Quick & dirty port of the Adafruit library for their GPS Featherwing board. It is designed to be used with the MAX32630FTHR board.
gps.cpp@0:8fc18502886a, 2017-06-11 (annotated)
- Committer:
- danjulio
- Date:
- Sun Jun 11 04:06:22 2017 +0000
- Revision:
- 0:8fc18502886a
Initial commit of ported gps library for mbed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danjulio | 0:8fc18502886a | 1 | /*********************************** |
danjulio | 0:8fc18502886a | 2 | This is our GPS library |
danjulio | 0:8fc18502886a | 3 | |
danjulio | 0:8fc18502886a | 4 | Adafruit invests time and resources providing this open source code, |
danjulio | 0:8fc18502886a | 5 | please support Adafruit and open-source hardware by purchasing |
danjulio | 0:8fc18502886a | 6 | products from Adafruit! |
danjulio | 0:8fc18502886a | 7 | |
danjulio | 0:8fc18502886a | 8 | Written by Limor Fried/Ladyada for Adafruit Industries. |
danjulio | 0:8fc18502886a | 9 | BSD license, check license.txt for more information |
danjulio | 0:8fc18502886a | 10 | All text above must be included in any redistribution |
danjulio | 0:8fc18502886a | 11 | ****************************************/ |
danjulio | 0:8fc18502886a | 12 | // |
danjulio | 0:8fc18502886a | 13 | // Ported to mbed by Dan Julio - 5/2017 |
danjulio | 0:8fc18502886a | 14 | |
danjulio | 0:8fc18502886a | 15 | #include <gps.h> |
danjulio | 0:8fc18502886a | 16 | |
danjulio | 0:8fc18502886a | 17 | // how long are max NMEA lines to parse? |
danjulio | 0:8fc18502886a | 18 | #define MAXLINELENGTH 120 |
danjulio | 0:8fc18502886a | 19 | |
danjulio | 0:8fc18502886a | 20 | // we double buffer: read one line in and leave one for the main program |
danjulio | 0:8fc18502886a | 21 | volatile char line1[MAXLINELENGTH]; |
danjulio | 0:8fc18502886a | 22 | volatile char line2[MAXLINELENGTH]; |
danjulio | 0:8fc18502886a | 23 | // our index into filling the current line |
danjulio | 0:8fc18502886a | 24 | volatile uint8_t lineidx=0; |
danjulio | 0:8fc18502886a | 25 | // pointers to the double buffers |
danjulio | 0:8fc18502886a | 26 | volatile char *currentline; |
danjulio | 0:8fc18502886a | 27 | volatile char *lastline; |
danjulio | 0:8fc18502886a | 28 | volatile bool recvdflag; |
danjulio | 0:8fc18502886a | 29 | volatile bool inStandbyMode; |
danjulio | 0:8fc18502886a | 30 | |
danjulio | 0:8fc18502886a | 31 | |
danjulio | 0:8fc18502886a | 32 | bool Adafruit_GPS::parse(char *nmea) { |
danjulio | 0:8fc18502886a | 33 | // do checksum check |
danjulio | 0:8fc18502886a | 34 | |
danjulio | 0:8fc18502886a | 35 | // first look if we even have one |
danjulio | 0:8fc18502886a | 36 | if (nmea[strlen(nmea)-4] == '*') { |
danjulio | 0:8fc18502886a | 37 | uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16; |
danjulio | 0:8fc18502886a | 38 | sum += parseHex(nmea[strlen(nmea)-2]); |
danjulio | 0:8fc18502886a | 39 | |
danjulio | 0:8fc18502886a | 40 | // check checksum |
danjulio | 0:8fc18502886a | 41 | for (uint8_t i=2; i < (strlen(nmea)-4); i++) { |
danjulio | 0:8fc18502886a | 42 | sum ^= nmea[i]; |
danjulio | 0:8fc18502886a | 43 | } |
danjulio | 0:8fc18502886a | 44 | if (sum != 0) { |
danjulio | 0:8fc18502886a | 45 | // bad checksum :( |
danjulio | 0:8fc18502886a | 46 | //printf("bad checksum\n"); |
danjulio | 0:8fc18502886a | 47 | return false; |
danjulio | 0:8fc18502886a | 48 | } |
danjulio | 0:8fc18502886a | 49 | } |
danjulio | 0:8fc18502886a | 50 | int32_t degree; |
danjulio | 0:8fc18502886a | 51 | long minutes; |
danjulio | 0:8fc18502886a | 52 | char degreebuff[10]; |
danjulio | 0:8fc18502886a | 53 | // look for a few common sentences |
danjulio | 0:8fc18502886a | 54 | if (strstr(nmea, "$GPGGA")) { |
danjulio | 0:8fc18502886a | 55 | // found GGA |
danjulio | 0:8fc18502886a | 56 | char *p = nmea; |
danjulio | 0:8fc18502886a | 57 | // get time |
danjulio | 0:8fc18502886a | 58 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 59 | float timef = atof(p); |
danjulio | 0:8fc18502886a | 60 | uint32_t time = timef; |
danjulio | 0:8fc18502886a | 61 | hour = time / 10000; |
danjulio | 0:8fc18502886a | 62 | minute = (time % 10000) / 100; |
danjulio | 0:8fc18502886a | 63 | seconds = (time % 100); |
danjulio | 0:8fc18502886a | 64 | |
danjulio | 0:8fc18502886a | 65 | milliseconds = fmod(timef, 1.0f) * 1000; |
danjulio | 0:8fc18502886a | 66 | |
danjulio | 0:8fc18502886a | 67 | // parse out latitude |
danjulio | 0:8fc18502886a | 68 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 69 | if (',' != *p) |
danjulio | 0:8fc18502886a | 70 | { |
danjulio | 0:8fc18502886a | 71 | strncpy(degreebuff, p, 2); |
danjulio | 0:8fc18502886a | 72 | p += 2; |
danjulio | 0:8fc18502886a | 73 | degreebuff[2] = '\0'; |
danjulio | 0:8fc18502886a | 74 | degree = atol(degreebuff) * 10000000; |
danjulio | 0:8fc18502886a | 75 | strncpy(degreebuff, p, 2); // minutes |
danjulio | 0:8fc18502886a | 76 | p += 3; // skip decimal point |
danjulio | 0:8fc18502886a | 77 | strncpy(degreebuff + 2, p, 4); |
danjulio | 0:8fc18502886a | 78 | degreebuff[6] = '\0'; |
danjulio | 0:8fc18502886a | 79 | minutes = 50 * atol(degreebuff) / 3; |
danjulio | 0:8fc18502886a | 80 | latitude_fixed = degree + minutes; |
danjulio | 0:8fc18502886a | 81 | latitude = degree / 100000 + minutes * 0.000006f; |
danjulio | 0:8fc18502886a | 82 | latitudeDegrees = (latitude-100*int(latitude/100))/60.0f; |
danjulio | 0:8fc18502886a | 83 | latitudeDegrees += int(latitude/100); |
danjulio | 0:8fc18502886a | 84 | } |
danjulio | 0:8fc18502886a | 85 | |
danjulio | 0:8fc18502886a | 86 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 87 | if (',' != *p) |
danjulio | 0:8fc18502886a | 88 | { |
danjulio | 0:8fc18502886a | 89 | if (p[0] == 'S') latitudeDegrees *= -1.0f; |
danjulio | 0:8fc18502886a | 90 | if (p[0] == 'N') lat = 'N'; |
danjulio | 0:8fc18502886a | 91 | else if (p[0] == 'S') lat = 'S'; |
danjulio | 0:8fc18502886a | 92 | else if (p[0] == ',') lat = 0; |
danjulio | 0:8fc18502886a | 93 | else return false; |
danjulio | 0:8fc18502886a | 94 | } |
danjulio | 0:8fc18502886a | 95 | |
danjulio | 0:8fc18502886a | 96 | // parse out longitude |
danjulio | 0:8fc18502886a | 97 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 98 | if (',' != *p) |
danjulio | 0:8fc18502886a | 99 | { |
danjulio | 0:8fc18502886a | 100 | strncpy(degreebuff, p, 3); |
danjulio | 0:8fc18502886a | 101 | p += 3; |
danjulio | 0:8fc18502886a | 102 | degreebuff[3] = '\0'; |
danjulio | 0:8fc18502886a | 103 | degree = atol(degreebuff) * 10000000; |
danjulio | 0:8fc18502886a | 104 | strncpy(degreebuff, p, 2); // minutes |
danjulio | 0:8fc18502886a | 105 | p += 3; // skip decimal point |
danjulio | 0:8fc18502886a | 106 | strncpy(degreebuff + 2, p, 4); |
danjulio | 0:8fc18502886a | 107 | degreebuff[6] = '\0'; |
danjulio | 0:8fc18502886a | 108 | minutes = 50 * atol(degreebuff) / 3; |
danjulio | 0:8fc18502886a | 109 | longitude_fixed = degree + minutes; |
danjulio | 0:8fc18502886a | 110 | longitude = degree / 100000 + minutes * 0.000006f; |
danjulio | 0:8fc18502886a | 111 | longitudeDegrees = (longitude-100*int(longitude/100))/60.0f; |
danjulio | 0:8fc18502886a | 112 | longitudeDegrees += int(longitude/100); |
danjulio | 0:8fc18502886a | 113 | } |
danjulio | 0:8fc18502886a | 114 | |
danjulio | 0:8fc18502886a | 115 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 116 | if (',' != *p) |
danjulio | 0:8fc18502886a | 117 | { |
danjulio | 0:8fc18502886a | 118 | if (p[0] == 'W') longitudeDegrees *= -1.0f; |
danjulio | 0:8fc18502886a | 119 | if (p[0] == 'W') lon = 'W'; |
danjulio | 0:8fc18502886a | 120 | else if (p[0] == 'E') lon = 'E'; |
danjulio | 0:8fc18502886a | 121 | else if (p[0] == ',') lon = 0; |
danjulio | 0:8fc18502886a | 122 | else { |
danjulio | 0:8fc18502886a | 123 | //printf("unknown lon\n"); |
danjulio | 0:8fc18502886a | 124 | return false; |
danjulio | 0:8fc18502886a | 125 | } |
danjulio | 0:8fc18502886a | 126 | } |
danjulio | 0:8fc18502886a | 127 | |
danjulio | 0:8fc18502886a | 128 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 129 | if (',' != *p) |
danjulio | 0:8fc18502886a | 130 | { |
danjulio | 0:8fc18502886a | 131 | fixquality = atoi(p); |
danjulio | 0:8fc18502886a | 132 | fix = (fixquality != 0); // Added by Dan Julio |
danjulio | 0:8fc18502886a | 133 | } |
danjulio | 0:8fc18502886a | 134 | |
danjulio | 0:8fc18502886a | 135 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 136 | if (',' != *p) |
danjulio | 0:8fc18502886a | 137 | { |
danjulio | 0:8fc18502886a | 138 | satellites = atoi(p); |
danjulio | 0:8fc18502886a | 139 | } |
danjulio | 0:8fc18502886a | 140 | |
danjulio | 0:8fc18502886a | 141 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 142 | if (',' != *p) |
danjulio | 0:8fc18502886a | 143 | { |
danjulio | 0:8fc18502886a | 144 | HDOP = atof(p); |
danjulio | 0:8fc18502886a | 145 | } |
danjulio | 0:8fc18502886a | 146 | |
danjulio | 0:8fc18502886a | 147 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 148 | if (',' != *p) |
danjulio | 0:8fc18502886a | 149 | { |
danjulio | 0:8fc18502886a | 150 | altitude = atof(p); |
danjulio | 0:8fc18502886a | 151 | } |
danjulio | 0:8fc18502886a | 152 | |
danjulio | 0:8fc18502886a | 153 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 154 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 155 | if (',' != *p) |
danjulio | 0:8fc18502886a | 156 | { |
danjulio | 0:8fc18502886a | 157 | geoidheight = atof(p); |
danjulio | 0:8fc18502886a | 158 | } |
danjulio | 0:8fc18502886a | 159 | return true; |
danjulio | 0:8fc18502886a | 160 | } |
danjulio | 0:8fc18502886a | 161 | if (strstr(nmea, "$GPRMC")) { |
danjulio | 0:8fc18502886a | 162 | // found RMC |
danjulio | 0:8fc18502886a | 163 | char *p = nmea; |
danjulio | 0:8fc18502886a | 164 | |
danjulio | 0:8fc18502886a | 165 | // get time |
danjulio | 0:8fc18502886a | 166 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 167 | float timef = atof(p); |
danjulio | 0:8fc18502886a | 168 | uint32_t time = timef; |
danjulio | 0:8fc18502886a | 169 | hour = time / 10000; |
danjulio | 0:8fc18502886a | 170 | minute = (time % 10000) / 100; |
danjulio | 0:8fc18502886a | 171 | seconds = (time % 100); |
danjulio | 0:8fc18502886a | 172 | |
danjulio | 0:8fc18502886a | 173 | milliseconds = fmod(timef, 1.0f) * 1000; |
danjulio | 0:8fc18502886a | 174 | |
danjulio | 0:8fc18502886a | 175 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 176 | // Serial.println(p); |
danjulio | 0:8fc18502886a | 177 | if (p[0] == 'A') |
danjulio | 0:8fc18502886a | 178 | fix = true; |
danjulio | 0:8fc18502886a | 179 | else if (p[0] == 'V') |
danjulio | 0:8fc18502886a | 180 | fix = false; |
danjulio | 0:8fc18502886a | 181 | else { |
danjulio | 0:8fc18502886a | 182 | //printf("unknown fix\n"); |
danjulio | 0:8fc18502886a | 183 | return false; |
danjulio | 0:8fc18502886a | 184 | } |
danjulio | 0:8fc18502886a | 185 | |
danjulio | 0:8fc18502886a | 186 | // parse out latitude |
danjulio | 0:8fc18502886a | 187 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 188 | if (',' != *p) |
danjulio | 0:8fc18502886a | 189 | { |
danjulio | 0:8fc18502886a | 190 | strncpy(degreebuff, p, 2); |
danjulio | 0:8fc18502886a | 191 | p += 2; |
danjulio | 0:8fc18502886a | 192 | degreebuff[2] = '\0'; |
danjulio | 0:8fc18502886a | 193 | long degree = atol(degreebuff) * 10000000; |
danjulio | 0:8fc18502886a | 194 | strncpy(degreebuff, p, 2); // minutes |
danjulio | 0:8fc18502886a | 195 | p += 3; // skip decimal point |
danjulio | 0:8fc18502886a | 196 | strncpy(degreebuff + 2, p, 4); |
danjulio | 0:8fc18502886a | 197 | degreebuff[6] = '\0'; |
danjulio | 0:8fc18502886a | 198 | long minutes = 50 * atol(degreebuff) / 3; |
danjulio | 0:8fc18502886a | 199 | latitude_fixed = degree + minutes; |
danjulio | 0:8fc18502886a | 200 | latitude = degree / 100000 + minutes * 0.000006f; |
danjulio | 0:8fc18502886a | 201 | latitudeDegrees = (latitude-100*int(latitude/100))/60.0f; |
danjulio | 0:8fc18502886a | 202 | latitudeDegrees += int(latitude/100); |
danjulio | 0:8fc18502886a | 203 | } |
danjulio | 0:8fc18502886a | 204 | |
danjulio | 0:8fc18502886a | 205 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 206 | if (',' != *p) |
danjulio | 0:8fc18502886a | 207 | { |
danjulio | 0:8fc18502886a | 208 | if (p[0] == 'S') latitudeDegrees *= -1.0; |
danjulio | 0:8fc18502886a | 209 | if (p[0] == 'N') lat = 'N'; |
danjulio | 0:8fc18502886a | 210 | else if (p[0] == 'S') lat = 'S'; |
danjulio | 0:8fc18502886a | 211 | else if (p[0] == ',') lat = 0; |
danjulio | 0:8fc18502886a | 212 | else { |
danjulio | 0:8fc18502886a | 213 | //printf("unknown lat\n"); |
danjulio | 0:8fc18502886a | 214 | return false; |
danjulio | 0:8fc18502886a | 215 | } |
danjulio | 0:8fc18502886a | 216 | } |
danjulio | 0:8fc18502886a | 217 | |
danjulio | 0:8fc18502886a | 218 | // parse out longitude |
danjulio | 0:8fc18502886a | 219 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 220 | if (',' != *p) |
danjulio | 0:8fc18502886a | 221 | { |
danjulio | 0:8fc18502886a | 222 | strncpy(degreebuff, p, 3); |
danjulio | 0:8fc18502886a | 223 | p += 3; |
danjulio | 0:8fc18502886a | 224 | degreebuff[3] = '\0'; |
danjulio | 0:8fc18502886a | 225 | degree = atol(degreebuff) * 10000000; |
danjulio | 0:8fc18502886a | 226 | strncpy(degreebuff, p, 2); // minutes |
danjulio | 0:8fc18502886a | 227 | p += 3; // skip decimal point |
danjulio | 0:8fc18502886a | 228 | strncpy(degreebuff + 2, p, 4); |
danjulio | 0:8fc18502886a | 229 | degreebuff[6] = '\0'; |
danjulio | 0:8fc18502886a | 230 | minutes = 50 * atol(degreebuff) / 3; |
danjulio | 0:8fc18502886a | 231 | longitude_fixed = degree + minutes; |
danjulio | 0:8fc18502886a | 232 | longitude = degree / 100000 + minutes * 0.000006f; |
danjulio | 0:8fc18502886a | 233 | longitudeDegrees = (longitude-100*int(longitude/100))/60.0f; |
danjulio | 0:8fc18502886a | 234 | longitudeDegrees += int(longitude/100); |
danjulio | 0:8fc18502886a | 235 | } |
danjulio | 0:8fc18502886a | 236 | |
danjulio | 0:8fc18502886a | 237 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 238 | if (',' != *p) |
danjulio | 0:8fc18502886a | 239 | { |
danjulio | 0:8fc18502886a | 240 | if (p[0] == 'W') longitudeDegrees *= -1.0f; |
danjulio | 0:8fc18502886a | 241 | if (p[0] == 'W') lon = 'W'; |
danjulio | 0:8fc18502886a | 242 | else if (p[0] == 'E') lon = 'E'; |
danjulio | 0:8fc18502886a | 243 | else if (p[0] == ',') lon = 0; |
danjulio | 0:8fc18502886a | 244 | else { |
danjulio | 0:8fc18502886a | 245 | //printf("unknown lon (2)\n"); |
danjulio | 0:8fc18502886a | 246 | return false; |
danjulio | 0:8fc18502886a | 247 | } |
danjulio | 0:8fc18502886a | 248 | } |
danjulio | 0:8fc18502886a | 249 | |
danjulio | 0:8fc18502886a | 250 | // speed |
danjulio | 0:8fc18502886a | 251 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 252 | if (',' != *p) |
danjulio | 0:8fc18502886a | 253 | { |
danjulio | 0:8fc18502886a | 254 | speed = atof(p); |
danjulio | 0:8fc18502886a | 255 | } |
danjulio | 0:8fc18502886a | 256 | |
danjulio | 0:8fc18502886a | 257 | // angle |
danjulio | 0:8fc18502886a | 258 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 259 | if (',' != *p) |
danjulio | 0:8fc18502886a | 260 | { |
danjulio | 0:8fc18502886a | 261 | angle = atof(p); |
danjulio | 0:8fc18502886a | 262 | } |
danjulio | 0:8fc18502886a | 263 | |
danjulio | 0:8fc18502886a | 264 | p = strchr(p, ',')+1; |
danjulio | 0:8fc18502886a | 265 | if (',' != *p) |
danjulio | 0:8fc18502886a | 266 | { |
danjulio | 0:8fc18502886a | 267 | uint32_t fulldate = atof(p); |
danjulio | 0:8fc18502886a | 268 | day = fulldate / 10000; |
danjulio | 0:8fc18502886a | 269 | month = (fulldate % 10000) / 100; |
danjulio | 0:8fc18502886a | 270 | year = (fulldate % 100); |
danjulio | 0:8fc18502886a | 271 | } |
danjulio | 0:8fc18502886a | 272 | |
danjulio | 0:8fc18502886a | 273 | // we dont parse the remaining, yet! |
danjulio | 0:8fc18502886a | 274 | return true; |
danjulio | 0:8fc18502886a | 275 | } |
danjulio | 0:8fc18502886a | 276 | //printf("unknown sentence\n"); |
danjulio | 0:8fc18502886a | 277 | return false; |
danjulio | 0:8fc18502886a | 278 | } |
danjulio | 0:8fc18502886a | 279 | |
danjulio | 0:8fc18502886a | 280 | char Adafruit_GPS::read(void) { |
danjulio | 0:8fc18502886a | 281 | char c = 0; |
danjulio | 0:8fc18502886a | 282 | |
danjulio | 0:8fc18502886a | 283 | if (paused) return c; |
danjulio | 0:8fc18502886a | 284 | |
danjulio | 0:8fc18502886a | 285 | if(!gpsHwSerial->readable()) return c; |
danjulio | 0:8fc18502886a | 286 | |
danjulio | 0:8fc18502886a | 287 | c = gpsHwSerial->getc(); |
danjulio | 0:8fc18502886a | 288 | |
danjulio | 0:8fc18502886a | 289 | printf("%c", c); |
danjulio | 0:8fc18502886a | 290 | |
danjulio | 0:8fc18502886a | 291 | // if (c == '$') { //please don't eat the dollar sign - rdl 9/15/14 |
danjulio | 0:8fc18502886a | 292 | // currentline[lineidx] = 0; |
danjulio | 0:8fc18502886a | 293 | // lineidx = 0; |
danjulio | 0:8fc18502886a | 294 | // } |
danjulio | 0:8fc18502886a | 295 | if (c == '\n') { |
danjulio | 0:8fc18502886a | 296 | currentline[lineidx] = 0; |
danjulio | 0:8fc18502886a | 297 | |
danjulio | 0:8fc18502886a | 298 | if (currentline == line1) { |
danjulio | 0:8fc18502886a | 299 | currentline = line2; |
danjulio | 0:8fc18502886a | 300 | lastline = line1; |
danjulio | 0:8fc18502886a | 301 | } else { |
danjulio | 0:8fc18502886a | 302 | currentline = line1; |
danjulio | 0:8fc18502886a | 303 | lastline = line2; |
danjulio | 0:8fc18502886a | 304 | } |
danjulio | 0:8fc18502886a | 305 | |
danjulio | 0:8fc18502886a | 306 | //printf("----\n"); |
danjulio | 0:8fc18502886a | 307 | //printf((char *)lastline); |
danjulio | 0:8fc18502886a | 308 | //printf("\n----\n"); |
danjulio | 0:8fc18502886a | 309 | lineidx = 0; |
danjulio | 0:8fc18502886a | 310 | recvdflag = true; |
danjulio | 0:8fc18502886a | 311 | } |
danjulio | 0:8fc18502886a | 312 | |
danjulio | 0:8fc18502886a | 313 | if (c != '\r') { |
danjulio | 0:8fc18502886a | 314 | currentline[lineidx++] = c; |
danjulio | 0:8fc18502886a | 315 | if (lineidx >= MAXLINELENGTH) |
danjulio | 0:8fc18502886a | 316 | lineidx = MAXLINELENGTH-1; |
danjulio | 0:8fc18502886a | 317 | } |
danjulio | 0:8fc18502886a | 318 | |
danjulio | 0:8fc18502886a | 319 | return c; |
danjulio | 0:8fc18502886a | 320 | } |
danjulio | 0:8fc18502886a | 321 | |
danjulio | 0:8fc18502886a | 322 | void Adafruit_GPS::readNMEA(void) { |
danjulio | 0:8fc18502886a | 323 | char c; |
danjulio | 0:8fc18502886a | 324 | |
danjulio | 0:8fc18502886a | 325 | recvdflag = false; |
danjulio | 0:8fc18502886a | 326 | |
danjulio | 0:8fc18502886a | 327 | while (!recvdflag) { |
danjulio | 0:8fc18502886a | 328 | if (!gpsHwSerial->readable()) { |
danjulio | 0:8fc18502886a | 329 | // No data yet |
danjulio | 0:8fc18502886a | 330 | Thread::yield(); |
danjulio | 0:8fc18502886a | 331 | } else { |
danjulio | 0:8fc18502886a | 332 | c = gpsHwSerial->getc(); |
danjulio | 0:8fc18502886a | 333 | //printf("%c", c); |
danjulio | 0:8fc18502886a | 334 | if (c == '\n') { |
danjulio | 0:8fc18502886a | 335 | // End-of-line |
danjulio | 0:8fc18502886a | 336 | currentline[lineidx] = 0; |
danjulio | 0:8fc18502886a | 337 | if (currentline == line1) { |
danjulio | 0:8fc18502886a | 338 | currentline = line2; |
danjulio | 0:8fc18502886a | 339 | lastline = line1; |
danjulio | 0:8fc18502886a | 340 | } else { |
danjulio | 0:8fc18502886a | 341 | currentline = line1; |
danjulio | 0:8fc18502886a | 342 | lastline = line2; |
danjulio | 0:8fc18502886a | 343 | } |
danjulio | 0:8fc18502886a | 344 | lineidx = 0; |
danjulio | 0:8fc18502886a | 345 | recvdflag = true; |
danjulio | 0:8fc18502886a | 346 | } else if (c != '\r') { |
danjulio | 0:8fc18502886a | 347 | // Data character |
danjulio | 0:8fc18502886a | 348 | currentline[lineidx++] = c; |
danjulio | 0:8fc18502886a | 349 | if (lineidx >= MAXLINELENGTH) { |
danjulio | 0:8fc18502886a | 350 | lineidx = MAXLINELENGTH-1; |
danjulio | 0:8fc18502886a | 351 | } |
danjulio | 0:8fc18502886a | 352 | } |
danjulio | 0:8fc18502886a | 353 | } |
danjulio | 0:8fc18502886a | 354 | } |
danjulio | 0:8fc18502886a | 355 | } |
danjulio | 0:8fc18502886a | 356 | |
danjulio | 0:8fc18502886a | 357 | // Constructor when using Built-in Serial Hardware |
danjulio | 0:8fc18502886a | 358 | Adafruit_GPS::Adafruit_GPS(Serial *ser) { |
danjulio | 0:8fc18502886a | 359 | common_init(); // Set everything to common state, then... |
danjulio | 0:8fc18502886a | 360 | gpsHwSerial = ser; // ...override gpsHwSerial with value passed. |
danjulio | 0:8fc18502886a | 361 | } |
danjulio | 0:8fc18502886a | 362 | |
danjulio | 0:8fc18502886a | 363 | // Initialization code used by all constructor types |
danjulio | 0:8fc18502886a | 364 | void Adafruit_GPS::common_init(void) { |
danjulio | 0:8fc18502886a | 365 | gpsHwSerial = NULL; // port pointer in corresponding constructor |
danjulio | 0:8fc18502886a | 366 | recvdflag = false; |
danjulio | 0:8fc18502886a | 367 | paused = false; |
danjulio | 0:8fc18502886a | 368 | lineidx = 0; |
danjulio | 0:8fc18502886a | 369 | currentline = line1; |
danjulio | 0:8fc18502886a | 370 | lastline = line2; |
danjulio | 0:8fc18502886a | 371 | |
danjulio | 0:8fc18502886a | 372 | hour = minute = seconds = year = month = day = |
danjulio | 0:8fc18502886a | 373 | fixquality = satellites = 0; // uint8_t |
danjulio | 0:8fc18502886a | 374 | lat = lon = mag = 0; // char |
danjulio | 0:8fc18502886a | 375 | fix = false; // bool |
danjulio | 0:8fc18502886a | 376 | milliseconds = 0; // uint16_t |
danjulio | 0:8fc18502886a | 377 | latitude = longitude = geoidheight = altitude = |
danjulio | 0:8fc18502886a | 378 | speed = angle = magvariation = HDOP = 0.0; // float |
danjulio | 0:8fc18502886a | 379 | } |
danjulio | 0:8fc18502886a | 380 | |
danjulio | 0:8fc18502886a | 381 | void Adafruit_GPS::begin(uint32_t baud) |
danjulio | 0:8fc18502886a | 382 | { |
danjulio | 0:8fc18502886a | 383 | gpsHwSerial->baud(baud); |
danjulio | 0:8fc18502886a | 384 | } |
danjulio | 0:8fc18502886a | 385 | |
danjulio | 0:8fc18502886a | 386 | void Adafruit_GPS::sendCommand(const char *str) { |
danjulio | 0:8fc18502886a | 387 | gpsHwSerial->printf("%s\n", str); |
danjulio | 0:8fc18502886a | 388 | } |
danjulio | 0:8fc18502886a | 389 | |
danjulio | 0:8fc18502886a | 390 | bool Adafruit_GPS::newNMEAreceived(void) { |
danjulio | 0:8fc18502886a | 391 | return recvdflag; |
danjulio | 0:8fc18502886a | 392 | } |
danjulio | 0:8fc18502886a | 393 | |
danjulio | 0:8fc18502886a | 394 | void Adafruit_GPS::pause(bool p) { |
danjulio | 0:8fc18502886a | 395 | paused = p; |
danjulio | 0:8fc18502886a | 396 | } |
danjulio | 0:8fc18502886a | 397 | |
danjulio | 0:8fc18502886a | 398 | char *Adafruit_GPS::lastNMEA(void) { |
danjulio | 0:8fc18502886a | 399 | recvdflag = false; |
danjulio | 0:8fc18502886a | 400 | return (char *)lastline; |
danjulio | 0:8fc18502886a | 401 | } |
danjulio | 0:8fc18502886a | 402 | |
danjulio | 0:8fc18502886a | 403 | // read a Hex value and return the decimal equivalent |
danjulio | 0:8fc18502886a | 404 | uint8_t Adafruit_GPS::parseHex(char c) { |
danjulio | 0:8fc18502886a | 405 | if (c < '0') |
danjulio | 0:8fc18502886a | 406 | return 0; |
danjulio | 0:8fc18502886a | 407 | if (c <= '9') |
danjulio | 0:8fc18502886a | 408 | return c - '0'; |
danjulio | 0:8fc18502886a | 409 | if (c < 'A') |
danjulio | 0:8fc18502886a | 410 | return 0; |
danjulio | 0:8fc18502886a | 411 | if (c <= 'F') |
danjulio | 0:8fc18502886a | 412 | return (c - 'A')+10; |
danjulio | 0:8fc18502886a | 413 | // if (c > 'F') |
danjulio | 0:8fc18502886a | 414 | return 0; |
danjulio | 0:8fc18502886a | 415 | } |
danjulio | 0:8fc18502886a | 416 | |
danjulio | 0:8fc18502886a | 417 | bool Adafruit_GPS::waitForSentence(const char *wait4me, uint8_t max) { |
danjulio | 0:8fc18502886a | 418 | char str[20]; |
danjulio | 0:8fc18502886a | 419 | |
danjulio | 0:8fc18502886a | 420 | uint8_t i=0; |
danjulio | 0:8fc18502886a | 421 | while (i < max) { |
danjulio | 0:8fc18502886a | 422 | if (newNMEAreceived()) { |
danjulio | 0:8fc18502886a | 423 | char *nmea = lastNMEA(); |
danjulio | 0:8fc18502886a | 424 | strncpy(str, nmea, 20); |
danjulio | 0:8fc18502886a | 425 | str[19] = 0; |
danjulio | 0:8fc18502886a | 426 | i++; |
danjulio | 0:8fc18502886a | 427 | |
danjulio | 0:8fc18502886a | 428 | if (strstr(str, wait4me)) |
danjulio | 0:8fc18502886a | 429 | return true; |
danjulio | 0:8fc18502886a | 430 | } |
danjulio | 0:8fc18502886a | 431 | } |
danjulio | 0:8fc18502886a | 432 | |
danjulio | 0:8fc18502886a | 433 | return false; |
danjulio | 0:8fc18502886a | 434 | } |
danjulio | 0:8fc18502886a | 435 | |
danjulio | 0:8fc18502886a | 436 | bool Adafruit_GPS::LOCUS_StartLogger(void) { |
danjulio | 0:8fc18502886a | 437 | sendCommand(PMTK_LOCUS_STARTLOG); |
danjulio | 0:8fc18502886a | 438 | recvdflag = false; |
danjulio | 0:8fc18502886a | 439 | return waitForSentence(PMTK_LOCUS_STARTSTOPACK); |
danjulio | 0:8fc18502886a | 440 | } |
danjulio | 0:8fc18502886a | 441 | |
danjulio | 0:8fc18502886a | 442 | bool Adafruit_GPS::LOCUS_StopLogger(void) { |
danjulio | 0:8fc18502886a | 443 | sendCommand(PMTK_LOCUS_STOPLOG); |
danjulio | 0:8fc18502886a | 444 | recvdflag = false; |
danjulio | 0:8fc18502886a | 445 | return waitForSentence(PMTK_LOCUS_STARTSTOPACK); |
danjulio | 0:8fc18502886a | 446 | } |
danjulio | 0:8fc18502886a | 447 | |
danjulio | 0:8fc18502886a | 448 | bool Adafruit_GPS::LOCUS_ReadStatus(void) { |
danjulio | 0:8fc18502886a | 449 | sendCommand(PMTK_LOCUS_QUERY_STATUS); |
danjulio | 0:8fc18502886a | 450 | |
danjulio | 0:8fc18502886a | 451 | if (! waitForSentence("$PMTKLOG")) |
danjulio | 0:8fc18502886a | 452 | return false; |
danjulio | 0:8fc18502886a | 453 | |
danjulio | 0:8fc18502886a | 454 | char *response = lastNMEA(); |
danjulio | 0:8fc18502886a | 455 | uint16_t parsed[10]; |
danjulio | 0:8fc18502886a | 456 | uint8_t i; |
danjulio | 0:8fc18502886a | 457 | |
danjulio | 0:8fc18502886a | 458 | for (i=0; i<10; i++) parsed[i] = 65535; |
danjulio | 0:8fc18502886a | 459 | |
danjulio | 0:8fc18502886a | 460 | response = strchr(response, ','); |
danjulio | 0:8fc18502886a | 461 | for (i=0; i<10; i++) { |
danjulio | 0:8fc18502886a | 462 | if (!response || (response[0] == 0) || (response[0] == '*')) |
danjulio | 0:8fc18502886a | 463 | break; |
danjulio | 0:8fc18502886a | 464 | response++; |
danjulio | 0:8fc18502886a | 465 | parsed[i]=0; |
danjulio | 0:8fc18502886a | 466 | while ((response[0] != ',') && |
danjulio | 0:8fc18502886a | 467 | (response[0] != '*') && (response[0] != 0)) { |
danjulio | 0:8fc18502886a | 468 | parsed[i] *= 10; |
danjulio | 0:8fc18502886a | 469 | char c = response[0]; |
danjulio | 0:8fc18502886a | 470 | if ((c <= '9') && (c >= '0')) |
danjulio | 0:8fc18502886a | 471 | parsed[i] += c - '0'; |
danjulio | 0:8fc18502886a | 472 | else |
danjulio | 0:8fc18502886a | 473 | parsed[i] = c; |
danjulio | 0:8fc18502886a | 474 | response++; |
danjulio | 0:8fc18502886a | 475 | } |
danjulio | 0:8fc18502886a | 476 | } |
danjulio | 0:8fc18502886a | 477 | LOCUS_serial = parsed[0]; |
danjulio | 0:8fc18502886a | 478 | LOCUS_type = parsed[1]; |
danjulio | 0:8fc18502886a | 479 | if ((parsed[2] <= 'z') && (parsed[2] >= 'a')) { |
danjulio | 0:8fc18502886a | 480 | parsed[2] = parsed[2] - 'a' + 10; |
danjulio | 0:8fc18502886a | 481 | } |
danjulio | 0:8fc18502886a | 482 | LOCUS_mode = parsed[2]; |
danjulio | 0:8fc18502886a | 483 | LOCUS_config = parsed[3]; |
danjulio | 0:8fc18502886a | 484 | LOCUS_interval = parsed[4]; |
danjulio | 0:8fc18502886a | 485 | LOCUS_distance = parsed[5]; |
danjulio | 0:8fc18502886a | 486 | LOCUS_speed = parsed[6]; |
danjulio | 0:8fc18502886a | 487 | LOCUS_status = !parsed[7]; |
danjulio | 0:8fc18502886a | 488 | LOCUS_records = parsed[8]; |
danjulio | 0:8fc18502886a | 489 | LOCUS_percent = parsed[9]; |
danjulio | 0:8fc18502886a | 490 | |
danjulio | 0:8fc18502886a | 491 | return true; |
danjulio | 0:8fc18502886a | 492 | } |
danjulio | 0:8fc18502886a | 493 | |
danjulio | 0:8fc18502886a | 494 | // Standby Mode Switches |
danjulio | 0:8fc18502886a | 495 | bool Adafruit_GPS::standby(void) { |
danjulio | 0:8fc18502886a | 496 | if (inStandbyMode) { |
danjulio | 0:8fc18502886a | 497 | return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS |
danjulio | 0:8fc18502886a | 498 | } |
danjulio | 0:8fc18502886a | 499 | else { |
danjulio | 0:8fc18502886a | 500 | inStandbyMode = true; |
danjulio | 0:8fc18502886a | 501 | sendCommand(PMTK_STANDBY); |
danjulio | 0:8fc18502886a | 502 | //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working |
danjulio | 0:8fc18502886a | 503 | return true; |
danjulio | 0:8fc18502886a | 504 | } |
danjulio | 0:8fc18502886a | 505 | } |
danjulio | 0:8fc18502886a | 506 | |
danjulio | 0:8fc18502886a | 507 | bool Adafruit_GPS::wakeup(void) { |
danjulio | 0:8fc18502886a | 508 | if (inStandbyMode) { |
danjulio | 0:8fc18502886a | 509 | inStandbyMode = false; |
danjulio | 0:8fc18502886a | 510 | sendCommand(""); // send byte to wake it up |
danjulio | 0:8fc18502886a | 511 | return waitForSentence(PMTK_AWAKE); |
danjulio | 0:8fc18502886a | 512 | } |
danjulio | 0:8fc18502886a | 513 | else { |
danjulio | 0:8fc18502886a | 514 | return false; // Returns false if not in standby mode, nothing to wakeup |
danjulio | 0:8fc18502886a | 515 | } |
danjulio | 0:8fc18502886a | 516 | } |