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

Committer:
chris215
Date:
2015-04-06
Revision:
1:fade122a76a8
Parent:
0:0c1aa5906cef
Child:
2:72ac4d7044a7

File content as of revision 1:fade122a76a8:

#include "GPS.h"
#include "GPSUtils.hpp"

GPS::GPS(PinName tx, PinName rx) : RawSerial(tx, rx)
{
    RawSerial::baud(115200);
    attach(this, &GPS::RxIrqHandler);
}

void GPS::SetBaud(int rate){
    RawSerial::baud(rate);
    }

void GPS::RxIrqHandler(void)
{
    char in;
    while(RawSerial::readable())
    {
        in = RawSerial::getc();
        if(in == START_CHAR)
        {
            insertIndex = 0;
            RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = in;
        }
        else if(in == END_CHAR)
        {
            RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = 0;
            DecodeMessage(RxMessageBuffer,info);
        }
        else
            RxMessageBuffer.data[(insertIndex++)%RX_BUFFER_SIZE] = in;
    }
}


ECEFPoint GPS::ReadPositionECEF(void)
{   
    return GeoDesicToECEF(ReadDecGeodLoc());
}
ECEFDistance GPS::DistanceBetweenTwoWP(ECEFPoint p1,ECEFPoint p2)
{
    return DistanceBetweenTwoECEFPoints(p1,p2);
}

geodPoint   GPS::ReadDecGeodLoc(void){
    geodPoint newLoc;
    newLoc.latitude = nmea_to_dec(info.latitude,info.latLoc);
    newLoc.longitude = nmea_to_dec(info.longitude,info.lonLoc);
    newLoc.altitude = info.GPSAltitude;
    return newLoc;
    }
    
geodPoint   GPS::ReadRawGeodLoc(void){
    geodPoint newLoc;
    newLoc.latitude = info.latitude;
    newLoc.longitude = info.longitude;
    newLoc.altitude = info.GPSAltitude;
    return newLoc;
    }
    
    
bool    GPS::FixIs3d(void){
    return (info.fix == 3);
    }
bool    GPS::FixIs2d(void){
    return (FixIs3d() || (info.fix == 2));
    }
bool    GPS::GPSFixValid(void){
        return (info.GPSStatus == 'A');
    }