Jon Freeman / Mbed 2 deprecated Alternator2020_06

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed BufferedSerial Servo2 PCT2075 I2CEeprom FastPWM

gps_mod.cpp@4:28cc0cf01570, 2020-08-07 (annotated)

Committer:
JonFreeman
Date:
Fri Aug 07 13:06:03 2020 +0000
Revision:
4:28cc0cf01570
Parent:
3:43cb067ecd00 
Ready to test Aug.2020 pcb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 3:43cb067ecd00 1 #include "mbed.h"
JonFreeman 3:43cb067ecd00 2
JonFreeman 4:28cc0cf01570 3 //#ifdef GPS_
JonFreeman 3:43cb067ecd00 4
JonFreeman 3:43cb067ecd00 5 #include "mbed.h"
JonFreeman 3:43cb067ecd00 6 #include "gps_mod.h"
JonFreeman 3:43cb067ecd00 7 using namespace std;
JonFreeman 3:43cb067ecd00 8 #if defined (TARGET_NUCLEO_L476RG) // Computer is low power ARM Cortex development system
JonFreeman 3:43cb067ecd00 9 #include "BufferedSerial.h"
JonFreeman 3:43cb067ecd00 10 BufferedSerial gps_module (A0, A1);
JonFreeman 3:43cb067ecd00 11 #endif
JonFreeman 3:43cb067ecd00 12 #if defined (TARGET_DISCO_F746NG) // Computer is high-end ARM Cortex development system with touch lcd
JonFreeman 3:43cb067ecd00 13 #include "BufferedSoftSerial.h"
JonFreeman 3:43cb067ecd00 14 BufferedSoftSerial gps_module (A4, A5);
JonFreeman 3:43cb067ecd00 15 #endif
JonFreeman 3:43cb067ecd00 16 #ifdef TARGET_NUCLEO_L432KC
JonFreeman 3:43cb067ecd00 17 #include "BufferedSerial.h"
JonFreeman 3:43cb067ecd00 18 extern BufferedSerial gps_module;
JonFreeman 3:43cb067ecd00 19 #endif
JonFreeman 3:43cb067ecd00 20 gps_mod::gps_mod() // Constructor
JonFreeman 3:43cb067ecd00 21 {
JonFreeman 3:43cb067ecd00 22 //BufferedSoftSerial gps_module (_pinTx : A0, _pinRx : A1);
JonFreeman 3:43cb067ecd00 23 state = WAITING4DOLLAR;
JonFreeman 3:43cb067ecd00 24 destptr = dest;
JonFreeman 3:43cb067ecd00 25 strcpy (latstr, "Invalid\0");
JonFreeman 3:43cb067ecd00 26 strcpy (longstr, "Invalid\0");
JonFreeman 3:43cb067ecd00 27 strcpy (altistr, "Invalid\0");
JonFreeman 3:43cb067ecd00 28 strcpy (timestr, "??:??:??\0");
JonFreeman 3:43cb067ecd00 29 chcnt = 0;
JonFreeman 3:43cb067ecd00 30 inmsg = false;
JonFreeman 3:43cb067ecd00 31 newdata = false;
JonFreeman 3:43cb067ecd00 32 posfix[0] = 'x';
JonFreeman 3:43cb067ecd00 33 posfix[1] = 0;
JonFreeman 3:43cb067ecd00 34 return;
JonFreeman 3:43cb067ecd00 35 }
JonFreeman 3:43cb067ecd00 36
JonFreeman 3:43cb067ecd00 37 bool gps_mod::new_data() {
JonFreeman 3:43cb067ecd00 38 bool r;
JonFreeman 3:43cb067ecd00 39 r = newdata;
JonFreeman 3:43cb067ecd00 40 newdata = false;
JonFreeman 3:43cb067ecd00 41 return r;
JonFreeman 3:43cb067ecd00 42 }
JonFreeman 3:43cb067ecd00 43
JonFreeman 3:43cb067ecd00 44 bool gps_mod::fix_valid()
JonFreeman 3:43cb067ecd00 45 {
JonFreeman 3:43cb067ecd00 46 if (posfix[0] < '1' || posfix[0] > '3') return false;
JonFreeman 3:43cb067ecd00 47 return true;
JonFreeman 3:43cb067ecd00 48 }
JonFreeman 3:43cb067ecd00 49
JonFreeman 3:43cb067ecd00 50 char * gps_mod::date () {
JonFreeman 3:43cb067ecd00 51 return datestr;
JonFreeman 3:43cb067ecd00 52 }
JonFreeman 3:43cb067ecd00 53
JonFreeman 3:43cb067ecd00 54 char * gps_mod::heading () {
JonFreeman 3:43cb067ecd00 55 return headingstr;
JonFreeman 3:43cb067ecd00 56 }
JonFreeman 3:43cb067ecd00 57
JonFreeman 3:43cb067ecd00 58 char * gps_mod::mph () {
JonFreeman 3:43cb067ecd00 59 return speed_mphourstr;
JonFreeman 3:43cb067ecd00 60 }
JonFreeman 3:43cb067ecd00 61
JonFreeman 3:43cb067ecd00 62 char * gps_mod::position_fix_indicator ()
JonFreeman 3:43cb067ecd00 63 {
JonFreeman 3:43cb067ecd00 64 return posfix;
JonFreeman 3:43cb067ecd00 65 }
JonFreeman 3:43cb067ecd00 66
JonFreeman 3:43cb067ecd00 67 char * gps_mod::latitude()
JonFreeman 3:43cb067ecd00 68 {
JonFreeman 3:43cb067ecd00 69 if (fix_valid()) return latstr;
JonFreeman 3:43cb067ecd00 70 return "No Fix ";
JonFreeman 3:43cb067ecd00 71 }
JonFreeman 3:43cb067ecd00 72
JonFreeman 3:43cb067ecd00 73 char * gps_mod::longitude()
JonFreeman 3:43cb067ecd00 74 {
JonFreeman 3:43cb067ecd00 75 if (fix_valid()) return longstr;
JonFreeman 3:43cb067ecd00 76 return "No Fix ";
JonFreeman 3:43cb067ecd00 77 }
JonFreeman 3:43cb067ecd00 78
JonFreeman 3:43cb067ecd00 79 char * gps_mod::altitude()
JonFreeman 3:43cb067ecd00 80 {
JonFreeman 3:43cb067ecd00 81 if (fix_valid()) return altistr;
JonFreeman 3:43cb067ecd00 82 return "No Fix ";
JonFreeman 3:43cb067ecd00 83 }
JonFreeman 3:43cb067ecd00 84
JonFreeman 3:43cb067ecd00 85 char * gps_mod::sat_count ()
JonFreeman 3:43cb067ecd00 86 {
JonFreeman 3:43cb067ecd00 87 return numofsats;
JonFreeman 3:43cb067ecd00 88 }
JonFreeman 3:43cb067ecd00 89
JonFreeman 3:43cb067ecd00 90 char * gps_mod::message(int mess_num)
JonFreeman 3:43cb067ecd00 91 {
JonFreeman 3:43cb067ecd00 92 if (mess_num < 0 || mess_num > 5)
JonFreeman 3:43cb067ecd00 93 return NULL;
JonFreeman 3:43cb067ecd00 94 return dest + mess_num * (MAXMSGLEN + 4);
JonFreeman 3:43cb067ecd00 95 }
JonFreeman 3:43cb067ecd00 96
JonFreeman 3:43cb067ecd00 97 char * gps_mod::time ()
JonFreeman 3:43cb067ecd00 98 {
JonFreeman 3:43cb067ecd00 99 // char * t = message(0);
JonFreeman 3:43cb067ecd00 100 return timestr;
JonFreeman 3:43cb067ecd00 101 }
JonFreeman 3:43cb067ecd00 102
JonFreeman 3:43cb067ecd00 103 double gps_mod::lat_merged ()
JonFreeman 3:43cb067ecd00 104 {
JonFreeman 3:43cb067ecd00 105 double result = strtod (latstr, NULL);
JonFreeman 3:43cb067ecd00 106 return result + (strtod (latstr + 3, NULL) / 60.0);
JonFreeman 3:43cb067ecd00 107 }
JonFreeman 3:43cb067ecd00 108
JonFreeman 3:43cb067ecd00 109 double gps_mod::lon_merged ()
JonFreeman 3:43cb067ecd00 110 {
JonFreeman 3:43cb067ecd00 111 double result = strtod (longstr, NULL);
JonFreeman 3:43cb067ecd00 112 return result + (strtod (longstr + 4, NULL) / 60.0);
JonFreeman 3:43cb067ecd00 113 }
JonFreeman 3:43cb067ecd00 114
JonFreeman 3:43cb067ecd00 115 int gps_mod::update()
JonFreeman 3:43cb067ecd00 116 {
JonFreeman 3:43cb067ecd00 117 static const char month_tab[] = "---\0Jan\0Feb\0Mar\0Apr\0May\0Jun\0Jul\0Aug\0Sep\0Oct\0Nov\0Dec\0";
JonFreeman 3:43cb067ecd00 118 const int MAX_COMMAS_IN_MSG = 24;
JonFreeman 3:43cb067ecd00 119 int date, month;
JonFreeman 3:43cb067ecd00 120 while (gps_module.readable()) {
JonFreeman 3:43cb067ecd00 121 ch = gps_module.getc();
JonFreeman 3:43cb067ecd00 122 switch (state) {
JonFreeman 3:43cb067ecd00 123 case WAITING4DOLLAR:
JonFreeman 3:43cb067ecd00 124 i = 0;
JonFreeman 3:43cb067ecd00 125 if (ch == '$') state = GOTDOLLAR;
JonFreeman 3:43cb067ecd00 126 break;
JonFreeman 3:43cb067ecd00 127 case GOTDOLLAR: // accumulate 5 chars after '$'
JonFreeman 3:43cb067ecd00 128 hdracc[i++] = ch;
JonFreeman 3:43cb067ecd00 129 hdracc[i] = 0;
JonFreeman 3:43cb067ecd00 130 if (i > 4) {
JonFreeman 3:43cb067ecd00 131 i = -1;
JonFreeman 3:43cb067ecd00 132 state = GOTHDR;
JonFreeman 3:43cb067ecd00 133 }
JonFreeman 3:43cb067ecd00 134 break;
JonFreeman 3:43cb067ecd00 135 case GOTHDR: // have read "$GP???" to get here
JonFreeman 3:43cb067ecd00 136 // if (ch != ',') pc.printf ("Oops, comma missing\r\n");
JonFreeman 3:43cb067ecd00 137 if (strncmp(hdracc,"GPGGA",5) == 0) i = 0;
JonFreeman 3:43cb067ecd00 138 else if (strncmp(hdracc,"GPGLL",5) == 0) i = 1;
JonFreeman 3:43cb067ecd00 139 else if (strncmp(hdracc,"GPGSA",5) == 0) i = 2;
JonFreeman 3:43cb067ecd00 140 else if (strncmp(hdracc,"GPGSV",5) == 0) i = 3;
JonFreeman 3:43cb067ecd00 141 else if (strncmp(hdracc,"GPRMC",5) == 0) i = 4;//161229.487,A,3723.24756, N,12158.34162,W, 0.13, 309.62, 120598,,*10
JonFreeman 3:43cb067ecd00 142 // time ? lat lon ground speed knots|heading|date
JonFreeman 3:43cb067ecd00 143 else if (strncmp(hdracc,"GPVTG",5) == 0) i = 5;
JonFreeman 3:43cb067ecd00 144 if (i < 0) state = WAITING4DOLLAR; // Found invalid header info
JonFreeman 3:43cb067ecd00 145 else { // Validated header info
JonFreeman 3:43cb067ecd00 146 destptr = message(i);
JonFreeman 3:43cb067ecd00 147 chcnt = 0;
JonFreeman 3:43cb067ecd00 148 state = WAITING4CR;
JonFreeman 3:43cb067ecd00 149 }
JonFreeman 3:43cb067ecd00 150 break;
JonFreeman 3:43cb067ecd00 151 case WAITING4CR:
JonFreeman 3:43cb067ecd00 152 if (ch == '\r') {
JonFreeman 3:43cb067ecd00 153 state = WAITING4LF; // process new string data here
JonFreeman 3:43cb067ecd00 154 int comma_count = 0, comma_positions[MAX_COMMAS_IN_MSG + 2];
JonFreeman 3:43cb067ecd00 155 for (int j = 0; j < strlen(destptr) && j < MAXMSGLEN && comma_count < MAX_COMMAS_IN_MSG; j++) {
JonFreeman 3:43cb067ecd00 156 if (destptr[j] == ',') {
JonFreeman 3:43cb067ecd00 157 comma_positions[comma_count++] = j;
JonFreeman 3:43cb067ecd00 158 comma_positions[comma_count] = 0;
JonFreeman 3:43cb067ecd00 159 }
JonFreeman 3:43cb067ecd00 160 }
JonFreeman 3:43cb067ecd00 161 switch (i) {
JonFreeman 3:43cb067ecd00 162 case 0: // GGA 183655.00,5110.25620,N,00320.09926,W,1,11,0.80,59.9,M,49.5,M,,*74
JonFreeman 3:43cb067ecd00 163 if (comma_positions[0] == 9) { // time data seems to exist
JonFreeman 3:43cb067ecd00 164 timestr[0] = dest[0];
JonFreeman 3:43cb067ecd00 165 timestr[1] = dest[1];
JonFreeman 3:43cb067ecd00 166 timestr[2] = ':';
JonFreeman 3:43cb067ecd00 167 timestr[3] = dest[2];
JonFreeman 3:43cb067ecd00 168 timestr[4] = dest[3];
JonFreeman 3:43cb067ecd00 169 timestr[5] = ':';
JonFreeman 3:43cb067ecd00 170 timestr[6] = dest[4];
JonFreeman 3:43cb067ecd00 171 timestr[7] = dest[5];
JonFreeman 3:43cb067ecd00 172 timestr[8] = 0;
JonFreeman 3:43cb067ecd00 173 } else {
JonFreeman 3:43cb067ecd00 174 strcpy (timestr, "Invalid");
JonFreeman 3:43cb067ecd00 175 }
JonFreeman 3:43cb067ecd00 176 posfix[0] = dest[comma_positions[4] + 1];
JonFreeman 3:43cb067ecd00 177 if (fix_valid()) {
JonFreeman 3:43cb067ecd00 178 int a = 0, b = comma_positions[5] + 1; // get numof sats
JonFreeman 3:43cb067ecd00 179 if (dest[b] == ',') {
JonFreeman 3:43cb067ecd00 180 numofsats[0] = '-';
JonFreeman 3:43cb067ecd00 181 numofsats[1] = '-';
JonFreeman 3:43cb067ecd00 182 }
JonFreeman 3:43cb067ecd00 183 else {
JonFreeman 3:43cb067ecd00 184 numofsats[0] = dest[b++];
JonFreeman 3:43cb067ecd00 185 numofsats[1] = dest[b++];
JonFreeman 3:43cb067ecd00 186 }
JonFreeman 3:43cb067ecd00 187 b = comma_positions[7] + 1; // get altitude
JonFreeman 3:43cb067ecd00 188 char c;
JonFreeman 3:43cb067ecd00 189 while ((c = dest[b++]) != ',' && a < 7)
JonFreeman 3:43cb067ecd00 190 altistr[a++] = c;
JonFreeman 3:43cb067ecd00 191 altistr[a] = 0;
JonFreeman 3:43cb067ecd00 192 }
JonFreeman 3:43cb067ecd00 193 numofsats[2] = 0;
JonFreeman 3:43cb067ecd00 194 break;
JonFreeman 3:43cb067ecd00 195 case 1: // GLL 5110.25606,N,00320.10001,W,183752.00,A,A*72
JonFreeman 3:43cb067ecd00 196 latstr[0] = destptr[0];
JonFreeman 3:43cb067ecd00 197 latstr[1] = destptr[1];
JonFreeman 3:43cb067ecd00 198 latstr[2] = '~';
JonFreeman 3:43cb067ecd00 199 latstr[3] = destptr[2];
JonFreeman 3:43cb067ecd00 200 latstr[4] = destptr[3];
JonFreeman 3:43cb067ecd00 201 latstr[5] = '.';
JonFreeman 3:43cb067ecd00 202 for (int k = 5; k < 10; k++)
JonFreeman 3:43cb067ecd00 203 latstr[k + 1] = destptr[k];
JonFreeman 3:43cb067ecd00 204 latstr[11] = ' ';
JonFreeman 3:43cb067ecd00 205 latstr[12] = destptr[11]; // N or S
JonFreeman 3:43cb067ecd00 206 latstr[13] = 0;
JonFreeman 3:43cb067ecd00 207 for (int k = 0; k < 3; k++)
JonFreeman 3:43cb067ecd00 208 longstr[k] = destptr[k + 13];
JonFreeman 3:43cb067ecd00 209 longstr[3] = '~';
JonFreeman 3:43cb067ecd00 210 longstr[4] = destptr[16];
JonFreeman 3:43cb067ecd00 211 longstr[5] = destptr[17];
JonFreeman 3:43cb067ecd00 212 longstr[6] = '.';
JonFreeman 3:43cb067ecd00 213 for (int k = 7; k < 12; k++)
JonFreeman 3:43cb067ecd00 214 longstr[k] = destptr[k + 12];
JonFreeman 3:43cb067ecd00 215 longstr[12] = ' ';
JonFreeman 3:43cb067ecd00 216 longstr[13] = destptr[25]; // E or W
JonFreeman 3:43cb067ecd00 217 longstr[14] = 0;
JonFreeman 3:43cb067ecd00 218 break;
JonFreeman 3:43cb067ecd00 219 case 2: // GSA A,3,11,22,01,03,17,23,19,14,09,,,,1.72,0.97,1.42*0E
JonFreeman 3:43cb067ecd00 220 break;
JonFreeman 3:43cb067ecd00 221 case 3: // GSV complex multiple
JonFreeman 3:43cb067ecd00 222 break; // 0 1 2 3 4 5 67
JonFreeman 3:43cb067ecd00 223 case 4: // RMC 184111.00, A,5110.25663, N,00320.10076,W, 0.223, , 090816,,,A*6B
JonFreeman 3:43cb067ecd00 224 // // 161229.487,A,3723.24756, N,12158.34162,W, 0.13, 309.62, 120598,,*10
JonFreeman 3:43cb067ecd00 225 // time ? lat lon ground speed knots|heading|date
JonFreeman 3:43cb067ecd00 226 if (comma_positions[6] + 1 == comma_positions[7]) // no heading data exists
JonFreeman 3:43cb067ecd00 227 strcpy (headingstr, "-/-");
JonFreeman 3:43cb067ecd00 228 else
JonFreeman 3:43cb067ecd00 229 sprintf(headingstr, "%.1f", strtod(destptr + comma_positions[6] + 1, NULL));
JonFreeman 3:43cb067ecd00 230 // pc.printf("%s ^%s^", destptr, headingstr);
JonFreeman 3:43cb067ecd00 231 date = (destptr[comma_positions[7] + 1] - '0') * 10 + (destptr[comma_positions[7] + 2] - '0');
JonFreeman 3:43cb067ecd00 232 month = (destptr[comma_positions[7] + 3] - '0') * 10 + (destptr[comma_positions[7] + 4] - '0');
JonFreeman 3:43cb067ecd00 233 if (month > 12 || month < 1)
JonFreeman 3:43cb067ecd00 234 month = 0;
JonFreeman 3:43cb067ecd00 235 month *= 4;
JonFreeman 3:43cb067ecd00 236 sprintf (datestr, "%d %s 20%d", date, &month_tab[month], strtol(&destptr[comma_positions[7] + 5], NULL, 10));
JonFreeman 3:43cb067ecd00 237 break;
JonFreeman 3:43cb067ecd00 238 case 5: // VTG ,T , ,M,0.098,N,0.181,K,A*2A course over ground and ground speed
JonFreeman 4:28cc0cf01570 239 //Adafruit $GPVTG,165.48,T,,M,0.03,N,0.06,K,A*37
JonFreeman 3:43cb067ecd00 240 //$ GPVTG 309.62,T , ,M,0.13, N,0.2, K*6E
JonFreeman 3:43cb067ecd00 241 sprintf (speed_mphourstr, "%.1fmph", km2miles * strtod(destptr + comma_positions[5] + 1, NULL));
JonFreeman 3:43cb067ecd00 242 newdata = true;
JonFreeman 3:43cb067ecd00 243 break; // course true|course magnetic|knots|km/hour
JonFreeman 3:43cb067ecd00 244 default:
JonFreeman 3:43cb067ecd00 245 // pc.printf ("Naf i = %d\r\n", i);
JonFreeman 3:43cb067ecd00 246 break;
JonFreeman 3:43cb067ecd00 247 }
JonFreeman 3:43cb067ecd00 248 } else { // char is not CR
JonFreeman 3:43cb067ecd00 249 if (chcnt > MAXMSGLEN) chcnt = MAXMSGLEN;
JonFreeman 3:43cb067ecd00 250 destptr[chcnt++] = ch;
JonFreeman 3:43cb067ecd00 251 destptr[chcnt] = 0;
JonFreeman 3:43cb067ecd00 252 }
JonFreeman 3:43cb067ecd00 253 break;
JonFreeman 3:43cb067ecd00 254 case WAITING4LF:
JonFreeman 3:43cb067ecd00 255 // if (ch != '\n')
JonFreeman 3:43cb067ecd00 256 // pc.printf ("Oops, no LF\r\n");
JonFreeman 3:43cb067ecd00 257 state = WAITING4DOLLAR;
JonFreeman 3:43cb067ecd00 258 break;
JonFreeman 3:43cb067ecd00 259 default:
JonFreeman 3:43cb067ecd00 260 break;
JonFreeman 3:43cb067ecd00 261 }
JonFreeman 3:43cb067ecd00 262 }
JonFreeman 3:43cb067ecd00 263 return 0;
JonFreeman 3:43cb067ecd00 264 } // end of int gps_mod::update()
JonFreeman 3:43cb067ecd00 265
JonFreeman 4:28cc0cf01570 266 //#endif