Atsushi Hattori
/
20210627_Logger
hattori&ide
MBed_Adafruit-GPS-Library/MBed_Adafruit_GPS.cpp@0:f77369cabd75, 18 months ago (annotated)
- Committer:
- hattori_atsushi
- Date:
- Sun Dec 18 08:16:01 2022 +0000
- Revision:
- 0:f77369cabd75
hattori
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hattori_atsushi | 0:f77369cabd75 | 1 | /*********************************** |
hattori_atsushi | 0:f77369cabd75 | 2 | This is our GPS library |
hattori_atsushi | 0:f77369cabd75 | 3 | |
hattori_atsushi | 0:f77369cabd75 | 4 | Adafruit invests time and resources providing this open source code, |
hattori_atsushi | 0:f77369cabd75 | 5 | please support Adafruit and open-source hardware by purchasing |
hattori_atsushi | 0:f77369cabd75 | 6 | products from Adafruit! |
hattori_atsushi | 0:f77369cabd75 | 7 | |
hattori_atsushi | 0:f77369cabd75 | 8 | Written by Limor Fried/Ladyada for Adafruit Industries. |
hattori_atsushi | 0:f77369cabd75 | 9 | BSD license, check license.txt for more information |
hattori_atsushi | 0:f77369cabd75 | 10 | All text above must be included in any redistribution |
hattori_atsushi | 0:f77369cabd75 | 11 | ****************************************/ |
hattori_atsushi | 0:f77369cabd75 | 12 | |
hattori_atsushi | 0:f77369cabd75 | 13 | #include "MBed_Adafruit_GPS.h" |
hattori_atsushi | 0:f77369cabd75 | 14 | |
hattori_atsushi | 0:f77369cabd75 | 15 | // how long are max NMEA lines to parse? |
hattori_atsushi | 0:f77369cabd75 | 16 | #define MAXLINELENGTH 120 |
hattori_atsushi | 0:f77369cabd75 | 17 | |
hattori_atsushi | 0:f77369cabd75 | 18 | // we double buffer: read one line in and leave one for the main program |
hattori_atsushi | 0:f77369cabd75 | 19 | volatile char line1[MAXLINELENGTH]; |
hattori_atsushi | 0:f77369cabd75 | 20 | volatile char line2[MAXLINELENGTH]; |
hattori_atsushi | 0:f77369cabd75 | 21 | // our index into filling the current line |
hattori_atsushi | 0:f77369cabd75 | 22 | volatile uint16_t lineidx=0; |
hattori_atsushi | 0:f77369cabd75 | 23 | // pointers to the double buffers |
hattori_atsushi | 0:f77369cabd75 | 24 | volatile char *currentline; |
hattori_atsushi | 0:f77369cabd75 | 25 | volatile char *lastline; |
hattori_atsushi | 0:f77369cabd75 | 26 | volatile bool recvdflag; |
hattori_atsushi | 0:f77369cabd75 | 27 | volatile bool inStandbyMode; |
hattori_atsushi | 0:f77369cabd75 | 28 | |
hattori_atsushi | 0:f77369cabd75 | 29 | |
hattori_atsushi | 0:f77369cabd75 | 30 | bool Adafruit_GPS::parse(char *nmea) { |
hattori_atsushi | 0:f77369cabd75 | 31 | // do checksum check |
hattori_atsushi | 0:f77369cabd75 | 32 | |
hattori_atsushi | 0:f77369cabd75 | 33 | // first look if we even have one |
hattori_atsushi | 0:f77369cabd75 | 34 | if (nmea[strlen(nmea)-4] == '*') { |
hattori_atsushi | 0:f77369cabd75 | 35 | uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16; |
hattori_atsushi | 0:f77369cabd75 | 36 | sum += parseHex(nmea[strlen(nmea)-2]); |
hattori_atsushi | 0:f77369cabd75 | 37 | |
hattori_atsushi | 0:f77369cabd75 | 38 | // check checksum |
hattori_atsushi | 0:f77369cabd75 | 39 | for (uint8_t i=1; i < (strlen(nmea)-4); i++) { |
hattori_atsushi | 0:f77369cabd75 | 40 | sum ^= nmea[i]; |
hattori_atsushi | 0:f77369cabd75 | 41 | } |
hattori_atsushi | 0:f77369cabd75 | 42 | if (sum != 0) { |
hattori_atsushi | 0:f77369cabd75 | 43 | // bad checksum :( |
hattori_atsushi | 0:f77369cabd75 | 44 | //return false; |
hattori_atsushi | 0:f77369cabd75 | 45 | } |
hattori_atsushi | 0:f77369cabd75 | 46 | } |
hattori_atsushi | 0:f77369cabd75 | 47 | |
hattori_atsushi | 0:f77369cabd75 | 48 | // look for a few common sentences |
hattori_atsushi | 0:f77369cabd75 | 49 | if (strstr(nmea, "$GPGGA")) { |
hattori_atsushi | 0:f77369cabd75 | 50 | // found GGA |
hattori_atsushi | 0:f77369cabd75 | 51 | char *p = nmea; |
hattori_atsushi | 0:f77369cabd75 | 52 | // get time |
hattori_atsushi | 0:f77369cabd75 | 53 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 54 | float timef = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 55 | uint32_t time = timef; |
hattori_atsushi | 0:f77369cabd75 | 56 | hour = time / 10000; |
hattori_atsushi | 0:f77369cabd75 | 57 | minute = (time % 10000) / 100; |
hattori_atsushi | 0:f77369cabd75 | 58 | seconds = (time % 100); |
hattori_atsushi | 0:f77369cabd75 | 59 | |
hattori_atsushi | 0:f77369cabd75 | 60 | milliseconds = fmod((double) timef, 1.0) * 1000; |
hattori_atsushi | 0:f77369cabd75 | 61 | |
hattori_atsushi | 0:f77369cabd75 | 62 | // parse out latitude |
hattori_atsushi | 0:f77369cabd75 | 63 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 64 | latitude = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 65 | |
hattori_atsushi | 0:f77369cabd75 | 66 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 67 | if (p[0] == 'N') lat = 'N'; |
hattori_atsushi | 0:f77369cabd75 | 68 | else if (p[0] == 'S') lat = 'S'; |
hattori_atsushi | 0:f77369cabd75 | 69 | else if (p[0] == ',') lat = 0; |
hattori_atsushi | 0:f77369cabd75 | 70 | else return false; |
hattori_atsushi | 0:f77369cabd75 | 71 | |
hattori_atsushi | 0:f77369cabd75 | 72 | // parse out longitude |
hattori_atsushi | 0:f77369cabd75 | 73 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 74 | longitude = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 75 | |
hattori_atsushi | 0:f77369cabd75 | 76 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 77 | if (p[0] == 'W') lon = 'W'; |
hattori_atsushi | 0:f77369cabd75 | 78 | else if (p[0] == 'E') lon = 'E'; |
hattori_atsushi | 0:f77369cabd75 | 79 | else if (p[0] == ',') lon = 0; |
hattori_atsushi | 0:f77369cabd75 | 80 | else return false; |
hattori_atsushi | 0:f77369cabd75 | 81 | |
hattori_atsushi | 0:f77369cabd75 | 82 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 83 | fixquality = atoi(p); |
hattori_atsushi | 0:f77369cabd75 | 84 | |
hattori_atsushi | 0:f77369cabd75 | 85 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 86 | satellites = atoi(p); |
hattori_atsushi | 0:f77369cabd75 | 87 | |
hattori_atsushi | 0:f77369cabd75 | 88 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 89 | HDOP = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 90 | |
hattori_atsushi | 0:f77369cabd75 | 91 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 92 | altitude = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 93 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 94 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 95 | geoidheight = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 96 | return true; |
hattori_atsushi | 0:f77369cabd75 | 97 | } |
hattori_atsushi | 0:f77369cabd75 | 98 | if (strstr(nmea, "$GPRMC")) { |
hattori_atsushi | 0:f77369cabd75 | 99 | // found RMC |
hattori_atsushi | 0:f77369cabd75 | 100 | char *p = nmea; |
hattori_atsushi | 0:f77369cabd75 | 101 | |
hattori_atsushi | 0:f77369cabd75 | 102 | // get time |
hattori_atsushi | 0:f77369cabd75 | 103 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 104 | float timef = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 105 | uint32_t time = timef; |
hattori_atsushi | 0:f77369cabd75 | 106 | hour = time / 10000; |
hattori_atsushi | 0:f77369cabd75 | 107 | minute = (time % 10000) / 100; |
hattori_atsushi | 0:f77369cabd75 | 108 | seconds = (time % 100); |
hattori_atsushi | 0:f77369cabd75 | 109 | |
hattori_atsushi | 0:f77369cabd75 | 110 | milliseconds = fmod((double) timef, 1.0) * 1000; |
hattori_atsushi | 0:f77369cabd75 | 111 | |
hattori_atsushi | 0:f77369cabd75 | 112 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 113 | // Serial.println(p); |
hattori_atsushi | 0:f77369cabd75 | 114 | if (p[0] == 'A') |
hattori_atsushi | 0:f77369cabd75 | 115 | fix = true; |
hattori_atsushi | 0:f77369cabd75 | 116 | else if (p[0] == 'V') |
hattori_atsushi | 0:f77369cabd75 | 117 | fix = false; |
hattori_atsushi | 0:f77369cabd75 | 118 | else |
hattori_atsushi | 0:f77369cabd75 | 119 | return false; |
hattori_atsushi | 0:f77369cabd75 | 120 | |
hattori_atsushi | 0:f77369cabd75 | 121 | // parse out latitude |
hattori_atsushi | 0:f77369cabd75 | 122 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 123 | latitude = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 124 | |
hattori_atsushi | 0:f77369cabd75 | 125 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 126 | if (p[0] == 'N') lat = 'N'; |
hattori_atsushi | 0:f77369cabd75 | 127 | else if (p[0] == 'S') lat = 'S'; |
hattori_atsushi | 0:f77369cabd75 | 128 | else if (p[0] == ',') lat = 0; |
hattori_atsushi | 0:f77369cabd75 | 129 | else return false; |
hattori_atsushi | 0:f77369cabd75 | 130 | |
hattori_atsushi | 0:f77369cabd75 | 131 | // parse out longitude |
hattori_atsushi | 0:f77369cabd75 | 132 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 133 | longitude = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 134 | |
hattori_atsushi | 0:f77369cabd75 | 135 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 136 | if (p[0] == 'W') lon = 'W'; |
hattori_atsushi | 0:f77369cabd75 | 137 | else if (p[0] == 'E') lon = 'E'; |
hattori_atsushi | 0:f77369cabd75 | 138 | else if (p[0] == ',') lon = 0; |
hattori_atsushi | 0:f77369cabd75 | 139 | else return false; |
hattori_atsushi | 0:f77369cabd75 | 140 | |
hattori_atsushi | 0:f77369cabd75 | 141 | // speed |
hattori_atsushi | 0:f77369cabd75 | 142 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 143 | speed = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 144 | |
hattori_atsushi | 0:f77369cabd75 | 145 | // angle |
hattori_atsushi | 0:f77369cabd75 | 146 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 147 | angle = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 148 | |
hattori_atsushi | 0:f77369cabd75 | 149 | p = strchr(p, ',')+1; |
hattori_atsushi | 0:f77369cabd75 | 150 | uint32_t fulldate = atof(p); |
hattori_atsushi | 0:f77369cabd75 | 151 | day = fulldate / 10000; |
hattori_atsushi | 0:f77369cabd75 | 152 | month = (fulldate % 10000) / 100; |
hattori_atsushi | 0:f77369cabd75 | 153 | year = (fulldate % 100); |
hattori_atsushi | 0:f77369cabd75 | 154 | |
hattori_atsushi | 0:f77369cabd75 | 155 | // we dont parse the remaining, yet! |
hattori_atsushi | 0:f77369cabd75 | 156 | return true; |
hattori_atsushi | 0:f77369cabd75 | 157 | } |
hattori_atsushi | 0:f77369cabd75 | 158 | |
hattori_atsushi | 0:f77369cabd75 | 159 | return false; |
hattori_atsushi | 0:f77369cabd75 | 160 | } |
hattori_atsushi | 0:f77369cabd75 | 161 | |
hattori_atsushi | 0:f77369cabd75 | 162 | char Adafruit_GPS::read(void) { |
hattori_atsushi | 0:f77369cabd75 | 163 | char c = 0; |
hattori_atsushi | 0:f77369cabd75 | 164 | |
hattori_atsushi | 0:f77369cabd75 | 165 | if (paused) return c; |
hattori_atsushi | 0:f77369cabd75 | 166 | |
hattori_atsushi | 0:f77369cabd75 | 167 | if(!gpsSerial->readable()) return c; |
hattori_atsushi | 0:f77369cabd75 | 168 | c = gpsSerial->getc(); |
hattori_atsushi | 0:f77369cabd75 | 169 | |
hattori_atsushi | 0:f77369cabd75 | 170 | //Serial.print(c); |
hattori_atsushi | 0:f77369cabd75 | 171 | |
hattori_atsushi | 0:f77369cabd75 | 172 | if (c == '$') { |
hattori_atsushi | 0:f77369cabd75 | 173 | currentline[lineidx] = 0; |
hattori_atsushi | 0:f77369cabd75 | 174 | lineidx = 0; |
hattori_atsushi | 0:f77369cabd75 | 175 | } |
hattori_atsushi | 0:f77369cabd75 | 176 | if (c == '\n') { |
hattori_atsushi | 0:f77369cabd75 | 177 | currentline[lineidx] = 0; |
hattori_atsushi | 0:f77369cabd75 | 178 | |
hattori_atsushi | 0:f77369cabd75 | 179 | if (currentline == line1) { |
hattori_atsushi | 0:f77369cabd75 | 180 | currentline = line2; |
hattori_atsushi | 0:f77369cabd75 | 181 | lastline = line1; |
hattori_atsushi | 0:f77369cabd75 | 182 | } else { |
hattori_atsushi | 0:f77369cabd75 | 183 | currentline = line1; |
hattori_atsushi | 0:f77369cabd75 | 184 | lastline = line2; |
hattori_atsushi | 0:f77369cabd75 | 185 | } |
hattori_atsushi | 0:f77369cabd75 | 186 | |
hattori_atsushi | 0:f77369cabd75 | 187 | lineidx = 0; |
hattori_atsushi | 0:f77369cabd75 | 188 | recvdflag = true; |
hattori_atsushi | 0:f77369cabd75 | 189 | } |
hattori_atsushi | 0:f77369cabd75 | 190 | |
hattori_atsushi | 0:f77369cabd75 | 191 | currentline[lineidx++] = c; |
hattori_atsushi | 0:f77369cabd75 | 192 | if (lineidx >= MAXLINELENGTH) |
hattori_atsushi | 0:f77369cabd75 | 193 | lineidx = MAXLINELENGTH-1; |
hattori_atsushi | 0:f77369cabd75 | 194 | |
hattori_atsushi | 0:f77369cabd75 | 195 | return c; |
hattori_atsushi | 0:f77369cabd75 | 196 | } |
hattori_atsushi | 0:f77369cabd75 | 197 | |
hattori_atsushi | 0:f77369cabd75 | 198 | Adafruit_GPS::Adafruit_GPS (Serial *ser) |
hattori_atsushi | 0:f77369cabd75 | 199 | { |
hattori_atsushi | 0:f77369cabd75 | 200 | common_init(); // Set everything to common state, then... |
hattori_atsushi | 0:f77369cabd75 | 201 | gpsSerial = ser; // ...override gpsSwSerial with value passed. |
hattori_atsushi | 0:f77369cabd75 | 202 | } |
hattori_atsushi | 0:f77369cabd75 | 203 | |
hattori_atsushi | 0:f77369cabd75 | 204 | // Initialization code used by all constructor types |
hattori_atsushi | 0:f77369cabd75 | 205 | void Adafruit_GPS::common_init(void) { |
hattori_atsushi | 0:f77369cabd75 | 206 | gpsSerial = NULL; |
hattori_atsushi | 0:f77369cabd75 | 207 | recvdflag = false; |
hattori_atsushi | 0:f77369cabd75 | 208 | paused = false; |
hattori_atsushi | 0:f77369cabd75 | 209 | lineidx = 0; |
hattori_atsushi | 0:f77369cabd75 | 210 | currentline = line1; |
hattori_atsushi | 0:f77369cabd75 | 211 | lastline = line2; |
hattori_atsushi | 0:f77369cabd75 | 212 | |
hattori_atsushi | 0:f77369cabd75 | 213 | hour = minute = seconds = year = month = day = |
hattori_atsushi | 0:f77369cabd75 | 214 | fixquality = satellites = 0; // uint8_t |
hattori_atsushi | 0:f77369cabd75 | 215 | lat = lon = mag = 0; // char |
hattori_atsushi | 0:f77369cabd75 | 216 | fix = false; // bool |
hattori_atsushi | 0:f77369cabd75 | 217 | milliseconds = 0; // uint16_t |
hattori_atsushi | 0:f77369cabd75 | 218 | latitude = longitude = geoidheight = altitude = |
hattori_atsushi | 0:f77369cabd75 | 219 | speed = angle = magvariation = HDOP = 0.0; // float |
hattori_atsushi | 0:f77369cabd75 | 220 | } |
hattori_atsushi | 0:f77369cabd75 | 221 | |
hattori_atsushi | 0:f77369cabd75 | 222 | void Adafruit_GPS::begin(int baud) |
hattori_atsushi | 0:f77369cabd75 | 223 | { |
hattori_atsushi | 0:f77369cabd75 | 224 | gpsSerial->baud(baud); |
hattori_atsushi | 0:f77369cabd75 | 225 | wait_ms(10); |
hattori_atsushi | 0:f77369cabd75 | 226 | } |
hattori_atsushi | 0:f77369cabd75 | 227 | |
hattori_atsushi | 0:f77369cabd75 | 228 | void Adafruit_GPS::sendCommand(char *str) { |
hattori_atsushi | 0:f77369cabd75 | 229 | gpsSerial->printf("%s",str); |
hattori_atsushi | 0:f77369cabd75 | 230 | } |
hattori_atsushi | 0:f77369cabd75 | 231 | |
hattori_atsushi | 0:f77369cabd75 | 232 | bool Adafruit_GPS::newNMEAreceived(void) { |
hattori_atsushi | 0:f77369cabd75 | 233 | return recvdflag; |
hattori_atsushi | 0:f77369cabd75 | 234 | } |
hattori_atsushi | 0:f77369cabd75 | 235 | |
hattori_atsushi | 0:f77369cabd75 | 236 | void Adafruit_GPS::pause(bool p) { |
hattori_atsushi | 0:f77369cabd75 | 237 | paused = p; |
hattori_atsushi | 0:f77369cabd75 | 238 | } |
hattori_atsushi | 0:f77369cabd75 | 239 | |
hattori_atsushi | 0:f77369cabd75 | 240 | char *Adafruit_GPS::lastNMEA(void) { |
hattori_atsushi | 0:f77369cabd75 | 241 | recvdflag = false; |
hattori_atsushi | 0:f77369cabd75 | 242 | return (char *)lastline; |
hattori_atsushi | 0:f77369cabd75 | 243 | } |
hattori_atsushi | 0:f77369cabd75 | 244 | |
hattori_atsushi | 0:f77369cabd75 | 245 | // read a Hex value and return the decimal equivalent |
hattori_atsushi | 0:f77369cabd75 | 246 | uint8_t Adafruit_GPS::parseHex(char c) { |
hattori_atsushi | 0:f77369cabd75 | 247 | if (c < '0') |
hattori_atsushi | 0:f77369cabd75 | 248 | return 0; |
hattori_atsushi | 0:f77369cabd75 | 249 | if (c <= '9') |
hattori_atsushi | 0:f77369cabd75 | 250 | return c - '0'; |
hattori_atsushi | 0:f77369cabd75 | 251 | if (c < 'A') |
hattori_atsushi | 0:f77369cabd75 | 252 | return 0; |
hattori_atsushi | 0:f77369cabd75 | 253 | if (c <= 'F') |
hattori_atsushi | 0:f77369cabd75 | 254 | return (c - 'A')+10; |
hattori_atsushi | 0:f77369cabd75 | 255 | } |
hattori_atsushi | 0:f77369cabd75 | 256 | |
hattori_atsushi | 0:f77369cabd75 | 257 | bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) { |
hattori_atsushi | 0:f77369cabd75 | 258 | char str[20]; |
hattori_atsushi | 0:f77369cabd75 | 259 | |
hattori_atsushi | 0:f77369cabd75 | 260 | uint8_t i=0; |
hattori_atsushi | 0:f77369cabd75 | 261 | while (i < max) { |
hattori_atsushi | 0:f77369cabd75 | 262 | if (newNMEAreceived()) { |
hattori_atsushi | 0:f77369cabd75 | 263 | char *nmea = lastNMEA(); |
hattori_atsushi | 0:f77369cabd75 | 264 | strncpy(str, nmea, 20); |
hattori_atsushi | 0:f77369cabd75 | 265 | str[19] = 0; |
hattori_atsushi | 0:f77369cabd75 | 266 | i++; |
hattori_atsushi | 0:f77369cabd75 | 267 | |
hattori_atsushi | 0:f77369cabd75 | 268 | if (strstr(str, wait4me)) |
hattori_atsushi | 0:f77369cabd75 | 269 | return true; |
hattori_atsushi | 0:f77369cabd75 | 270 | } |
hattori_atsushi | 0:f77369cabd75 | 271 | } |
hattori_atsushi | 0:f77369cabd75 | 272 | |
hattori_atsushi | 0:f77369cabd75 | 273 | return false; |
hattori_atsushi | 0:f77369cabd75 | 274 | } |
hattori_atsushi | 0:f77369cabd75 | 275 | |
hattori_atsushi | 0:f77369cabd75 | 276 | bool Adafruit_GPS::LOCUS_StartLogger(void) { |
hattori_atsushi | 0:f77369cabd75 | 277 | sendCommand(PMTK_LOCUS_STARTLOG); |
hattori_atsushi | 0:f77369cabd75 | 278 | recvdflag = false; |
hattori_atsushi | 0:f77369cabd75 | 279 | return waitForSentence(PMTK_LOCUS_LOGSTARTED); |
hattori_atsushi | 0:f77369cabd75 | 280 | } |
hattori_atsushi | 0:f77369cabd75 | 281 | |
hattori_atsushi | 0:f77369cabd75 | 282 | bool Adafruit_GPS::LOCUS_ReadStatus(void) { |
hattori_atsushi | 0:f77369cabd75 | 283 | sendCommand(PMTK_LOCUS_QUERY_STATUS); |
hattori_atsushi | 0:f77369cabd75 | 284 | |
hattori_atsushi | 0:f77369cabd75 | 285 | if (! waitForSentence("$PMTKLOG")) |
hattori_atsushi | 0:f77369cabd75 | 286 | return false; |
hattori_atsushi | 0:f77369cabd75 | 287 | |
hattori_atsushi | 0:f77369cabd75 | 288 | char *response = lastNMEA(); |
hattori_atsushi | 0:f77369cabd75 | 289 | uint16_t parsed[10]; |
hattori_atsushi | 0:f77369cabd75 | 290 | uint8_t i; |
hattori_atsushi | 0:f77369cabd75 | 291 | |
hattori_atsushi | 0:f77369cabd75 | 292 | for (i=0; i<10; i++) parsed[i] = -1; |
hattori_atsushi | 0:f77369cabd75 | 293 | |
hattori_atsushi | 0:f77369cabd75 | 294 | response = strchr(response, ','); |
hattori_atsushi | 0:f77369cabd75 | 295 | for (i=0; i<10; i++) { |
hattori_atsushi | 0:f77369cabd75 | 296 | if (!response || (response[0] == 0) || (response[0] == '*')) |
hattori_atsushi | 0:f77369cabd75 | 297 | break; |
hattori_atsushi | 0:f77369cabd75 | 298 | response++; |
hattori_atsushi | 0:f77369cabd75 | 299 | parsed[i]=0; |
hattori_atsushi | 0:f77369cabd75 | 300 | while ((response[0] != ',') && |
hattori_atsushi | 0:f77369cabd75 | 301 | (response[0] != '*') && (response[0] != 0)) { |
hattori_atsushi | 0:f77369cabd75 | 302 | parsed[i] *= 10; |
hattori_atsushi | 0:f77369cabd75 | 303 | char c = response[0]; |
hattori_atsushi | 0:f77369cabd75 | 304 | if (isdigit(c)) |
hattori_atsushi | 0:f77369cabd75 | 305 | parsed[i] += c - '0'; |
hattori_atsushi | 0:f77369cabd75 | 306 | else |
hattori_atsushi | 0:f77369cabd75 | 307 | parsed[i] = c; |
hattori_atsushi | 0:f77369cabd75 | 308 | response++; |
hattori_atsushi | 0:f77369cabd75 | 309 | } |
hattori_atsushi | 0:f77369cabd75 | 310 | } |
hattori_atsushi | 0:f77369cabd75 | 311 | LOCUS_serial = parsed[0]; |
hattori_atsushi | 0:f77369cabd75 | 312 | LOCUS_type = parsed[1]; |
hattori_atsushi | 0:f77369cabd75 | 313 | if (isalpha(parsed[2])) { |
hattori_atsushi | 0:f77369cabd75 | 314 | parsed[2] = parsed[2] - 'a' + 10; |
hattori_atsushi | 0:f77369cabd75 | 315 | } |
hattori_atsushi | 0:f77369cabd75 | 316 | LOCUS_mode = parsed[2]; |
hattori_atsushi | 0:f77369cabd75 | 317 | LOCUS_config = parsed[3]; |
hattori_atsushi | 0:f77369cabd75 | 318 | LOCUS_interval = parsed[4]; |
hattori_atsushi | 0:f77369cabd75 | 319 | LOCUS_distance = parsed[5]; |
hattori_atsushi | 0:f77369cabd75 | 320 | LOCUS_speed = parsed[6]; |
hattori_atsushi | 0:f77369cabd75 | 321 | LOCUS_status = !parsed[7]; |
hattori_atsushi | 0:f77369cabd75 | 322 | LOCUS_records = parsed[8]; |
hattori_atsushi | 0:f77369cabd75 | 323 | LOCUS_percent = parsed[9]; |
hattori_atsushi | 0:f77369cabd75 | 324 | |
hattori_atsushi | 0:f77369cabd75 | 325 | return true; |
hattori_atsushi | 0:f77369cabd75 | 326 | } |
hattori_atsushi | 0:f77369cabd75 | 327 | |
hattori_atsushi | 0:f77369cabd75 | 328 | // Standby Mode Switches |
hattori_atsushi | 0:f77369cabd75 | 329 | bool Adafruit_GPS::standby(void) { |
hattori_atsushi | 0:f77369cabd75 | 330 | if (inStandbyMode) { |
hattori_atsushi | 0:f77369cabd75 | 331 | return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS |
hattori_atsushi | 0:f77369cabd75 | 332 | } |
hattori_atsushi | 0:f77369cabd75 | 333 | else { |
hattori_atsushi | 0:f77369cabd75 | 334 | inStandbyMode = true; |
hattori_atsushi | 0:f77369cabd75 | 335 | sendCommand(PMTK_STANDBY); |
hattori_atsushi | 0:f77369cabd75 | 336 | //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working |
hattori_atsushi | 0:f77369cabd75 | 337 | return true; |
hattori_atsushi | 0:f77369cabd75 | 338 | } |
hattori_atsushi | 0:f77369cabd75 | 339 | } |
hattori_atsushi | 0:f77369cabd75 | 340 | |
hattori_atsushi | 0:f77369cabd75 | 341 | bool Adafruit_GPS::wakeup(void) { |
hattori_atsushi | 0:f77369cabd75 | 342 | if (inStandbyMode) { |
hattori_atsushi | 0:f77369cabd75 | 343 | inStandbyMode = false; |
hattori_atsushi | 0:f77369cabd75 | 344 | sendCommand(""); // send byte to wake it up |
hattori_atsushi | 0:f77369cabd75 | 345 | return waitForSentence(PMTK_AWAKE); |
hattori_atsushi | 0:f77369cabd75 | 346 | } |
hattori_atsushi | 0:f77369cabd75 | 347 | else { |
hattori_atsushi | 0:f77369cabd75 | 348 | return false; // Returns false if not in standby mode, nothing to wakeup |
hattori_atsushi | 0:f77369cabd75 | 349 | } |
hattori_atsushi | 0:f77369cabd75 | 350 | } |