aigamozu / MBed_Adafruit-GPS-Library2

GPS精度実験

Dependents:   GPSLOG_program

Fork of MBed_Adafruit-GPS-Library by aigamozu

MBed_Adafruit_GPS.cpp@7:3f389529228e, 2016-10-06 (annotated)

Committer:
s1200058
Date:
Thu Oct 06 15:29:58 2016 +0000
Revision:
7:3f389529228e
Parent:
6:7b7e9dc49edd
Child:
8:f1c5757af8dd
1times/5sec;

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?
kityann 5:ce26d53dc358 16 #define MAXLINELENGTH 200
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
kityann 5:ce26d53dc358 49 if (strstr(nmea, "$GPGSA")) {
kityann 5:ce26d53dc358 50 // found GSA
kityann 5:ce26d53dc358 51 char *p = nmea;
kityann 5:ce26d53dc358 52 GPGSAdata = nmea;
s1200058 7:3f389529228e 53 if(count_[0] == 1){
s1200058 7:3f389529228e 54 printf("%s\n",nmea);
s1200058 7:3f389529228e 55 count_[0] = 0;
s1200058 7:3f389529228e 56 }
s1200058 7:3f389529228e 57 //printf("%s\n",GPGSAdata);
kityann 5:ce26d53dc358 58
kityann 5:ce26d53dc358 59 return true;
kityann 5:ce26d53dc358 60 }
kityann 5:ce26d53dc358 61
kityann 5:ce26d53dc358 62 // look for a few common sentences
mlee350 0:a23e3099bb0a 63 if (strstr(nmea, "$GPGGA")) {
mlee350 0:a23e3099bb0a 64 // found GGA
mlee350 0:a23e3099bb0a 65 char *p = nmea;
kityann 5:ce26d53dc358 66 GPGGAdata = nmea;
s1200058 7:3f389529228e 67 if(count_[1] == 1){
s1200058 7:3f389529228e 68 printf("%s\n",nmea);
s1200058 7:3f389529228e 69 count_[1] = 0;
s1200058 7:3f389529228e 70 }
s1200058 7:3f389529228e 71 //printf("%s\n",GPGGAdata);
s1200058 7:3f389529228e 72 /* // get time
mlee350 0:a23e3099bb0a 73 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 74 float timef = atof(p);
mlee350 0:a23e3099bb0a 75 uint32_t time = timef;
mlee350 0:a23e3099bb0a 76 hour = time / 10000;
mlee350 0:a23e3099bb0a 77 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 78 seconds = (time % 100);
mlee350 0:a23e3099bb0a 79
mlee350 0:a23e3099bb0a 80 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 81
mlee350 0:a23e3099bb0a 82 // parse out latitude
m5171135 2:8203e954d8e1 83 /*
mlee350 0:a23e3099bb0a 84 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 85 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 86 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 87 latitudeL = atol(p);
m5171135 2:8203e954d8e1 88 */
s1200058 7:3f389529228e 89 /*
m5171135 2:8203e954d8e1 90 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 91 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 92 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 93 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 94
m5171135 2:8203e954d8e1 95 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 96 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 97
mlee350 0:a23e3099bb0a 98
mlee350 0:a23e3099bb0a 99 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 100 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 101 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 102 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 103 else return false;
mlee350 0:a23e3099bb0a 104
mlee350 0:a23e3099bb0a 105 // parse out longitude
m5171135 2:8203e954d8e1 106 /*p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 107 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 108 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 109 longitudeL = atol(p);
m5171135 2:8203e954d8e1 110 */
s1200058 7:3f389529228e 111 /*
m5171135 2:8203e954d8e1 112 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 113 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 114 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 115 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 116
m5171135 2:8203e954d8e1 117 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 118 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 119
mlee350 0:a23e3099bb0a 120
mlee350 0:a23e3099bb0a 121 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 122 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 123 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 124 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 125 else return false;
mlee350 0:a23e3099bb0a 126
mlee350 0:a23e3099bb0a 127 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 128 fixquality = atoi(p);
mlee350 0:a23e3099bb0a 129
mlee350 0:a23e3099bb0a 130 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 131 satellites = atoi(p);
mlee350 0:a23e3099bb0a 132
mlee350 0:a23e3099bb0a 133 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 134 HDOP = atof(p);
mlee350 0:a23e3099bb0a 135
mlee350 0:a23e3099bb0a 136 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 137 altitude = atof(p);
mlee350 0:a23e3099bb0a 138 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 139 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 140 geoidheight = atof(p);
s1200058 7:3f389529228e 141 */
mlee350 0:a23e3099bb0a 142 return true;
mlee350 0:a23e3099bb0a 143 }
mlee350 0:a23e3099bb0a 144 if (strstr(nmea, "$GPRMC")) {
mlee350 0:a23e3099bb0a 145 // found RMC
mlee350 0:a23e3099bb0a 146 char *p = nmea;
s1200058 7:3f389529228e 147 GPRMCdata = nmea;
s1200058 7:3f389529228e 148 if(count_[2] == 1){
s1200058 7:3f389529228e 149 printf("%s\n",nmea);
s1200058 7:3f389529228e 150 count_[2] = 0;
s1200058 7:3f389529228e 151 }
mlee350 0:a23e3099bb0a 152 // get time
s1200058 7:3f389529228e 153 /* p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 154 float timef = atof(p);
mlee350 0:a23e3099bb0a 155 uint32_t time = timef;
mlee350 0:a23e3099bb0a 156 hour = time / 10000;
mlee350 0:a23e3099bb0a 157 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 158 seconds = (time % 100);
mlee350 0:a23e3099bb0a 159
mlee350 0:a23e3099bb0a 160 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 161
mlee350 0:a23e3099bb0a 162 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 163 // Serial.println(p);
mlee350 0:a23e3099bb0a 164 if (p[0] == 'A')
mlee350 0:a23e3099bb0a 165 fix = true;
mlee350 0:a23e3099bb0a 166 else if (p[0] == 'V')
mlee350 0:a23e3099bb0a 167 fix = false;
mlee350 0:a23e3099bb0a 168 else
mlee350 0:a23e3099bb0a 169 return false;
mlee350 0:a23e3099bb0a 170
mlee350 0:a23e3099bb0a 171 // parse out latitude
m5171135 2:8203e954d8e1 172 /*
mlee350 0:a23e3099bb0a 173 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 174 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 175 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 176 latitudeL = atol(p);
m5171135 2:8203e954d8e1 177 */
s1200058 7:3f389529228e 178 /*
m5171135 2:8203e954d8e1 179 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 180 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 181 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 182 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 183
m5171135 2:8203e954d8e1 184 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 185 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 186
mlee350 0:a23e3099bb0a 187
mlee350 0:a23e3099bb0a 188 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 189 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 190 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 191 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 192 else return false;
mlee350 0:a23e3099bb0a 193
mlee350 0:a23e3099bb0a 194 // parse out longitude
m5171135 2:8203e954d8e1 195 /*
mlee350 0:a23e3099bb0a 196 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 197 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 198 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 199 longitudeL = atol(p);
m5171135 2:8203e954d8e1 200 */
s1200058 7:3f389529228e 201 /*
m5171135 2:8203e954d8e1 202 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 203 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 204 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 205 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 206
m5171135 2:8203e954d8e1 207 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 208 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 209
m5171135 2:8203e954d8e1 210
m5171135 1:ff72e93bcb0e 211
mlee350 0:a23e3099bb0a 212 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 213 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 214 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 215 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 216 else return false;
mlee350 0:a23e3099bb0a 217
mlee350 0:a23e3099bb0a 218 // speed
mlee350 0:a23e3099bb0a 219 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 220 speed = atof(p);
mlee350 0:a23e3099bb0a 221
mlee350 0:a23e3099bb0a 222 // angle
mlee350 0:a23e3099bb0a 223 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 224 angle = atof(p);
mlee350 0:a23e3099bb0a 225
mlee350 0:a23e3099bb0a 226 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 227 uint32_t fulldate = atof(p);
mlee350 0:a23e3099bb0a 228 day = fulldate / 10000;
mlee350 0:a23e3099bb0a 229 month = (fulldate % 10000) / 100;
mlee350 0:a23e3099bb0a 230 year = (fulldate % 100);
s1200058 7:3f389529228e 231 */
mlee350 0:a23e3099bb0a 232 // we dont parse the remaining, yet!
mlee350 0:a23e3099bb0a 233 return true;
mlee350 0:a23e3099bb0a 234 }
s1200058 7:3f389529228e 235 if (strstr(nmea, "$GPGSV")) {
s1200058 7:3f389529228e 236 // found GSV
s1200058 7:3f389529228e 237 char *p = nmea;
s1200058 7:3f389529228e 238 GPGSVdata = nmea;
s1200058 7:3f389529228e 239 char flag = GPGSVdata[9];
s1200058 7:3f389529228e 240 if(flag == '1'){
s1200058 7:3f389529228e 241 GPGSVdataA = nmea;
s1200058 7:3f389529228e 242 GPGSVdataB = "";
s1200058 7:3f389529228e 243 GPGSVdataC = "";
s1200058 7:3f389529228e 244 GPGSVdataD = "";
s1200058 7:3f389529228e 245 }
s1200058 7:3f389529228e 246 else if(flag == '2'){
s1200058 7:3f389529228e 247 GPGSVdataB = nmea;
s1200058 7:3f389529228e 248 }
s1200058 7:3f389529228e 249 else if(flag == '3'){
s1200058 7:3f389529228e 250 GPGSVdataC = nmea;
s1200058 7:3f389529228e 251 }
s1200058 7:3f389529228e 252 else if(flag == '4'){
s1200058 7:3f389529228e 253 GPGSVdataD = nmea;
s1200058 7:3f389529228e 254 }
s1200058 7:3f389529228e 255 if(flag == GPGSVdata[7]){
s1200058 7:3f389529228e 256 print_ok = 1;
s1200058 7:3f389529228e 257 }
s1200058 7:3f389529228e 258 else{
s1200058 7:3f389529228e 259 print_ok = 0;
s1200058 7:3f389529228e 260 }
s1200058 7:3f389529228e 261 // printf("%s\n",GPGSVdata);
s1200058 7:3f389529228e 262 printf("%s\n",nmea);
s1200058 7:3f389529228e 263 count_[0] = 1;
s1200058 7:3f389529228e 264 count_[1] = 1;
s1200058 7:3f389529228e 265 count_[2] = 1;
s1200058 7:3f389529228e 266 return true;
s1200058 7:3f389529228e 267 }
mlee350 0:a23e3099bb0a 268
mlee350 0:a23e3099bb0a 269 return false;
mlee350 0:a23e3099bb0a 270 }
mlee350 0:a23e3099bb0a 271
mlee350 0:a23e3099bb0a 272 char Adafruit_GPS::read(void) {
mlee350 0:a23e3099bb0a 273 char c = 0;
mlee350 0:a23e3099bb0a 274
mlee350 0:a23e3099bb0a 275 if (paused) return c;
mlee350 0:a23e3099bb0a 276
mlee350 0:a23e3099bb0a 277 if(!gpsSerial->readable()) return c;
mlee350 0:a23e3099bb0a 278 c = gpsSerial->getc();
mlee350 0:a23e3099bb0a 279
mlee350 0:a23e3099bb0a 280 //Serial.print(c);
mlee350 0:a23e3099bb0a 281
mlee350 0:a23e3099bb0a 282 if (c == '$') {
mlee350 0:a23e3099bb0a 283 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 284 lineidx = 0;
mlee350 0:a23e3099bb0a 285 }
mlee350 0:a23e3099bb0a 286 if (c == '\n') {
mlee350 0:a23e3099bb0a 287 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 288
mlee350 0:a23e3099bb0a 289 if (currentline == line1) {
mlee350 0:a23e3099bb0a 290 currentline = line2;
mlee350 0:a23e3099bb0a 291 lastline = line1;
mlee350 0:a23e3099bb0a 292 } else {
mlee350 0:a23e3099bb0a 293 currentline = line1;
mlee350 0:a23e3099bb0a 294 lastline = line2;
mlee350 0:a23e3099bb0a 295 }
mlee350 0:a23e3099bb0a 296
mlee350 0:a23e3099bb0a 297 lineidx = 0;
mlee350 0:a23e3099bb0a 298 recvdflag = true;
mlee350 0:a23e3099bb0a 299 }
mlee350 0:a23e3099bb0a 300
mlee350 0:a23e3099bb0a 301 currentline[lineidx++] = c;
mlee350 0:a23e3099bb0a 302 if (lineidx >= MAXLINELENGTH)
mlee350 0:a23e3099bb0a 303 lineidx = MAXLINELENGTH-1;
mlee350 0:a23e3099bb0a 304
mlee350 0:a23e3099bb0a 305 return c;
mlee350 0:a23e3099bb0a 306 }
mlee350 0:a23e3099bb0a 307
mlee350 0:a23e3099bb0a 308 Adafruit_GPS::Adafruit_GPS (Serial *ser)
mlee350 0:a23e3099bb0a 309 {
mlee350 0:a23e3099bb0a 310 common_init(); // Set everything to common state, then...
mlee350 0:a23e3099bb0a 311 gpsSerial = ser; // ...override gpsSwSerial with value passed.
kityann 4:7ef0dd12940c 312 latitudeH=0;latitudeL=0;longitudeH=0;longitudeL=0;
kityann 4:7ef0dd12940c 313 latitudeKH=0;latitudeKL=0;longitudeKH=0;longitudeKL=0;
mlee350 0:a23e3099bb0a 314 }
mlee350 0:a23e3099bb0a 315
mlee350 0:a23e3099bb0a 316 // Initialization code used by all constructor types
mlee350 0:a23e3099bb0a 317 void Adafruit_GPS::common_init(void) {
mlee350 0:a23e3099bb0a 318 gpsSerial = NULL;
mlee350 0:a23e3099bb0a 319 recvdflag = false;
mlee350 0:a23e3099bb0a 320 paused = false;
mlee350 0:a23e3099bb0a 321 lineidx = 0;
mlee350 0:a23e3099bb0a 322 currentline = line1;
mlee350 0:a23e3099bb0a 323 lastline = line2;
mlee350 0:a23e3099bb0a 324
mlee350 0:a23e3099bb0a 325 hour = minute = seconds = year = month = day =
mlee350 0:a23e3099bb0a 326 fixquality = satellites = 0; // uint8_t
mlee350 0:a23e3099bb0a 327 lat = lon = mag = 0; // char
mlee350 0:a23e3099bb0a 328 fix = false; // bool
mlee350 0:a23e3099bb0a 329 milliseconds = 0; // uint16_t
m5171135 1:ff72e93bcb0e 330 geoidheight = altitude = speed = angle = magvariation = HDOP = 0.0; // float
m5171135 1:ff72e93bcb0e 331 latitudeH = latitudeL = longitudeH = longitudeL = 0;
m5171135 1:ff72e93bcb0e 332
mlee350 0:a23e3099bb0a 333 }
mlee350 0:a23e3099bb0a 334
mlee350 0:a23e3099bb0a 335 void Adafruit_GPS::begin(int baud)
mlee350 0:a23e3099bb0a 336 {
mlee350 0:a23e3099bb0a 337 gpsSerial->baud(baud);
mlee350 0:a23e3099bb0a 338 wait_ms(10);
mlee350 0:a23e3099bb0a 339 }
mlee350 0:a23e3099bb0a 340
mlee350 0:a23e3099bb0a 341 void Adafruit_GPS::sendCommand(char *str) {
mlee350 0:a23e3099bb0a 342 gpsSerial->printf("%s",str);
mlee350 0:a23e3099bb0a 343 }
mlee350 0:a23e3099bb0a 344
mlee350 0:a23e3099bb0a 345 bool Adafruit_GPS::newNMEAreceived(void) {
mlee350 0:a23e3099bb0a 346 return recvdflag;
mlee350 0:a23e3099bb0a 347 }
mlee350 0:a23e3099bb0a 348
mlee350 0:a23e3099bb0a 349 void Adafruit_GPS::pause(bool p) {
mlee350 0:a23e3099bb0a 350 paused = p;
mlee350 0:a23e3099bb0a 351 }
mlee350 0:a23e3099bb0a 352
mlee350 0:a23e3099bb0a 353 char *Adafruit_GPS::lastNMEA(void) {
mlee350 0:a23e3099bb0a 354 recvdflag = false;
mlee350 0:a23e3099bb0a 355 return (char *)lastline;
mlee350 0:a23e3099bb0a 356 }
mlee350 0:a23e3099bb0a 357
mlee350 0:a23e3099bb0a 358 // read a Hex value and return the decimal equivalent
mlee350 0:a23e3099bb0a 359 uint8_t Adafruit_GPS::parseHex(char c) {
mlee350 0:a23e3099bb0a 360 if (c < '0')
mlee350 0:a23e3099bb0a 361 return 0;
mlee350 0:a23e3099bb0a 362 if (c <= '9')
mlee350 0:a23e3099bb0a 363 return c - '0';
mlee350 0:a23e3099bb0a 364 if (c < 'A')
mlee350 0:a23e3099bb0a 365 return 0;
mlee350 0:a23e3099bb0a 366 if (c <= 'F')
mlee350 0:a23e3099bb0a 367 return (c - 'A')+10;
mlee350 0:a23e3099bb0a 368 }
mlee350 0:a23e3099bb0a 369
mlee350 0:a23e3099bb0a 370 bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
mlee350 0:a23e3099bb0a 371 char str[20];
mlee350 0:a23e3099bb0a 372
mlee350 0:a23e3099bb0a 373 uint8_t i=0;
mlee350 0:a23e3099bb0a 374 while (i < max) {
mlee350 0:a23e3099bb0a 375 if (newNMEAreceived()) {
mlee350 0:a23e3099bb0a 376 char *nmea = lastNMEA();
mlee350 0:a23e3099bb0a 377 strncpy(str, nmea, 20);
mlee350 0:a23e3099bb0a 378 str[19] = 0;
mlee350 0:a23e3099bb0a 379 i++;
mlee350 0:a23e3099bb0a 380
mlee350 0:a23e3099bb0a 381 if (strstr(str, wait4me))
mlee350 0:a23e3099bb0a 382 return true;
mlee350 0:a23e3099bb0a 383 }
mlee350 0:a23e3099bb0a 384 }
mlee350 0:a23e3099bb0a 385
mlee350 0:a23e3099bb0a 386 return false;
mlee350 0:a23e3099bb0a 387 }
mlee350 0:a23e3099bb0a 388
mlee350 0:a23e3099bb0a 389 bool Adafruit_GPS::LOCUS_StartLogger(void) {
mlee350 0:a23e3099bb0a 390 sendCommand(PMTK_LOCUS_STARTLOG);
mlee350 0:a23e3099bb0a 391 recvdflag = false;
mlee350 0:a23e3099bb0a 392 return waitForSentence(PMTK_LOCUS_LOGSTARTED);
mlee350 0:a23e3099bb0a 393 }
mlee350 0:a23e3099bb0a 394
mlee350 0:a23e3099bb0a 395 bool Adafruit_GPS::LOCUS_ReadStatus(void) {
mlee350 0:a23e3099bb0a 396 sendCommand(PMTK_LOCUS_QUERY_STATUS);
mlee350 0:a23e3099bb0a 397
mlee350 0:a23e3099bb0a 398 if (! waitForSentence("$PMTKLOG"))
mlee350 0:a23e3099bb0a 399 return false;
mlee350 0:a23e3099bb0a 400
mlee350 0:a23e3099bb0a 401 char *response = lastNMEA();
mlee350 0:a23e3099bb0a 402 uint16_t parsed[10];
mlee350 0:a23e3099bb0a 403 uint8_t i;
mlee350 0:a23e3099bb0a 404
mlee350 0:a23e3099bb0a 405 for (i=0; i<10; i++) parsed[i] = -1;
mlee350 0:a23e3099bb0a 406
mlee350 0:a23e3099bb0a 407 response = strchr(response, ',');
mlee350 0:a23e3099bb0a 408 for (i=0; i<10; i++) {
mlee350 0:a23e3099bb0a 409 if (!response || (response[0] == 0) || (response[0] == '*'))
mlee350 0:a23e3099bb0a 410 break;
mlee350 0:a23e3099bb0a 411 response++;
mlee350 0:a23e3099bb0a 412 parsed[i]=0;
mlee350 0:a23e3099bb0a 413 while ((response[0] != ',') &&
mlee350 0:a23e3099bb0a 414 (response[0] != '*') && (response[0] != 0)) {
mlee350 0:a23e3099bb0a 415 parsed[i] *= 10;
mlee350 0:a23e3099bb0a 416 char c = response[0];
mlee350 0:a23e3099bb0a 417 if (isdigit(c))
mlee350 0:a23e3099bb0a 418 parsed[i] += c - '0';
mlee350 0:a23e3099bb0a 419 else
mlee350 0:a23e3099bb0a 420 parsed[i] = c;
mlee350 0:a23e3099bb0a 421 response++;
mlee350 0:a23e3099bb0a 422 }
mlee350 0:a23e3099bb0a 423 }
mlee350 0:a23e3099bb0a 424 LOCUS_serial = parsed[0];
mlee350 0:a23e3099bb0a 425 LOCUS_type = parsed[1];
mlee350 0:a23e3099bb0a 426 if (isalpha(parsed[2])) {
mlee350 0:a23e3099bb0a 427 parsed[2] = parsed[2] - 'a' + 10;
mlee350 0:a23e3099bb0a 428 }
mlee350 0:a23e3099bb0a 429 LOCUS_mode = parsed[2];
mlee350 0:a23e3099bb0a 430 LOCUS_config = parsed[3];
mlee350 0:a23e3099bb0a 431 LOCUS_interval = parsed[4];
mlee350 0:a23e3099bb0a 432 LOCUS_distance = parsed[5];
mlee350 0:a23e3099bb0a 433 LOCUS_speed = parsed[6];
mlee350 0:a23e3099bb0a 434 LOCUS_status = !parsed[7];
mlee350 0:a23e3099bb0a 435 LOCUS_records = parsed[8];
mlee350 0:a23e3099bb0a 436 LOCUS_percent = parsed[9];
mlee350 0:a23e3099bb0a 437
mlee350 0:a23e3099bb0a 438 return true;
mlee350 0:a23e3099bb0a 439 }
mlee350 0:a23e3099bb0a 440
mlee350 0:a23e3099bb0a 441 // Standby Mode Switches
mlee350 0:a23e3099bb0a 442 bool Adafruit_GPS::standby(void) {
mlee350 0:a23e3099bb0a 443 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 444 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 445 }
mlee350 0:a23e3099bb0a 446 else {
mlee350 0:a23e3099bb0a 447 inStandbyMode = true;
mlee350 0:a23e3099bb0a 448 sendCommand(PMTK_STANDBY);
mlee350 0:a23e3099bb0a 449 //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 450 return true;
mlee350 0:a23e3099bb0a 451 }
mlee350 0:a23e3099bb0a 452 }
mlee350 0:a23e3099bb0a 453
mlee350 0:a23e3099bb0a 454 bool Adafruit_GPS::wakeup(void) {
mlee350 0:a23e3099bb0a 455 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 456 inStandbyMode = false;
mlee350 0:a23e3099bb0a 457 sendCommand(""); // send byte to wake it up
mlee350 0:a23e3099bb0a 458 return waitForSentence(PMTK_AWAKE);
mlee350 0:a23e3099bb0a 459 }
mlee350 0:a23e3099bb0a 460 else {
mlee350 0:a23e3099bb0a 461 return false; // Returns false if not in standby mode, nothing to wakeup
mlee350 0:a23e3099bb0a 462 }
mlee350 0:a23e3099bb0a 463 }