christian b / GPS

Mbed library to handle GPS data reception and parsing

Dependents:   GPS_U-blox_NEO-6M_Code

Features

  • All positionning parameters are contained into a global data structure.
  • Automatic nema string parsing and data structure update.
    • GSA,GGA,VTG and RMC
  • Convert latitude and longitude to decimal value.
  • Converts latittude,longitude and altitude to ECEF coordinates.

Planed developement

  • Test library for RTOS use.
  • Complete the nema parsing decoders (couple of parameters are not parsed yet and not present in the data structure).
  • Add conversion tool to get ENU coordinates.

GPS.cpp@1:fade122a76a8, 2015-04-06 (annotated)

Committer:
chris215
Date:
Mon Apr 06 17:41:43 2015 +0000
Revision:
1:fade122a76a8
Parent:
0:0c1aa5906cef
Child:
2:72ac4d7044a7
various updates;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris215 0:0c1aa5906cef 1 #include "GPS.h"
chris215 0:0c1aa5906cef 2 #include "GPSUtils.hpp"
chris215 0:0c1aa5906cef 3
chris215 0:0c1aa5906cef 4 GPS::GPS(PinName tx, PinName rx) : RawSerial(tx, rx)
chris215 0:0c1aa5906cef 5 {
chris215 1:fade122a76a8 6 RawSerial::baud(115200);
chris215 0:0c1aa5906cef 7 attach(this, &GPS::RxIrqHandler);
chris215 0:0c1aa5906cef 8 }
chris215 0:0c1aa5906cef 9
chris215 0:0c1aa5906cef 10 void GPS::SetBaud(int rate){
chris215 0:0c1aa5906cef 11 RawSerial::baud(rate);
chris215 0:0c1aa5906cef 12 }
chris215 0:0c1aa5906cef 13
chris215 0:0c1aa5906cef 14 void GPS::RxIrqHandler(void)
chris215 0:0c1aa5906cef 15 {
chris215 0:0c1aa5906cef 16 char in;
chris215 0:0c1aa5906cef 17 while(RawSerial::readable())
chris215 0:0c1aa5906cef 18 {
chris215 0:0c1aa5906cef 19 in = RawSerial::getc();
chris215 0:0c1aa5906cef 20 if(in == START_CHAR)
chris215 0:0c1aa5906cef 21 {
chris215 0:0c1aa5906cef 22 insertIndex = 0;
chris215 0:0c1aa5906cef 23 RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = in;
chris215 0:0c1aa5906cef 24 }
chris215 0:0c1aa5906cef 25 else if(in == END_CHAR)
chris215 0:0c1aa5906cef 26 {
chris215 0:0c1aa5906cef 27 RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = 0;
chris215 0:0c1aa5906cef 28 DecodeMessage(RxMessageBuffer,info);
chris215 0:0c1aa5906cef 29 }
chris215 0:0c1aa5906cef 30 else
chris215 0:0c1aa5906cef 31 RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = in;
chris215 0:0c1aa5906cef 32 }
chris215 0:0c1aa5906cef 33 }
chris215 0:0c1aa5906cef 34
chris215 0:0c1aa5906cef 35
chris215 0:0c1aa5906cef 36 ECEFPoint GPS::ReadPositionECEF(void)
chris215 0:0c1aa5906cef 37 {
chris215 0:0c1aa5906cef 38 return GeoDesicToECEF(ReadDecGeodLoc());
chris215 0:0c1aa5906cef 39 }
chris215 0:0c1aa5906cef 40 ECEFDistance GPS::DistanceBetweenTwoWP(ECEFPoint p1,ECEFPoint p2)
chris215 0:0c1aa5906cef 41 {
chris215 0:0c1aa5906cef 42 return DistanceBetweenTwoECEFPoints(p1,p2);
chris215 0:0c1aa5906cef 43 }
chris215 0:0c1aa5906cef 44
chris215 0:0c1aa5906cef 45 geodPoint GPS::ReadDecGeodLoc(void){
chris215 0:0c1aa5906cef 46 geodPoint newLoc;
chris215 0:0c1aa5906cef 47 newLoc.latitude = nmea_to_dec(info.latitude,info.latLoc);
chris215 0:0c1aa5906cef 48 newLoc.longitude = nmea_to_dec(info.longitude,info.lonLoc);
chris215 0:0c1aa5906cef 49 newLoc.altitude = info.GPSAltitude;
chris215 0:0c1aa5906cef 50 return newLoc;
chris215 0:0c1aa5906cef 51 }
chris215 0:0c1aa5906cef 52
chris215 0:0c1aa5906cef 53 geodPoint GPS::ReadRawGeodLoc(void){
chris215 0:0c1aa5906cef 54 geodPoint newLoc;
chris215 0:0c1aa5906cef 55 newLoc.latitude = info.latitude;
chris215 0:0c1aa5906cef 56 newLoc.longitude = info.longitude;
chris215 0:0c1aa5906cef 57 newLoc.altitude = info.GPSAltitude;
chris215 0:0c1aa5906cef 58 return newLoc;
chris215 0:0c1aa5906cef 59 }
chris215 0:0c1aa5906cef 60
chris215 0:0c1aa5906cef 61
chris215 0:0c1aa5906cef 62 bool GPS::FixIs3d(void){
chris215 0:0c1aa5906cef 63 return (info.fix == 3);
chris215 0:0c1aa5906cef 64 }
chris215 0:0c1aa5906cef 65 bool GPS::FixIs2d(void){
chris215 0:0c1aa5906cef 66 return (FixIs3d() || (info.fix == 2));
chris215 0:0c1aa5906cef 67 }
chris215 0:0c1aa5906cef 68 bool GPS::GPSFixValid(void){
chris215 0:0c1aa5906cef 69 return (info.GPSStatus == 'A');
chris215 0:0c1aa5906cef 70 }
chris215 0:0c1aa5906cef 71
chris215 0:0c1aa5906cef 72