christian b
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.
Diff: GPS.cpp
- Revision:
- 0:0c1aa5906cef
- Child:
- 1:fade122a76a8
diff -r 000000000000 -r 0c1aa5906cef GPS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.cpp Wed Aug 06 01:37:39 2014 +0000
@@ -0,0 +1,72 @@
+#include "GPS.h"
+#include "GPSUtils.hpp"
+
+GPS::GPS(PinName tx, PinName rx) : RawSerial(tx, rx)
+{
+ RawSerial::baud(9600);
+ 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');
+ }
+
+