Revision 1:1427f72611a4, committed 2015-07-13

Comitter:

den90

Date:

Mon Jul 13 10:03:49 2015 +0000

Parent:

0:bd0fe2412980

Commit message:

Dennis

Changed in this revision

--- a/MTK3339.cpp	Thu Nov 07 11:46:53 2013 +0000
+++ b/MTK3339.cpp	Mon Jul 13 10:03:49 2015 +0000
@@ -3,8 +3,9 @@
 #include "MTK3339.h"
 
 
-MTK3339::MTK3339(PinName tx, PinName rx) : _serial(tx, rx) {
-    _serial.baud(9600);    
+MTK3339::MTK3339(PinName tx, PinName rx) : _serial(tx, rx)
+{
+    _serial.baud(9600);
 
     _state = StateStart;
     _sentenceMask = 0;
@@ -13,72 +14,78 @@
     memset(&vtg, 0, sizeof(VtgType));
 }
 
-void MTK3339::start(void (*fptr)(void), int mask) {
+void MTK3339::start(void (*fptr)(void), int mask)
+{
     if (fptr && mask) {
         _dataCallback.attach(fptr);
         _sentenceMask = mask;
         _serial.attach(this, &MTK3339::uartIrq, Serial::RxIrq);
-    }        
+    }
 }
 
-void MTK3339::stop() {
+void MTK3339::stop()
+{
     _dataCallback.attach(NULL);
     _sentenceMask = 0;
     _serial.attach(NULL);
 }
-    
-MTK3339::NmeaSentence MTK3339::getAvailableDataType() {
+
+MTK3339::NmeaSentence MTK3339::getAvailableDataType()
+{
     return _availDataType;
 }
 
-double MTK3339::getLatitudeAsDegrees() {
+double MTK3339::getLatitudeAsDegrees()
+{
     if(gga.fix == 0 || gga.nsIndicator == 0) return 0;
-    
+
     double l = gga.latitude;
     char ns = gga.nsIndicator;
-    
+
     // convert from ddmm.mmmm to degrees only
     // 60 minutes is 1 degree
-    
+
     int deg = (int)(l / 100);
     l = (l - deg*100.0) / 60.0;
     l = deg + l;
     if (ns == 'S') l = -l;
-    
+
     return l;
 }
 
-double MTK3339::getLongitudeAsDegrees() {
+double MTK3339::getLongitudeAsDegrees()
+{
     if(gga.fix == 0 || gga.ewIndicator == 0) return 0;
-    
+
     double l = gga.longitude;
     char ew = gga.ewIndicator;
-    
+
     // convert from ddmm.mmmm to degrees only
     // 60 minutes is 1 degree
-    
+
     int deg = (int)(l / 100);
     l = (l - deg*100) / 60;
     l = deg + l;
     if (ew == 'W') l = -l;
-    
+
     return l;
 }
 
-void MTK3339::parseGGA(char* data, int dataLen) {
+void MTK3339::parseGGA(char* data, int dataLen)
+{
     //http://aprs.gids.nl/nmea/#gga
-    
+
     double tm = 0;
-    
+
     memset(&gga, 0, sizeof(GgaType));
-    
+
     char* p = data;
-    int pos = 0;    
-    
+    int pos = 0;
+
     p = strchr(p, ',');
     while (p != NULL && *p != 0) {
         p++;
-        
+
         switch(pos) {
             case 0: // time: hhmmss.sss
                 tm = strtod(p, NULL);
@@ -97,94 +104,96 @@
                 break;
             case 3: // longitude: dddmm.mmmm
                 gga.longitude = strtod(p, NULL);
-                break;                
+                break;
             case 4: // E/W indicator (east or west)
                 if (*p == 'E' || *p == 'W') {
                     gga.ewIndicator = *p;
                 }
-                break;                                
+                break;
             case 5: // position indicator (1=no fix, 2=GPS fix, 3=Differential)
                 gga.fix = strtol(p, NULL, 10);
-                break;                                             
+                break;
             case 6: // num satellites
                 gga.satellites = strtol(p, NULL, 10);
-                break;                                                             
+                break;
             case 7: // hdop
                 gga.hdop = strtod(p, NULL);
-                break;                               
+                break;
             case 8: // altitude
                 gga.altitude = strtod(p, NULL);
-                break;                     
+                break;
             case 9: // units
                 // ignore units
-                break;                         
+                break;
             case 10: // geoidal separation
                 gga.geoidal = strtod(p, NULL);
-                break;                      
+                break;
         }
         pos++;
-        
-        p = strchr(p, ',');            
+
+        p = strchr(p, ',');
     }
-    
+
 }
 
-void MTK3339::parseVTG(char* data, int dataLen) {
-     
-    
+void MTK3339::parseVTG(char* data, int dataLen)
+{
+
+
     char* p = data;
-    int pos = 0;    
-    
+    int pos = 0;
+
     memset(&vtg, 0, sizeof(VtgType));
-    
+
     p = strchr(p, ',');
     while (p != NULL && *p != 0) {
         p++;
-        
+
         switch(pos) {
             case 0: // course in degrees
                 vtg.course = strtod(p, NULL);
                 break;
-            case 1: // Reference (T)                
+            case 1: // Reference (T)
                 break;
             case 2: // course magnetic (need customization)
                 break;
             case 3: // reference (M)
-                break;                
+                break;
             case 4: // speed in knots
                 vtg.speedKnots = strtod(p, NULL);
-                break;                                
+                break;
             case 5: // units (N)
-                break;                                             
+                break;
             case 6: // speed in Km/h
                 vtg.speedKmHour = strtod(p, NULL);
-                break;                                                             
-            case 7: // units (K)                
-                break;                               
+                break;
+            case 7: // units (K)
+                break;
             case 8: // mode
                 if (*p == 'A' || *p == 'D' || *p == 'E') {
                     vtg.mode = *p;
                 }
-                                
-                break;                     
-                
+
+                break;
+
         }
 
         pos++;
-        
-        p = strchr(p, ',');            
+
+        p = strchr(p, ',');
     }
 }
 
 
-void MTK3339::parseData(char* data, int len) {
+void MTK3339::parseData(char* data, int len)
+{
     do {
-    
-        // verify checksum 
+
+        // verify checksum
         if (len < 3 || (len > 3 && data[len-3] != '*')) {
             // invalid data
             break;
-        }        
+        }
         int sum = strtol(&data[len-2], NULL, 16);
         for(int i = 1; i < len-3; i++) {
             sum ^= data[i];
@@ -192,58 +201,56 @@
         if (sum != 0) {
             // invalid checksum
             break;
-        }  
-        
-        
-        if (strncmp("$GPGGA", data, 6) == 0 && (_sentenceMask & NmeaGga) != 0) {            
+        }
+
+
+        if (strncmp("$GPGGA", data, 6) == 0 && (_sentenceMask & NmeaGga) != 0) {
             parseGGA(data, len);
             _availDataType = NmeaGga;
             _dataCallback.call();
             _availDataType = NmeaInvalid;
-        }          
-        else if (strncmp("$GPVTG", data, 6) == 0 && (_sentenceMask & NmeaVtg) != 0) {            
+        } else if (strncmp("$GPVTG", data, 6) == 0 && (_sentenceMask & NmeaVtg) != 0) {
             parseVTG(data, len);
             _availDataType = NmeaVtg;
             _dataCallback.call();
             _availDataType = NmeaInvalid;
-        }     
+        }
 
-    
+
     } while(0);
 }
 
-void MTK3339::uartIrq() {
+void MTK3339::uartIrq()
+{
     char d = 0;
-    
+
     while(_serial.readable()) {
         d = _serial.getc();
-        
+
         switch(_state) {
-        case StateStart:
-            if (d == '$') {                
-                _buf[0] = '$';
-                _bufPos = 1;
-                _state = StateData;
-            }
-            break;
-        case StateData:
-            if (_bufPos >= MTK3339_BUF_SZ) {
-                // error
-                _state = StateStart;
-            }
-            else if (d == '\r') {
-                
-                _buf[_bufPos] = 0;
-                
-                parseData(_buf, _bufPos);
-                
-                _state = StateStart;
-            }
-            else {
-                _buf[_bufPos++] = d;
-            }
-            
-            break;
+            case StateStart:
+                if (d == '$') {
+                    _buf[0] = '$';
+                    _bufPos = 1;
+                    _state = StateData;
+                }
+                break;
+            case StateData:
+                if (_bufPos >= MTK3339_BUF_SZ) {
+                    // error
+                    _state = StateStart;
+                } else if (d == '\r') {
+
+                    _buf[_bufPos] = 0;
+
+                    parseData(_buf, _bufPos);
+
+                    _state = StateStart;
+                } else {
+                    _buf[_bufPos++] = d;
+                }
+
+                break;
         }
     }
 }

--- a/MTK3339.h	Thu Nov 07 11:46:53 2013 +0000
+++ b/MTK3339.h	Mon Jul 13 10:03:49 2015 +0000
@@ -1,10 +1,11 @@
 #ifndef MTK3339_H
 #define MTK3339_H
 
-/** 
+/**
  * An interface to the MTK3339 GPS module.
  */
-class MTK3339 {
+class MTK3339
+{
 public:
 
 
@@ -16,7 +17,7 @@
 //        NmeaRmc = 0x08,
         NmeaVtg = 0x10
     };
-       
+
     struct GgaType {
         /** UTC time - hours */
         int hours;
@@ -26,24 +27,24 @@
         int seconds;
         /** UTC time - milliseconds */
         int milliseconds;
-        
+
         /** The latitude in ddmm.mmmm format (d = degrees, m = minutes) */
-        double latitude;  
+        double latitude;
         /** The longitude in dddmm.mmmm format */
         double longitude;
         /** North / South indicator */
         char nsIndicator;
         /** East / West indicator */
-        char ewIndicator;    
-       
-        /** 
-         * Position indicator: 
+        char ewIndicator;
+
+        /**
+         * Position indicator:
          * 0 = Fix not available
          * 1 = GPS fix
          * 2 = Differential GPS fix
          */
-        int fix;  
-    
+        int fix;
+
         /** Number of used satellites */
         int satellites;
         /** Horizontal Dilution of Precision */
@@ -51,9 +52,9 @@
         /** antenna altitude above/below mean sea-level */
         double altitude;
         /** geoidal separation */
-        double geoidal;        
+        double geoidal;
     };
-    
+
     struct VtgType {
         /** heading in degrees */
         double course;
@@ -61,7 +62,7 @@
         double speedKnots;
         /** Speed in kilometer  per hour */
         double speedKmHour;
-        /** 
+        /**
          * Mode
          * A = Autonomous mode
          * D = Differential mode
@@ -70,69 +71,70 @@
         char mode;
     };
 
-    /** 
+    /**
      * Create an interface to the MTK3339 GPS module
      *
      * @param tx UART TX line pin
      * @param rx UART RX line pin
      */
     MTK3339(PinName tx, PinName rx);
-         
-    /** 
+
+    /**
      * Start to read data from the GPS module.
-     * 
-     * @param fptr A pointer to a void function that will be called when there 
-     * is data available. 
-     * @param mask specifies which sentence types (NmeaSentence) that are of 
-     * interest. The callback function will only be called for messages 
+     *
+     * @param fptr A pointer to a void function that will be called when there
+     * is data available.
+     * @param mask specifies which sentence types (NmeaSentence) that are of
+     * interest. The callback function will only be called for messages
      * specified in this mask.
-     */     
+     */
     void start(void (*fptr)(void), int mask);
 
-    /** 
+    /**
      * Start to read data from the GPS module.
-     * 
+     *
      * @param tptr pointer to the object to call the member function on
      * @param mptr pointer to the member function to be called
-     * @param mask specifies which sentence types (NmeaSentence) that are of 
-     * interest. The member function will only be called for messages 
+     * @param mask specifies which sentence types (NmeaSentence) that are of
+     * interest. The member function will only be called for messages
      * specified in this mask.
-     */        
+     */
     template<typename T>
     void start(T* tptr, void (T::*mptr)(void), int mask) {
         if((mptr != NULL) && (tptr != NULL) && mask) {
             _dataCallback.attach(tptr, mptr);
             _sentenceMask = mask;
-            _serial.attach(this, &MTK3339::uartIrq, Serial::RxIrq);            
+            _serial.attach(this, &MTK3339::uartIrq, Serial::RxIrq);
         }
-    }    
-    
-    /** 
+    }
+
+    /**
      * Stop to read data from GPS module
      */
     void stop();
-    
-    /** 
+
+    /**
      * Get the type of the data reported in available data callback.
      * This method will only return a valid type when called within the
-     * callback. 
-     */    
+     * callback.
+     */
     NmeaSentence getAvailableDataType();
 
     /**
      * Get latitude in degrees (decimal format)
-     */    
+     */
     double getLatitudeAsDegrees();
+
     /**
      * Get longitude in degrees (decimal format)
-     */    
+     */
     double getLongitudeAsDegrees();
 
     /**
      * Time, position and fix related data
      */
     GgaType gga;
-    
+
     /**
      * Course and speed information relative to ground
      */
@@ -144,24 +146,24 @@
     enum PrivConstants {
         MTK3339_BUF_SZ = 255
     };
-    
+
     enum DataState {
         StateStart = 0,
         StateData
     };
-    
+
     FunctionPointer _dataCallback;
     char _buf[MTK3339_BUF_SZ];
     int _bufPos;
     DataState _state;
     int _sentenceMask;
     NmeaSentence _availDataType;
-    
+
     Serial _serial;
 
-    
+
     void parseGGA(char* data, int dataLen);
-    void parseVTG(char* data, int dataLen);   
+    void parseVTG(char* data, int dataLen);
     void parseData(char* data, int len);
     void uartIrq();