Lukasz Uszko / GPS_GTS-4E-60

GPS Module GTS-4E-60 library , (NMEA protocol) , can be easily imported into other GPS modules after a few minor changes

gts4E60.cpp@0:b876c6606429, 2015-01-03 (annotated)

Committer:
igbt6
Date:
Sat Jan 03 11:54:41 2015 +0000
Revision:
0:b876c6606429
Version 0.01 of library for GPS module FIBOCOM GTS-4E-60 (NMEA protocol)  released

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igbt6 0:b876c6606429 1
igbt6 0:b876c6606429 2 #include "gts4E60.h"
igbt6 0:b876c6606429 3 #include <string.h>
igbt6 0:b876c6606429 4
igbt6 0:b876c6606429 5
igbt6 0:b876c6606429 6
igbt6 0:b876c6606429 7 GTS4E60::GTS4E60(PinName tx, PinName rx) : mGpsSerial(tx,rx)
igbt6 0:b876c6606429 8 {
igbt6 0:b876c6606429 9 mGpsSerial.baud(GTS4E60_SERIAL_DEFAULT_BAUD );
igbt6 0:b876c6606429 10 init();
igbt6 0:b876c6606429 11 }
igbt6 0:b876c6606429 12
igbt6 0:b876c6606429 13 int GTS4E60::write(const char* data)
igbt6 0:b876c6606429 14 {
igbt6 0:b876c6606429 15 return mGpsSerial.printf(data);
igbt6 0:b876c6606429 16 }
igbt6 0:b876c6606429 17
igbt6 0:b876c6606429 18 //private methods
igbt6 0:b876c6606429 19
igbt6 0:b876c6606429 20 float GTS4E60::nmeaToDecimal(float deg_coord, char nsew)
igbt6 0:b876c6606429 21 {
igbt6 0:b876c6606429 22 int degree = (int)(deg_coord/100.0f);
igbt6 0:b876c6606429 23 float minutes = deg_coord - degree*100;
igbt6 0:b876c6606429 24 float dec_deg = minutes / 60.0f;
igbt6 0:b876c6606429 25 float decimal = degree + dec_deg;
igbt6 0:b876c6606429 26 if (nsew == 'S' || nsew == 'W') {
igbt6 0:b876c6606429 27 decimal *= -1; // return negative value
igbt6 0:b876c6606429 28 }
igbt6 0:b876c6606429 29 return decimal;
igbt6 0:b876c6606429 30
igbt6 0:b876c6606429 31 //using trunc
igbt6 0:b876c6606429 32 /*
igbt6 0:b876c6606429 33 if(ns =='S') {
igbt6 0:b876c6606429 34 latitude *= -1.0;
igbt6 0:b876c6606429 35 }
igbt6 0:b876c6606429 36 if(ew =='W') {
igbt6 0:b876c6606429 37 longitude *= -1.0;
igbt6 0:b876c6606429 38 }
igbt6 0:b876c6606429 39 float degrees = trunc(latitude / 100.0f);
igbt6 0:b876c6606429 40 float minutes = latitude - (degrees * 100.0f);
igbt6 0:b876c6606429 41 latitude = degrees + minutes / 60.0f;
igbt6 0:b876c6606429 42 degrees = trunc(longitude / 100.0f);
igbt6 0:b876c6606429 43 minutes = longitude - (degrees * 100.0f);
igbt6 0:b876c6606429 44 longitude = degrees + minutes / 60.0f;
igbt6 0:b876c6606429 45 */
igbt6 0:b876c6606429 46
igbt6 0:b876c6606429 47 }
igbt6 0:b876c6606429 48
igbt6 0:b876c6606429 49 float GTS4E60::trunc(float v)
igbt6 0:b876c6606429 50 {
igbt6 0:b876c6606429 51 if(v < 0.0) {
igbt6 0:b876c6606429 52 v*= -1.0;
igbt6 0:b876c6606429 53 v = floor(v);
igbt6 0:b876c6606429 54 v*=-1.0;
igbt6 0:b876c6606429 55 } else {
igbt6 0:b876c6606429 56 v = floor(v);
igbt6 0:b876c6606429 57 }
igbt6 0:b876c6606429 58 return v;
igbt6 0:b876c6606429 59 }
igbt6 0:b876c6606429 60
igbt6 0:b876c6606429 61
igbt6 0:b876c6606429 62 void GTS4E60::readData()
igbt6 0:b876c6606429 63 {
igbt6 0:b876c6606429 64 while(mGpsSerial.getc() != '$'); //wait for the correct NMEA protocol message
igbt6 0:b876c6606429 65 for(int i=0; i<GTS4E60_NMEA_BUF_SIZE; i++) {
igbt6 0:b876c6606429 66 mNmeaData[i] = mGpsSerial.getc();
igbt6 0:b876c6606429 67 if(mNmeaData[i] == '\r') {
igbt6 0:b876c6606429 68 mNmeaData[i] = 0;
igbt6 0:b876c6606429 69 return;
igbt6 0:b876c6606429 70 }
igbt6 0:b876c6606429 71 }
igbt6 0:b876c6606429 72 error("overflowed message limit");
igbt6 0:b876c6606429 73 }
igbt6 0:b876c6606429 74
igbt6 0:b876c6606429 75 void GTS4E60::readData(uint8_t nmeaSentence)
igbt6 0:b876c6606429 76 {
igbt6 0:b876c6606429 77 if(nmeaSentence>=NR_OF_SUPPORTED_NMEA_SENTENCES)return;
igbt6 0:b876c6606429 78 int counter =0;
igbt6 0:b876c6606429 79 while(counter<GTS4E60_NMEA_BUF_SIZE) {
igbt6 0:b876c6606429 80 while(mGpsSerial.getc() != '$'); //wait for the correct NMEA protocol message
igbt6 0:b876c6606429 81 counter++;
igbt6 0:b876c6606429 82 char buf[6];
igbt6 0:b876c6606429 83 for(int i =0; i<5; i++) {
igbt6 0:b876c6606429 84 buf[i]=mGpsSerial.getc();
igbt6 0:b876c6606429 85 }
igbt6 0:b876c6606429 86 buf[5]='\0';
igbt6 0:b876c6606429 87 if(strcmp(buf,nmeaSentencesString[nmeaSentence])==0) {
igbt6 0:b876c6606429 88 strcpy(mNmeaData,buf);
igbt6 0:b876c6606429 89 } else continue;
igbt6 0:b876c6606429 90 for(int i=5; i<GTS4E60_NMEA_BUF_SIZE; i++) {
igbt6 0:b876c6606429 91 mNmeaData[i] = mGpsSerial.getc();
igbt6 0:b876c6606429 92 if(mNmeaData[i] == '\r') {
igbt6 0:b876c6606429 93 mNmeaData[i] = 0;
igbt6 0:b876c6606429 94 return;
igbt6 0:b876c6606429 95 }
igbt6 0:b876c6606429 96 }
igbt6 0:b876c6606429 97 }
igbt6 0:b876c6606429 98 error("overflowed message limit");
igbt6 0:b876c6606429 99
igbt6 0:b876c6606429 100 }
igbt6 0:b876c6606429 101
igbt6 0:b876c6606429 102 //public methods
igbt6 0:b876c6606429 103
igbt6 0:b876c6606429 104 void GTS4E60::init()
igbt6 0:b876c6606429 105 {
igbt6 0:b876c6606429 106 memset(mNmeaData,0,GTS4E60_NMEA_BUF_SIZE);
igbt6 0:b876c6606429 107 //GPGAA
igbt6 0:b876c6606429 108 mFixType= 0;
igbt6 0:b876c6606429 109 mSatellites = 0;
igbt6 0:b876c6606429 110 mHdop= 0;
igbt6 0:b876c6606429 111 mAltitude= 0.0;
igbt6 0:b876c6606429 112 mUnits= ' ';
igbt6 0:b876c6606429 113
igbt6 0:b876c6606429 114 // RMC
igbt6 0:b876c6606429 115 mLongitude= 0.0;
igbt6 0:b876c6606429 116 mLatitude = 0.0;
igbt6 0:b876c6606429 117 NS=' ';
igbt6 0:b876c6606429 118 EW=' ';
igbt6 0:b876c6606429 119 mDataStatus= 'V';
igbt6 0:b876c6606429 120
igbt6 0:b876c6606429 121 //GSV
igbt6 0:b876c6606429 122 mNumberOfMsgs=0;
igbt6 0:b876c6606429 123 mMsgNumber=0;
igbt6 0:b876c6606429 124 mSatellitesInView=0;
igbt6 0:b876c6606429 125 wait(1);
igbt6 0:b876c6606429 126 }
igbt6 0:b876c6606429 127
igbt6 0:b876c6606429 128
igbt6 0:b876c6606429 129 int GTS4E60::isDataAvailable()
igbt6 0:b876c6606429 130 {
igbt6 0:b876c6606429 131
igbt6 0:b876c6606429 132 return mGpsSerial.readable();
igbt6 0:b876c6606429 133 }
igbt6 0:b876c6606429 134
igbt6 0:b876c6606429 135 uint8_t GTS4E60::parseData(uint8_t param)
igbt6 0:b876c6606429 136 {
igbt6 0:b876c6606429 137 uint8_t retVal=ERROR;
igbt6 0:b876c6606429 138 if(param==NULL)
igbt6 0:b876c6606429 139 readData();
igbt6 0:b876c6606429 140 else
igbt6 0:b876c6606429 141 readData(param);
igbt6 0:b876c6606429 142 // Check if there is a GPGGA snetence
igbt6 0:b876c6606429 143 if(sscanf(mNmeaData, "GPGGA, %2d%2d%f, %*f, %*c, %*f, %*c, %d, %d, %*f, %f", &mUtcTime.hours, &mUtcTime.minutes, &mUtcTime.seconds, &mFixType, &mSatellites, &mAltitude) >=1) {
igbt6 0:b876c6606429 144 retVal = GGA;
igbt6 0:b876c6606429 145 if(mFixType == 0) {
igbt6 0:b876c6606429 146 mFix = "Invalid or not available";
igbt6 0:b876c6606429 147 return NO_FIX_FOUND;
igbt6 0:b876c6606429 148 }
igbt6 0:b876c6606429 149 if(mSatellites==0) {
igbt6 0:b876c6606429 150 return NO_SATELLITES;
igbt6 0:b876c6606429 151 }
igbt6 0:b876c6606429 152 }
igbt6 0:b876c6606429 153 //if there is a GPGSA sentence - not used here :)
igbt6 0:b876c6606429 154 /*
igbt6 0:b876c6606429 155 else if(sscanf(mNmeaData, "GPGSA, %c, %c, %d ....", &mMode1, &mMode2, &mSatelitesUsed....) >=1){
igbt6 0:b876c6606429 156 retVal= GSA;
igbt6 0:b876c6606429 157 }
igbt6 0:b876c6606429 158 */
igbt6 0:b876c6606429 159
igbt6 0:b876c6606429 160 //if there is a GPRMC sentence
igbt6 0:b876c6606429 161 else if(sscanf(mNmeaData, "GPRMC, %2d%2d%f, %c, %f, %c, %f, %c, %f, %f, %2d%2d%2d", &mUtcTime.hours, &mUtcTime.minutes, &mUtcTime.seconds, &mDataStatus, &mLatitude, &NS, &mLongitude, &EW, &mSpeedKn, &mHeading, &mDate.day, &mDate.month, &mDate.year) >=1) {
igbt6 0:b876c6606429 162 retVal = RMC;
igbt6 0:b876c6606429 163 if(mDataStatus=='V')
igbt6 0:b876c6606429 164 return INVALID_STATUS;
igbt6 0:b876c6606429 165
igbt6 0:b876c6606429 166 mDate.year += 2000;
igbt6 0:b876c6606429 167 mLatitude= nmeaToDecimal(mLatitude,NS);
igbt6 0:b876c6606429 168 mLongitude= nmeaToDecimal(mLongitude,EW);
igbt6 0:b876c6606429 169
igbt6 0:b876c6606429 170 if(mFixType == 1) {
igbt6 0:b876c6606429 171 mFix = "Positive";
igbt6 0:b876c6606429 172 }
igbt6 0:b876c6606429 173 if(mFixType == 2) {
igbt6 0:b876c6606429 174 mFix = "Differential";
igbt6 0:b876c6606429 175 }
igbt6 0:b876c6606429 176 if(mHeading > 0.00 && mHeading < 45.00) {
igbt6 0:b876c6606429 177 mCardinal = "NNE";
igbt6 0:b876c6606429 178 } else if(mHeading == 45.00) {
igbt6 0:b876c6606429 179 mCardinal = "NE";
igbt6 0:b876c6606429 180 } else if(mHeading > 45.00 && mHeading < 90.00) {
igbt6 0:b876c6606429 181 mCardinal = "ENE";
igbt6 0:b876c6606429 182 } else if(mHeading == 90.00) {
igbt6 0:b876c6606429 183 mCardinal = "E";
igbt6 0:b876c6606429 184 } else if(mHeading > 90.00 && mHeading < 135.00) {
igbt6 0:b876c6606429 185 mCardinal = "ESE";
igbt6 0:b876c6606429 186 } else if(mHeading == 135.00) {
igbt6 0:b876c6606429 187 mCardinal = "SE";
igbt6 0:b876c6606429 188 } else if(mHeading > 135.00 && mHeading < 180.00) {
igbt6 0:b876c6606429 189 mCardinal = "SSE";
igbt6 0:b876c6606429 190 } else if(mHeading == 180.00) {
igbt6 0:b876c6606429 191 mCardinal = "S";
igbt6 0:b876c6606429 192 } else if(mHeading > 180.00 && mHeading < 225.00) {
igbt6 0:b876c6606429 193 mCardinal = "SSW";
igbt6 0:b876c6606429 194 } else if(mHeading == 225.00) {
igbt6 0:b876c6606429 195 mCardinal = "SW";
igbt6 0:b876c6606429 196 } else if(mHeading > 225.00 && mHeading < 270.00) {
igbt6 0:b876c6606429 197 mCardinal = "WSW";
igbt6 0:b876c6606429 198 } else if(mHeading == 270.00) {
igbt6 0:b876c6606429 199 mCardinal = "W";
igbt6 0:b876c6606429 200 } else if(mHeading > 270.00 && mHeading < 315.00) {
igbt6 0:b876c6606429 201 mCardinal = "WNW";
igbt6 0:b876c6606429 202 } else if(mHeading == 315.00) {
igbt6 0:b876c6606429 203 mCardinal = "NW";
igbt6 0:b876c6606429 204 } else if(mHeading > 315.00 && mHeading < 360.00) {
igbt6 0:b876c6606429 205 mCardinal = "NNW";
igbt6 0:b876c6606429 206 } else if(mHeading == 360.00 || mHeading == 0.00) {
igbt6 0:b876c6606429 207 mCardinal = "N";
igbt6 0:b876c6606429 208 }
igbt6 0:b876c6606429 209 mSpeedKm = mSpeedKn*1.852;
igbt6 0:b876c6606429 210
igbt6 0:b876c6606429 211 }
igbt6 0:b876c6606429 212
igbt6 0:b876c6606429 213 //if there is a GPGSV sentence
igbt6 0:b876c6606429 214 else if(sscanf(mNmeaData, "GPGSV, %d, %d, %d", &mNumberOfMsgs, &mMsgNumber , &mSatellitesInView) >=1) {
igbt6 0:b876c6606429 215 retVal=GSV;
igbt6 0:b876c6606429 216 }
igbt6 0:b876c6606429 217 return retVal;
igbt6 0:b876c6606429 218 }
igbt6 0:b876c6606429 219
igbt6 0:b876c6606429 220
igbt6 0:b876c6606429 221
igbt6 0:b876c6606429 222
igbt6 0:b876c6606429 223
igbt6 0:b876c6606429 224 //getter methods
igbt6 0:b876c6606429 225 UTC_Time GTS4E60:: getTime()
igbt6 0:b876c6606429 226 {
igbt6 0:b876c6606429 227 return mUtcTime;
igbt6 0:b876c6606429 228 }
igbt6 0:b876c6606429 229
igbt6 0:b876c6606429 230 Date GTS4E60:: getDate()
igbt6 0:b876c6606429 231 {
igbt6 0:b876c6606429 232 return mDate;
igbt6 0:b876c6606429 233 }
igbt6 0:b876c6606429 234
igbt6 0:b876c6606429 235 float GTS4E60:: getLongitude()
igbt6 0:b876c6606429 236 {
igbt6 0:b876c6606429 237 return mLongitude;
igbt6 0:b876c6606429 238 }
igbt6 0:b876c6606429 239
igbt6 0:b876c6606429 240 float GTS4E60::getLatitude()
igbt6 0:b876c6606429 241 {
igbt6 0:b876c6606429 242 return mLatitude;
igbt6 0:b876c6606429 243 }
igbt6 0:b876c6606429 244
igbt6 0:b876c6606429 245 float GTS4E60::getAltitude()
igbt6 0:b876c6606429 246 {
igbt6 0:b876c6606429 247 return mAltitude;
igbt6 0:b876c6606429 248 }
igbt6 0:b876c6606429 249
igbt6 0:b876c6606429 250 float GTS4E60::getSpeedKn()
igbt6 0:b876c6606429 251 {
igbt6 0:b876c6606429 252 return mSpeedKn;
igbt6 0:b876c6606429 253 }
igbt6 0:b876c6606429 254
igbt6 0:b876c6606429 255 float GTS4E60::getSpeedKm()
igbt6 0:b876c6606429 256 {
igbt6 0:b876c6606429 257 return mSpeedKm;
igbt6 0:b876c6606429 258 }
igbt6 0:b876c6606429 259
igbt6 0:b876c6606429 260 int GTS4E60::getSatelites()
igbt6 0:b876c6606429 261 {
igbt6 0:b876c6606429 262 return mSatellites;
igbt6 0:b876c6606429 263 }
igbt6 0:b876c6606429 264
igbt6 0:b876c6606429 265 //float GTS4E60::getCourseT() {}
igbt6 0:b876c6606429 266 //float GTS4E60::getCourseM() {}
igbt6 0:b876c6606429 267
igbt6 0:b876c6606429 268 int GTS4E60::getFixType()
igbt6 0:b876c6606429 269 {
igbt6 0:b876c6606429 270 return mFixType;
igbt6 0:b876c6606429 271 }
igbt6 0:b876c6606429 272
igbt6 0:b876c6606429 273 int GTS4E60::getSatellites()
igbt6 0:b876c6606429 274 {
igbt6 0:b876c6606429 275 return mSatellites;
igbt6 0:b876c6606429 276 }
igbt6 0:b876c6606429 277
igbt6 0:b876c6606429 278 int GTS4E60:: getStatus()
igbt6 0:b876c6606429 279 {
igbt6 0:b876c6606429 280 return mDataStatus;
igbt6 0:b876c6606429 281 }
igbt6 0:b876c6606429 282
igbt6 0:b876c6606429 283 char GTS4E60:: getNS()
igbt6 0:b876c6606429 284 {
igbt6 0:b876c6606429 285 return NS;
igbt6 0:b876c6606429 286 }
igbt6 0:b876c6606429 287 char GTS4E60:: getEW()
igbt6 0:b876c6606429 288 {
igbt6 0:b876c6606429 289 return EW;
igbt6 0:b876c6606429 290 }
igbt6 0:b876c6606429 291
igbt6 0:b876c6606429 292 float GTS4E60:: getHeading()
igbt6 0:b876c6606429 293 {
igbt6 0:b876c6606429 294 return mHeading;
igbt6 0:b876c6606429 295 }
igbt6 0:b876c6606429 296
igbt6 0:b876c6606429 297