GPS精度実験
Fork of MBed_Adafruit-GPS-Library by
MBed_Adafruit_GPS.cpp@5:ce26d53dc358, 2016-08-09 (annotated)
- Committer:
- kityann
- Date:
- Tue Aug 09 13:04:23 2016 +0000
- Revision:
- 5:ce26d53dc358
- Parent:
- 4:7ef0dd12940c
- Child:
- 6:7b7e9dc49edd
comitto
Who changed what in which revision?
User | Revision | Line number | New 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, "$GPGSA")) { |
kityann | 5:ce26d53dc358 | 50 | // found GSA |
kityann | 5:ce26d53dc358 | 51 | char *p = nmea; |
kityann | 5:ce26d53dc358 | 52 | GPGSAdata = nmea; |
kityann | 5:ce26d53dc358 | 53 | |
kityann | 5:ce26d53dc358 | 54 | return true; |
kityann | 5:ce26d53dc358 | 55 | } |
kityann | 5:ce26d53dc358 | 56 | |
kityann | 5:ce26d53dc358 | 57 | // look for a few common sentences |
mlee350 | 0:a23e3099bb0a | 58 | if (strstr(nmea, "$GPGGA")) { |
mlee350 | 0:a23e3099bb0a | 59 | // found GGA |
mlee350 | 0:a23e3099bb0a | 60 | char *p = nmea; |
kityann | 5:ce26d53dc358 | 61 | GPGGAdata = nmea; |
mlee350 | 0:a23e3099bb0a | 62 | // get time |
mlee350 | 0:a23e3099bb0a | 63 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 64 | float timef = atof(p); |
mlee350 | 0:a23e3099bb0a | 65 | uint32_t time = timef; |
mlee350 | 0:a23e3099bb0a | 66 | hour = time / 10000; |
mlee350 | 0:a23e3099bb0a | 67 | minute = (time % 10000) / 100; |
mlee350 | 0:a23e3099bb0a | 68 | seconds = (time % 100); |
mlee350 | 0:a23e3099bb0a | 69 | |
mlee350 | 0:a23e3099bb0a | 70 | milliseconds = fmod((double) timef, 1.0) * 1000; |
mlee350 | 0:a23e3099bb0a | 71 | |
mlee350 | 0:a23e3099bb0a | 72 | // parse out latitude |
m5171135 | 2:8203e954d8e1 | 73 | /* |
mlee350 | 0:a23e3099bb0a | 74 | p = strchr(p, ',')+1; |
m5171135 | 1:ff72e93bcb0e | 75 | latitudeH = atol(p); |
m5171135 | 1:ff72e93bcb0e | 76 | p = strchr(p, '.')+1; |
m5171135 | 1:ff72e93bcb0e | 77 | latitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 78 | */ |
m5171135 | 2:8203e954d8e1 | 79 | |
m5171135 | 2:8203e954d8e1 | 80 | p = strchr(p, ',')+1; |
m5171135 | 2:8203e954d8e1 | 81 | long sub_latitudeH = atol(p); |
m5171135 | 2:8203e954d8e1 | 82 | p = strchr(p, '.')+1; |
m5171135 | 2:8203e954d8e1 | 83 | long sub_latitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 84 | |
m5171135 | 2:8203e954d8e1 | 85 | latitudeH = sub_latitudeH / 100; |
m5171135 | 2:8203e954d8e1 | 86 | latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL; |
m5171135 | 2:8203e954d8e1 | 87 | |
mlee350 | 0:a23e3099bb0a | 88 | |
mlee350 | 0:a23e3099bb0a | 89 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 90 | if (p[0] == 'N') lat = 'N'; |
mlee350 | 0:a23e3099bb0a | 91 | else if (p[0] == 'S') lat = 'S'; |
mlee350 | 0:a23e3099bb0a | 92 | else if (p[0] == ',') lat = 0; |
mlee350 | 0:a23e3099bb0a | 93 | else return false; |
mlee350 | 0:a23e3099bb0a | 94 | |
mlee350 | 0:a23e3099bb0a | 95 | // parse out longitude |
m5171135 | 2:8203e954d8e1 | 96 | /*p = strchr(p, ',')+1; |
m5171135 | 1:ff72e93bcb0e | 97 | longitudeH = atol(p); |
m5171135 | 1:ff72e93bcb0e | 98 | p = strchr(p, '.')+1; |
m5171135 | 1:ff72e93bcb0e | 99 | longitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 100 | */ |
m5171135 | 2:8203e954d8e1 | 101 | |
m5171135 | 2:8203e954d8e1 | 102 | p = strchr(p, ',')+1; |
m5171135 | 2:8203e954d8e1 | 103 | long sub_longitudeH = atol(p); |
m5171135 | 2:8203e954d8e1 | 104 | p = strchr(p, '.')+1; |
m5171135 | 2:8203e954d8e1 | 105 | long sub_longitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 106 | |
m5171135 | 2:8203e954d8e1 | 107 | longitudeH = sub_longitudeH / 100; |
m5171135 | 2:8203e954d8e1 | 108 | longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL; |
m5171135 | 2:8203e954d8e1 | 109 | |
mlee350 | 0:a23e3099bb0a | 110 | |
mlee350 | 0:a23e3099bb0a | 111 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 112 | if (p[0] == 'W') lon = 'W'; |
mlee350 | 0:a23e3099bb0a | 113 | else if (p[0] == 'E') lon = 'E'; |
mlee350 | 0:a23e3099bb0a | 114 | else if (p[0] == ',') lon = 0; |
mlee350 | 0:a23e3099bb0a | 115 | else return false; |
mlee350 | 0:a23e3099bb0a | 116 | |
mlee350 | 0:a23e3099bb0a | 117 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 118 | fixquality = atoi(p); |
mlee350 | 0:a23e3099bb0a | 119 | |
mlee350 | 0:a23e3099bb0a | 120 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 121 | satellites = atoi(p); |
mlee350 | 0:a23e3099bb0a | 122 | |
mlee350 | 0:a23e3099bb0a | 123 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 124 | HDOP = atof(p); |
mlee350 | 0:a23e3099bb0a | 125 | |
mlee350 | 0:a23e3099bb0a | 126 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 127 | altitude = atof(p); |
mlee350 | 0:a23e3099bb0a | 128 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 129 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 130 | geoidheight = atof(p); |
mlee350 | 0:a23e3099bb0a | 131 | return true; |
mlee350 | 0:a23e3099bb0a | 132 | } |
mlee350 | 0:a23e3099bb0a | 133 | if (strstr(nmea, "$GPRMC")) { |
mlee350 | 0:a23e3099bb0a | 134 | // found RMC |
mlee350 | 0:a23e3099bb0a | 135 | char *p = nmea; |
kityann | 5:ce26d53dc358 | 136 | this->GPRMCdata = nmea; |
kityann | 5:ce26d53dc358 | 137 | //printf("B%s",this->GPRMCdata); |
mlee350 | 0:a23e3099bb0a | 138 | // get time |
mlee350 | 0:a23e3099bb0a | 139 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 140 | float timef = atof(p); |
mlee350 | 0:a23e3099bb0a | 141 | uint32_t time = timef; |
mlee350 | 0:a23e3099bb0a | 142 | hour = time / 10000; |
mlee350 | 0:a23e3099bb0a | 143 | minute = (time % 10000) / 100; |
mlee350 | 0:a23e3099bb0a | 144 | seconds = (time % 100); |
mlee350 | 0:a23e3099bb0a | 145 | |
mlee350 | 0:a23e3099bb0a | 146 | milliseconds = fmod((double) timef, 1.0) * 1000; |
mlee350 | 0:a23e3099bb0a | 147 | |
mlee350 | 0:a23e3099bb0a | 148 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 149 | // Serial.println(p); |
mlee350 | 0:a23e3099bb0a | 150 | if (p[0] == 'A') |
mlee350 | 0:a23e3099bb0a | 151 | fix = true; |
mlee350 | 0:a23e3099bb0a | 152 | else if (p[0] == 'V') |
mlee350 | 0:a23e3099bb0a | 153 | fix = false; |
mlee350 | 0:a23e3099bb0a | 154 | else |
mlee350 | 0:a23e3099bb0a | 155 | return false; |
mlee350 | 0:a23e3099bb0a | 156 | |
mlee350 | 0:a23e3099bb0a | 157 | // parse out latitude |
m5171135 | 2:8203e954d8e1 | 158 | /* |
mlee350 | 0:a23e3099bb0a | 159 | p = strchr(p, ',')+1; |
m5171135 | 1:ff72e93bcb0e | 160 | latitudeH = atol(p); |
m5171135 | 1:ff72e93bcb0e | 161 | p = strchr(p, '.')+1; |
m5171135 | 1:ff72e93bcb0e | 162 | latitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 163 | */ |
m5171135 | 2:8203e954d8e1 | 164 | |
m5171135 | 2:8203e954d8e1 | 165 | p = strchr(p, ',')+1; |
m5171135 | 2:8203e954d8e1 | 166 | long sub_latitudeH = atol(p); |
m5171135 | 2:8203e954d8e1 | 167 | p = strchr(p, '.')+1; |
m5171135 | 2:8203e954d8e1 | 168 | long sub_latitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 169 | |
m5171135 | 2:8203e954d8e1 | 170 | latitudeH = sub_latitudeH / 100; |
m5171135 | 2:8203e954d8e1 | 171 | latitudeL = ((sub_latitudeH % 100) *10000) + sub_latitudeL; |
m5171135 | 2:8203e954d8e1 | 172 | |
mlee350 | 0:a23e3099bb0a | 173 | |
mlee350 | 0:a23e3099bb0a | 174 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 175 | if (p[0] == 'N') lat = 'N'; |
mlee350 | 0:a23e3099bb0a | 176 | else if (p[0] == 'S') lat = 'S'; |
mlee350 | 0:a23e3099bb0a | 177 | else if (p[0] == ',') lat = 0; |
mlee350 | 0:a23e3099bb0a | 178 | else return false; |
mlee350 | 0:a23e3099bb0a | 179 | |
mlee350 | 0:a23e3099bb0a | 180 | // parse out longitude |
m5171135 | 2:8203e954d8e1 | 181 | /* |
mlee350 | 0:a23e3099bb0a | 182 | p = strchr(p, ',')+1; |
m5171135 | 1:ff72e93bcb0e | 183 | longitudeH = atol(p); |
m5171135 | 1:ff72e93bcb0e | 184 | p = strchr(p, '.')+1; |
m5171135 | 1:ff72e93bcb0e | 185 | longitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 186 | */ |
m5171135 | 2:8203e954d8e1 | 187 | |
m5171135 | 2:8203e954d8e1 | 188 | p = strchr(p, ',')+1; |
m5171135 | 2:8203e954d8e1 | 189 | long sub_longitudeH = atol(p); |
m5171135 | 2:8203e954d8e1 | 190 | p = strchr(p, '.')+1; |
m5171135 | 2:8203e954d8e1 | 191 | long sub_longitudeL = atol(p); |
m5171135 | 2:8203e954d8e1 | 192 | |
m5171135 | 2:8203e954d8e1 | 193 | longitudeH = sub_longitudeH / 100; |
m5171135 | 2:8203e954d8e1 | 194 | longitudeL = ((sub_longitudeH % 100) *10000) + sub_longitudeL; |
m5171135 | 2:8203e954d8e1 | 195 | |
m5171135 | 2:8203e954d8e1 | 196 | |
m5171135 | 1:ff72e93bcb0e | 197 | |
mlee350 | 0:a23e3099bb0a | 198 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 199 | if (p[0] == 'W') lon = 'W'; |
mlee350 | 0:a23e3099bb0a | 200 | else if (p[0] == 'E') lon = 'E'; |
mlee350 | 0:a23e3099bb0a | 201 | else if (p[0] == ',') lon = 0; |
mlee350 | 0:a23e3099bb0a | 202 | else return false; |
mlee350 | 0:a23e3099bb0a | 203 | |
mlee350 | 0:a23e3099bb0a | 204 | // speed |
mlee350 | 0:a23e3099bb0a | 205 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 206 | speed = atof(p); |
mlee350 | 0:a23e3099bb0a | 207 | |
mlee350 | 0:a23e3099bb0a | 208 | // angle |
mlee350 | 0:a23e3099bb0a | 209 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 210 | angle = atof(p); |
mlee350 | 0:a23e3099bb0a | 211 | |
mlee350 | 0:a23e3099bb0a | 212 | p = strchr(p, ',')+1; |
mlee350 | 0:a23e3099bb0a | 213 | uint32_t fulldate = atof(p); |
mlee350 | 0:a23e3099bb0a | 214 | day = fulldate / 10000; |
mlee350 | 0:a23e3099bb0a | 215 | month = (fulldate % 10000) / 100; |
mlee350 | 0:a23e3099bb0a | 216 | year = (fulldate % 100); |
mlee350 | 0:a23e3099bb0a | 217 | |
mlee350 | 0:a23e3099bb0a | 218 | // we dont parse the remaining, yet! |
mlee350 | 0:a23e3099bb0a | 219 | return true; |
mlee350 | 0:a23e3099bb0a | 220 | } |
mlee350 | 0:a23e3099bb0a | 221 | |
mlee350 | 0:a23e3099bb0a | 222 | return false; |
mlee350 | 0:a23e3099bb0a | 223 | } |
mlee350 | 0:a23e3099bb0a | 224 | |
mlee350 | 0:a23e3099bb0a | 225 | char Adafruit_GPS::read(void) { |
mlee350 | 0:a23e3099bb0a | 226 | char c = 0; |
mlee350 | 0:a23e3099bb0a | 227 | |
mlee350 | 0:a23e3099bb0a | 228 | if (paused) return c; |
mlee350 | 0:a23e3099bb0a | 229 | |
mlee350 | 0:a23e3099bb0a | 230 | if(!gpsSerial->readable()) return c; |
mlee350 | 0:a23e3099bb0a | 231 | c = gpsSerial->getc(); |
mlee350 | 0:a23e3099bb0a | 232 | |
mlee350 | 0:a23e3099bb0a | 233 | //Serial.print(c); |
mlee350 | 0:a23e3099bb0a | 234 | |
mlee350 | 0:a23e3099bb0a | 235 | if (c == '$') { |
mlee350 | 0:a23e3099bb0a | 236 | currentline[lineidx] = 0; |
mlee350 | 0:a23e3099bb0a | 237 | lineidx = 0; |
mlee350 | 0:a23e3099bb0a | 238 | } |
mlee350 | 0:a23e3099bb0a | 239 | if (c == '\n') { |
mlee350 | 0:a23e3099bb0a | 240 | currentline[lineidx] = 0; |
mlee350 | 0:a23e3099bb0a | 241 | |
mlee350 | 0:a23e3099bb0a | 242 | if (currentline == line1) { |
mlee350 | 0:a23e3099bb0a | 243 | currentline = line2; |
mlee350 | 0:a23e3099bb0a | 244 | lastline = line1; |
mlee350 | 0:a23e3099bb0a | 245 | } else { |
mlee350 | 0:a23e3099bb0a | 246 | currentline = line1; |
mlee350 | 0:a23e3099bb0a | 247 | lastline = line2; |
mlee350 | 0:a23e3099bb0a | 248 | } |
mlee350 | 0:a23e3099bb0a | 249 | |
mlee350 | 0:a23e3099bb0a | 250 | lineidx = 0; |
mlee350 | 0:a23e3099bb0a | 251 | recvdflag = true; |
mlee350 | 0:a23e3099bb0a | 252 | } |
mlee350 | 0:a23e3099bb0a | 253 | |
mlee350 | 0:a23e3099bb0a | 254 | currentline[lineidx++] = c; |
mlee350 | 0:a23e3099bb0a | 255 | if (lineidx >= MAXLINELENGTH) |
mlee350 | 0:a23e3099bb0a | 256 | lineidx = MAXLINELENGTH-1; |
mlee350 | 0:a23e3099bb0a | 257 | |
mlee350 | 0:a23e3099bb0a | 258 | return c; |
mlee350 | 0:a23e3099bb0a | 259 | } |
mlee350 | 0:a23e3099bb0a | 260 | |
mlee350 | 0:a23e3099bb0a | 261 | Adafruit_GPS::Adafruit_GPS (Serial *ser) |
mlee350 | 0:a23e3099bb0a | 262 | { |
mlee350 | 0:a23e3099bb0a | 263 | common_init(); // Set everything to common state, then... |
mlee350 | 0:a23e3099bb0a | 264 | gpsSerial = ser; // ...override gpsSwSerial with value passed. |
kityann | 4:7ef0dd12940c | 265 | latitudeH=0;latitudeL=0;longitudeH=0;longitudeL=0; |
kityann | 4:7ef0dd12940c | 266 | latitudeKH=0;latitudeKL=0;longitudeKH=0;longitudeKL=0; |
mlee350 | 0:a23e3099bb0a | 267 | } |
mlee350 | 0:a23e3099bb0a | 268 | |
mlee350 | 0:a23e3099bb0a | 269 | // Initialization code used by all constructor types |
mlee350 | 0:a23e3099bb0a | 270 | void Adafruit_GPS::common_init(void) { |
mlee350 | 0:a23e3099bb0a | 271 | gpsSerial = NULL; |
mlee350 | 0:a23e3099bb0a | 272 | recvdflag = false; |
mlee350 | 0:a23e3099bb0a | 273 | paused = false; |
mlee350 | 0:a23e3099bb0a | 274 | lineidx = 0; |
mlee350 | 0:a23e3099bb0a | 275 | currentline = line1; |
mlee350 | 0:a23e3099bb0a | 276 | lastline = line2; |
mlee350 | 0:a23e3099bb0a | 277 | |
mlee350 | 0:a23e3099bb0a | 278 | hour = minute = seconds = year = month = day = |
mlee350 | 0:a23e3099bb0a | 279 | fixquality = satellites = 0; // uint8_t |
mlee350 | 0:a23e3099bb0a | 280 | lat = lon = mag = 0; // char |
mlee350 | 0:a23e3099bb0a | 281 | fix = false; // bool |
mlee350 | 0:a23e3099bb0a | 282 | milliseconds = 0; // uint16_t |
m5171135 | 1:ff72e93bcb0e | 283 | geoidheight = altitude = speed = angle = magvariation = HDOP = 0.0; // float |
m5171135 | 1:ff72e93bcb0e | 284 | latitudeH = latitudeL = longitudeH = longitudeL = 0; |
m5171135 | 1:ff72e93bcb0e | 285 | |
mlee350 | 0:a23e3099bb0a | 286 | } |
mlee350 | 0:a23e3099bb0a | 287 | |
mlee350 | 0:a23e3099bb0a | 288 | void Adafruit_GPS::begin(int baud) |
mlee350 | 0:a23e3099bb0a | 289 | { |
mlee350 | 0:a23e3099bb0a | 290 | gpsSerial->baud(baud); |
mlee350 | 0:a23e3099bb0a | 291 | wait_ms(10); |
mlee350 | 0:a23e3099bb0a | 292 | } |
mlee350 | 0:a23e3099bb0a | 293 | |
mlee350 | 0:a23e3099bb0a | 294 | void Adafruit_GPS::sendCommand(char *str) { |
mlee350 | 0:a23e3099bb0a | 295 | gpsSerial->printf("%s",str); |
mlee350 | 0:a23e3099bb0a | 296 | } |
mlee350 | 0:a23e3099bb0a | 297 | |
mlee350 | 0:a23e3099bb0a | 298 | bool Adafruit_GPS::newNMEAreceived(void) { |
mlee350 | 0:a23e3099bb0a | 299 | return recvdflag; |
mlee350 | 0:a23e3099bb0a | 300 | } |
mlee350 | 0:a23e3099bb0a | 301 | |
mlee350 | 0:a23e3099bb0a | 302 | void Adafruit_GPS::pause(bool p) { |
mlee350 | 0:a23e3099bb0a | 303 | paused = p; |
mlee350 | 0:a23e3099bb0a | 304 | } |
mlee350 | 0:a23e3099bb0a | 305 | |
mlee350 | 0:a23e3099bb0a | 306 | char *Adafruit_GPS::lastNMEA(void) { |
mlee350 | 0:a23e3099bb0a | 307 | recvdflag = false; |
mlee350 | 0:a23e3099bb0a | 308 | return (char *)lastline; |
mlee350 | 0:a23e3099bb0a | 309 | } |
mlee350 | 0:a23e3099bb0a | 310 | |
mlee350 | 0:a23e3099bb0a | 311 | // read a Hex value and return the decimal equivalent |
mlee350 | 0:a23e3099bb0a | 312 | uint8_t Adafruit_GPS::parseHex(char c) { |
mlee350 | 0:a23e3099bb0a | 313 | if (c < '0') |
mlee350 | 0:a23e3099bb0a | 314 | return 0; |
mlee350 | 0:a23e3099bb0a | 315 | if (c <= '9') |
mlee350 | 0:a23e3099bb0a | 316 | return c - '0'; |
mlee350 | 0:a23e3099bb0a | 317 | if (c < 'A') |
mlee350 | 0:a23e3099bb0a | 318 | return 0; |
mlee350 | 0:a23e3099bb0a | 319 | if (c <= 'F') |
mlee350 | 0:a23e3099bb0a | 320 | return (c - 'A')+10; |
mlee350 | 0:a23e3099bb0a | 321 | } |
mlee350 | 0:a23e3099bb0a | 322 | |
mlee350 | 0:a23e3099bb0a | 323 | bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) { |
mlee350 | 0:a23e3099bb0a | 324 | char str[20]; |
mlee350 | 0:a23e3099bb0a | 325 | |
mlee350 | 0:a23e3099bb0a | 326 | uint8_t i=0; |
mlee350 | 0:a23e3099bb0a | 327 | while (i < max) { |
mlee350 | 0:a23e3099bb0a | 328 | if (newNMEAreceived()) { |
mlee350 | 0:a23e3099bb0a | 329 | char *nmea = lastNMEA(); |
mlee350 | 0:a23e3099bb0a | 330 | strncpy(str, nmea, 20); |
mlee350 | 0:a23e3099bb0a | 331 | str[19] = 0; |
mlee350 | 0:a23e3099bb0a | 332 | i++; |
mlee350 | 0:a23e3099bb0a | 333 | |
mlee350 | 0:a23e3099bb0a | 334 | if (strstr(str, wait4me)) |
mlee350 | 0:a23e3099bb0a | 335 | return true; |
mlee350 | 0:a23e3099bb0a | 336 | } |
mlee350 | 0:a23e3099bb0a | 337 | } |
mlee350 | 0:a23e3099bb0a | 338 | |
mlee350 | 0:a23e3099bb0a | 339 | return false; |
mlee350 | 0:a23e3099bb0a | 340 | } |
mlee350 | 0:a23e3099bb0a | 341 | |
mlee350 | 0:a23e3099bb0a | 342 | bool Adafruit_GPS::LOCUS_StartLogger(void) { |
mlee350 | 0:a23e3099bb0a | 343 | sendCommand(PMTK_LOCUS_STARTLOG); |
mlee350 | 0:a23e3099bb0a | 344 | recvdflag = false; |
mlee350 | 0:a23e3099bb0a | 345 | return waitForSentence(PMTK_LOCUS_LOGSTARTED); |
mlee350 | 0:a23e3099bb0a | 346 | } |
mlee350 | 0:a23e3099bb0a | 347 | |
mlee350 | 0:a23e3099bb0a | 348 | bool Adafruit_GPS::LOCUS_ReadStatus(void) { |
mlee350 | 0:a23e3099bb0a | 349 | sendCommand(PMTK_LOCUS_QUERY_STATUS); |
mlee350 | 0:a23e3099bb0a | 350 | |
mlee350 | 0:a23e3099bb0a | 351 | if (! waitForSentence("$PMTKLOG")) |
mlee350 | 0:a23e3099bb0a | 352 | return false; |
mlee350 | 0:a23e3099bb0a | 353 | |
mlee350 | 0:a23e3099bb0a | 354 | char *response = lastNMEA(); |
mlee350 | 0:a23e3099bb0a | 355 | uint16_t parsed[10]; |
mlee350 | 0:a23e3099bb0a | 356 | uint8_t i; |
mlee350 | 0:a23e3099bb0a | 357 | |
mlee350 | 0:a23e3099bb0a | 358 | for (i=0; i<10; i++) parsed[i] = -1; |
mlee350 | 0:a23e3099bb0a | 359 | |
mlee350 | 0:a23e3099bb0a | 360 | response = strchr(response, ','); |
mlee350 | 0:a23e3099bb0a | 361 | for (i=0; i<10; i++) { |
mlee350 | 0:a23e3099bb0a | 362 | if (!response || (response[0] == 0) || (response[0] == '*')) |
mlee350 | 0:a23e3099bb0a | 363 | break; |
mlee350 | 0:a23e3099bb0a | 364 | response++; |
mlee350 | 0:a23e3099bb0a | 365 | parsed[i]=0; |
mlee350 | 0:a23e3099bb0a | 366 | while ((response[0] != ',') && |
mlee350 | 0:a23e3099bb0a | 367 | (response[0] != '*') && (response[0] != 0)) { |
mlee350 | 0:a23e3099bb0a | 368 | parsed[i] *= 10; |
mlee350 | 0:a23e3099bb0a | 369 | char c = response[0]; |
mlee350 | 0:a23e3099bb0a | 370 | if (isdigit(c)) |
mlee350 | 0:a23e3099bb0a | 371 | parsed[i] += c - '0'; |
mlee350 | 0:a23e3099bb0a | 372 | else |
mlee350 | 0:a23e3099bb0a | 373 | parsed[i] = c; |
mlee350 | 0:a23e3099bb0a | 374 | response++; |
mlee350 | 0:a23e3099bb0a | 375 | } |
mlee350 | 0:a23e3099bb0a | 376 | } |
mlee350 | 0:a23e3099bb0a | 377 | LOCUS_serial = parsed[0]; |
mlee350 | 0:a23e3099bb0a | 378 | LOCUS_type = parsed[1]; |
mlee350 | 0:a23e3099bb0a | 379 | if (isalpha(parsed[2])) { |
mlee350 | 0:a23e3099bb0a | 380 | parsed[2] = parsed[2] - 'a' + 10; |
mlee350 | 0:a23e3099bb0a | 381 | } |
mlee350 | 0:a23e3099bb0a | 382 | LOCUS_mode = parsed[2]; |
mlee350 | 0:a23e3099bb0a | 383 | LOCUS_config = parsed[3]; |
mlee350 | 0:a23e3099bb0a | 384 | LOCUS_interval = parsed[4]; |
mlee350 | 0:a23e3099bb0a | 385 | LOCUS_distance = parsed[5]; |
mlee350 | 0:a23e3099bb0a | 386 | LOCUS_speed = parsed[6]; |
mlee350 | 0:a23e3099bb0a | 387 | LOCUS_status = !parsed[7]; |
mlee350 | 0:a23e3099bb0a | 388 | LOCUS_records = parsed[8]; |
mlee350 | 0:a23e3099bb0a | 389 | LOCUS_percent = parsed[9]; |
mlee350 | 0:a23e3099bb0a | 390 | |
mlee350 | 0:a23e3099bb0a | 391 | return true; |
mlee350 | 0:a23e3099bb0a | 392 | } |
mlee350 | 0:a23e3099bb0a | 393 | |
mlee350 | 0:a23e3099bb0a | 394 | // Standby Mode Switches |
mlee350 | 0:a23e3099bb0a | 395 | bool Adafruit_GPS::standby(void) { |
mlee350 | 0:a23e3099bb0a | 396 | if (inStandbyMode) { |
mlee350 | 0:a23e3099bb0a | 397 | 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 | 398 | } |
mlee350 | 0:a23e3099bb0a | 399 | else { |
mlee350 | 0:a23e3099bb0a | 400 | inStandbyMode = true; |
mlee350 | 0:a23e3099bb0a | 401 | sendCommand(PMTK_STANDBY); |
mlee350 | 0:a23e3099bb0a | 402 | //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 | 403 | return true; |
mlee350 | 0:a23e3099bb0a | 404 | } |
mlee350 | 0:a23e3099bb0a | 405 | } |
mlee350 | 0:a23e3099bb0a | 406 | |
mlee350 | 0:a23e3099bb0a | 407 | bool Adafruit_GPS::wakeup(void) { |
mlee350 | 0:a23e3099bb0a | 408 | if (inStandbyMode) { |
mlee350 | 0:a23e3099bb0a | 409 | inStandbyMode = false; |
mlee350 | 0:a23e3099bb0a | 410 | sendCommand(""); // send byte to wake it up |
mlee350 | 0:a23e3099bb0a | 411 | return waitForSentence(PMTK_AWAKE); |
mlee350 | 0:a23e3099bb0a | 412 | } |
mlee350 | 0:a23e3099bb0a | 413 | else { |
mlee350 | 0:a23e3099bb0a | 414 | return false; // Returns false if not in standby mode, nothing to wakeup |
mlee350 | 0:a23e3099bb0a | 415 | } |
mlee350 | 0:a23e3099bb0a | 416 | } |