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@6:7b7e9dc49edd, 2016-09-14 (annotated)

Committer:
kityann
Date:
Wed Sep 14 11:01:52 2016 +0000
Revision:
6:7b7e9dc49edd
Parent:
5:ce26d53dc358
Child:
7:3f389529228e
forGPS??

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, "$GPGSA")) {
kityann 5:ce26d53dc358 50 // found GSA
kityann 5:ce26d53dc358 51 char *p = nmea;
kityann 5:ce26d53dc358 52 GPGSAdata = nmea;
kityann 6:7b7e9dc49edd 53 printf("%s",nmea);
kityann 5:ce26d53dc358 54
kityann 5:ce26d53dc358 55 return true;
kityann 5:ce26d53dc358 56 }
kityann 5:ce26d53dc358 57
kityann 5:ce26d53dc358 58 // look for a few common sentences
mlee350 0:a23e3099bb0a 59 if (strstr(nmea, "$GPGGA")) {
mlee350 0:a23e3099bb0a 60 // found GGA
mlee350 0:a23e3099bb0a 61 char *p = nmea;
kityann 5:ce26d53dc358 62 GPGGAdata = nmea;
kityann 6:7b7e9dc49edd 63 printf("%s",nmea);
mlee350 0:a23e3099bb0a 64 // get time
mlee350 0:a23e3099bb0a 65 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 66 float timef = atof(p);
mlee350 0:a23e3099bb0a 67 uint32_t time = timef;
mlee350 0:a23e3099bb0a 68 hour = time / 10000;
mlee350 0:a23e3099bb0a 69 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 70 seconds = (time % 100);
mlee350 0:a23e3099bb0a 71
mlee350 0:a23e3099bb0a 72 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 73
mlee350 0:a23e3099bb0a 74 // parse out latitude
m5171135 2:8203e954d8e1 75 /*
mlee350 0:a23e3099bb0a 76 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 77 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 78 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 79 latitudeL = atol(p);
m5171135 2:8203e954d8e1 80 */
m5171135 2:8203e954d8e1 81
m5171135 2:8203e954d8e1 82 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 83 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 84 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 85 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 86
m5171135 2:8203e954d8e1 87 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 88 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 89
mlee350 0:a23e3099bb0a 90
mlee350 0:a23e3099bb0a 91 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 92 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 93 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 94 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 95 else return false;
mlee350 0:a23e3099bb0a 96
mlee350 0:a23e3099bb0a 97 // parse out longitude
m5171135 2:8203e954d8e1 98 /*p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 99 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 100 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 101 longitudeL = atol(p);
m5171135 2:8203e954d8e1 102 */
m5171135 2:8203e954d8e1 103
m5171135 2:8203e954d8e1 104 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 105 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 106 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 107 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 108
m5171135 2:8203e954d8e1 109 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 110 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 111
mlee350 0:a23e3099bb0a 112
mlee350 0:a23e3099bb0a 113 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 114 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 115 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 116 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 117 else return false;
mlee350 0:a23e3099bb0a 118
mlee350 0:a23e3099bb0a 119 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 120 fixquality = atoi(p);
mlee350 0:a23e3099bb0a 121
mlee350 0:a23e3099bb0a 122 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 123 satellites = atoi(p);
mlee350 0:a23e3099bb0a 124
mlee350 0:a23e3099bb0a 125 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 126 HDOP = atof(p);
mlee350 0:a23e3099bb0a 127
mlee350 0:a23e3099bb0a 128 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 129 altitude = atof(p);
mlee350 0:a23e3099bb0a 130 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 131 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 132 geoidheight = atof(p);
mlee350 0:a23e3099bb0a 133 return true;
mlee350 0:a23e3099bb0a 134 }
mlee350 0:a23e3099bb0a 135 if (strstr(nmea, "$GPRMC")) {
mlee350 0:a23e3099bb0a 136 // found RMC
mlee350 0:a23e3099bb0a 137 char *p = nmea;
kityann 5:ce26d53dc358 138 this->GPRMCdata = nmea;
kityann 6:7b7e9dc49edd 139 printf("%s",nmea);
mlee350 0:a23e3099bb0a 140 // get time
mlee350 0:a23e3099bb0a 141 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 142 float timef = atof(p);
mlee350 0:a23e3099bb0a 143 uint32_t time = timef;
mlee350 0:a23e3099bb0a 144 hour = time / 10000;
mlee350 0:a23e3099bb0a 145 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 146 seconds = (time % 100);
mlee350 0:a23e3099bb0a 147
mlee350 0:a23e3099bb0a 148 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 149
mlee350 0:a23e3099bb0a 150 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 151 // Serial.println(p);
mlee350 0:a23e3099bb0a 152 if (p[0] == 'A')
mlee350 0:a23e3099bb0a 153 fix = true;
mlee350 0:a23e3099bb0a 154 else if (p[0] == 'V')
mlee350 0:a23e3099bb0a 155 fix = false;
mlee350 0:a23e3099bb0a 156 else
mlee350 0:a23e3099bb0a 157 return false;
mlee350 0:a23e3099bb0a 158
mlee350 0:a23e3099bb0a 159 // parse out latitude
m5171135 2:8203e954d8e1 160 /*
mlee350 0:a23e3099bb0a 161 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 162 latitudeH = atol(p);
m5171135 1:ff72e93bcb0e 163 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 164 latitudeL = atol(p);
m5171135 2:8203e954d8e1 165 */
m5171135 2:8203e954d8e1 166
m5171135 2:8203e954d8e1 167 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 168 long sub_latitudeH = atol(p);
m5171135 2:8203e954d8e1 169 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 170 long sub_latitudeL = atol(p);
m5171135 2:8203e954d8e1 171
m5171135 2:8203e954d8e1 172 latitudeH = sub_latitudeH / 100;
m5171135 2:8203e954d8e1 173 latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL;
m5171135 2:8203e954d8e1 174
mlee350 0:a23e3099bb0a 175
mlee350 0:a23e3099bb0a 176 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 177 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 178 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 179 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 180 else return false;
mlee350 0:a23e3099bb0a 181
mlee350 0:a23e3099bb0a 182 // parse out longitude
m5171135 2:8203e954d8e1 183 /*
mlee350 0:a23e3099bb0a 184 p = strchr(p, ',')+1;
m5171135 1:ff72e93bcb0e 185 longitudeH = atol(p);
m5171135 1:ff72e93bcb0e 186 p = strchr(p, '.')+1;
m5171135 1:ff72e93bcb0e 187 longitudeL = atol(p);
m5171135 2:8203e954d8e1 188 */
m5171135 2:8203e954d8e1 189
m5171135 2:8203e954d8e1 190 p = strchr(p, ',')+1;
m5171135 2:8203e954d8e1 191 long sub_longitudeH = atol(p);
m5171135 2:8203e954d8e1 192 p = strchr(p, '.')+1;
m5171135 2:8203e954d8e1 193 long sub_longitudeL = atol(p);
m5171135 2:8203e954d8e1 194
m5171135 2:8203e954d8e1 195 longitudeH = sub_longitudeH / 100;
m5171135 2:8203e954d8e1 196 longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL;
m5171135 2:8203e954d8e1 197
m5171135 2:8203e954d8e1 198
m5171135 1:ff72e93bcb0e 199
mlee350 0:a23e3099bb0a 200 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 201 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 202 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 203 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 204 else return false;
mlee350 0:a23e3099bb0a 205
mlee350 0:a23e3099bb0a 206 // speed
mlee350 0:a23e3099bb0a 207 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 208 speed = atof(p);
mlee350 0:a23e3099bb0a 209
mlee350 0:a23e3099bb0a 210 // angle
mlee350 0:a23e3099bb0a 211 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 212 angle = atof(p);
mlee350 0:a23e3099bb0a 213
mlee350 0:a23e3099bb0a 214 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 215 uint32_t fulldate = atof(p);
mlee350 0:a23e3099bb0a 216 day = fulldate / 10000;
mlee350 0:a23e3099bb0a 217 month = (fulldate % 10000) / 100;
mlee350 0:a23e3099bb0a 218 year = (fulldate % 100);
mlee350 0:a23e3099bb0a 219
mlee350 0:a23e3099bb0a 220 // we dont parse the remaining, yet!
mlee350 0:a23e3099bb0a 221 return true;
mlee350 0:a23e3099bb0a 222 }
mlee350 0:a23e3099bb0a 223
mlee350 0:a23e3099bb0a 224 return false;
mlee350 0:a23e3099bb0a 225 }
mlee350 0:a23e3099bb0a 226
mlee350 0:a23e3099bb0a 227 char Adafruit_GPS::read(void) {
mlee350 0:a23e3099bb0a 228 char c = 0;
mlee350 0:a23e3099bb0a 229
mlee350 0:a23e3099bb0a 230 if (paused) return c;
mlee350 0:a23e3099bb0a 231
mlee350 0:a23e3099bb0a 232 if(!gpsSerial->readable()) return c;
mlee350 0:a23e3099bb0a 233 c = gpsSerial->getc();
mlee350 0:a23e3099bb0a 234
mlee350 0:a23e3099bb0a 235 //Serial.print(c);
mlee350 0:a23e3099bb0a 236
mlee350 0:a23e3099bb0a 237 if (c == '$') {
mlee350 0:a23e3099bb0a 238 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 239 lineidx = 0;
mlee350 0:a23e3099bb0a 240 }
mlee350 0:a23e3099bb0a 241 if (c == '\n') {
mlee350 0:a23e3099bb0a 242 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 243
mlee350 0:a23e3099bb0a 244 if (currentline == line1) {
mlee350 0:a23e3099bb0a 245 currentline = line2;
mlee350 0:a23e3099bb0a 246 lastline = line1;
mlee350 0:a23e3099bb0a 247 } else {
mlee350 0:a23e3099bb0a 248 currentline = line1;
mlee350 0:a23e3099bb0a 249 lastline = line2;
mlee350 0:a23e3099bb0a 250 }
mlee350 0:a23e3099bb0a 251
mlee350 0:a23e3099bb0a 252 lineidx = 0;
mlee350 0:a23e3099bb0a 253 recvdflag = true;
mlee350 0:a23e3099bb0a 254 }
mlee350 0:a23e3099bb0a 255
mlee350 0:a23e3099bb0a 256 currentline[lineidx++] = c;
mlee350 0:a23e3099bb0a 257 if (lineidx >= MAXLINELENGTH)
mlee350 0:a23e3099bb0a 258 lineidx = MAXLINELENGTH-1;
mlee350 0:a23e3099bb0a 259
mlee350 0:a23e3099bb0a 260 return c;
mlee350 0:a23e3099bb0a 261 }
mlee350 0:a23e3099bb0a 262
mlee350 0:a23e3099bb0a 263 Adafruit_GPS::Adafruit_GPS (Serial *ser)
mlee350 0:a23e3099bb0a 264 {
mlee350 0:a23e3099bb0a 265 common_init(); // Set everything to common state, then...
mlee350 0:a23e3099bb0a 266 gpsSerial = ser; // ...override gpsSwSerial with value passed.
kityann 4:7ef0dd12940c 267 latitudeH=0;latitudeL=0;longitudeH=0;longitudeL=0;
kityann 4:7ef0dd12940c 268 latitudeKH=0;latitudeKL=0;longitudeKH=0;longitudeKL=0;
mlee350 0:a23e3099bb0a 269 }
mlee350 0:a23e3099bb0a 270
mlee350 0:a23e3099bb0a 271 // Initialization code used by all constructor types
mlee350 0:a23e3099bb0a 272 void Adafruit_GPS::common_init(void) {
mlee350 0:a23e3099bb0a 273 gpsSerial = NULL;
mlee350 0:a23e3099bb0a 274 recvdflag = false;
mlee350 0:a23e3099bb0a 275 paused = false;
mlee350 0:a23e3099bb0a 276 lineidx = 0;
mlee350 0:a23e3099bb0a 277 currentline = line1;
mlee350 0:a23e3099bb0a 278 lastline = line2;
mlee350 0:a23e3099bb0a 279
mlee350 0:a23e3099bb0a 280 hour = minute = seconds = year = month = day =
mlee350 0:a23e3099bb0a 281 fixquality = satellites = 0; // uint8_t
mlee350 0:a23e3099bb0a 282 lat = lon = mag = 0; // char
mlee350 0:a23e3099bb0a 283 fix = false; // bool
mlee350 0:a23e3099bb0a 284 milliseconds = 0; // uint16_t
m5171135 1:ff72e93bcb0e 285 geoidheight = altitude = speed = angle = magvariation = HDOP = 0.0; // float
m5171135 1:ff72e93bcb0e 286 latitudeH = latitudeL = longitudeH = longitudeL = 0;
m5171135 1:ff72e93bcb0e 287
mlee350 0:a23e3099bb0a 288 }
mlee350 0:a23e3099bb0a 289
mlee350 0:a23e3099bb0a 290 void Adafruit_GPS::begin(int baud)
mlee350 0:a23e3099bb0a 291 {
mlee350 0:a23e3099bb0a 292 gpsSerial->baud(baud);
mlee350 0:a23e3099bb0a 293 wait_ms(10);
mlee350 0:a23e3099bb0a 294 }
mlee350 0:a23e3099bb0a 295
mlee350 0:a23e3099bb0a 296 void Adafruit_GPS::sendCommand(char *str) {
mlee350 0:a23e3099bb0a 297 gpsSerial->printf("%s",str);
mlee350 0:a23e3099bb0a 298 }
mlee350 0:a23e3099bb0a 299
mlee350 0:a23e3099bb0a 300 bool Adafruit_GPS::newNMEAreceived(void) {
mlee350 0:a23e3099bb0a 301 return recvdflag;
mlee350 0:a23e3099bb0a 302 }
mlee350 0:a23e3099bb0a 303
mlee350 0:a23e3099bb0a 304 void Adafruit_GPS::pause(bool p) {
mlee350 0:a23e3099bb0a 305 paused = p;
mlee350 0:a23e3099bb0a 306 }
mlee350 0:a23e3099bb0a 307
mlee350 0:a23e3099bb0a 308 char *Adafruit_GPS::lastNMEA(void) {
mlee350 0:a23e3099bb0a 309 recvdflag = false;
mlee350 0:a23e3099bb0a 310 return (char *)lastline;
mlee350 0:a23e3099bb0a 311 }
mlee350 0:a23e3099bb0a 312
mlee350 0:a23e3099bb0a 313 // read a Hex value and return the decimal equivalent
mlee350 0:a23e3099bb0a 314 uint8_t Adafruit_GPS::parseHex(char c) {
mlee350 0:a23e3099bb0a 315 if (c < '0')
mlee350 0:a23e3099bb0a 316 return 0;
mlee350 0:a23e3099bb0a 317 if (c <= '9')
mlee350 0:a23e3099bb0a 318 return c - '0';
mlee350 0:a23e3099bb0a 319 if (c < 'A')
mlee350 0:a23e3099bb0a 320 return 0;
mlee350 0:a23e3099bb0a 321 if (c <= 'F')
mlee350 0:a23e3099bb0a 322 return (c - 'A')+10;
mlee350 0:a23e3099bb0a 323 }
mlee350 0:a23e3099bb0a 324
mlee350 0:a23e3099bb0a 325 bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
mlee350 0:a23e3099bb0a 326 char str[20];
mlee350 0:a23e3099bb0a 327
mlee350 0:a23e3099bb0a 328 uint8_t i=0;
mlee350 0:a23e3099bb0a 329 while (i < max) {
mlee350 0:a23e3099bb0a 330 if (newNMEAreceived()) {
mlee350 0:a23e3099bb0a 331 char *nmea = lastNMEA();
mlee350 0:a23e3099bb0a 332 strncpy(str, nmea, 20);
mlee350 0:a23e3099bb0a 333 str[19] = 0;
mlee350 0:a23e3099bb0a 334 i++;
mlee350 0:a23e3099bb0a 335
mlee350 0:a23e3099bb0a 336 if (strstr(str, wait4me))
mlee350 0:a23e3099bb0a 337 return true;
mlee350 0:a23e3099bb0a 338 }
mlee350 0:a23e3099bb0a 339 }
mlee350 0:a23e3099bb0a 340
mlee350 0:a23e3099bb0a 341 return false;
mlee350 0:a23e3099bb0a 342 }
mlee350 0:a23e3099bb0a 343
mlee350 0:a23e3099bb0a 344 bool Adafruit_GPS::LOCUS_StartLogger(void) {
mlee350 0:a23e3099bb0a 345 sendCommand(PMTK_LOCUS_STARTLOG);
mlee350 0:a23e3099bb0a 346 recvdflag = false;
mlee350 0:a23e3099bb0a 347 return waitForSentence(PMTK_LOCUS_LOGSTARTED);
mlee350 0:a23e3099bb0a 348 }
mlee350 0:a23e3099bb0a 349
mlee350 0:a23e3099bb0a 350 bool Adafruit_GPS::LOCUS_ReadStatus(void) {
mlee350 0:a23e3099bb0a 351 sendCommand(PMTK_LOCUS_QUERY_STATUS);
mlee350 0:a23e3099bb0a 352
mlee350 0:a23e3099bb0a 353 if (! waitForSentence("$PMTKLOG"))
mlee350 0:a23e3099bb0a 354 return false;
mlee350 0:a23e3099bb0a 355
mlee350 0:a23e3099bb0a 356 char *response = lastNMEA();
mlee350 0:a23e3099bb0a 357 uint16_t parsed[10];
mlee350 0:a23e3099bb0a 358 uint8_t i;
mlee350 0:a23e3099bb0a 359
mlee350 0:a23e3099bb0a 360 for (i=0; i<10; i++) parsed[i] = -1;
mlee350 0:a23e3099bb0a 361
mlee350 0:a23e3099bb0a 362 response = strchr(response, ',');
mlee350 0:a23e3099bb0a 363 for (i=0; i<10; i++) {
mlee350 0:a23e3099bb0a 364 if (!response || (response[0] == 0) || (response[0] == '*'))
mlee350 0:a23e3099bb0a 365 break;
mlee350 0:a23e3099bb0a 366 response++;
mlee350 0:a23e3099bb0a 367 parsed[i]=0;
mlee350 0:a23e3099bb0a 368 while ((response[0] != ',') &&
mlee350 0:a23e3099bb0a 369 (response[0] != '*') && (response[0] != 0)) {
mlee350 0:a23e3099bb0a 370 parsed[i] *= 10;
mlee350 0:a23e3099bb0a 371 char c = response[0];
mlee350 0:a23e3099bb0a 372 if (isdigit(c))
mlee350 0:a23e3099bb0a 373 parsed[i] += c - '0';
mlee350 0:a23e3099bb0a 374 else
mlee350 0:a23e3099bb0a 375 parsed[i] = c;
mlee350 0:a23e3099bb0a 376 response++;
mlee350 0:a23e3099bb0a 377 }
mlee350 0:a23e3099bb0a 378 }
mlee350 0:a23e3099bb0a 379 LOCUS_serial = parsed[0];
mlee350 0:a23e3099bb0a 380 LOCUS_type = parsed[1];
mlee350 0:a23e3099bb0a 381 if (isalpha(parsed[2])) {
mlee350 0:a23e3099bb0a 382 parsed[2] = parsed[2] - 'a' + 10;
mlee350 0:a23e3099bb0a 383 }
mlee350 0:a23e3099bb0a 384 LOCUS_mode = parsed[2];
mlee350 0:a23e3099bb0a 385 LOCUS_config = parsed[3];
mlee350 0:a23e3099bb0a 386 LOCUS_interval = parsed[4];
mlee350 0:a23e3099bb0a 387 LOCUS_distance = parsed[5];
mlee350 0:a23e3099bb0a 388 LOCUS_speed = parsed[6];
mlee350 0:a23e3099bb0a 389 LOCUS_status = !parsed[7];
mlee350 0:a23e3099bb0a 390 LOCUS_records = parsed[8];
mlee350 0:a23e3099bb0a 391 LOCUS_percent = parsed[9];
mlee350 0:a23e3099bb0a 392
mlee350 0:a23e3099bb0a 393 return true;
mlee350 0:a23e3099bb0a 394 }
mlee350 0:a23e3099bb0a 395
mlee350 0:a23e3099bb0a 396 // Standby Mode Switches
mlee350 0:a23e3099bb0a 397 bool Adafruit_GPS::standby(void) {
mlee350 0:a23e3099bb0a 398 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 399 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 400 }
mlee350 0:a23e3099bb0a 401 else {
mlee350 0:a23e3099bb0a 402 inStandbyMode = true;
mlee350 0:a23e3099bb0a 403 sendCommand(PMTK_STANDBY);
mlee350 0:a23e3099bb0a 404 //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 405 return true;
mlee350 0:a23e3099bb0a 406 }
mlee350 0:a23e3099bb0a 407 }
mlee350 0:a23e3099bb0a 408
mlee350 0:a23e3099bb0a 409 bool Adafruit_GPS::wakeup(void) {
mlee350 0:a23e3099bb0a 410 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 411 inStandbyMode = false;
mlee350 0:a23e3099bb0a 412 sendCommand(""); // send byte to wake it up
mlee350 0:a23e3099bb0a 413 return waitForSentence(PMTK_AWAKE);
mlee350 0:a23e3099bb0a 414 }
mlee350 0:a23e3099bb0a 415 else {
mlee350 0:a23e3099bb0a 416 return false; // Returns false if not in standby mode, nothing to wakeup
mlee350 0:a23e3099bb0a 417 }
mlee350 0:a23e3099bb0a 418 }