Library for ublox neo 6m
GPS.cpp
- Committer:
- QuangAnhLe
- Date:
- 2019-04-12
- Revision:
- 1:9a8a3f68b005
- Parent:
- 0:8f2e256775d7
- Child:
- 2:2b9befe69d07
File content as of revision 1:9a8a3f68b005:
/* 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; altitude = 0.0; } int GPS::sample() { 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) { getline(); //printf("\n\rentered the GPS.sample while loop \n\r %s\n\r", msg); /* $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,%d,%f,%f", &time, &latitude, &ns, &longitude, &ew, &fix,& sat_tracked,&horizontal,&altitude) >= 1) { if (!fix) { longitude = 0.0; latitude = 0.0; altitude = 0.0; utc=0.0; sat_tracked=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; /*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) { v*= -1.0; v = floor(v); v*=-1.0; } else { v = floor(v); } return v; } void GPS::getline() { char c; while (c = _gps.getc() != '$'); // wait for the start of a line // printf("entered the getline loop\n\r"); for (int i=0; i<280; i++) { msg[i] = _gps.getc(); if (msg[i] == '\r') { msg[i] = 0; return; } } error("Overflowed message limit"); } /*void GPS::getline2() { char c; while (c = _gps.getc() != '$'); // 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 $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 */