TinyGPS.h

00001 /*
00002 TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
00003 Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
00004 Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
00005 Precision improvements suggested by Wayne Holder.
00006 Copyright (C) 2008-2013 Mikal Hart
00007 All rights reserved.
00008 
00009 This library is free software; you can redistribute it and/or
00010 modify it under the terms of the GNU Lesser General Public
00011 License as published by the Free Software Foundation; either
00012 version 2.1 of the License, or (at your option) any later version.
00013 
00014 This library is distributed in the hope that it will be useful,
00015 but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00017 Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public
00020 License along with this library; if not, write to the Free Software
00021 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00022 */
00023 
00024 #ifndef TinyGPS_h
00025 #define TinyGPS_h
00026 
00027 /*#if defined(ARDUINO) && ARDUINO >= 100
00028 #include "Arduino.h"
00029 #else
00030 #include "WProgram.h"
00031 #endif
00032 */
00033 
00034 
00035 #include "mbed.h"
00036 #include "types.h"
00037 
00038 #include <stdlib.h>
00039 
00040 #define _GPS_VERSION 13 // software version of this library
00041 #define _GPS_MPH_PER_KNOT 1.15077945
00042 #define _GPS_MPS_PER_KNOT 0.51444444
00043 #define _GPS_KMPH_PER_KNOT 1.852
00044 #define _GPS_MILES_PER_METER 0.00062137112
00045 #define _GPS_KM_PER_METER 0.001
00046 // #define _GPS_NO_STATS
00047 
00048 #define TWO_PI 6.283185
00049 
00050 //Convert from radians to degrees.
00051 #define toDegrees(x) (x * 57.2957795)
00052 //Convert from degrees to radians.
00053 #define toRadians(x) (x * 0.01745329252)
00054 
00055 class TinyGPS
00056 {
00057 public:
00058   enum {
00059     GPS_INVALID_AGE = 0xFFFFFFFF,      GPS_INVALID_ANGLE = 999999999, 
00060     GPS_INVALID_ALTITUDE = 999999999,  GPS_INVALID_DATE = 0,
00061     GPS_INVALID_TIME = 0xFFFFFFFF,       GPS_INVALID_SPEED = 999999999, 
00062     GPS_INVALID_FIX_TIME = 0xFFFFFFFF, GPS_INVALID_SATELLITES = 0xFF,
00063     GPS_INVALID_HDOP = 0xFFFFFFFF
00064   };
00065 
00066   static const float GPS_INVALID_F_ANGLE, GPS_INVALID_F_ALTITUDE, GPS_INVALID_F_SPEED;
00067 
00068   TinyGPS();
00069   bool encode(char c); // process one character received from GPS
00070   TinyGPS &operator << (char c) {encode(c); return *this;}
00071 
00072   // lat/long in MILLIONTHs of a degree and age of fix in milliseconds
00073   // (note: versions 12 and earlier gave lat/long in 100,000ths of a degree.
00074   void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0);
00075 
00076   // date as ddmmyy, time as hhmmsscc, and age in milliseconds
00077   void get_datetime(unsigned long *date, unsigned long *time, unsigned long *age = 0);
00078 
00079   // signed altitude in centimeters (from GPGGA sentence)
00080   inline long altitude() { return _altitude; }
00081 
00082   // course in last full GPRMC sentence in 100th of a degree
00083   inline unsigned long course() { return _course; }
00084 
00085   // speed in last full GPRMC sentence in 100ths of a knot
00086   inline unsigned long speed() { return _speed; }
00087 
00088   // satellites used in last full GPGGA sentence
00089   inline unsigned short satellites() { return _numsats; }
00090 
00091   // horizontal dilution of precision in 100ths
00092   inline unsigned long hdop() { return _hdop; }
00093 
00094   void f_get_position(float *latitude, float *longitude, unsigned long *fix_age = 0);
00095   void crack_datetime(int *year, byte *month, byte *day, 
00096     byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0);
00097   float f_altitude();
00098   float f_course();
00099   float f_speed_knots();
00100   float f_speed_mph();
00101   float f_speed_mps();
00102   float f_speed_kmph();
00103 
00104   static int library_version() { return _GPS_VERSION; }
00105 
00106   static float distance_between (float lat1, float long1, float lat2, float long2);
00107   static float course_to (float lat1, float long1, float lat2, float long2);
00108   static const char *cardinal(float course);
00109 
00110 #ifndef _GPS_NO_STATS
00111   void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
00112 #endif
00113 
00114 private:
00115   enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};
00116 
00117   // properties
00118   unsigned long _time, _new_time;
00119   unsigned long _date, _new_date;
00120   long _latitude, _new_latitude;
00121   long _longitude, _new_longitude;
00122   long _altitude, _new_altitude;
00123   unsigned long  _speed, _new_speed;
00124   unsigned long  _course, _new_course;
00125   unsigned long  _hdop, _new_hdop;
00126   unsigned short _numsats, _new_numsats;
00127 
00128   unsigned long _last_time_fix, _new_time_fix;
00129   unsigned long _last_position_fix, _new_position_fix;
00130 
00131   // parsing state variables
00132   byte _parity;
00133   bool _is_checksum_term;
00134   char _term[15];
00135   byte _sentence_type;
00136   byte _term_number;
00137   byte _term_offset;
00138   bool _gps_data_good;
00139 
00140 #ifndef _GPS_NO_STATS
00141   // statistics
00142   unsigned long _encoded_characters;
00143   unsigned short _good_sentences;
00144   unsigned short _failed_checksum;
00145   unsigned short _passed_checksum;
00146 #endif
00147 
00148   // internal utilities
00149   int from_hex(char a);
00150   unsigned long parse_decimal();
00151   unsigned long parse_degrees();
00152   bool term_complete();
00153   bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
00154   long gpsatol(const char *str);
00155   int gpsstrcmp(const char *str1, const char *str2);
00156 };
00157 
00158 #if !defined(ARDUINO) 
00159 // Arduino 0012 workaround
00160 #undef int
00161 #undef char
00162 #undef long
00163 #undef byte
00164 #undef float
00165 #undef abs
00166 #undef round 
00167 #endif
00168 
00169 #endif