Library for ublox neo 6m
GPS.cpp
- Committer:
- JorgeGtz
- Date:
- 2019-11-29
- Revision:
- 1:380b615d1237
- Parent:
- 0:8f2e256775d7
File content as of revision 1:380b615d1237:
/* mbed EM-406 GPS Module Library * Copyright (c) 2008-2010, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "GPS.h" GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) { //_gps.baud(4800); longitude = 0.0; latitude = 0.0; } int GPS::sample() { float time; char ns, ew; int lock; //return 1; //testing by Jigar while (1) { getline(); //printf("\n\rentered the GPS.sample while loop \n\r %s\n\r", msg); // Check if it is a GPGGA msg (matches both locked and non-locked msg) // $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52 /* eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 = UTC of Position 2 = Latitude 3 = N or S 4 = Longitude 5 = E or W 6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix) 7 = Number of satellites in use [not those in view] 8 = Horizontal dilution of position 9 = Antenna altitude above/below mean sea level (geoid) 10 = Meters (Antenna height unit) 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. -=geoid is below WGS-84 ellipsoid) 12 = Meters (Units of geoidal separation) 13 = Age in seconds since last update from diff. reference station 14 = Diff. reference station ID# 15 = Checksum */ // if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%*d,%*d, %*f,%*f,%*f,%*f,%*f,%*f,%d ", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) { if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c,%f", &time, &latitude, &ns, &longitude, &ew, &lock, &sats, &hdop, &alt, &unit, &geoid) >= 1) { // if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) { if (!lock) { longitude = 0.0; latitude = 0.0; utc=0.0; return 0; } else { if (ns == 'S') { latitude *= -1.0; } if (ew == 'W') { longitude *= -1.0; } float degrees = trunc(latitude / 100.0f); float minutes = latitude - (degrees * 100.0f); latitude = degrees + minutes / 60.0f; degrees = trunc(longitude / 100.0f ); //degrees = trunc(longitude / 100.0f * 0.01f); minutes = longitude - (degrees * 100.0f); longitude = degrees + minutes / 60.0f; utc=time; return 1; } } return 0; } } float GPS::trunc(float v) { if (v < 0.0) { v*= -1.0; v = floor(v); v*=-1.0; } else { v = floor(v); } return v; } void GPS::getline() { char c; while (c = _gps.getc() != '$'); // wait for the start of a line // printf("entered the getline loop\n\r"); for (int i=0; i<256; i++) { msg[i] = _gps.getc(); if (msg[i] == '\r') { msg[i] = 0; return; } } error("Overflowed message limit"); } /* $GPRMC,000115.039,V,,,,,,,291006,,*2C $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52 $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,*7C $GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76 $GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78 $GPRMC,000116.031,V,,,,,,,291006,,*27 $GPGGA,000117.035,,,,,0,00,,,M,0.0,M,,0000*57 $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPRMC,000117.035,V,,,,,,,291006,,*22 $GPGGA,000118.039,,,,,0,00,,,M,0.0,M,,0000*54 $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPRMC,000118.039,V,,,,,,,291006,,*21 $GPGGA,000119.035,,,,,0,00,,,M,0.0,M,,0000*59 $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPRMC,000119.035,V,,,,,,,291006,,*2C $GPGGA,000120.037,,,,,0,00,,,M,0.0,M,,0000*51 $GPGSA,A,1,,,,,,,,,,,,,,,*1E $GPRMC,000120.037,V,,,,,,,291006,,*24 */