Jim Carver / GroveGPS

Improved, thread compatible. Adds new features

Dependents:   GroveGPS-Example

Fork of GroveGPS by Michael Ray

GroveGPS.h@4:4615d6e99bb4, 2018-05-31 (annotated)

Committer:
JimCarver
Date:
Thu May 31 17:21:40 2018 +0000
Revision:
4:4615d6e99bb4
Parent:
3:cc5c9faa1cc6 
Thread based example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
michaelray 0:56d6407653a7 1 #ifndef _GROVE_GPS_H_
michaelray 0:56d6407653a7 2 #define _GROVE_GPS_H_
michaelray 0:56d6407653a7 3
michaelray 0:56d6407653a7 4 #include "mbed.h"
michaelray 0:56d6407653a7 5 #include <stdlib.h>
michaelray 0:56d6407653a7 6 #include <string>
michaelray 0:56d6407653a7 7
JimCarver 4:4615d6e99bb4 8
michaelray 0:56d6407653a7 9 class GroveGPS {
michaelray 0:56d6407653a7 10
michaelray 0:56d6407653a7 11 public:
michaelray 0:56d6407653a7 12
JimCarver 4:4615d6e99bb4 13 GroveGPS() : _last_line("") {
michaelray 0:56d6407653a7 14
michaelray 0:56d6407653a7 15 }
michaelray 0:56d6407653a7 16
JimCarver 4:4615d6e99bb4 17 std::string _last_line;
JimCarver 4:4615d6e99bb4 18
michaelray 0:56d6407653a7 19 struct GGA {
michaelray 0:56d6407653a7 20 double utc_time; // Format: hhmmss.sss
michaelray 0:56d6407653a7 21 double latitude; // Format: ddmm.mmmm
michaelray 0:56d6407653a7 22 char ns_indicator; // Format: N=north or S=south
michaelray 0:56d6407653a7 23 double longitude; // Format: dddmm.mmmm
michaelray 0:56d6407653a7 24 char ew_indicator; // Format: E=east or W=west
michaelray 0:56d6407653a7 25 int position_fix; // Options: [0=not available, 1=GPS SPS mode, 2=Differential GPS, 6=dead reckoning]
michaelray 0:56d6407653a7 26 int sats_used; // Range: 0-12
michaelray 0:56d6407653a7 27 double hdop; // Horizontal Dilution of Precision
michaelray 0:56d6407653a7 28 double msl_altitude;
michaelray 0:56d6407653a7 29 char msl_altitude_units;
michaelray 0:56d6407653a7 30 double geoid_separation;
michaelray 0:56d6407653a7 31 char geoid_separation_units;
michaelray 0:56d6407653a7 32 long age_of_diff;
michaelray 0:56d6407653a7 33 long diff_ref_station_id;
JimCarver 1:403eb5e9e994 34 int new_flag;
michaelray 0:56d6407653a7 35 std::string checksum;
michaelray 0:56d6407653a7 36 } gps_gga;
JimCarver 1:403eb5e9e994 37
JimCarver 1:403eb5e9e994 38 struct ZDA {
JimCarver 1:403eb5e9e994 39 double utc_time; // Format: hhmmss.sss
JimCarver 1:403eb5e9e994 40 int day;
JimCarver 1:403eb5e9e994 41 int month;
JimCarver 1:403eb5e9e994 42 int year;
JimCarver 1:403eb5e9e994 43 int new_flag;
JimCarver 1:403eb5e9e994 44 std::string checksum;
JimCarver 1:403eb5e9e994 45 } gps_zda;
michaelray 0:56d6407653a7 46
JimCarver 1:403eb5e9e994 47 struct VTG {
JimCarver 1:403eb5e9e994 48 double course1;
JimCarver 1:403eb5e9e994 49 int truec;
JimCarver 1:403eb5e9e994 50 double course2;
JimCarver 1:403eb5e9e994 51 int magnetic;
JimCarver 1:403eb5e9e994 52 double speed1;
JimCarver 1:403eb5e9e994 53 int knots;
JimCarver 1:403eb5e9e994 54 double speed2;
JimCarver 1:403eb5e9e994 55 int kmh;
JimCarver 1:403eb5e9e994 56 int new_flag;
JimCarver 1:403eb5e9e994 57 std::string checksum;
JimCarver 1:403eb5e9e994 58 } gps_vtg;
JimCarver 1:403eb5e9e994 59
JimCarver 3:cc5c9faa1cc6 60 void getTimestamp(char* buffer) {
JimCarver 3:cc5c9faa1cc6 61 if (gps_gga.position_fix==0)
JimCarver 3:cc5c9faa1cc6 62 sprintf(buffer, "N/A");
JimCarver 3:cc5c9faa1cc6 63 else
JimCarver 3:cc5c9faa1cc6 64 sprintf(buffer, "%f", gps_gga.utc_time);
JimCarver 3:cc5c9faa1cc6 65 }
JimCarver 1:403eb5e9e994 66
JimCarver 1:403eb5e9e994 67 void getAltitude(char* buffer) {
JimCarver 1:403eb5e9e994 68 if (gps_gga.position_fix==0)
JimCarver 1:403eb5e9e994 69 sprintf(buffer, "N/A");
JimCarver 1:403eb5e9e994 70 else
JimCarver 1:403eb5e9e994 71 sprintf(buffer, "%f", gps_gga.msl_altitude);
JimCarver 1:403eb5e9e994 72 }
JimCarver 1:403eb5e9e994 73
JimCarver 1:403eb5e9e994 74 void getCourse(char* buffer) {
JimCarver 1:403eb5e9e994 75 if (gps_gga.position_fix==0)
JimCarver 1:403eb5e9e994 76 sprintf(buffer, "N/A");
JimCarver 1:403eb5e9e994 77 else
JimCarver 1:403eb5e9e994 78 sprintf(buffer, "%f", gps_vtg.course1);
JimCarver 1:403eb5e9e994 79 }
JimCarver 1:403eb5e9e994 80
JimCarver 1:403eb5e9e994 81 void getSpeed(char* buffer) {
JimCarver 1:403eb5e9e994 82 if (gps_gga.position_fix==0)
JimCarver 1:403eb5e9e994 83 sprintf(buffer, "N/A");
JimCarver 1:403eb5e9e994 84 else
JimCarver 1:403eb5e9e994 85 sprintf(buffer, "%f", gps_vtg.speed1);
JimCarver 1:403eb5e9e994 86 }
JimCarver 3:cc5c9faa1cc6 87
JimCarver 3:cc5c9faa1cc6 88
JimCarver 3:cc5c9faa1cc6 89 void getUncertanty(char* buffer) {
JimCarver 1:403eb5e9e994 90 if (gps_gga.position_fix==0)
JimCarver 1:403eb5e9e994 91 sprintf(buffer, "N/A");
JimCarver 1:403eb5e9e994 92 else
JimCarver 3:cc5c9faa1cc6 93 sprintf(buffer, "%f", gps_gga.hdop);
michaelray 0:56d6407653a7 94 }
JimCarver 3:cc5c9faa1cc6 95
michaelray 0:56d6407653a7 96 void getLatitude(char* buffer) {
michaelray 0:56d6407653a7 97 double coordinate = convertGPSToDecimal(gps_gga.latitude);
JimCarver 3:cc5c9faa1cc6 98 if (gps_gga.position_fix==0) {
michaelray 0:56d6407653a7 99 sprintf(buffer, "N/A");
JimCarver 3:cc5c9faa1cc6 100 } else {
JimCarver 4:4615d6e99bb4 101 if(gps_gga.ns_indicator == 'S') coordinate *= -1.000;
JimCarver 4:4615d6e99bb4 102 sprintf(buffer, "%f", coordinate);
JimCarver 3:cc5c9faa1cc6 103 }
michaelray 0:56d6407653a7 104 }
michaelray 0:56d6407653a7 105
michaelray 0:56d6407653a7 106 void getLongitude(char* buffer) {
michaelray 0:56d6407653a7 107 double coordinate = convertGPSToDecimal(gps_gga.longitude);
michaelray 0:56d6407653a7 108 if (gps_gga.position_fix==0)
michaelray 0:56d6407653a7 109 sprintf(buffer, "N/A");
JimCarver 4:4615d6e99bb4 110 else {
JimCarver 4:4615d6e99bb4 111 if(gps_gga.ew_indicator == 'W') coordinate *= -1.0000;
JimCarver 4:4615d6e99bb4 112 sprintf(buffer, "%f", coordinate);
JimCarver 4:4615d6e99bb4 113 }
michaelray 0:56d6407653a7 114 }
michaelray 0:56d6407653a7 115
JimCarver 1:403eb5e9e994 116
michaelray 0:56d6407653a7 117 double convertGPSToDecimal(double coordinate) {
michaelray 0:56d6407653a7 118 int degrees = coordinate/100.0;
michaelray 0:56d6407653a7 119 int minutes = ((int)coordinate) % 100;
michaelray 0:56d6407653a7 120 double seconds = coordinate - ((int)coordinate);
michaelray 0:56d6407653a7 121 return degrees + (minutes+seconds)/60;
michaelray 0:56d6407653a7 122
michaelray 0:56d6407653a7 123 }
michaelray 0:56d6407653a7 124
JimCarver 1:403eb5e9e994 125 void parseVTG() {
JimCarver 1:403eb5e9e994 126 char* pEnd;
JimCarver 1:403eb5e9e994 127 for (int i=0; i<5; i++) {
JimCarver 1:403eb5e9e994 128 std::string current_item = _last_line.substr(0,_last_line.find(","));
JimCarver 1:403eb5e9e994 129 _last_line = _last_line.substr(_last_line.find(",")+1);
JimCarver 1:403eb5e9e994 130 if (i==0) { // NMEA Tag
JimCarver 1:403eb5e9e994 131 } else if (i==1) { // UTC time
JimCarver 1:403eb5e9e994 132 gps_vtg.course1 = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 133 } else if (i==3) {
JimCarver 1:403eb5e9e994 134 gps_vtg.course2 = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 135 } else if (i==5) {
JimCarver 1:403eb5e9e994 136 gps_vtg.speed1 = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 137 } else if (i==7) {
JimCarver 1:403eb5e9e994 138 gps_vtg.speed2 = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 139 }
JimCarver 3:cc5c9faa1cc6 140 if(gps_vtg.course2 > gps_vtg.course1) gps_vtg.course1 = gps_vtg.course2;
JimCarver 3:cc5c9faa1cc6 141 if(gps_vtg.speed2 > gps_vtg.speed1) gps_vtg.speed1 = gps_vtg.speed2;
JimCarver 1:403eb5e9e994 142 }
JimCarver 1:403eb5e9e994 143 gps_vtg.new_flag = 1;
JimCarver 1:403eb5e9e994 144 }
JimCarver 1:403eb5e9e994 145
JimCarver 1:403eb5e9e994 146 void parseZDA() {
JimCarver 1:403eb5e9e994 147 char* pEnd;
JimCarver 1:403eb5e9e994 148 for (int i=0; i<5; i++) {
JimCarver 1:403eb5e9e994 149 std::string current_item = _last_line.substr(0,_last_line.find(","));
JimCarver 1:403eb5e9e994 150 _last_line = _last_line.substr(_last_line.find(",")+1);
JimCarver 1:403eb5e9e994 151 if (i==0) { // NMEA Tag
JimCarver 1:403eb5e9e994 152 } else if (i==1) { // UTC time
JimCarver 1:403eb5e9e994 153 gps_zda.utc_time = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 154 } else if (i==2) {
JimCarver 1:403eb5e9e994 155 gps_zda.day = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 156 } else if (i==3) {
JimCarver 1:403eb5e9e994 157 gps_zda.month = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 158 } else if (i==4) {
JimCarver 1:403eb5e9e994 159 gps_zda.year = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 160 }
JimCarver 1:403eb5e9e994 161 }
JimCarver 1:403eb5e9e994 162 gps_zda.new_flag = 1;
michaelray 0:56d6407653a7 163 }
michaelray 0:56d6407653a7 164
michaelray 0:56d6407653a7 165 void parseGGA() {
michaelray 0:56d6407653a7 166 char* pEnd;
michaelray 0:56d6407653a7 167 for (int i=0; i<14; i++) {
michaelray 0:56d6407653a7 168 std::string current_item = _last_line.substr(0,_last_line.find(","));
michaelray 0:56d6407653a7 169 _last_line = _last_line.substr(_last_line.find(",")+1);
michaelray 0:56d6407653a7 170 if (i==0) { // NMEA Tag
michaelray 0:56d6407653a7 171 } else if (i==1) { // UTC time
michaelray 0:56d6407653a7 172 gps_gga.utc_time = strtod(current_item.c_str(), &pEnd);
michaelray 0:56d6407653a7 173 } else if (i==2) { // Latitude
michaelray 0:56d6407653a7 174 gps_gga.latitude = strtod(current_item.c_str(), &pEnd);
michaelray 0:56d6407653a7 175 } else if (i==3) { // Latitude North/South indicator
michaelray 0:56d6407653a7 176 gps_gga.ns_indicator = current_item[0];
michaelray 0:56d6407653a7 177 } else if (i==4) { // Longitude
michaelray 0:56d6407653a7 178 gps_gga.longitude = strtod(current_item.c_str(), &pEnd);
michaelray 0:56d6407653a7 179 } else if (i==5) { // Longitude indicator
michaelray 0:56d6407653a7 180 gps_gga.ew_indicator = current_item[0];
michaelray 0:56d6407653a7 181 } else if (i==6) {
michaelray 0:56d6407653a7 182 gps_gga.position_fix = strtod(current_item.c_str(), &pEnd);
JimCarver 1:403eb5e9e994 183 }else if (i==7) {
JimCarver 1:403eb5e9e994 184 gps_gga.sats_used = strtod(current_item.c_str(), &pEnd);
JimCarver 3:cc5c9faa1cc6 185 } else if (i==8) { // Uncertanty
JimCarver 1:403eb5e9e994 186 gps_gga.hdop = strtod(current_item.c_str(), &pEnd);
JimCarver 3:cc5c9faa1cc6 187 } else if (i==9) { // Altitude mean sea level
JimCarver 1:403eb5e9e994 188 gps_gga.msl_altitude = strtod(current_item.c_str(), &pEnd);
JimCarver 3:cc5c9faa1cc6 189 } else if (i==11) {
JimCarver 3:cc5c9faa1cc6 190 gps_gga.geoid_separation = strtod(current_item.c_str(), &pEnd);
JimCarver 3:cc5c9faa1cc6 191 gps_gga.msl_altitude += gps_gga.geoid_separation;
michaelray 0:56d6407653a7 192 }
michaelray 0:56d6407653a7 193 }
JimCarver 1:403eb5e9e994 194 gps_gga.new_flag = 1;
michaelray 0:56d6407653a7 195 }
JimCarver 1:403eb5e9e994 196
michaelray 0:56d6407653a7 197 };
michaelray 0:56d6407653a7 198
michaelray 0:56d6407653a7 199 #endif