUS_type, LOCUS_mode, LOCUS_config, LOCUS_interval, LOCUS_distance, LOCUS_speed, LOCUS_status, LOCUS_percent; private: bool paused; Serial * gpsSerial; }; #endif