Noah Newsom
gps
Revision 0:e239db2b266d, committed 2018-03-10
- Comitter:
- Noah_Newsom
- Date:
- Sat Mar 10 12:15:43 2018 +0000
- Commit message:
- tracker
Changed in this revision
| GPS.cpp | Show annotated file Show diff for this revision Revisions of this file |
| GPS.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r e239db2b266d GPS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.cpp Sat Mar 10 12:15:43 2018 +0000
@@ -0,0 +1,122 @@
+#include "GPS.h"
+GPS::GPS(PinName tx, PinName rx) : _UltimateGps(tx, rx)
+{
+ _UltimateGps.baud(4800);
+}
+
+int GPS::parseData()
+{
+ while(1) {
+ getData();
+ if(sscanf(NEMA, "GPGGA, %*f, %*f, %*c, %*f, %*c, %d, %d, %*f, %f", &fixtype, &satellites, &altitude) >=1);
+ 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) {
+ if(fixtype == 0) {
+ return 0;
+ }
+ year += 2000;
+ 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);
+ minutes = longitude - (degrees * 100.0f);
+ longitude = degrees + minutes / 60.0f;
+ if(fixtype == 1) {
+ fix = "Positive";
+ }
+ if(fixtype == 2) {
+ fix = "Differential";
+ }
+ if(heading > 0.00 && heading < 45.00) {
+ cardinal = "NNE";
+ }
+ if(heading == 45.00) {
+ cardinal = "NE";
+ }
+ if(heading > 45.00 && heading < 90.00) {
+ cardinal = "ENE";
+ }
+ if(heading == 90.00) {
+ cardinal = "E";
+ }
+ if(heading > 90.00 && heading < 135.00) {
+ cardinal = "ESE";
+ }
+ if(heading == 135.00) {
+ cardinal = "SE";
+ }
+ if(heading > 135.00 && heading < 180.00) {
+ cardinal = "SSE";
+ }
+ if(heading == 180.00) {
+ cardinal = "S";
+ }
+ if(heading > 180.00 && heading < 225.00) {
+ cardinal = "SSW";
+ }
+ if(heading == 225.00) {
+ cardinal = "SW";
+ }
+ if(heading > 225.00 && heading < 270.00) {
+ cardinal = "WSW";
+ }
+ if(heading == 270.00) {
+ cardinal = "W";
+ }
+ if(heading > 270.00 && heading < 315.00) {
+ cardinal = "WNW";
+ }
+ if(heading == 315.00) {
+ cardinal = "NW";
+ }
+ if(heading > 315.00 && heading < 360.00) {
+ cardinal = "NNW";
+ }
+ if(heading == 360.00 || heading == 0.00) {
+ cardinal = "N";
+ }
+ kph = speed*1.852;
+ return 1;
+ }
+ }
+}
+
+
+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::getData()
+{
+ while(_UltimateGps.getc() != '$');
+ for(int i=0; i<256; i++) {
+ NEMA[i] = _UltimateGps.getc();
+ if(NEMA[i] == '\r') {
+ NEMA[i] = 0;
+ return;
+ }
+ }
+ error("overflowed message limit");
+}
+
+void GPS::Init()
+{
+ wait(1);
+ _UltimateGps.printf("$PMTK220,200*2C\r\n");
+ wait(0.2);
+ _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");
+ wait(1);
+}
\ No newline at end of file
diff -r 000000000000 -r e239db2b266d GPS.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.h Sat Mar 10 12:15:43 2018 +0000
@@ -0,0 +1,68 @@
+/******************************************************
+* A basic mbed library for the Adafruit ultimate *
+* GPS module NOTE: the LOCUS functions are yet to be *
+* implemented *
+* *
+* Written by: Sam Clarke *
+******************************************************/
+
+#include "mbed.h"
+#include <string>
+
+#ifndef GPS_H
+#define GPS_H
+
+// EXAMPLE OUTPUTS
+//
+// $GPRMC,064951.000,A,2307.1256,N,12016.4438,E,0.03,165.48,260406,3.05,W,A*2C
+// $GPRMC, time, status, latitude, N/S, longitude, E/W, speed(knots), heading, date, N/A, N/A, MODE*CHECKSUM
+//
+// $GPGGA,064951.000,2307.1256,N,12016.4438,E,1,8,0.95,39.9,M,17.8,M,,*65
+// $GPGGA, time, latitude, N/S, longitude, E/W, fix, satellites, hdop, altitude, M, geoidal sep , M,,*CHECKSUM
+// $GPGGA, %f, %*f, %*c, %*f, %*c, %d, %d, %*f, %*f, %*c, %*f , %*c,,%*c%*c%*c0
+
+class GPS
+{
+public:
+
+ GPS(PinName tx, PinName rx);
+ void Init();
+ int parseData();
+ float time; // UTC time
+ int hours;
+ int minutes;
+ float seconds;
+ char validity,ns,ew;// RMC data status A = Data Valid; V = Data Not valid;
+ float latitude; //
+ float longitude; //
+ float speed; // speed in knots
+ float heading; // heading in degrees derived from previous & current location
+ string date; //
+ int day;
+ int month;
+ int year;
+ int fixtype; // 0 = no fix; 1 = fix; 2=differential fix
+ int satellites; // number of satellites used
+ float altitude; //
+ string fix;
+ string cardinal;
+ float kph;
+
+private:
+
+ float trunc ( float v);
+ void getData();
+ Serial _UltimateGps;
+ char NEMA[256];
+};
+#endif
+
+/*
+#define 1HZ_STREAM "$PMTK220,1000*1F\r\n" // 1.0 second interval
+#define 5HZ_STREAM "$PMTK220,200*2C\r\n" // 0.2 second interval
+#define 10HZ_STREAM "$PMTK220,100*2F\r\n" // 0.1 second interval
+
+#define OUTPUT_RMC "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n"
+#define OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"
+#define OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"
+*/
\ No newline at end of file