Noah Newsom / GPS_copy

gps

GPS.cpp@0:e239db2b266d, 2018-03-10 (annotated)

Committer:
Noah_Newsom
Date:
Sat Mar 10 12:15:43 2018 +0000
Revision:
0:e239db2b266d
tracker

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Noah_Newsom 0:e239db2b266d 1 #include "GPS.h"
Noah_Newsom 0:e239db2b266d 2 GPS::GPS(PinName tx, PinName rx) : _UltimateGps(tx, rx)
Noah_Newsom 0:e239db2b266d 3 {
Noah_Newsom 0:e239db2b266d 4 _UltimateGps.baud(4800);
Noah_Newsom 0:e239db2b266d 5 }
Noah_Newsom 0:e239db2b266d 6
Noah_Newsom 0:e239db2b266d 7 int GPS::parseData()
Noah_Newsom 0:e239db2b266d 8 {
Noah_Newsom 0:e239db2b266d 9 while(1) {
Noah_Newsom 0:e239db2b266d 10 getData();
Noah_Newsom 0:e239db2b266d 11 if(sscanf(NEMA, "GPGGA, %*f, %*f, %*c, %*f, %*c, %d, %d, %*f, %f", &fixtype, &satellites, &altitude) >=1);
Noah_Newsom 0:e239db2b266d 12 if(sscanf(NEMA, "GPRMC, %2d%2d%f, %c, %f, %c, %f, %c, %f, %f, %2d%2d%2d", &hours, &minutes, &seconds, &validity, &latitude, &ns, &longitude, &ew, &speed, &heading, &day, &month, &year) >=1) {
Noah_Newsom 0:e239db2b266d 13 if(fixtype == 0) {
Noah_Newsom 0:e239db2b266d 14 return 0;
Noah_Newsom 0:e239db2b266d 15 }
Noah_Newsom 0:e239db2b266d 16 year += 2000;
Noah_Newsom 0:e239db2b266d 17 if(ns =='S') {
Noah_Newsom 0:e239db2b266d 18 latitude *= -1.0;
Noah_Newsom 0:e239db2b266d 19 }
Noah_Newsom 0:e239db2b266d 20 if(ew =='W') {
Noah_Newsom 0:e239db2b266d 21 longitude *= -1.0;
Noah_Newsom 0:e239db2b266d 22 }
Noah_Newsom 0:e239db2b266d 23 float degrees = trunc(latitude / 100.0f);
Noah_Newsom 0:e239db2b266d 24 float minutes = latitude - (degrees * 100.0f);
Noah_Newsom 0:e239db2b266d 25 latitude = degrees + minutes / 60.0f;
Noah_Newsom 0:e239db2b266d 26 degrees = trunc(longitude / 100.0f);
Noah_Newsom 0:e239db2b266d 27 minutes = longitude - (degrees * 100.0f);
Noah_Newsom 0:e239db2b266d 28 longitude = degrees + minutes / 60.0f;
Noah_Newsom 0:e239db2b266d 29 if(fixtype == 1) {
Noah_Newsom 0:e239db2b266d 30 fix = "Positive";
Noah_Newsom 0:e239db2b266d 31 }
Noah_Newsom 0:e239db2b266d 32 if(fixtype == 2) {
Noah_Newsom 0:e239db2b266d 33 fix = "Differential";
Noah_Newsom 0:e239db2b266d 34 }
Noah_Newsom 0:e239db2b266d 35 if(heading > 0.00 && heading < 45.00) {
Noah_Newsom 0:e239db2b266d 36 cardinal = "NNE";
Noah_Newsom 0:e239db2b266d 37 }
Noah_Newsom 0:e239db2b266d 38 if(heading == 45.00) {
Noah_Newsom 0:e239db2b266d 39 cardinal = "NE";
Noah_Newsom 0:e239db2b266d 40 }
Noah_Newsom 0:e239db2b266d 41 if(heading > 45.00 && heading < 90.00) {
Noah_Newsom 0:e239db2b266d 42 cardinal = "ENE";
Noah_Newsom 0:e239db2b266d 43 }
Noah_Newsom 0:e239db2b266d 44 if(heading == 90.00) {
Noah_Newsom 0:e239db2b266d 45 cardinal = "E";
Noah_Newsom 0:e239db2b266d 46 }
Noah_Newsom 0:e239db2b266d 47 if(heading > 90.00 && heading < 135.00) {
Noah_Newsom 0:e239db2b266d 48 cardinal = "ESE";
Noah_Newsom 0:e239db2b266d 49 }
Noah_Newsom 0:e239db2b266d 50 if(heading == 135.00) {
Noah_Newsom 0:e239db2b266d 51 cardinal = "SE";
Noah_Newsom 0:e239db2b266d 52 }
Noah_Newsom 0:e239db2b266d 53 if(heading > 135.00 && heading < 180.00) {
Noah_Newsom 0:e239db2b266d 54 cardinal = "SSE";
Noah_Newsom 0:e239db2b266d 55 }
Noah_Newsom 0:e239db2b266d 56 if(heading == 180.00) {
Noah_Newsom 0:e239db2b266d 57 cardinal = "S";
Noah_Newsom 0:e239db2b266d 58 }
Noah_Newsom 0:e239db2b266d 59 if(heading > 180.00 && heading < 225.00) {
Noah_Newsom 0:e239db2b266d 60 cardinal = "SSW";
Noah_Newsom 0:e239db2b266d 61 }
Noah_Newsom 0:e239db2b266d 62 if(heading == 225.00) {
Noah_Newsom 0:e239db2b266d 63 cardinal = "SW";
Noah_Newsom 0:e239db2b266d 64 }
Noah_Newsom 0:e239db2b266d 65 if(heading > 225.00 && heading < 270.00) {
Noah_Newsom 0:e239db2b266d 66 cardinal = "WSW";
Noah_Newsom 0:e239db2b266d 67 }
Noah_Newsom 0:e239db2b266d 68 if(heading == 270.00) {
Noah_Newsom 0:e239db2b266d 69 cardinal = "W";
Noah_Newsom 0:e239db2b266d 70 }
Noah_Newsom 0:e239db2b266d 71 if(heading > 270.00 && heading < 315.00) {
Noah_Newsom 0:e239db2b266d 72 cardinal = "WNW";
Noah_Newsom 0:e239db2b266d 73 }
Noah_Newsom 0:e239db2b266d 74 if(heading == 315.00) {
Noah_Newsom 0:e239db2b266d 75 cardinal = "NW";
Noah_Newsom 0:e239db2b266d 76 }
Noah_Newsom 0:e239db2b266d 77 if(heading > 315.00 && heading < 360.00) {
Noah_Newsom 0:e239db2b266d 78 cardinal = "NNW";
Noah_Newsom 0:e239db2b266d 79 }
Noah_Newsom 0:e239db2b266d 80 if(heading == 360.00 || heading == 0.00) {
Noah_Newsom 0:e239db2b266d 81 cardinal = "N";
Noah_Newsom 0:e239db2b266d 82 }
Noah_Newsom 0:e239db2b266d 83 kph = speed*1.852;
Noah_Newsom 0:e239db2b266d 84 return 1;
Noah_Newsom 0:e239db2b266d 85 }
Noah_Newsom 0:e239db2b266d 86 }
Noah_Newsom 0:e239db2b266d 87 }
Noah_Newsom 0:e239db2b266d 88
Noah_Newsom 0:e239db2b266d 89
Noah_Newsom 0:e239db2b266d 90 float GPS::trunc(float v)
Noah_Newsom 0:e239db2b266d 91 {
Noah_Newsom 0:e239db2b266d 92 if(v < 0.0) {
Noah_Newsom 0:e239db2b266d 93 v*= -1.0;
Noah_Newsom 0:e239db2b266d 94 v = floor(v);
Noah_Newsom 0:e239db2b266d 95 v*=-1.0;
Noah_Newsom 0:e239db2b266d 96 } else {
Noah_Newsom 0:e239db2b266d 97 v = floor(v);
Noah_Newsom 0:e239db2b266d 98 }
Noah_Newsom 0:e239db2b266d 99 return v;
Noah_Newsom 0:e239db2b266d 100 }
Noah_Newsom 0:e239db2b266d 101
Noah_Newsom 0:e239db2b266d 102 void GPS::getData()
Noah_Newsom 0:e239db2b266d 103 {
Noah_Newsom 0:e239db2b266d 104 while(_UltimateGps.getc() != '$');
Noah_Newsom 0:e239db2b266d 105 for(int i=0; i<256; i++) {
Noah_Newsom 0:e239db2b266d 106 NEMA[i] = _UltimateGps.getc();
Noah_Newsom 0:e239db2b266d 107 if(NEMA[i] == '\r') {
Noah_Newsom 0:e239db2b266d 108 NEMA[i] = 0;
Noah_Newsom 0:e239db2b266d 109 return;
Noah_Newsom 0:e239db2b266d 110 }
Noah_Newsom 0:e239db2b266d 111 }
Noah_Newsom 0:e239db2b266d 112 error("overflowed message limit");
Noah_Newsom 0:e239db2b266d 113 }
Noah_Newsom 0:e239db2b266d 114
Noah_Newsom 0:e239db2b266d 115 void GPS::Init()
Noah_Newsom 0:e239db2b266d 116 {
Noah_Newsom 0:e239db2b266d 117 wait(1);
Noah_Newsom 0:e239db2b266d 118 _UltimateGps.printf("$PMTK220,200*2C\r\n");
Noah_Newsom 0:e239db2b266d 119 wait(0.2);
Noah_Newsom 0:e239db2b266d 120 _UltimateGps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
Noah_Newsom 0:e239db2b266d 121 wait(1);
Noah_Newsom 0:e239db2b266d 122 }