File content as of revision 1:c680da75a614:

#include "GPS.h"
#include "math.h"
#include "string"
#include "mbed.h"

using namespace std;

GPS::GPS(PinName P1,PinName P2,float TS) : logGPS(P1, P2),thread(osPriorityLow, 4096) {  
    
    // start thread and timer interrupt
    logGPS.baud(9600);
    logGPS.attach(callback(this, &GPS::Rx_interrupt), Serial::RxIrq);
    thread.start(callback(this, &GPS::get_data));
    ticker.attach(callback(this, &GPS::sendSignal), TS);
    buffer_filled = false;
    rx_in = 0;
}

GPS::~GPS() {}

void GPS::get_data(void){
    float dum;
    string str2;
    while(1) {
        thread.signal_wait(signal);
        //string str="blabla $GNGGA,124720.00,4729.84871,N,00843.83588,E,1,06,2.77,406.1,M,47.4,M,,*4B";
        str=string(buf);
        size_t found=str.find("GNGGA");
        if(found!=string::npos){
            int cou=1;
            str.replace(0,found+6, "\0");
            do{
                int en=str.find(",");
                str2=str.substr(0,en);
                switch(cou){
                    case 2:{
                        float north = atof(str2.c_str());
                        dum=floor(north/100.0);
                        north=dum+((north/100.0)-dum)/0.6;
                        pos0_xyz[0]=north;
                        break;
                        }
                    case 4:{
                        float ew = atof(str2.c_str());
                        dum=floor(ew/100.0);
                        ew=dum+((ew/100.0)-dum)/0.6;
                        pos0_xyz[1]=ew;
                        break;
                        }
                    case 6:{
                        int isvalid = atof(str2.c_str());
                        break;
                        }
                    case 7:{
                        int numSat = atof(str2.c_str());
                        break;
                        }
                    case 9:{
                        float alt = atof(str2.c_str());
                        pos0_xyz[2]=alt;
                        break;
                        }
                    }
                str.replace(0,en+1,"\0");
                cou++;
                }while(cou<10 && str.length()>2);
             }// if found
        }//while(1)       
    }
void GPS::sendSignal() {
    
    thread.signal_set(signal);
}

void GPS::get_position(void){
    pos_xyz[0]=pos0_xyz[0];
    pos_xyz[1]=pos0_xyz[1];
    pos_xyz[2]=pos0_xyz[2];
    }



void GPS::Rx_interrupt() {
    while ((logGPS.readable()) ){
        buf[rx_in++] = logGPS.getc(); 
        if(rx_in==255)
            buffer_filled = true;
    }
}

void GPS::return_string(string *st){
    *st = string(buf);
    return;    
    
    }