David Spillman
Updated version with new commands and sleep mode
Fork of
GPS
by 
Sam Clarke
Revision 8:2476bea153a1, committed 2015-04-27
- Comitter:
- Spilly
- Date:
- Mon Apr 27 16:49:11 2015 +0000
- Parent:
- 7:7aac669b0075
- Child:
- 9:083f6fe8e4c4
- Commit message:
- BoatProject
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 |
--- a/GPS.cpp Tue Apr 07 03:49:28 2015 +0000
+++ b/GPS.cpp Mon Apr 27 16:49:11 2015 +0000
@@ -11,6 +11,7 @@
// added information about checksums
// 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
// Changed latitude and longitude calculation variables to doubles to decrease math errors
+// Added function to get GPGSA NMEA sentence (we have HDOP!)
//
// IMPORTANT:
// Any changes made to commands sent to GPS unit require corresponding changes to the
@@ -19,15 +20,12 @@
// http://siliconsparrow.com/demos/nmeachecksum.php
**************************************************************************************************************************************************************/
-//GDOP = delta(output location) / delta(measured data)
-
#include "GPS.h"
GPS::GPS(PinName tx, PinName rx) : _UltimateGps(tx, rx)
{
//_UltimateGps.baud(9600); //use this for default MTK3339 adafruit firmware
_UltimateGps.baud(38400); //Changed firmware of MTK3339 to 38400 baud with update rate of 5Hz (GlobalTopFlashTool to change firmware)
}
-
void GPS::coldStart()
{
_UltimateGps.printf("$PMTK103*30\r\n");
@@ -160,6 +158,23 @@
}
int GPS::parseData()
{
+ if(getGPGGA())
+ {
+ sentenceCount = sentenceCount + 1;
+ return 1;
+ }
+ else if(getGPRMC())
+ {
+ sentenceCount = sentenceCount + 1;
+ return 1;
+ }
+ else if(getGPGSA())
+ {
+ sentenceCount = sentenceCount + 1;
+ return 1;
+ }
+ return 0;
+ /*
getData();
if(getGPGGA())
{
@@ -210,6 +225,7 @@
}
}
return 0;
+ */
}
@@ -225,8 +241,136 @@
return v;
}
-void GPS::getData()
+bool GPS::getData()
{
+ if(!_UltimateGps.readable()) return 0;
+ char tempChar = _UltimateGps.getc();
+ //printf("%c\n", tempChar);
+ if(tempChar == '$')
+ {
+ /*
+ for(int i=0; i<256; i++)
+ {
+ NEMA[i] = _UltimateGps.getc();
+ if(NEMA[i] == '\r')
+ {
+ NEMA[i] = 0;
+ parseData();
+ if(sentenceCount == 3)
+ {
+ sentenceCount = 0;
+ return 1;
+ }
+ return 0;
+ }
+ }
+ */
+
+ for(int i=0; i<256; i++)
+ {
+ NEMA[i] = _UltimateGps.getc();
+ if(NEMA[i] == '\r')
+ {
+ NEMA[i] = 0;
+ parseData();
+ if(_UltimateGps.readable())
+ {
+
+ tempChar = _UltimateGps.getc();
+ if(tempChar != '$')
+ {
+ tempChar = _UltimateGps.getc();
+ }
+ if(tempChar == '$')
+ {
+ for(int i=0; i<256; i++)
+ {
+ NEMA[i] = _UltimateGps.getc();
+ if(NEMA[i] == '\r')
+ {
+ NEMA[i] = 0;
+ parseData();
+ if(_UltimateGps.readable())
+ {
+ tempChar = _UltimateGps.getc();
+ if(tempChar != '$')
+ {
+ tempChar = _UltimateGps.getc();
+ }
+ if(tempChar == '$')
+ {
+ for(int i=0; i<256; i++)
+ {
+ NEMA[i] = _UltimateGps.getc();
+ if(NEMA[i] == '\r')
+ {
+ NEMA[i] = 0;
+ parseData();
+ if(sentenceCount == 3)
+ {
+ sentenceCount = 0;
+ return 1;
+ }
+ return 0;
+ }
+ }
+ }
+
+ else
+ {
+ return 0;
+ }
+ }
+ if(sentenceCount == 3)
+ {
+ sentenceCount = 0;
+ return 1;
+ }
+ return 0;
+ }
+ }
+ }
+ }
+ if(sentenceCount == 3)
+ {
+ sentenceCount = 0;
+ return 1;
+ }
+ return 0;
+ }
+ }
+
+ }
+ return 0;
+ /*
+ if(tempChar == '$')
+ {
+ //printf("start\n");
+ NEMACount = 0;
+ recordFlag = 1;
+ }
+ else if(recordFlag && (tempChar == '\r'))
+ {
+ NEMA[NEMACount] = 0;
+ parseData();
+ recordFlag = 0;
+ //return 1;
+ if(sentenceCount == 3)
+ {
+ sentenceCount = 0;
+ return 1;
+ }
+ }
+ else if(recordFlag)
+ {
+ //printf("count = %d\n", NEMACount);
+ NEMA[NEMACount] = tempChar;
+ NEMACount = NEMACount + 1;
+ }
+
+ return 0;
+ */
+ /*
while(_UltimateGps.getc() != '$');
for(int i=0; i<256; i++) {
NEMA[i] = _UltimateGps.getc();
@@ -236,6 +380,7 @@
}
}
error("overflowed message limit");
+ */
}
void GPS::Init()
@@ -245,8 +390,8 @@
//Note: SBAS can only be enabled when update rate is less than or equal to 5Hz.
//_UltimateGps.printf("$PMTK220,100*2F\r\n"); //10 Hz update
- _UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate
- //_UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate
+ //_UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate
+ _UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate
_UltimateGps.printf("$PMTK225,0*2bt\r\n"); //disable always locate (datasheet indicates that this negatively affects accuracy)
_UltimateGps.printf("$PMTK301,2*2et\r\n"); //set DGPS to use WAAS
@@ -258,6 +403,7 @@
//_UltimateGps.printf("$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
//_UltimateGps.printf("$PMTK314,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); //GPRMC and GPGSA
_UltimateGps.printf("$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
+ //_UltimateGps.attach(this, &GPS::GPSInt);
}
void GPS::Sleep(int sleep)
@@ -274,8 +420,8 @@
//Note: SBAS can only be enabled when update rate is less than or equal to 5Hz.
//_UltimateGps.printf("$PMTK220,100*2F\r\n"); //10 Hz update
- _UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate
- //_UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate
+ //_UltimateGps.printf("$PMTK220,200*2C\r\n"); //5 Hz udpate
+ _UltimateGps.printf("$PMTK220,1000*1f\r\n"); //1 Hz udpate
_UltimateGps.printf("$PMTK225,0*2bt\r\n"); //disable always locate (datasheet indicates that this negatively affects accuracy)
_UltimateGps.printf("$PMTK301,2*2et\r\n"); //set DGPS to use WAAS
--- a/GPS.h Tue Apr 07 03:49:28 2015 +0000
+++ b/GPS.h Mon Apr 27 16:49:11 2015 +0000
@@ -56,14 +56,19 @@
float kph;
//added by Ryan
+ Serial _UltimateGps;
int getGPRMC();
int getGPGSA();
int getGPGGA();
void Init();
void Sleep(int sleep);
void coldStart();
+ bool getData();
char mode; //manual or automatic
int status; //same as fixtype
+ int NEMACount;
+ int sentenceCount;
+ int recordFlag;
float PDOP; //Position Dilution of Precision
float HDOP; //Horizontal Dilution of Precision
float VDOP; //Vertical Dilution of Precision
@@ -72,8 +77,8 @@
private:
float trunc ( float v);
- void getData();
- Serial _UltimateGps;
+ //void getData();
+ //Serial _UltimateGps;
char NEMA[256];
};
#endif