Diff: gts4E60.h

Revision:

0:b876c6606429

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gts4E60.h	Sat Jan 03 11:54:41 2015 +0000
@@ -0,0 +1,222 @@
+/*
+  @file gts4E60.h
+
+  @brief GTS-4E-60 GPS Module (FIBOCOM) module Library
+         Easy to change for other module
+
+  @Author lukasz uszko(luszko@op.pl)
+
+  Tested on FRDM-KL46Z and FRDM-KL25Z
+
+  Copyright (c) 2014 lukasz uszko
+  Released under the MIT License (see http://mbed.org/license/mit)
+
+  Nice tutorial about degree formats and ways of computing them:
+  http://home.online.no/~sigurdhu/Deg_formats.htm
+
+  NMEA protocol reference manual:
+  https://www.sparkfun.com/datasheets/GPS/NMEA%20Reference%20Manual1.pdf
+
+  Documentation regarding GTS-4E-60 GPS Module might be found here:
+  http://www.fibocom.com/product/2-1-3-2.html
+*/
+
+//DEMO - HOW TO USE:
+/*
+---------------------------------------- DEMO: 1 version ----------------------------------------
+#include "mbed.h"
+#include "gt4E60.h"
+int main()
+{
+    GTS4E60 gps(GPS_PIN_TX,GPS_PIN_RX);
+    Serial debug(USBTX, USBRX);
+    debug.baud(115200);
+    while(1) {
+        if(gps->isDataAvailable()) {
+            if(gps->parseData()) {
+                struct UTC_Time utcTime= gps->getTime();
+                struct Date date= gps->getDate();
+                debug.printf("GPS_UTC_TIME: %02d:%02d:%02.3f\r\n",utcTime.hours, utcTime.minutes, utcTime.seconds);
+                debug.printf("GPS_DATE: %02d.%02d.%02d\r\n", date.day, date.month, date.year);
+                debug.printf("GPS_DATA: fixtype: %d, satelites: %d, altitude: %f, speed: %f, heading: %f\r\n",gps->getFixType(), gps->getSatellites(), gps->getAltitude(), gps->getSpeedKm(), gps->getHeading());
+                debug.printf("GPS_DATA: status: %c, latitude: %f, ns :%c, longitude: %f, ew: %c\r\n",gps->getStatus(), gps->getLatitude(), gps->getNS(), gps->getLongitude(), gps->getEW());
+            } else {
+                debug.printf("NO GPS FIX FOUND\r\n");
+            }
+        }
+    }
+    return 0;
+}
+
+---------------------------------------- DEMO: 2 version  error handling----------------------------------------
+#include "mbed.h"
+#include "gt4E60.h"
+int main()
+{
+    GTS4E60 gps(GPS_PIN_TX,GPS_PIN_RX);
+    Serial debug(USBTX, USBRX);
+    usbDebug.baud(115200);
+    while(1) {
+        if(gps->isDataAvailable()) {
+            uint8_t ret= gps->parseData();
+            if(ret==ERROR) {
+                usbDebug.printf("ERROR INCORRECT DATA\r\n");
+            } else if(ret==NO_FIX_FOUND) {
+                usbDebug.printf("NO GPS FIX FOUND\r\n");
+            } else if(ret==NO_SATELLITES) {
+                usbDebug.printf("NO SATELLITES FOUND\r\n");
+            } else if(ret==INVALID_STATUS) {
+                usbDebug.printf("STATUS INVALID\r\n");
+            } else {
+                struct UTC_Time utcTime= gps->getTime();
+                struct Date date= gps->getDate();
+                usbDebug.printf("GPS_UTC_TIME: %02d:%02d:%02.3f\r\n",utcTime.hours, utcTime.minutes, utcTime.seconds);
+                usbDebug.printf("GPS_DATE: %02d.%02d.%02d\r\n", date.day, date.month, date.year);
+                usbDebug.printf("GPS_DATA: fixtype: %d, satelites: %d, altitude: %f, speed: %f, heading: %f\r\n",gps->getFixType(), gps->getSatellites(), gps->getAltitude(), gps->getSpeedKm(), gps->getHeading());
+                usbDebug.printf("GPS_DATA: status: %c, latitude: %f, ns :%c, longitude: %f, ew: %c\r\n",gps->getStatus(), gps->getLatitude(), gps->getNS(), gps->getLongitude(), gps->getEW());
+            }
+        }
+    }
+    return 0;
+}
+*/
+#ifndef __GTS4E60_H__
+#define __GTS4E60_H__
+
+#include "mbed.h"
+#include "BufferedSerial.h"
+#include <string>
+
+#define GTS4E60_SERIAL_DEFAULT_BAUD       9600
+#define GTS4E60_SERIAL_TIMEOUT            10000
+#define GTS4E60_SERIAL_EOL                "\r\n"
+#define GTS4E60_NMEA_BUF_SIZE             512
+
+
+typedef enum {
+    //NMEA SENTENCES handled by the module: $GPGGA, $GPGSA, $GPRMC, $GPGSV
+    GGA = 0,
+    GSA = 1,
+    RMC = 2,
+    GSV = 3,
+    NR_OF_SUPPORTED_NMEA_SENTENCES,
+    //parseData() return paramteters
+    ERROR =5,
+    NO_FIX_FOUND= 6,
+    NO_SATELLITES= 7,
+    INVALID_STATUS= 8
+} GTS4E60_Utility;
+static const char* nmeaSentencesString[NR_OF_SUPPORTED_NMEA_SENTENCES]= {"GPGGA","GPGSA","GPRMC","GPGSV"};
+
+
+//deafault serial port on FRDM KL46Z:
+// UART2:
+// RX-PTE17
+// TX-PTE16
+
+//useful data structs
+struct UTC_Time {
+    UTC_Time() {
+        hours =0;
+        minutes =0;
+        seconds=0;
+    }
+    int hours;
+    int minutes;
+    float seconds;
+};
+
+
+struct Date {
+    Date() {
+        day =0;
+        month =0;
+        year =0;
+    }
+    int day;
+    int month;
+    int year;
+};
+
+
+
+class GTS4E60
+{
+public:
+    GTS4E60 (PinName tx, PinName rx);
+    int write(const char* data); //?
+    void init();
+    uint8_t parseData(uint8_t param =NULL);
+    int isDataAvailable();
+    inline int getDataFromRx() {
+        return mGpsSerial.getc();
+    }
+
+//getters
+    UTC_Time getTime();
+    Date getDate();
+    float getLongitude();
+    float getLatitude();
+    float getAltitude();
+    float getSpeedKn();
+    float getSpeedKm();
+    int   getSatelites();
+    float getCourseT();
+    float getCourseM();
+    int   getFixType();
+    int   getSatellites();
+    int   getStatus();
+    char  getNS();
+    char  getEW();
+    float getHeading();
+
+// navigational functions - maybe in future
+    float calcCourseTo(float, float);
+    double calcDistToKm(float, float);
+    double calcDistToM(float, float);
+
+
+private:
+
+    float trunc ( float v);
+    float nmeaToDecimal(float deg_coord, char nsew);
+    void readData();
+    void readData(uint8_t nmeaSentence);
+    Serial mGpsSerial;
+    char mNmeaData[GTS4E60_NMEA_BUF_SIZE];
+
+    // GGA - Global Positioning System Fixed Data
+    struct UTC_Time mUtcTime;         // UTC time
+    int mFixType;        // 0 = no fix;  1 = fix;  2=differential fix
+    int mSatellites;     // number of satellites used
+    float mHdop;
+    float mAltitude;
+    char mUnits;
+
+    //GSA
+    //not used here
+
+    // RMC - Recommended Minimmum Specific GNS Data
+    char mDataStatus;// RMC data status A = Data Valid; V = Data Not valid;
+    float mLatitude;
+    float mLongitude;
+    char NS, EW;
+    float mSpeedKn;      // speed in knots/hour
+    float mSpeedKm;      // speed in kilometres/hour
+    float mHeading;      // heading in degrees derived from previous & current location
+    struct Date mDate;
+
+    //GSV - GNSS Satellites in View
+    int mNumberOfMsgs;
+    int mMsgNumber;
+    int mSatellitesInView;
+
+    //useful variables
+    string mFix;
+    string mCardinal;
+
+};
+
+
+
+#endif // __GTS4E60_H__