Quang Anh Le
Library for ublox neo 6m
Diff: GPS.cpp
- Revision:
- 1:9a8a3f68b005
- Parent:
- 0:8f2e256775d7
- Child:
- 2:2b9befe69d07
--- a/GPS.cpp Mon May 04 03:41:27 2015 +0000
+++ b/GPS.cpp Fri Apr 12 17:48:32 2019 +0000
@@ -26,12 +26,22 @@
//_gps.baud(4800);
longitude = 0.0;
latitude = 0.0;
+ altitude = 0.0;
+
}
int GPS::sample() {
- float time;
- char ns, ew;
- int lock;
+ float time,horizontal;
+ float time2,longitude2,latitude2,Speed,track;
+ char ns,ew,aut,ac,ns2,ew2;
+ //int data;
+ float Hdop, Pdop;
+ char Aut;
+ //char star;
+ //int check_data;
+ //char Pdop;
+ //int fix_3d;
+ //int Id1,Id2,Id3,Id4,Id5,Id6,Id7,Id8,Id9,Id10,Id11,Id12;
//return 1; //testing by Jigar
while (1) {
@@ -39,37 +49,40 @@
//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
+ /* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
- */
+ Where:
+ GGA Global Positioning System Fix Data
+ 123519 Fix taken at 12:35:19 UTC
+ 4807.038,N Latitude 48 deg 07.038' N
+ 01131.000,E Longitude 11 deg 31.000' E
+ 1 Fix quality: 0 = invalid
+ 1 = GPS fix (SPS)
+ 2 = DGPS fix
+ 3 = PPS fix
+ 4 = Real Time Kinematic
+ 5 = Float RTK
+ 6 = estimated (dead reckoning) (2.3 feature)
+ 7 = Manual input mode
+ 8 = Simulation mode
+ 08 Number of satellites being tracked
+ 0.9 Horizontal dilution of position
+ 545.4,M Altitude, Meters, above mean sea level
+ 46.9,M Height of geoid (mean sea level) above WGS84
+ ellipsoid
+ (empty field) time in seconds since last DGPS update
+ (empty field) DGPS station ID number
+ *47 the checksum data, always begins with **/
// 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", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
+ if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f", &time, &latitude, &ns, &longitude, &ew, &fix,& sat_tracked,&horizontal,&altitude) >= 1) {
- if (!lock)
+ if (!fix)
{
longitude = 0.0;
latitude = 0.0;
+ altitude = 0.0;
utc=0.0;
+ sat_tracked=0;
return 0;
}
else
@@ -83,16 +96,104 @@
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);
+ degrees = trunc(longitude / 100.0f ); //degrees = trunc(longitude / 100.0f * 0.01f);
minutes = longitude - (degrees * 100.0f);
longitude = degrees + minutes / 60.0f;
+ /*int hour = time/10000;
+ int min = (time % 10000)/100;
+ int sek = (time % 100);*/
utc=time;
+ //sat_use=sat;
+ //altitude = altitude;
+ //fix=lock;
return 1;
}
- }
+ }
+ //getline();
+ /** $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
+
+ Where:
+ GSA Satellite status
+ A Auto selection of 2D or 3D fix (M = manual)
+ 3 3D fix - values include: 1 = no fix
+ 2 = 2D fix
+ 3 = 3D fix
+ 04,05... PRNs of satellites used for fix (space for 12)
+ 2.5 PDOP (dilution of precision)
+ 1.3 Horizontal dilution of precision (HDOP)
+ 2.1 Vertical dilution of precision (VDOP)
+ *39 the checksum data, always begins with **/
+ //getline2();
+ /*if(sscanf(msg, "GPGSA,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f",&fix_3d,&id1,&id2,&id3,&id4,&id5,&id6,&id7,&id8,&id9,&id10,&id11,&id12,&Pdop,&Hdop)>=1);
+ {
+
+ if (fix_3d==1)
+ {
+ id1=id2=id3=id4=id5=id6=id7=id8=id9=id10=id11=id12=0;
+ pdop=0.0;
+ hdop=0.0;
+ //vdop=0.0;
+
+ return 0;
+ }
+ else
+ {
+ pdop=Pdop;
+ hdop=Hdop;
+ //vhop=Vhop;
+ //aut=Aut;
+ return 1;
+
+ }
+ }*/
+ if(sscanf(msg, "GPGSA,%c,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f", &Aut, &fix_3d,&id1,&id2,&id3,&id4,&id5,&id6,&id7,&id8,&id9,&id10,&id11,&id12,&id13,&pdop,&hdop) >= 1)
+ {
+
+ if (fix_3d==1)
+ {
+ id1=id2=id3=id4=id5=id6=id7=id8=id9=id10=id11=id12=0;
+ pdop=0.0;
+ hdop=0.0;
+ //vdop=0.0;
+
+ return 0;
+ }
+ else
+ {
+ //pdop=Pdop;
+ //hdop=Hdop;
+ //vhop=Vhop;
+ aut=Aut;
+ return 1;
+
+ }
+ }
+ if(sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &time2, &ac, &latitude2, &ns2, &longitude2, &ew2, &speed, &date)>=1)
+ {
+ //speed=Speed;
+ //date=Date;
+ //return 1;
+ }
return 0;
+ }
}
-}
+
+ /**$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
+ Where:
+ RMC Recommended Minimum sentence C
+ 123519 Fix taken at 12:35:19 UTC
+ A Status A=active or V=Void.
+ 4807.038,N Latitude 48 deg 07.038' N
+ 01131.000,E Longitude 11 deg 31.000' E
+ 022.4 Speed over the ground in knots
+ 084.4 Track angle in degrees True
+ 230394 Date - 23rd of March 1994
+ 003.1,W Magnetic Variation
+ *6A The checksum data, always begins with **/
+
+
+ //return 0;
+
float GPS::trunc(float v) {
if (v < 0.0) {
@@ -109,7 +210,7 @@
char c;
while (c = _gps.getc() != '$'); // wait for the start of a line
// printf("entered the getline loop\n\r");
- for (int i=0; i<256; i++) {
+ for (int i=0; i<280; i++) {
msg[i] = _gps.getc();
if (msg[i] == '\r') {
msg[i] = 0;
@@ -118,6 +219,19 @@
}
error("Overflowed message limit");
}
+/*void GPS::getline2() {
+ char c;
+ while (c = _gps.getc() != '$'); // wait for the start of a line
+ // printf("entered the getline loop\n\r");
+ for (int i=0; i<300; i++) {
+ msg2[i] = _gps.getc();
+ if (msg2[i] == '\r') {
+ msg2[i] = 0;
+ return;
+ }
+ }
+ error("Overflowed message limit");
+}*/
/*
$GPRMC,000115.039,V,,,,,,,291006,,*2C