Improved, thread compatible. Adds new features
Fork of GroveGPS by
GroveGPS.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
JimCarver | 3:cc5c9faa1cc6 | 1 | // ---------------------------------------------------------------------------- |
JimCarver | 3:cc5c9faa1cc6 | 2 | // Copyright 2016-2017 ARM Ltd. |
JimCarver | 3:cc5c9faa1cc6 | 3 | // |
JimCarver | 3:cc5c9faa1cc6 | 4 | // SPDX-License-Identifier: Apache-2.0 |
JimCarver | 3:cc5c9faa1cc6 | 5 | // |
JimCarver | 3:cc5c9faa1cc6 | 6 | // Licensed under the Apache License, Version 2.0 (the "License"); |
JimCarver | 3:cc5c9faa1cc6 | 7 | // you may not use this file except in compliance with the License. |
JimCarver | 3:cc5c9faa1cc6 | 8 | // You may obtain a copy of the License at |
JimCarver | 3:cc5c9faa1cc6 | 9 | // |
JimCarver | 3:cc5c9faa1cc6 | 10 | // http://www.apache.org/licenses/LICENSE-2.0 |
JimCarver | 3:cc5c9faa1cc6 | 11 | // |
JimCarver | 3:cc5c9faa1cc6 | 12 | // Unless required by applicable law or agreed to in writing, software |
JimCarver | 3:cc5c9faa1cc6 | 13 | // distributed under the License is distributed on an "AS IS" BASIS, |
JimCarver | 3:cc5c9faa1cc6 | 14 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
JimCarver | 3:cc5c9faa1cc6 | 15 | // See the License for the specific language governing permissions and |
JimCarver | 3:cc5c9faa1cc6 | 16 | // limitations under the License. |
JimCarver | 3:cc5c9faa1cc6 | 17 | // ---------------------------------------------------------------------------- |
JimCarver | 3:cc5c9faa1cc6 | 18 | |
JimCarver | 3:cc5c9faa1cc6 | 19 | #include "mbed.h" |
JimCarver | 3:cc5c9faa1cc6 | 20 | |
JimCarver | 3:cc5c9faa1cc6 | 21 | #include "GroveGPS.h" |
JimCarver | 3:cc5c9faa1cc6 | 22 | |
JimCarver | 4:4615d6e99bb4 | 23 | Serial gps_serial(D1, D0, 9600); |
JimCarver | 4:4615d6e99bb4 | 24 | |
JimCarver | 4:4615d6e99bb4 | 25 | |
JimCarver | 4:4615d6e99bb4 | 26 | |
JimCarver | 4:4615d6e99bb4 | 27 | //Thread gpsThread; |
JimCarver | 4:4615d6e99bb4 | 28 | GroveGPS gps; |
JimCarver | 4:4615d6e99bb4 | 29 | |
JimCarver | 4:4615d6e99bb4 | 30 | Semaphore parse; |
JimCarver | 4:4615d6e99bb4 | 31 | Thread parsethread(osPriorityBelowNormal); |
JimCarver | 3:cc5c9faa1cc6 | 32 | |
JimCarver | 3:cc5c9faa1cc6 | 33 | |
JimCarver | 4:4615d6e99bb4 | 34 | static void parseLine() { |
JimCarver | 4:4615d6e99bb4 | 35 | while(1) { |
JimCarver | 4:4615d6e99bb4 | 36 | parse.wait(); |
JimCarver | 4:4615d6e99bb4 | 37 | if (gps._last_line.find("GPGGA") != std::string::npos) { |
JimCarver | 4:4615d6e99bb4 | 38 | gps.parseGGA(); |
JimCarver | 4:4615d6e99bb4 | 39 | } |
JimCarver | 4:4615d6e99bb4 | 40 | if (gps._last_line.find("GPZDA") != std::string::npos) { |
JimCarver | 4:4615d6e99bb4 | 41 | gps.parseZDA(); |
JimCarver | 4:4615d6e99bb4 | 42 | } |
JimCarver | 4:4615d6e99bb4 | 43 | if (gps._last_line.find("GPVTG") != std::string::npos) { |
JimCarver | 4:4615d6e99bb4 | 44 | gps.parseVTG(); |
JimCarver | 4:4615d6e99bb4 | 45 | } |
JimCarver | 4:4615d6e99bb4 | 46 | gps._last_line = ""; |
JimCarver | 4:4615d6e99bb4 | 47 | } |
JimCarver | 4:4615d6e99bb4 | 48 | } |
JimCarver | 3:cc5c9faa1cc6 | 49 | |
JimCarver | 3:cc5c9faa1cc6 | 50 | |
JimCarver | 4:4615d6e99bb4 | 51 | void readCharacter(char newCharacter) { |
JimCarver | 4:4615d6e99bb4 | 52 | if (newCharacter == '\n') { |
JimCarver | 4:4615d6e99bb4 | 53 | parse.release(); |
JimCarver | 4:4615d6e99bb4 | 54 | } else { |
JimCarver | 4:4615d6e99bb4 | 55 | gps._last_line += newCharacter; |
JimCarver | 4:4615d6e99bb4 | 56 | } |
JimCarver | 4:4615d6e99bb4 | 57 | } |
JimCarver | 4:4615d6e99bb4 | 58 | |
JimCarver | 4:4615d6e99bb4 | 59 | |
JimCarver | 3:cc5c9faa1cc6 | 60 | void service_serial(void) { |
JimCarver | 4:4615d6e99bb4 | 61 | readCharacter(gps_serial.getc()); |
JimCarver | 3:cc5c9faa1cc6 | 62 | } |
JimCarver | 3:cc5c9faa1cc6 | 63 | |
JimCarver | 3:cc5c9faa1cc6 | 64 | |
JimCarver | 3:cc5c9faa1cc6 | 65 | int calc_cs(char * str) { |
JimCarver | 3:cc5c9faa1cc6 | 66 | char cs = 0; |
JimCarver | 3:cc5c9faa1cc6 | 67 | int x = 1; |
JimCarver | 3:cc5c9faa1cc6 | 68 | |
JimCarver | 3:cc5c9faa1cc6 | 69 | while(str[x] != '*') { |
JimCarver | 3:cc5c9faa1cc6 | 70 | cs ^= str[x++]; |
JimCarver | 3:cc5c9faa1cc6 | 71 | } |
JimCarver | 3:cc5c9faa1cc6 | 72 | return(cs); |
JimCarver | 3:cc5c9faa1cc6 | 73 | } |
JimCarver | 3:cc5c9faa1cc6 | 74 | |
JimCarver | 3:cc5c9faa1cc6 | 75 | void nema_send( void ) { |
JimCarver | 3:cc5c9faa1cc6 | 76 | |
JimCarver | 4:4615d6e99bb4 | 77 | char nema_mode[] = "$PMTK314,0,0,5,5,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0*"; |
JimCarver | 3:cc5c9faa1cc6 | 78 | char nema_cmd[64]; |
JimCarver | 3:cc5c9faa1cc6 | 79 | int x = 0; |
JimCarver | 3:cc5c9faa1cc6 | 80 | sprintf( nema_cmd, "%s%x\r\n", nema_mode, calc_cs(nema_mode)); |
JimCarver | 3:cc5c9faa1cc6 | 81 | while(nema_cmd[x]) { |
JimCarver | 3:cc5c9faa1cc6 | 82 | gps_serial.putc(nema_cmd[x++]); |
JimCarver | 3:cc5c9faa1cc6 | 83 | } |
JimCarver | 3:cc5c9faa1cc6 | 84 | } |
JimCarver | 3:cc5c9faa1cc6 | 85 | |
JimCarver | 3:cc5c9faa1cc6 | 86 | int GPS_init() { |
JimCarver | 4:4615d6e99bb4 | 87 | gps._last_line = ""; |
JimCarver | 3:cc5c9faa1cc6 | 88 | gps_serial.attach( &service_serial, Serial::RxIrq ); |
JimCarver | 3:cc5c9faa1cc6 | 89 | gps.gps_gga.new_flag = 0; |
JimCarver | 3:cc5c9faa1cc6 | 90 | gps.gps_zda.new_flag = 0; |
JimCarver | 3:cc5c9faa1cc6 | 91 | gps.gps_vtg.new_flag = 0; |
JimCarver | 3:cc5c9faa1cc6 | 92 | nema_send(); |
JimCarver | 4:4615d6e99bb4 | 93 | printf("\r\nGPS Init\r\n"); |
JimCarver | 4:4615d6e99bb4 | 94 | parsethread.start(parseLine); |
JimCarver | 4:4615d6e99bb4 | 95 | return 0; |
JimCarver | 3:cc5c9faa1cc6 | 96 | } |