David Spillman
Updated version with new commands and sleep mode
Fork of
GPS
by 
Sam Clarke
GPS.cpp@8:2476bea153a1, 2015-04-27 (annotated)
- Committer:
- Spilly
- Date:
- Mon Apr 27 16:49:11 2015 +0000
- Revision:
- 8:2476bea153a1
- Parent:
- 7:7aac669b0075
- Child:
- 9:083f6fe8e4c4
BoatProject
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Spilly | 6:af055728e564 | 1 | /************************************************************************************************************************************************************** |
| Spilly | 6:af055728e564 | 2 | // This is a modified version of mbed /users/SamClarke/code/GPS/ for MTK3339 GPS module |
| Spilly | 6:af055728e564 | 3 | // |
| Spilly | 6:af055728e564 | 4 | // Changes made by Ryan Spillman: |
| Spilly | 7:7aac669b0075 | 5 | // |
| Spilly | 7:7aac669b0075 | 6 | // Last updated: 4/6/2015 |
| Spilly | 7:7aac669b0075 | 7 | // |
| Spilly | 6:af055728e564 | 8 | // added commands to the initialization function to set baud rate, set update rate, enabled DGPS WAAS, and set minimum navigation speed |
| Spilly | 6:af055728e564 | 9 | // added a function to put the unit into sleep mode |
| Spilly | 6:af055728e564 | 10 | // added several zeros after the decimal places to fix weird rounding errors |
| Spilly | 6:af055728e564 | 11 | // added information about checksums |
| Spilly | 7:7aac669b0075 | 12 | // Modified parse data function to get all of the NMEA sentences at once. Previously it only grabbed one sentence each time the function was called |
| Spilly | 7:7aac669b0075 | 13 | // Changed latitude and longitude calculation variables to doubles to decrease math errors |
| Spilly | 8:2476bea153a1 | 14 | // Added function to get GPGSA NMEA sentence (we have HDOP!) |
| Spilly | 6:af055728e564 | 15 | // |
| Spilly | 6:af055728e564 | 16 | // IMPORTANT: |
| Spilly | 6:af055728e564 | 17 | // Any changes made to commands sent to GPS unit require corresponding changes to the |
| Spilly | 6:af055728e564 | 18 | // checksum at the end of the command |
| Spilly | 6:af055728e564 | 19 | // Here is a tool for calculating the checksum: |
| Spilly | 6:af055728e564 | 20 | // http://siliconsparrow.com/demos/nmeachecksum.php |
| Spilly | 6:af055728e564 | 21 | **************************************************************************************************************************************************************/ |
| Spilly | 6:af055728e564 | 22 | |
| SamClarke | 1:0a034c2dbea6 | 23 | #include "GPS.h" |
| SamClarke | 1:0a034c2dbea6 | 24 | GPS::GPS(PinName tx, PinName rx) : _UltimateGps(tx, rx) |
| SamClarke | 1:0a034c2dbea6 | 25 | { |
| Spilly | 6:af055728e564 | 26 | //_UltimateGps.baud(9600); //use this for default MTK3339 adafruit firmware |
| Spilly | 6:af055728e564 | 27 | _UltimateGps.baud(38400); //Changed firmware of MTK3339 to 38400 baud with update rate of 5Hz (GlobalTopFlashTool to change firmware) |
| SamClarke | 1:0a034c2dbea6 | 28 | } |
| Spilly | 7:7aac669b0075 | 29 | void GPS::coldStart() |
| Spilly | 7:7aac669b0075 | 30 | { |
| Spilly | 7:7aac669b0075 | 31 | _UltimateGps.printf("$PMTK103*30\r\n"); |
| Spilly | 7:7aac669b0075 | 32 | } |
| Spilly | 7:7aac669b0075 | 33 | int GPS::getGPGGA() |
| Spilly | 7:7aac669b0075 | 34 | { |
| Spilly | 7:7aac669b0075 | 35 | if(sscanf(NEMA, "GPGGA, %*f, %*f, %*c, %*f, %*c, %d, %d, %*f, %f", &fixtype, &satellites, &altitude) >=1) |
| Spilly | 7:7aac669b0075 | 36 | { |
| Spilly | 7:7aac669b0075 | 37 | //if(fixtype == 0) return 0; |
| Spilly | 7:7aac669b0075 | 38 | return 1; |
| Spilly | 7:7aac669b0075 | 39 | } |
| Spilly | 7:7aac669b0075 | 40 | return 0; |
| Spilly | 7:7aac669b0075 | 41 | } |
| Spilly | 7:7aac669b0075 | 42 | int GPS::getGPGSA() |
| Spilly | 7:7aac669b0075 | 43 | { |
| Spilly | 7:7aac669b0075 | 44 | if(satellites == 4) |
| Spilly | 7:7aac669b0075 | 45 | { |
| Spilly | 7:7aac669b0075 | 46 | if(sscanf(NEMA, "GPGSA, %c, %d, %*c, %*c, %*c, %*c,,,,,,,,,%f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 47 | } |
| Spilly | 7:7aac669b0075 | 48 | else if(satellites == 5) |
| Spilly | 7:7aac669b0075 | 49 | { |
| Spilly | 7:7aac669b0075 | 50 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d,,,,,,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 51 | } |
| Spilly | 7:7aac669b0075 | 52 | else if(satellites == 6) |
| Spilly | 7:7aac669b0075 | 53 | { |
| Spilly | 7:7aac669b0075 | 54 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d,,,,,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 55 | } |
| Spilly | 7:7aac669b0075 | 56 | else if(satellites == 7) |
| Spilly | 7:7aac669b0075 | 57 | { |
| Spilly | 7:7aac669b0075 | 58 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d,,,,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 59 | } |
| Spilly | 7:7aac669b0075 | 60 | else if(satellites == 8) |
| Spilly | 7:7aac669b0075 | 61 | { |
| Spilly | 7:7aac669b0075 | 62 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d,,,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 63 | } |
| Spilly | 7:7aac669b0075 | 64 | else if(satellites == 9) |
| Spilly | 7:7aac669b0075 | 65 | { |
| Spilly | 7:7aac669b0075 | 66 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d,,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 67 | } |
| Spilly | 7:7aac669b0075 | 68 | else if(satellites == 10) |
| Spilly | 7:7aac669b0075 | 69 | { |
| Spilly | 7:7aac669b0075 | 70 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d,,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 71 | } |
| Spilly | 7:7aac669b0075 | 72 | else if(satellites == 11) |
| Spilly | 7:7aac669b0075 | 73 | { |
| Spilly | 7:7aac669b0075 | 74 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d,, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 75 | } |
| Spilly | 7:7aac669b0075 | 76 | else |
| Spilly | 7:7aac669b0075 | 77 | { |
| Spilly | 7:7aac669b0075 | 78 | if(sscanf(NEMA, "GPGSA, %c, %d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %*d, %f, %f, %f", &mode, &status, &PDOP, &HDOP, &VDOP) >=1) return 1; |
| Spilly | 7:7aac669b0075 | 79 | } |
| Spilly | 7:7aac669b0075 | 80 | return 0; |
| Spilly | 7:7aac669b0075 | 81 | } |
| Spilly | 7:7aac669b0075 | 82 | int GPS::getGPRMC() |
| Spilly | 7:7aac669b0075 | 83 | { |
| Spilly | 7:7aac669b0075 | 84 | |
| Spilly | 7:7aac669b0075 | 85 | 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) |
| Spilly | 7:7aac669b0075 | 86 | { |
| Spilly | 7:7aac669b0075 | 87 | year += 2000; |
| Spilly | 7:7aac669b0075 | 88 | if(ns =='S') { |
| Spilly | 7:7aac669b0075 | 89 | latitude *= -1.00000000000000000f; |
| Spilly | 7:7aac669b0075 | 90 | } |
| Spilly | 7:7aac669b0075 | 91 | if(ew =='W') { |
| Spilly | 7:7aac669b0075 | 92 | longitude *= -1.00000000000000000f; |
| Spilly | 7:7aac669b0075 | 93 | } |
| Spilly | 7:7aac669b0075 | 94 | double degrees = trunc(latitude / 100.0000000000000000f); |
| Spilly | 7:7aac669b0075 | 95 | double minutes = latitude - (degrees * 100.00000000000000000f); |
| Spilly | 7:7aac669b0075 | 96 | degLat = degrees + minutes / 60.00000000000000000f; |
| Spilly | 7:7aac669b0075 | 97 | degrees = trunc(longitude / 100.0000000000000000f); |
| Spilly | 7:7aac669b0075 | 98 | minutes = longitude - (degrees * 100.00000000000000000f); |
| Spilly | 7:7aac669b0075 | 99 | degLon = degrees + minutes / 60.00000000000000000f; |
| Spilly | 7:7aac669b0075 | 100 | if(fixtype == 1) { |
| Spilly | 7:7aac669b0075 | 101 | fix = "Positive"; |
| Spilly | 7:7aac669b0075 | 102 | } |
| Spilly | 7:7aac669b0075 | 103 | if(fixtype == 2) { |
| Spilly | 7:7aac669b0075 | 104 | fix = "Differential"; |
| Spilly | 7:7aac669b0075 | 105 | } |
| Spilly | 7:7aac669b0075 | 106 | if(heading > 0.00f && heading < 45.00f) { |
| Spilly | 7:7aac669b0075 | 107 | cardinal = "NNE"; |
| Spilly | 7:7aac669b0075 | 108 | } |
| Spilly | 7:7aac669b0075 | 109 | if(heading == 45.00f) { |
| Spilly | 7:7aac669b0075 | 110 | cardinal = "NE"; |
| Spilly | 7:7aac669b0075 | 111 | } |
| Spilly | 7:7aac669b0075 | 112 | if(heading > 45.00f && heading < 90.00f) { |
| Spilly | 7:7aac669b0075 | 113 | cardinal = "ENE"; |
| Spilly | 7:7aac669b0075 | 114 | } |
| Spilly | 7:7aac669b0075 | 115 | if(heading == 90.00f) { |
| Spilly | 7:7aac669b0075 | 116 | cardinal = "E"; |
| Spilly | 7:7aac669b0075 | 117 | } |
| Spilly | 7:7aac669b0075 | 118 | if(heading > 90.00f && heading < 135.00f) { |
| Spilly | 7:7aac669b0075 | 119 | cardinal = "ESE"; |
| Spilly | 7:7aac669b0075 | 120 | } |
| Spilly | 7:7aac669b0075 | 121 | if(heading == 135.00f) { |
| Spilly | 7:7aac669b0075 | 122 | cardinal = "SE"; |
| Spilly | 7:7aac669b0075 | 123 | } |
| Spilly | 7:7aac669b0075 | 124 | if(heading > 135.00f && heading < 180.00f) { |
| Spilly | 7:7aac669b0075 | 125 | cardinal = "SSE"; |
| Spilly | 7:7aac669b0075 | 126 | } |
| Spilly | 7:7aac669b0075 | 127 | if(heading == 180.00f) { |
| Spilly | 7:7aac669b0075 | 128 | cardinal = "S"; |
| Spilly | 7:7aac669b0075 | 129 | } |
| Spilly | 7:7aac669b0075 | 130 | if(heading > 180.00f && heading < 225.00f) { |
| Spilly | 7:7aac669b0075 | 131 | cardinal = "SSW"; |
| Spilly | 7:7aac669b0075 | 132 | } |
| Spilly | 7:7aac669b0075 | 133 | if(heading == 225.00f) { |
| Spilly | 7:7aac669b0075 | 134 | cardinal = "SW"; |
| Spilly | 7:7aac669b0075 | 135 | } |
| Spilly | 7:7aac669b0075 | 136 | if(heading > 225.00f && heading < 270.00f) { |
| Spilly | 7:7aac669b0075 | 137 | cardinal = "WSW"; |
| Spilly | 7:7aac669b0075 | 138 | } |
| Spilly | 7:7aac669b0075 | 139 | if(heading == 270.00f) { |
| Spilly | 7:7aac669b0075 | 140 | cardinal = "W"; |
| Spilly | 7:7aac669b0075 | 141 | } |
| Spilly | 7:7aac669b0075 | 142 | if(heading > 270.00f && heading < 315.00f) { |
| Spilly | 7:7aac669b0075 | 143 | cardinal = "WNW"; |
| Spilly | 7:7aac669b0075 | 144 | } |
| Spilly | 7:7aac669b0075 | 145 | if(heading == 315.00f) { |
| Spilly | 7:7aac669b0075 | 146 | cardinal = "NW"; |
| Spilly | 7:7aac669b0075 | 147 | } |
| Spilly | 7:7aac669b0075 | 148 | if(heading > 315.00f && heading < 360.00f) { |
| Spilly | 7:7aac669b0075 | 149 | cardinal = "NNW"; |
| Spilly | 7:7aac669b0075 | 150 | } |
| Spilly | 7:7aac669b0075 | 151 | if(heading == 360.00f || heading == 0.00f) { |
| Spilly | 7:7aac669b0075 | 152 | cardinal = "N"; |
| Spilly | 7:7aac669b0075 | 153 | } |
| Spilly | 7:7aac669b0075 | 154 | kph = speed*1.852f; |
| Spilly | 7:7aac669b0075 | 155 | return 1; |
| Spilly | 7:7aac669b0075 | 156 | } |
| Spilly | 7:7aac669b0075 | 157 | return 0; |
| Spilly | 7:7aac669b0075 | 158 | } |
| SamClarke | 1:0a034c2dbea6 | 159 | int GPS::parseData() |
| SamClarke | 1:0a034c2dbea6 | 160 | { |
| Spilly | 8:2476bea153a1 | 161 | if(getGPGGA()) |
| Spilly | 8:2476bea153a1 | 162 | { |
| Spilly | 8:2476bea153a1 | 163 | sentenceCount = sentenceCount + 1; |
| Spilly | 8:2476bea153a1 | 164 | return 1; |
| Spilly | 8:2476bea153a1 | 165 | } |
| Spilly | 8:2476bea153a1 | 166 | else if(getGPRMC()) |
| Spilly | 8:2476bea153a1 | 167 | { |
| Spilly | 8:2476bea153a1 | 168 | sentenceCount = sentenceCount + 1; |
| Spilly | 8:2476bea153a1 | 169 | return 1; |
| Spilly | 8:2476bea153a1 | 170 | } |
| Spilly | 8:2476bea153a1 | 171 | else if(getGPGSA()) |
| Spilly | 8:2476bea153a1 | 172 | { |
| Spilly | 8:2476bea153a1 | 173 | sentenceCount = sentenceCount + 1; |
| Spilly | 8:2476bea153a1 | 174 | return 1; |
| Spilly | 8:2476bea153a1 | 175 | } |
| Spilly | 8:2476bea153a1 | 176 | return 0; |
| Spilly | 8:2476bea153a1 | 177 | /* |
| Spilly | 7:7aac669b0075 | 178 | getData(); |
| Spilly | 7:7aac669b0075 | 179 | if(getGPGGA()) |
| Spilly | 7:7aac669b0075 | 180 | { |
| SamClarke | 1:0a034c2dbea6 | 181 | getData(); |
| Spilly | 7:7aac669b0075 | 182 | if(getGPGSA()) |
| Spilly | 7:7aac669b0075 | 183 | { |
| Spilly | 7:7aac669b0075 | 184 | getData(); |
| Spilly | 7:7aac669b0075 | 185 | getGPRMC(); |
| Spilly | 7:7aac669b0075 | 186 | return 1; |
| Spilly | 7:7aac669b0075 | 187 | } |
| Spilly | 7:7aac669b0075 | 188 | else |
| Spilly | 7:7aac669b0075 | 189 | { |
| Spilly | 7:7aac669b0075 | 190 | getData(); |
| Spilly | 7:7aac669b0075 | 191 | getGPGSA(); |
| SamClarke | 1:0a034c2dbea6 | 192 | return 1; |
| SamClarke | 1:0a034c2dbea6 | 193 | } |
| SamClarke | 1:0a034c2dbea6 | 194 | } |
| Spilly | 7:7aac669b0075 | 195 | else if(getGPGSA()) |
| Spilly | 7:7aac669b0075 | 196 | { |
| Spilly | 7:7aac669b0075 | 197 | getData(); |
| Spilly | 7:7aac669b0075 | 198 | if(getGPGGA()) |
| Spilly | 7:7aac669b0075 | 199 | { |
| Spilly | 7:7aac669b0075 | 200 | getData(); |
| Spilly | 7:7aac669b0075 | 201 | getGPRMC(); |
| Spilly | 7:7aac669b0075 | 202 | return 1; |
| Spilly | 7:7aac669b0075 | 203 | } |
| Spilly | 7:7aac669b0075 | 204 | else |
| Spilly | 7:7aac669b0075 | 205 | { |
| Spilly | 7:7aac669b0075 | 206 | getData(); |
| Spilly | 7:7aac669b0075 | 207 | getGPGGA(); |
| Spilly | 7:7aac669b0075 | 208 | return 1; |
| Spilly | 7:7aac669b0075 | 209 | } |
| Spilly | 7:7aac669b0075 | 210 | } |
| Spilly | 7:7aac669b0075 | 211 | else |
| Spilly | 7:7aac669b0075 | 212 | { |
| Spilly | 7:7aac669b0075 | 213 | getData(); |
| Spilly | 7:7aac669b0075 | 214 | if(getGPGGA()) |
| Spilly | 7:7aac669b0075 | 215 | { |
| Spilly | 7:7aac669b0075 | 216 | getData(); |
| Spilly | 7:7aac669b0075 | 217 | getGPGSA(); |
| Spilly | 7:7aac669b0075 | 218 | return 1; |
| Spilly | 7:7aac669b0075 | 219 | } |
| Spilly | 7:7aac669b0075 | 220 | else if(getGPGSA()) |
| Spilly | 7:7aac669b0075 | 221 | { |
| Spilly | 7:7aac669b0075 | 222 | getData(); |
| Spilly | 7:7aac669b0075 | 223 | getGPGGA(); |
| Spilly | 7:7aac669b0075 | 224 | return 1; |
| Spilly | 7:7aac669b0075 | 225 | } |
| Spilly | 7:7aac669b0075 | 226 | } |
| Spilly | 7:7aac669b0075 | 227 | return 0; |
| Spilly | 8:2476bea153a1 | 228 | */ |
| SamClarke | 1:0a034c2dbea6 | 229 | } |
| SamClarke | 1:0a034c2dbea6 | 230 | |
| SamClarke | 1:0a034c2dbea6 | 231 | |
| SamClarke | 1:0a034c2dbea6 | 232 | float GPS::trunc(float v) |
| SamClarke | 1:0a034c2dbea6 | 233 | { |
| Spilly | 6:af055728e564 | 234 | if(v < 0.0f) { |
| Spilly | 6:af055728e564 | 235 | v*= -1.0f; |
| SamClarke | 1:0a034c2dbea6 | 236 | v = floor(v); |
| Spilly | 6:af055728e564 | 237 | v*=-1.0f; |
| SamClarke | 1:0a034c2dbea6 | 238 | } else { |
| SamClarke | 1:0a034c2dbea6 | 239 | v = floor(v); |
| SamClarke | 1:0a034c2dbea6 | 240 | } |
| SamClarke | 1:0a034c2dbea6 | 241 | return v; |
| SamClarke | 1:0a034c2dbea6 | 242 | } |
| SamClarke | 1:0a034c2dbea6 | 243 | |
| Spilly | 8:2476bea153a1 | 244 | bool GPS::getData() |
| SamClarke | 1:0a034c2dbea6 | 245 | { |
| Spilly | 8:2476bea153a1 | 246 | if(!_UltimateGps.readable()) return 0; |
| Spilly | 8:2476bea153a1 | 247 | char tempChar = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 248 | //printf("%c\n", tempChar); |
| Spilly | 8:2476bea153a1 | 249 | if(tempChar == '$') |
| Spilly | 8:2476bea153a1 | 250 | { |
| Spilly | 8:2476bea153a1 | 251 | /* |
| Spilly | 8:2476bea153a1 | 252 | for(int i=0; i<256; i++) |
| Spilly | 8:2476bea153a1 | 253 | { |
| Spilly | 8:2476bea153a1 | 254 | NEMA[i] = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 255 | if(NEMA[i] == '\r') |
| Spilly | 8:2476bea153a1 | 256 | { |
| Spilly | 8:2476bea153a1 | 257 | NEMA[i] = 0; |
| Spilly | 8:2476bea153a1 | 258 | parseData(); |
| Spilly | 8:2476bea153a1 | 259 | if(sentenceCount == 3) |
| Spilly | 8:2476bea153a1 | 260 | { |
| Spilly | 8:2476bea153a1 | 261 | sentenceCount = 0; |
| Spilly | 8:2476bea153a1 | 262 | return 1; |
| Spilly | 8:2476bea153a1 | 263 | } |
| Spilly | 8:2476bea153a1 | 264 | return 0; |
| Spilly | 8:2476bea153a1 | 265 | } |
| Spilly | 8:2476bea153a1 | 266 | } |
| Spilly | 8:2476bea153a1 | 267 | */ |
| Spilly | 8:2476bea153a1 | 268 | |
| Spilly | 8:2476bea153a1 | 269 | for(int i=0; i<256; i++) |
| Spilly | 8:2476bea153a1 | 270 | { |
| Spilly | 8:2476bea153a1 | 271 | NEMA[i] = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 272 | if(NEMA[i] == '\r') |
| Spilly | 8:2476bea153a1 | 273 | { |
| Spilly | 8:2476bea153a1 | 274 | NEMA[i] = 0; |
| Spilly | 8:2476bea153a1 | 275 | parseData(); |
| Spilly | 8:2476bea153a1 | 276 | if(_UltimateGps.readable()) |
| Spilly | 8:2476bea153a1 | 277 | { |
| Spilly | 8:2476bea153a1 | 278 | |
| Spilly | 8:2476bea153a1 | 279 | tempChar = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 280 | if(tempChar != '$') |
| Spilly | 8:2476bea153a1 | 281 | { |
| Spilly | 8:2476bea153a1 | 282 | tempChar = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 283 | } |
| Spilly | 8:2476bea153a1 | 284 | if(tempChar == '$') |
| Spilly | 8:2476bea153a1 | 285 | { |
| Spilly | 8:2476bea153a1 | 286 | for(int i=0; i<256; i++) |
| Spilly | 8:2476bea153a1 | 287 | { |
| Spilly | 8:2476bea153a1 | 288 | NEMA[i] = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 289 | if(NEMA[i] == '\r') |
| Spilly | 8:2476bea153a1 | 290 | { |
| Spilly | 8:2476bea153a1 | 291 | NEMA[i] = 0; |
| Spilly | 8:2476bea153a1 | 292 | parseData(); |
| Spilly | 8:2476bea153a1 | 293 | if(_UltimateGps.readable()) |
| Spilly | 8:2476bea153a1 | 294 | { |
| Spilly | 8:2476bea153a1 | 295 | tempChar = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 296 | if(tempChar != '$') |
| Spilly | 8:2476bea153a1 | 297 | { |
| Spilly | 8:2476bea153a1 | 298 | tempChar = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 299 | } |
| Spilly | 8:2476bea153a1 | 300 | if(tempChar == '$') |
| Spilly | 8:2476bea153a1 | 301 | { |
| Spilly | 8:2476bea153a1 | 302 | for(int i=0; i<256; i++) |
| Spilly | 8:2476bea153a1 | 303 | { |
| Spilly | 8:2476bea153a1 | 304 | NEMA[i] = _UltimateGps.getc(); |
| Spilly | 8:2476bea153a1 | 305 | if(NEMA[i] == '\r') |
| Spilly | 8:2476bea153a1 | 306 | { |
| Spilly | 8:2476bea153a1 | 307 | NEMA[i] = 0; |
| Spilly | 8:2476bea153a1 | 308 | parseData(); |
| Spilly | 8:2476bea153a1 | 309 | if(sentenceCount == 3) |
| Spilly | 8:2476bea153a1 | 310 | { |
| Spilly | 8:2476bea153a1 | 311 | sentenceCount = 0; |
| Spilly | 8:2476bea153a1 | 312 | return 1; |
| Spilly | 8:2476bea153a1 | 313 | } |
| Spilly | 8:2476bea153a1 | 314 | return 0; |
| Spilly | 8:2476bea153a1 | 315 | } |
| Spilly | 8:2476bea153a1 | 316 | } |
| Spilly | 8:2476bea153a1 | 317 | } |
| Spilly | 8:2476bea153a1 | 318 | |
| Spilly | 8:2476bea153a1 | 319 | else |
| Spilly | 8:2476bea153a1 | 320 | { |
| Spilly | 8:2476bea153a1 | 321 | return 0; |
| Spilly | 8:2476bea153a1 | 322 | } |
| Spilly | 8:2476bea153a1 | 323 | } |
| Spilly | 8:2476bea153a1 | 324 | if(sentenceCount == 3) |
| Spilly | 8:2476bea153a1 | 325 | { |
| Spilly | 8:2476bea153a1 | 326 | sentenceCount = 0; |
| Spilly | 8:2476bea153a1 | 327 | return 1; |
| Spilly | 8:2476bea153a1 | 328 | } |
| Spilly | 8:2476bea153a1 | 329 | return 0; |
| Spilly | 8:2476bea153a1 | 330 | } |
| Spilly | 8:2476bea153a1 | 331 | } |
| Spilly | 8:2476bea153a1 | 332 | } |
| Spilly | 8:2476bea153a1 | 333 | } |
| Spilly | 8:2476bea153a1 | 334 | if(sentenceCount == 3) |
| Spilly | 8:2476bea153a1 | 335 | { |
| Spilly | 8:2476bea153a1 | 336 | sentenceCount = 0; |
| Spilly | 8:2476bea153a1 | 337 | return 1; |
| Spilly | 8:2476bea153a1 | 338 | } |
| Spilly | 8:2476bea153a1 | 339 | return 0; |
| Spilly | 8:2476bea153a1 | 340 | } |
| Spilly | 8:2476bea153a1 | 341 | } |
| Spilly | 8:2476bea153a1 | 342 | |
| Spilly | 8:2476bea153a1 | 343 | } |
| Spilly | 8:2476bea153a1 | 344 | return 0; |
| Spilly | 8:2476bea153a1 | 345 | /* |
| Spilly | 8:2476bea153a1 | 346 | if(tempChar == '$') |
| Spilly | 8:2476bea153a1 | 347 | { |
| Spilly | 8:2476bea153a1 | 348 | //printf("start\n"); |
| Spilly | 8:2476bea153a1 | 349 | NEMACount = 0; |
| Spilly | 8:2476bea153a1 | 350 | recordFlag = 1; |
| Spilly | 8:2476bea153a1 | 351 | } |
| Spilly | 8:2476bea153a1 | 352 | else if(recordFlag && (tempChar == '\r')) |
| Spilly | 8:2476bea153a1 | 353 | { |
| Spilly | 8:2476bea153a1 | 354 | NEMA[NEMACount] = 0; |
| Spilly | 8:2476bea153a1 | 355 | parseData(); |
| Spilly | 8:2476bea153a1 | 356 | recordFlag = 0; |
| Spilly | 8:2476bea153a1 | 357 | //return 1; |
| Spilly | 8:2476bea153a1 | 358 | if(sentenceCount == 3) |
| Spilly | 8:2476bea153a1 | 359 | { |
| Spilly | 8:2476bea153a1 | 360 | sentenceCount = 0; |
| Spilly | 8:2476bea153a1 | 361 | return 1; |
| Spilly | 8:2476bea153a1 | 362 | } |
| Spilly | 8:2476bea153a1 | 363 | } |
| Spilly | 8:2476bea153a1 | 364 | else if(recordFlag) |
| Spilly | 8:2476bea153a1 | 365 | { |
| Spilly | 8:2476bea153a1 | 366 | //printf("count = %d\n", NEMACount); |
| Spilly | 8:2476bea153a1 | 367 | NEMA[NEMACount] = tempChar; |
| Spilly | 8:2476bea153a1 | 368 | NEMACount = NEMACount + 1; |
| Spilly | 8:2476bea153a1 | 369 | } |
| Spilly | 8:2476bea153a1 | 370 | |
| Spilly | 8:2476bea153a1 | 371 | return 0; |
| Spilly | 8:2476bea153a1 | 372 | */ |
| Spilly | 8:2476bea153a1 | 373 | /* |
| SamClarke | 1:0a034c2dbea6 | 374 | while(_UltimateGps.getc() != '$'); |
| SamClarke | 1:0a034c2dbea6 | 375 | for(int i=0; i<256; i++) { |
| SamClarke | 1:0a034c2dbea6 | 376 | NEMA[i] = _UltimateGps.getc(); |
| SamClarke | 1:0a034c2dbea6 | 377 | if(NEMA[i] == '\r') { |
| SamClarke | 1:0a034c2dbea6 | 378 | NEMA[i] = 0; |
| SamClarke | 1:0a034c2dbea6 | 379 | return; |
| SamClarke | 1:0a034c2dbea6 | 380 | } |
| SamClarke | 1:0a034c2dbea6 | 381 | } |
| SamClarke | 1:0a034c2dbea6 | 382 | error("overflowed message limit"); |
| Spilly | 8:2476bea153a1 | 383 | */ |
| SamClarke | 1:0a034c2dbea6 | 384 | } |
| SamClarke | 1:0a034c2dbea6 | 385 | |
| SamClarke | 1:0a034c2dbea6 | 386 | void GPS::Init() |
| SamClarke | 1:0a034c2dbea6 | 387 | { |
| Spilly | 7:7aac669b0075 | 388 | //don't need to send baud rate command because it is already set to 38400 in firmware |
| Spilly | 7:7aac669b0075 | 389 | //_UltimateGps.printf("$PMTK251,38400*27\r\n"); //set baud (any higher and the serial buffer overflows) |
| Spilly | 7:7aac669b0075 | 390 | |
| Spilly | 7:7aac669b0075 | 391 | //Note: SBAS can only be enabled when update rate is less than or equal to 5Hz. |
| Spilly | 7:7aac669b0075 | 392 | //_UltimateGps.printf("$PMTK220,100*2F\r\n"); //10 Hz update |
| Spilly | 8:2476bea153a1 | 393 | //_UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate |
| Spilly | 8:2476bea153a1 | 394 | _UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate |
| Spilly | 7:7aac669b0075 | 395 | |
| Spilly | 7:7aac669b0075 | 396 | _UltimateGps.printf("$PMTK225,0*2bt\r\n"); //disable always locate (datasheet indicates that this negatively affects accuracy) |
| Spilly | 7:7aac669b0075 | 397 | _UltimateGps.printf("$PMTK301,2*2et\r\n"); //set DGPS to use WAAS |
| Spilly | 7:7aac669b0075 | 398 | |
| Spilly | 7:7aac669b0075 | 399 | //_UltimateGps.printf("$PMTK386,0.8*35\r\n"); //set Nav Speed threshold to 0.8 m/s |
| Spilly | 7:7aac669b0075 | 400 | //_UltimateGps.printf("$PMTK386,0.2*3f\r\n"); //set Nav Speed threshold to 0.2 m/s |
| Spilly | 7:7aac669b0075 | 401 | _UltimateGps.printf("$PMTK386,0*23\r\n"); //disable Nav Speed threshold |
| Spilly | 7:7aac669b0075 | 402 | |
| Spilly | 7:7aac669b0075 | 403 | //_UltimateGps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); //GPRMC and GPGGA |
| Spilly | 7:7aac669b0075 | 404 | //_UltimateGps.printf("$PMTK314,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); //GPRMC and GPGSA |
| Spilly | 7:7aac669b0075 | 405 | _UltimateGps.printf("$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n"); //GPRMC, GPGGA, and GPGSA |
| Spilly | 8:2476bea153a1 | 406 | //_UltimateGps.attach(this, &GPS::GPSInt); |
| Spilly | 6:af055728e564 | 407 | } |
| Spilly | 6:af055728e564 | 408 | |
| Spilly | 6:af055728e564 | 409 | void GPS::Sleep(int sleep) |
| Spilly | 6:af055728e564 | 410 | { |
| Spilly | 6:af055728e564 | 411 | if(sleep == 1) |
| Spilly | 6:af055728e564 | 412 | { |
| Spilly | 6:af055728e564 | 413 | _UltimateGps.printf("$$PMTK161,0*28\r\n"); //go to sleep |
| Spilly | 6:af055728e564 | 414 | } |
| Spilly | 6:af055728e564 | 415 | else |
| Spilly | 6:af055728e564 | 416 | { |
| Spilly | 7:7aac669b0075 | 417 | _UltimateGps.printf("$$PMTK161,1*28\r\n"); //wake up |
| Spilly | 7:7aac669b0075 | 418 | |
| Spilly | 7:7aac669b0075 | 419 | /*unit goes back to default config when put to sleep*/ |
| Spilly | 7:7aac669b0075 | 420 | |
| Spilly | 7:7aac669b0075 | 421 | //Note: SBAS can only be enabled when update rate is less than or equal to 5Hz. |
| Spilly | 7:7aac669b0075 | 422 | //_UltimateGps.printf("$PMTK220,100*2F\r\n"); //10 Hz update |
| Spilly | 8:2476bea153a1 | 423 | //_UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate |
| Spilly | 8:2476bea153a1 | 424 | _UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate |
| Spilly | 7:7aac669b0075 | 425 | |
| Spilly | 7:7aac669b0075 | 426 | _UltimateGps.printf("$PMTK225,0*2bt\r\n"); //disable always locate (datasheet indicates that this negatively affects accuracy) |
| Spilly | 7:7aac669b0075 | 427 | _UltimateGps.printf("$PMTK301,2*2et\r\n"); //set DGPS to use WAAS |
| Spilly | 7:7aac669b0075 | 428 | |
| Spilly | 7:7aac669b0075 | 429 | //_UltimateGps.printf("$PMTK386,0.8*35\r\n"); //set Nav Speed threshold to 0.8 m/s |
| Spilly | 7:7aac669b0075 | 430 | //_UltimateGps.printf("$PMTK386,0.2*3f\r\n"); //set Nav Speed threshold to 0.2 m/s |
| Spilly | 7:7aac669b0075 | 431 | _UltimateGps.printf("$PMTK386,0*23\r\n"); //disable Nav Speed threshold |
| Spilly | 7:7aac669b0075 | 432 | |
| Spilly | 7:7aac669b0075 | 433 | //_UltimateGps.printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); //GPRMC and GPGGA |
| Spilly | 7:7aac669b0075 | 434 | //_UltimateGps.printf("$PMTK314,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); //GPRMC and GPGSA |
| Spilly | 7:7aac669b0075 | 435 | _UltimateGps.printf("$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n"); //GPRMC, GPGGA, and GPGSA |
| Spilly | 6:af055728e564 | 436 | } |
| SamClarke | 1:0a034c2dbea6 | 437 | } |