Diff: MTK3339.h

Revision:

0:bd0fe2412980

diff -r 000000000000 -r bd0fe2412980 MTK3339.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MTK3339.h	Thu Nov 07 11:46:53 2013 +0000
@@ -0,0 +1,172 @@
+#ifndef MTK3339_H
+#define MTK3339_H
+
+/** 
+ * An interface to the MTK3339 GPS module.
+ */
+class MTK3339 {
+public:
+
+
+    enum NmeaSentence {
+        NmeaInvalid = 0,
+        NmeaGga = 0x01,
+//        NmeaGsa = 0x02,
+//        NmeaGsv = 0x04,
+//        NmeaRmc = 0x08,
+        NmeaVtg = 0x10
+    };
+       
+    struct GgaType {
+        /** UTC time - hours */
+        int hours;
+        /** UTC time - minutes */
+        int minutes;
+        /** UTC time - seconds */
+        int seconds;
+        /** UTC time - milliseconds */
+        int milliseconds;
+        
+        /** The latitude in ddmm.mmmm format (d = degrees, m = minutes) */
+        double latitude;  
+        /** The longitude in dddmm.mmmm format */
+        double longitude;
+        /** North / South indicator */
+        char nsIndicator;
+        /** East / West indicator */
+        char ewIndicator;    
+       
+        /** 
+         * Position indicator: 
+         * 0 = Fix not available
+         * 1 = GPS fix
+         * 2 = Differential GPS fix
+         */
+        int fix;  
+    
+        /** Number of used satellites */
+        int satellites;
+        /** Horizontal Dilution of Precision */
+        double hdop;
+        /** antenna altitude above/below mean sea-level */
+        double altitude;
+        /** geoidal separation */
+        double geoidal;        
+    };
+    
+    struct VtgType {
+        /** heading in degrees */
+        double course;
+        /** speed in Knots */
+        double speedKnots;
+        /** Speed in kilometer  per hour */
+        double speedKmHour;
+        /** 
+         * Mode
+         * A = Autonomous mode
+         * D = Differential mode
+         * E = Estimated mode
+         */
+        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 
+     * 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 
+     * 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);            
+        }
+    }    
+    
+    /** 
+     * 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. 
+     */    
+    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
+     */
+    VtgType vtg;
+
+
+private:
+
+    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 parseData(char* data, int len);
+    void uartIrq();
+
+
+};
+
+#endif
+