Improved, thread compatible. Adds new features
Fork of GroveGPS by
GroveGPS.h
- Committer:
- JimCarver
- Date:
- 2018-04-14
- Revision:
- 1:403eb5e9e994
- Parent:
- 0:56d6407653a7
- Child:
- 2:073674e3f5bf
File content as of revision 1:403eb5e9e994:
#ifndef _GROVE_GPS_H_ #define _GROVE_GPS_H_ #include "mbed.h" #include <stdlib.h> #include <string> class GroveGPS { public: GroveGPS() : _last_line("") {} void readCharacter(char newCharacter) { if (newCharacter == '\n') { parseLine(); _last_line = ""; } else { _last_line += newCharacter; } } struct GGA { double utc_time; // Format: hhmmss.sss double latitude; // Format: ddmm.mmmm char ns_indicator; // Format: N=north or S=south double longitude; // Format: dddmm.mmmm char ew_indicator; // Format: E=east or W=west int position_fix; // Options: [0=not available, 1=GPS SPS mode, 2=Differential GPS, 6=dead reckoning] int sats_used; // Range: 0-12 double hdop; // Horizontal Dilution of Precision double msl_altitude; char msl_altitude_units; double geoid_separation; char geoid_separation_units; long age_of_diff; long diff_ref_station_id; int new_flag; std::string checksum; } gps_gga; struct ZDA { double utc_time; // Format: hhmmss.sss int day; int month; int year; int new_flag; std::string checksum; } gps_zda; struct VTG { double course1; int truec; double course2; int magnetic; double speed1; int knots; double speed2; int kmh; int new_flag; std::string checksum; } gps_vtg; void getAltitude(char* buffer) { if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%f", gps_gga.msl_altitude); } void getCourse(char* buffer) { if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%f", gps_vtg.course1); } void getSpeed(char* buffer) { if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%f", gps_vtg.speed1); } void getTimestamp(char* buffer) { if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%f", gps_gga.utc_time); } void getLatitude(char* buffer) { double coordinate = convertGPSToDecimal(gps_gga.latitude); if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%c%f", (gps_gga.ns_indicator == 'N') ? '0' : '-', coordinate); } void getLongitude(char* buffer) { double coordinate = convertGPSToDecimal(gps_gga.longitude); if (gps_gga.position_fix==0) sprintf(buffer, "N/A"); else sprintf(buffer, "%c%f", (gps_gga.ew_indicator == 'E') ? '0' : '-', coordinate); } private: std::string _last_line; double convertGPSToDecimal(double coordinate) { int degrees = coordinate/100.0; int minutes = ((int)coordinate) % 100; double seconds = coordinate - ((int)coordinate); return degrees + (minutes+seconds)/60; } void parseLine() { if (_last_line.find("GPGGA") != std::string::npos) { parseGGA(); } if (_last_line.find("GPZDA") != std::string::npos) { parseZDA(); } if (_last_line.find("GPVTG") != std::string::npos) { parseVTG(); } } void parseVTG() { char* pEnd; for (int i=0; i<5; i++) { std::string current_item = _last_line.substr(0,_last_line.find(",")); _last_line = _last_line.substr(_last_line.find(",")+1); if (i==0) { // NMEA Tag } else if (i==1) { // UTC time gps_vtg.course1 = strtod(current_item.c_str(), &pEnd); } else if (i==3) { gps_vtg.course2 = strtod(current_item.c_str(), &pEnd); } else if (i==5) { gps_vtg.speed1 = strtod(current_item.c_str(), &pEnd); } else if (i==7) { gps_vtg.speed2 = strtod(current_item.c_str(), &pEnd); } } gps_vtg.new_flag = 1; } void parseZDA() { char* pEnd; for (int i=0; i<5; i++) { std::string current_item = _last_line.substr(0,_last_line.find(",")); _last_line = _last_line.substr(_last_line.find(",")+1); if (i==0) { // NMEA Tag } else if (i==1) { // UTC time gps_zda.utc_time = strtod(current_item.c_str(), &pEnd); } else if (i==2) { gps_zda.day = strtod(current_item.c_str(), &pEnd); } else if (i==3) { gps_zda.month = strtod(current_item.c_str(), &pEnd); } else if (i==4) { gps_zda.year = strtod(current_item.c_str(), &pEnd); } } gps_zda.new_flag = 1; } void parseGGA() { char* pEnd; for (int i=0; i<14; i++) { std::string current_item = _last_line.substr(0,_last_line.find(",")); _last_line = _last_line.substr(_last_line.find(",")+1); if (i==0) { // NMEA Tag } else if (i==1) { // UTC time gps_gga.utc_time = strtod(current_item.c_str(), &pEnd); } else if (i==2) { // Latitude gps_gga.latitude = strtod(current_item.c_str(), &pEnd); } else if (i==3) { // Latitude North/South indicator gps_gga.ns_indicator = current_item[0]; } else if (i==4) { // Longitude gps_gga.longitude = strtod(current_item.c_str(), &pEnd); } else if (i==5) { // Longitude indicator gps_gga.ew_indicator = current_item[0]; } else if (i==6) { gps_gga.position_fix = strtod(current_item.c_str(), &pEnd); }else if (i==7) { gps_gga.sats_used = strtod(current_item.c_str(), &pEnd); } else if (i==8) { gps_gga.hdop = strtod(current_item.c_str(), &pEnd); } else if (i==9) { gps_gga.msl_altitude = strtod(current_item.c_str(), &pEnd); } } gps_gga.new_flag = 1; } }; #endif