Eric Leal
a NEMA gps library for mbed6 using UnbufferedSerial interrupt
Diff: GPS.cpp
- Revision:
- 0:221c0a7e2bcc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.cpp Wed Sep 15 23:18:47 2021 +0000
@@ -0,0 +1,338 @@
+#include "mbed.h"
+#include "GPS.h"
+
+GPS::GPS(PinName serialTX, PinName serialRX) :
+ UnbufferedSerial(serialTX, serialRX)
+{
+ attach(callback(this, &GPS::readData));
+ rxTimer.start();
+}
+
+void GPS::readData()
+{
+ char gps_byte;
+ volatile int step;
+ volatile int array_title;
+ rxTimer.reset();
+ read(&gps_byte, 1);
+ if(gpsRxLen < PACKET_SIZE) {
+ if (gps_byte == '$') {
+ gpsRxLen = 0; //'$' begin packet symbol
+ step = 0;
+ parsed = false;
+ }
+ switch(step){
+ case 0 :
+ step++;
+ break;
+ case 1 :
+ if (gps_byte == 'G')
+ step++;
+ break;
+ case 2 :
+ if (gps_byte == 'P') {
+ step++;
+ }
+ break;
+ case 3 :
+ msg_type = gps_byte<<16;
+ step++;
+ break;
+ case 4 :
+ msg_type = msg_type + (gps_byte<<8);
+ step++;
+ break;
+ case 5 :
+ msg_type = msg_type + gps_byte;
+ if (msg_type == 4345668) { //BOD
+ array_title = 0;
+ updates += 0x01;
+ step++;
+ }
+ else if (msg_type == 4347715) { //BWC
+ array_title = 1;
+ updates += 0x02;
+ step++;
+ }
+ else if (msg_type == 4671297) { //GGA
+ array_title = 2;
+ updates += 0x04;
+ step++;
+ }
+ else if (msg_type == 4672588) { //GLL
+ array_title = 3;
+ updates += 0x08;
+ step++;
+ }
+ else if (msg_type == 4674369) { //GSA
+ array_title = 4;
+ updates += 0x10;
+ step++;
+ }
+ else if (msg_type == 4674390) { //GSV
+ array_title = 5;
+ updates += 0x20;
+ step++;
+ }
+ else if (msg_type == 4736084) { //HDT
+ array_title = 6;
+ updates += 0x40;
+ step++;
+ }
+ else if (msg_type == 5386288) { //R00
+ array_title = 7;
+ updates += 0x80;
+ step++;
+ }
+ else if (msg_type == 5393729) { //RMA
+ array_title = 8;
+ updates += 0x100;
+ step++;
+ }
+ else if (msg_type == 5393730) { //RMB
+ array_title = 9;
+ updates += 0x200;
+ step++;
+ }
+ else if (msg_type == 5393731) { //RMC
+ array_title = 10;
+ updates = updates | 0x400;
+ step++;
+ }
+ else if (msg_type == 5395525) { //RTE
+ array_title = 11;
+ updates += 0x800;
+ step++;
+ }
+ else if (msg_type == 5526086) { //RRF
+ array_title = 12;
+ updates += 0x1000;
+ step++;
+ }
+ else if (msg_type == 5461070) { //STN
+ array_title = 13;
+ updates += 0x2000;
+ step++;
+ }
+ else if (msg_type == 5653079) { //VBW
+ array_title = 14;
+ updates += 0x4000;
+ step++;
+ }
+ else if (msg_type == 5657671) { //VTG
+ array_title = 15;
+ updates += 0x8000;
+ step++;
+ }
+ else if (msg_type == 5722188) { //WPL
+ array_title = 16;
+ updates += 0x10000;
+ step++;
+ }
+ else if (msg_type == 5788741) { //XTE
+ array_title = 17;
+ updates += 0x20000;
+ step++;
+ }
+ else if (msg_type == 5915713) { //ZDA
+ array_title = 18;
+ updates += 0x40000;
+ step++;
+ }
+ else uart_error = true;
+ break;
+ case 6 :
+ switch (array_title) {
+ case 0 :
+ GPBOD[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 1 :
+ GPBWC[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 2 :
+ GPGGA[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 3 :
+ GPGLL[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 4 :
+ GPGSA[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 5 :
+ GPGSV[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 6 :
+ GPHDT[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 7 :
+ GPR00[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 8 :
+ GPRMA[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 9 :
+ GPRMB[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 10 :
+ GPRMC[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 11 :
+ GPRTE[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 12 :
+ GPTRF[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 13 :
+ GPSTN[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 14 :
+ GPVBW[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 15 :
+ GPVTG[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 16 :
+ GPWPL[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 17 :
+ GPXTE[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ case 18 :
+ GPZDA[gpsRxLen] = gps_byte;
+ gpsRxLen ++;
+ break;
+ }
+ break;
+ }
+
+ }
+ //parsed = false;
+}
+
+bool GPS::updateCheck()
+{
+ if (!parsed) {
+ if (rxTimer.elapsed_time().count() > RX_MAXTIME) {
+ gpsRxLen = 0;
+ parsed = true;
+ if ((updates & 0x01) > 0) {
+ //printf("GPBOD ");
+ }
+ if ((updates & 0x02) > 0) {
+ //printf("GPBWC ");
+ }
+ if ((updates & 0x04) > 0) {
+ sscanf(GPGGA, ",%f,%f,%c,%f,%c,%d,%d,%f,%f,%c,%f", &time, &latitude, &ns, &longitude, &ew, &lock, &sats, &hdop, &alt, &unit, &geoid);
+ int_time = static_cast<int>(time);
+ //printf("GPGGA ");
+ }
+ if ((updates & 0x08) > 0) {
+ //printf("GPGLL ");
+ }
+ if ((updates & 0x10) > 0) {
+ //printf("GPGSA ");
+ }
+ if ((updates & 0x20) > 0) {
+ //printf("GPGSV ");
+ }
+ if ((updates & 0x40) > 0) {
+ //printf("GPHDT ");
+ }
+ if ((updates & 0x80) > 0) {
+ //printf("GPR00 ");
+ }
+ if ((updates & 0x100) > 0) {
+ //printf("GPRMA ");
+ }
+ if ((updates & 0x200) > 0) {
+ //printf("GPRMB ");
+ }
+ if ((updates & 0x400) > 0) {
+ //printf("GPRMC ");
+ }
+ if ((updates & 0x800) > 0) {
+ //printf("GPRTE ");
+ }
+ if ((updates & 0x1000) > 0) {
+ //printf("GPRTF ");
+ }
+ if ((updates & 0x2000) > 0) {
+ //printf("GPSTN ");
+ }
+ if ((updates & 0x4000) > 0) {
+ //printf("GPVBW ");
+ }
+ if ((updates & 0x8000) > 0) {
+ //printf("GPVTG ");
+ sscanf(GPVTG, ",%f,%c,,%c,%f,%c,%f,%c,%c", &track, &T, &M, &speedN, &N, &speedM, &K, &mode);
+ }
+ if ((updates & 0x10000) > 0) {
+ //printf("GPWPL ");
+ }
+ if ((updates & 0x20000) > 0) {
+ //printf("GPXTE ");
+ }
+ if ((updates & 0x40000) > 0) {
+ //printf("GPZDA ");
+ }
+ updates = 0;
+ uart_error = false;
+ return true;
+ }
+ else {
+ return false;
+ }
+ }
+ else {
+ return false;
+ }
+
+}
+
+int GPS::getTime()
+{
+ return int_time;
+}
+
+float GPS::getLat()
+{
+ return latitude;
+}
+
+float GPS::getLong()
+{
+ return longitude;
+}
+
+int GPS::getSats()
+{
+ return sats;
+}
+
+float GPS::getHDOP()
+{
+ return hdop;
+}
+
+float GPS::getSpeed()
+{
+ return speedM;
+}
\ No newline at end of file