Allan Li / Mbed 2 deprecated Final_Demo

GPS and Compass update every1 sec

Dependencies:   HMC6352 mbed

GPS.cpp@3:5eba63777267, 2013-12-05 (annotated)

Committer:
airaylee
Date:
Thu Dec 05 23:57:55 2013 +0000
Revision:
3:5eba63777267
v1.4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
airaylee 3:5eba63777267 1 /* mbed EM-406 GPS Module Library
airaylee 3:5eba63777267 2 * Copyright (c) 2008-2010, sford
airaylee 3:5eba63777267 3 *
airaylee 3:5eba63777267 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
airaylee 3:5eba63777267 5 * of this software and associated documentation files (the "Software"), to deal
airaylee 3:5eba63777267 6 * in the Software without restriction, including without limitation the rights
airaylee 3:5eba63777267 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
airaylee 3:5eba63777267 8 * copies of the Software, and to permit persons to whom the Software is
airaylee 3:5eba63777267 9 * furnished to do so, subject to the following conditions:
airaylee 3:5eba63777267 10 *
airaylee 3:5eba63777267 11 * The above copyright notice and this permission notice shall be included in
airaylee 3:5eba63777267 12 * all copies or substantial portions of the Software.
airaylee 3:5eba63777267 13 *
airaylee 3:5eba63777267 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
airaylee 3:5eba63777267 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
airaylee 3:5eba63777267 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
airaylee 3:5eba63777267 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
airaylee 3:5eba63777267 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
airaylee 3:5eba63777267 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
airaylee 3:5eba63777267 20 * THE SOFTWARE.
airaylee 3:5eba63777267 21 */
airaylee 3:5eba63777267 22
airaylee 3:5eba63777267 23 #include "GPS.h"
airaylee 3:5eba63777267 24
airaylee 3:5eba63777267 25 GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
airaylee 3:5eba63777267 26 _gps.baud(4800);
airaylee 3:5eba63777267 27 longitude = 0.0;
airaylee 3:5eba63777267 28 latitude = 0.0;
airaylee 3:5eba63777267 29 }
airaylee 3:5eba63777267 30
airaylee 3:5eba63777267 31 int GPS::sample() {
airaylee 3:5eba63777267 32 float time;
airaylee 3:5eba63777267 33 char ns, ew;
airaylee 3:5eba63777267 34 int lock;
airaylee 3:5eba63777267 35
airaylee 3:5eba63777267 36 //return 1; //testing by Jigar
airaylee 3:5eba63777267 37 while (1) {
airaylee 3:5eba63777267 38 getline();
airaylee 3:5eba63777267 39 //printf("\n\rentered the GPS.sample while loop \n\r %s\n\r", msg);
airaylee 3:5eba63777267 40
airaylee 3:5eba63777267 41
airaylee 3:5eba63777267 42 // Check if it is a GPGGA msg (matches both locked and non-locked msg)
airaylee 3:5eba63777267 43 // $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
airaylee 3:5eba63777267 44 /*
airaylee 3:5eba63777267 45 eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
airaylee 3:5eba63777267 46 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
airaylee 3:5eba63777267 47 1 = UTC of Position
airaylee 3:5eba63777267 48 2 = Latitude
airaylee 3:5eba63777267 49 3 = N or S
airaylee 3:5eba63777267 50 4 = Longitude
airaylee 3:5eba63777267 51 5 = E or W
airaylee 3:5eba63777267 52 6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
airaylee 3:5eba63777267 53 7 = Number of satellites in use [not those in view]
airaylee 3:5eba63777267 54 8 = Horizontal dilution of position
airaylee 3:5eba63777267 55 9 = Antenna altitude above/below mean sea level (geoid)
airaylee 3:5eba63777267 56 10 = Meters (Antenna height unit)
airaylee 3:5eba63777267 57 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
airaylee 3:5eba63777267 58 mean sea level. -=geoid is below WGS-84 ellipsoid)
airaylee 3:5eba63777267 59 12 = Meters (Units of geoidal separation)
airaylee 3:5eba63777267 60 13 = Age in seconds since last update from diff. reference station
airaylee 3:5eba63777267 61 14 = Diff. reference station ID#
airaylee 3:5eba63777267 62 15 = Checksum
airaylee 3:5eba63777267 63
airaylee 3:5eba63777267 64 */
airaylee 3:5eba63777267 65 // 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) {
airaylee 3:5eba63777267 66 if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
airaylee 3:5eba63777267 67
airaylee 3:5eba63777267 68 if (!lock) {
airaylee 3:5eba63777267 69 longitude = 0.0;
airaylee 3:5eba63777267 70 latitude = 0.0;
airaylee 3:5eba63777267 71 return 0;
airaylee 3:5eba63777267 72 } else {
airaylee 3:5eba63777267 73 if (ns == 'S') {
airaylee 3:5eba63777267 74 latitude *= -1.0;
airaylee 3:5eba63777267 75 }
airaylee 3:5eba63777267 76 if (ew == 'W') {
airaylee 3:5eba63777267 77 longitude *= -1.0;
airaylee 3:5eba63777267 78 }
airaylee 3:5eba63777267 79 float degrees = trunc(latitude / 100.0f);
airaylee 3:5eba63777267 80 float minutes = latitude - (degrees * 100.0f);
airaylee 3:5eba63777267 81 latitude = degrees + minutes / 60.0f;
airaylee 3:5eba63777267 82 degrees = trunc(longitude / 100.0f ); //degrees = trunc(longitude / 100.0f * 0.01f);
airaylee 3:5eba63777267 83 minutes = longitude - (degrees * 100.0f);
airaylee 3:5eba63777267 84 longitude = degrees + minutes / 60.0f;
airaylee 3:5eba63777267 85 return 1;
airaylee 3:5eba63777267 86 }
airaylee 3:5eba63777267 87 }
airaylee 3:5eba63777267 88 }
airaylee 3:5eba63777267 89 }
airaylee 3:5eba63777267 90
airaylee 3:5eba63777267 91 float GPS::trunc(float v) {
airaylee 3:5eba63777267 92 if (v < 0.0) {
airaylee 3:5eba63777267 93 v*= -1.0;
airaylee 3:5eba63777267 94 v = floor(v);
airaylee 3:5eba63777267 95 v*=-1.0;
airaylee 3:5eba63777267 96 } else {
airaylee 3:5eba63777267 97 v = floor(v);
airaylee 3:5eba63777267 98 }
airaylee 3:5eba63777267 99 return v;
airaylee 3:5eba63777267 100 }
airaylee 3:5eba63777267 101
airaylee 3:5eba63777267 102 void GPS::getline() {
airaylee 3:5eba63777267 103
airaylee 3:5eba63777267 104 while (_gps.getc() != '$'); // wait for the start of a line
airaylee 3:5eba63777267 105 // printf("entered the getline loop\n\r");
airaylee 3:5eba63777267 106 for (int i=0; i<256; i++) {
airaylee 3:5eba63777267 107 msg[i] = _gps.getc();
airaylee 3:5eba63777267 108 if (msg[i] == '\r') {
airaylee 3:5eba63777267 109 msg[i] = 0;
airaylee 3:5eba63777267 110 return;
airaylee 3:5eba63777267 111 }
airaylee 3:5eba63777267 112 }
airaylee 3:5eba63777267 113 error("Overflowed message limit");
airaylee 3:5eba63777267 114 }
airaylee 3:5eba63777267 115
airaylee 3:5eba63777267 116 /*
airaylee 3:5eba63777267 117 $GPRMC,000115.039,V,,,,,,,291006,,*2C
airaylee 3:5eba63777267 118 $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
airaylee 3:5eba63777267 119 $GPGSA,A,1,,,,,,,,,,,,,,,*1E
airaylee 3:5eba63777267 120 $GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,*7C
airaylee 3:5eba63777267 121 $GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76
airaylee 3:5eba63777267 122 $GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78
airaylee 3:5eba63777267 123 $GPRMC,000116.031,V,,,,,,,291006,,*27
airaylee 3:5eba63777267 124 $GPGGA,000117.035,,,,,0,00,,,M,0.0,M,,0000*57
airaylee 3:5eba63777267 125 $GPGSA,A,1,,,,,,,,,,,,,,,*1E
airaylee 3:5eba63777267 126 $GPRMC,000117.035,V,,,,,,,291006,,*22
airaylee 3:5eba63777267 127 $GPGGA,000118.039,,,,,0,00,,,M,0.0,M,,0000*54
airaylee 3:5eba63777267 128 $GPGSA,A,1,,,,,,,,,,,,,,,*1E
airaylee 3:5eba63777267 129 $GPRMC,000118.039,V,,,,,,,291006,,*21
airaylee 3:5eba63777267 130 $GPGGA,000119.035,,,,,0,00,,,M,0.0,M,,0000*59
airaylee 3:5eba63777267 131 $GPGSA,A,1,,,,,,,,,,,,,,,*1E
airaylee 3:5eba63777267 132 $GPRMC,000119.035,V,,,,,,,291006,,*2C
airaylee 3:5eba63777267 133 $GPGGA,000120.037,,,,,0,00,,,M,0.0,M,,0000*51
airaylee 3:5eba63777267 134 $GPGSA,A,1,,,,,,,,,,,,,,,*1E
airaylee 3:5eba63777267 135 $GPRMC,000120.037,V,,,,,,,291006,,*24
airaylee 3:5eba63777267 136
airaylee 3:5eba63777267 137 */