Library is based on mlee350's library (MBed_Adafruit-GPS-Library) for Adafruit's GPS module (GlobalTop's MTK3339). Includes two CRITIAL bug fixes, as well as minor updates from Adafruit's Arduino library.
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Diff: MBed_Adafruit_GPS.cpp
- Revision:
- 1:96d7d157b384
- Parent:
- 0:a23e3099bb0a
- Child:
- 2:d8e1e37eea36
--- a/MBed_Adafruit_GPS.cpp Sat Mar 22 05:00:47 2014 +0000 +++ b/MBed_Adafruit_GPS.cpp Sat Jan 13 13:06:46 2018 +0000 @@ -27,324 +27,338 @@ volatile bool inStandbyMode; -bool Adafruit_GPS::parse(char *nmea) { - // do checksum check +bool Adafruit_GPS::parse(char *nmea) +{ + // do checksum check + + // first look if we even have one + if (nmea[strlen(nmea)-4] == '*') { + uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16; + sum += parseHex(nmea[strlen(nmea)-2]); - // first look if we even have one - if (nmea[strlen(nmea)-4] == '*') { - uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16; - sum += parseHex(nmea[strlen(nmea)-2]); - - // check checksum - for (uint8_t i=1; i < (strlen(nmea)-4); i++) { - sum ^= nmea[i]; + // check checksum + for (uint8_t i=1; i < (strlen(nmea)-4); i++) { + sum ^= nmea[i]; + } + if (sum != 0) { + // bad checksum :( + //return false; + } } - if (sum != 0) { - // bad checksum :( - //return false; - } - } - // look for a few common sentences - if (strstr(nmea, "$GPGGA")) { - // found GGA - char *p = nmea; - // get time - p = strchr(p, ',')+1; - float timef = atof(p); - uint32_t time = timef; - hour = time / 10000; - minute = (time % 10000) / 100; - seconds = (time % 100); + // look for a few common sentences + if (strstr(nmea, "$GPGGA")) { + // found GGA + char *p = nmea; + // get time + p = strchr(p, ',')+1; + float timef = atof(p); + uint32_t time = timef; + hour = time / 10000; + minute = (time % 10000) / 100; + seconds = (time % 100); - milliseconds = fmod((double) timef, 1.0) * 1000; + milliseconds = fmod((double) timef, 1.0) * 1000; - // parse out latitude - p = strchr(p, ',')+1; - latitude = atof(p); + // parse out latitude + p = strchr(p, ',')+1; + latitude = atof(p); - p = strchr(p, ',')+1; - if (p[0] == 'N') lat = 'N'; - else if (p[0] == 'S') lat = 'S'; - else if (p[0] == ',') lat = 0; - else return false; + p = strchr(p, ',')+1; + if (p[0] == 'N') lat = 'N'; + else if (p[0] == 'S') lat = 'S'; + else if (p[0] == ',') lat = 0; + else return false; - // parse out longitude - p = strchr(p, ',')+1; - longitude = atof(p); + // parse out longitude + p = strchr(p, ',')+1; + longitude = atof(p); - p = strchr(p, ',')+1; - if (p[0] == 'W') lon = 'W'; - else if (p[0] == 'E') lon = 'E'; - else if (p[0] == ',') lon = 0; - else return false; + p = strchr(p, ',')+1; + if (p[0] == 'W') lon = 'W'; + else if (p[0] == 'E') lon = 'E'; + else if (p[0] == ',') lon = 0; + else return false; - p = strchr(p, ',')+1; - fixquality = atoi(p); + p = strchr(p, ',')+1; + fixquality = atoi(p); - p = strchr(p, ',')+1; - satellites = atoi(p); + p = strchr(p, ',')+1; + satellites = atoi(p); - p = strchr(p, ',')+1; - HDOP = atof(p); + p = strchr(p, ',')+1; + HDOP = atof(p); - p = strchr(p, ',')+1; - altitude = atof(p); - p = strchr(p, ',')+1; - p = strchr(p, ',')+1; - geoidheight = atof(p); - return true; - } - if (strstr(nmea, "$GPRMC")) { - // found RMC - char *p = nmea; + p = strchr(p, ',')+1; + altitude = atof(p); + p = strchr(p, ',')+1; + p = strchr(p, ',')+1; + geoidheight = atof(p); + return true; + } + if (strstr(nmea, "$GPRMC")) { + // found RMC + char *p = nmea; - // get time - p = strchr(p, ',')+1; - float timef = atof(p); - uint32_t time = timef; - hour = time / 10000; - minute = (time % 10000) / 100; - seconds = (time % 100); + // get time + p = strchr(p, ',')+1; + float timef = atof(p); + uint32_t time = timef; + hour = time / 10000; + minute = (time % 10000) / 100; + seconds = (time % 100); - milliseconds = fmod((double) timef, 1.0) * 1000; + milliseconds = fmod((double) timef, 1.0) * 1000; - p = strchr(p, ',')+1; - // Serial.println(p); - if (p[0] == 'A') - fix = true; - else if (p[0] == 'V') - fix = false; - else - return false; + p = strchr(p, ',')+1; + // Serial.println(p); + if (p[0] == 'A') + fix = true; + else if (p[0] == 'V') + fix = false; + else + return false; - // parse out latitude - p = strchr(p, ',')+1; - latitude = atof(p); + // parse out latitude + p = strchr(p, ',')+1; + latitude = atof(p); - p = strchr(p, ',')+1; - if (p[0] == 'N') lat = 'N'; - else if (p[0] == 'S') lat = 'S'; - else if (p[0] == ',') lat = 0; - else return false; + p = strchr(p, ',')+1; + if (p[0] == 'N') lat = 'N'; + else if (p[0] == 'S') lat = 'S'; + else if (p[0] == ',') lat = 0; + else return false; - // parse out longitude - p = strchr(p, ',')+1; - longitude = atof(p); + // parse out longitude + p = strchr(p, ',')+1; + longitude = atof(p); - p = strchr(p, ',')+1; - if (p[0] == 'W') lon = 'W'; - else if (p[0] == 'E') lon = 'E'; - else if (p[0] == ',') lon = 0; - else return false; + p = strchr(p, ',')+1; + if (p[0] == 'W') lon = 'W'; + else if (p[0] == 'E') lon = 'E'; + else if (p[0] == ',') lon = 0; + else return false; - // speed - p = strchr(p, ',')+1; - speed = atof(p); + // speed + p = strchr(p, ',')+1; + speed = atof(p); - // angle - p = strchr(p, ',')+1; - angle = atof(p); + // angle + p = strchr(p, ',')+1; + angle = atof(p); - p = strchr(p, ',')+1; - uint32_t fulldate = atof(p); - day = fulldate / 10000; - month = (fulldate % 10000) / 100; - year = (fulldate % 100); + p = strchr(p, ',')+1; + uint32_t fulldate = atof(p); + day = fulldate / 10000; + month = (fulldate % 10000) / 100; + year = (fulldate % 100); - // we dont parse the remaining, yet! - return true; - } + // we dont parse the remaining, yet! + return true; + } - return false; + return false; } -char Adafruit_GPS::read(void) { - char c = 0; - - if (paused) return c; +char Adafruit_GPS::read(void) +{ + char c = 0; + + if (paused) return c; if(!gpsSerial->readable()) return c; c = gpsSerial->getc(); - //Serial.print(c); + //Serial.print(c); + +// if (c == '$') { //please don't eat the dollar sign - rdl 9/15/14 +// currentline[lineidx] = 0; +// lineidx = 0; +// } + if (c == '\n') { + currentline[lineidx] = 0; - if (c == '$') { - currentline[lineidx] = 0; - lineidx = 0; - } - if (c == '\n') { - currentline[lineidx] = 0; + if (currentline == line1) { + currentline = line2; + lastline = line1; + } else { + currentline = line1; + lastline = line2; + } - if (currentline == line1) { - currentline = line2; - lastline = line1; - } else { - currentline = line1; - lastline = line2; + lineidx = 0; + recvdflag = true; } - lineidx = 0; - recvdflag = true; - } + currentline[lineidx++] = c; + if (lineidx >= MAXLINELENGTH) + lineidx = MAXLINELENGTH-1; - currentline[lineidx++] = c; - if (lineidx >= MAXLINELENGTH) - lineidx = MAXLINELENGTH-1; - - return c; + return c; } Adafruit_GPS::Adafruit_GPS (Serial *ser) { - common_init(); // Set everything to common state, then... - gpsSerial = ser; // ...override gpsSwSerial with value passed. + common_init(); // Set everything to common state, then... + gpsSerial = ser; // ...override gpsSwSerial with value passed. } // Initialization code used by all constructor types -void Adafruit_GPS::common_init(void) { - gpsSerial = NULL; - recvdflag = false; - paused = false; - lineidx = 0; - currentline = line1; - lastline = line2; +void Adafruit_GPS::common_init(void) +{ + gpsSerial = NULL; + recvdflag = false; + paused = false; + lineidx = 0; + currentline = line1; + lastline = line2; - hour = minute = seconds = year = month = day = - fixquality = satellites = 0; // uint8_t - lat = lon = mag = 0; // char - fix = false; // bool - milliseconds = 0; // uint16_t - latitude = longitude = geoidheight = altitude = - speed = angle = magvariation = HDOP = 0.0; // float + hour = minute = seconds = year = month = day = + fixquality = satellites = 0; // uint8_t + lat = lon = mag = 0; // char + fix = false; // bool + milliseconds = 0; // uint16_t + latitude = longitude = geoidheight = altitude = + speed = angle = magvariation = HDOP = 0.0; // float } void Adafruit_GPS::begin(int baud) { - gpsSerial->baud(baud); - wait_ms(10); + gpsSerial->baud(baud); + wait_ms(10); } -void Adafruit_GPS::sendCommand(char *str) { - gpsSerial->printf("%s",str); +void Adafruit_GPS::sendCommand(char *str) +{ + gpsSerial->printf("%s\r\n",str); } -bool Adafruit_GPS::newNMEAreceived(void) { - return recvdflag; +bool Adafruit_GPS::newNMEAreceived(void) +{ + return recvdflag; } -void Adafruit_GPS::pause(bool p) { - paused = p; +void Adafruit_GPS::pause(bool p) +{ + paused = p; } -char *Adafruit_GPS::lastNMEA(void) { - recvdflag = false; - return (char *)lastline; +char *Adafruit_GPS::lastNMEA(void) +{ + recvdflag = false; + return (char *)lastline; } // read a Hex value and return the decimal equivalent -uint8_t Adafruit_GPS::parseHex(char c) { +uint8_t Adafruit_GPS::parseHex(char c) +{ if (c < '0') - return 0; + return 0; if (c <= '9') - return c - '0'; + return c - '0'; if (c < 'A') - return 0; + return 0; if (c <= 'F') - return (c - 'A')+10; + return (c - 'A')+10; + // if (c > 'F') + return 0; } -bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) { - char str[20]; +bool Adafruit_GPS::waitForSentence(const char *wait4me, uint8_t max) +{ + char str[20]; - uint8_t i=0; - while (i < max) { - if (newNMEAreceived()) { - char *nmea = lastNMEA(); - strncpy(str, nmea, 20); - str[19] = 0; - i++; + uint8_t i=0; + while (i < max) { + read(); + if (newNMEAreceived()) { + char *nmea = lastNMEA(); + strncpy(str, nmea, 20); + str[19] = 0; + i++; - if (strstr(str, wait4me)) - return true; + if (strstr(str, wait4me)) + return true; + } } - } - return false; + return false; } -bool Adafruit_GPS::LOCUS_StartLogger(void) { - sendCommand(PMTK_LOCUS_STARTLOG); - recvdflag = false; - return waitForSentence(PMTK_LOCUS_LOGSTARTED); +bool Adafruit_GPS::LOCUS_StartLogger(void) +{ + sendCommand(PMTK_LOCUS_STARTLOG); + recvdflag = false; + return waitForSentence(PMTK_LOCUS_LOGSTARTED); } -bool Adafruit_GPS::LOCUS_ReadStatus(void) { - sendCommand(PMTK_LOCUS_QUERY_STATUS); - - if (! waitForSentence("$PMTKLOG")) - return false; +bool Adafruit_GPS::LOCUS_ReadStatus(void) +{ + sendCommand(PMTK_LOCUS_QUERY_STATUS); + + if (! waitForSentence("$PMTKLOG")) + return false; + + char *response = lastNMEA(); + uint16_t parsed[10]; + uint8_t i; + + for (i=0; i<10; i++) parsed[i] = -1; - char *response = lastNMEA(); - uint16_t parsed[10]; - uint8_t i; - - for (i=0; i<10; i++) parsed[i] = -1; - - response = strchr(response, ','); - for (i=0; i<10; i++) { - if (!response || (response[0] == 0) || (response[0] == '*')) - break; - response++; - parsed[i]=0; - while ((response[0] != ',') && - (response[0] != '*') && (response[0] != 0)) { - parsed[i] *= 10; - char c = response[0]; - if (isdigit(c)) - parsed[i] += c - '0'; - else - parsed[i] = c; - response++; + response = strchr(response, ','); + for (i=0; i<10; i++) { + if (!response || (response[0] == 0) || (response[0] == '*')) + break; + response++; + parsed[i]=0; + while ((response[0] != ',') && + (response[0] != '*') && (response[0] != 0)) { + parsed[i] *= 10; + char c = response[0]; + if (isdigit(c)) + parsed[i] += c - '0'; + else + parsed[i] = c; + response++; + } } - } - LOCUS_serial = parsed[0]; - LOCUS_type = parsed[1]; - if (isalpha(parsed[2])) { - parsed[2] = parsed[2] - 'a' + 10; - } - LOCUS_mode = parsed[2]; - LOCUS_config = parsed[3]; - LOCUS_interval = parsed[4]; - LOCUS_distance = parsed[5]; - LOCUS_speed = parsed[6]; - LOCUS_status = !parsed[7]; - LOCUS_records = parsed[8]; - LOCUS_percent = parsed[9]; + LOCUS_serial = parsed[0]; + LOCUS_type = parsed[1]; + if (isalpha(parsed[2])) { + parsed[2] = parsed[2] - 'a' + 10; + } + LOCUS_mode = parsed[2]; + LOCUS_config = parsed[3]; + LOCUS_interval = parsed[4]; + LOCUS_distance = parsed[5]; + LOCUS_speed = parsed[6]; + LOCUS_status = !parsed[7]; + LOCUS_records = parsed[8]; + LOCUS_percent = parsed[9]; - return true; + return true; } // Standby Mode Switches -bool Adafruit_GPS::standby(void) { - if (inStandbyMode) { - return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS - } - else { - inStandbyMode = true; - sendCommand(PMTK_STANDBY); - //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working - return true; - } +bool Adafruit_GPS::standby(void) +{ + if (inStandbyMode) { + return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS + } else { + inStandbyMode = true; + sendCommand(PMTK_STANDBY); + //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working + return true; + } } -bool Adafruit_GPS::wakeup(void) { - if (inStandbyMode) { - inStandbyMode = false; - sendCommand(""); // send byte to wake it up - return waitForSentence(PMTK_AWAKE); - } - else { - return false; // Returns false if not in standby mode, nothing to wakeup - } +bool Adafruit_GPS::wakeup(void) +{ + if (inStandbyMode) { + inStandbyMode = false; + sendCommand(""); // send byte to wake it up + return waitForSentence(PMTK_AWAKE); + } else { + return false; // Returns false if not in standby mode, nothing to wakeup + } } \ No newline at end of file