Revision 0:b876c6606429, committed 2015-01-03

Comitter:

igbt6

Date:

Sat Jan 03 11:54:41 2015 +0000

Commit message:

Version 0.01 of library for GPS module FIBOCOM GTS-4E-60 (NMEA protocol) released

Changed in this revision

diff -r 000000000000 -r b876c6606429 gts4E60.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gts4E60.cpp	Sat Jan 03 11:54:41 2015 +0000
@@ -0,0 +1,297 @@
+
+#include "gts4E60.h"
+#include <string.h>
+
+
+
+GTS4E60::GTS4E60(PinName tx, PinName rx) : mGpsSerial(tx,rx)
+{
+    mGpsSerial.baud(GTS4E60_SERIAL_DEFAULT_BAUD );
+    init();
+}
+
+int GTS4E60::write(const char* data)
+{
+    return mGpsSerial.printf(data);
+}
+
+//private methods
+
+float GTS4E60::nmeaToDecimal(float deg_coord, char nsew)
+{
+    int degree = (int)(deg_coord/100.0f);
+    float minutes = deg_coord - degree*100;
+    float dec_deg = minutes / 60.0f;
+    float decimal = degree + dec_deg;
+    if (nsew == 'S' || nsew == 'W') {
+        decimal *= -1; // return negative value
+    }
+    return decimal;
+
+    //using trunc
+    /*
+    if(ns =='S') {
+    latitude   *= -1.0;
+    }
+    if(ew =='W') {
+    longitude  *= -1.0;
+    }
+    float degrees = trunc(latitude / 100.0f);
+    float minutes = latitude - (degrees * 100.0f);
+    latitude = degrees + minutes / 60.0f;
+    degrees = trunc(longitude / 100.0f);
+    minutes = longitude - (degrees * 100.0f);
+    longitude = degrees + minutes / 60.0f;
+    */
+
+}
+
+float GTS4E60::trunc(float v)
+{
+    if(v < 0.0) {
+        v*= -1.0;
+        v = floor(v);
+        v*=-1.0;
+    } else {
+        v = floor(v);
+    }
+    return v;
+}
+
+
+void GTS4E60::readData()
+{
+    while(mGpsSerial.getc() != '$');  //wait for the correct NMEA protocol message
+    for(int i=0; i<GTS4E60_NMEA_BUF_SIZE; i++) {
+        mNmeaData[i] = mGpsSerial.getc();
+        if(mNmeaData[i] == '\r') {
+            mNmeaData[i] = 0;
+            return;
+        }
+    }
+    error("overflowed message limit");
+}
+
+void GTS4E60::readData(uint8_t nmeaSentence)
+{
+    if(nmeaSentence>=NR_OF_SUPPORTED_NMEA_SENTENCES)return;
+    int counter =0;
+    while(counter<GTS4E60_NMEA_BUF_SIZE) {
+        while(mGpsSerial.getc() != '$');  //wait for the correct NMEA protocol message
+        counter++;
+        char buf[6];
+        for(int i =0; i<5; i++) {
+            buf[i]=mGpsSerial.getc();
+        }
+        buf[5]='\0';
+        if(strcmp(buf,nmeaSentencesString[nmeaSentence])==0) {
+            strcpy(mNmeaData,buf);
+        } else continue;
+        for(int i=5; i<GTS4E60_NMEA_BUF_SIZE; i++) {
+            mNmeaData[i] = mGpsSerial.getc();
+            if(mNmeaData[i] == '\r') {
+                mNmeaData[i] = 0;
+                return;
+            }
+        }
+    }
+    error("overflowed message limit");
+
+}
+
+//public methods
+
+void GTS4E60::init()
+{
+    memset(mNmeaData,0,GTS4E60_NMEA_BUF_SIZE);
+    //GPGAA
+    mFixType= 0;
+    mSatellites = 0;
+    mHdop= 0;
+    mAltitude= 0.0;
+    mUnits= ' ';
+
+    // RMC
+    mLongitude= 0.0;
+    mLatitude = 0.0;
+    NS=' ';
+    EW=' ';
+    mDataStatus= 'V';
+
+    //GSV
+    mNumberOfMsgs=0;
+    mMsgNumber=0;
+    mSatellitesInView=0;
+    wait(1);
+}
+
+
+int GTS4E60::isDataAvailable()
+{
+
+    return mGpsSerial.readable();
+}
+
+uint8_t GTS4E60::parseData(uint8_t param)
+{
+    uint8_t retVal=ERROR;
+    if(param==NULL)
+        readData();
+    else
+        readData(param);
+    // Check if there is a GPGGA snetence
+    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) {
+        retVal = GGA;
+        if(mFixType == 0) {
+            mFix = "Invalid or not available";
+            return NO_FIX_FOUND;
+        }
+        if(mSatellites==0) {
+            return NO_SATELLITES;
+        }
+    }
+    //if there is a GPGSA sentence - not used here :)
+    /*
+    else if(sscanf(mNmeaData, "GPGSA, %c, %c, %d ....", &mMode1, &mMode2, &mSatelitesUsed....) >=1){
+    retVal= GSA;
+    }
+    */
+
+    //if there is a GPRMC sentence
+    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) {
+        retVal = RMC;
+        if(mDataStatus=='V')
+            return INVALID_STATUS;
+
+        mDate.year += 2000;
+        mLatitude= nmeaToDecimal(mLatitude,NS);
+        mLongitude= nmeaToDecimal(mLongitude,EW);
+
+        if(mFixType == 1) {
+            mFix = "Positive";
+        }
+        if(mFixType == 2) {
+            mFix = "Differential";
+        }
+        if(mHeading > 0.00 && mHeading < 45.00) {
+            mCardinal = "NNE";
+        } else if(mHeading == 45.00) {
+            mCardinal = "NE";
+        } else if(mHeading > 45.00 && mHeading < 90.00) {
+            mCardinal = "ENE";
+        } else if(mHeading == 90.00) {
+            mCardinal = "E";
+        } else if(mHeading > 90.00 && mHeading < 135.00) {
+            mCardinal = "ESE";
+        } else if(mHeading == 135.00) {
+            mCardinal = "SE";
+        } else if(mHeading > 135.00 && mHeading < 180.00) {
+            mCardinal = "SSE";
+        } else if(mHeading == 180.00) {
+            mCardinal = "S";
+        } else if(mHeading > 180.00 && mHeading < 225.00) {
+            mCardinal = "SSW";
+        } else if(mHeading == 225.00) {
+            mCardinal = "SW";
+        } else if(mHeading > 225.00 && mHeading < 270.00) {
+            mCardinal = "WSW";
+        } else if(mHeading == 270.00) {
+            mCardinal = "W";
+        } else if(mHeading > 270.00 && mHeading < 315.00) {
+            mCardinal = "WNW";
+        } else if(mHeading == 315.00) {
+            mCardinal = "NW";
+        } else if(mHeading > 315.00 && mHeading < 360.00) {
+            mCardinal = "NNW";
+        } else if(mHeading == 360.00 || mHeading == 0.00) {
+            mCardinal = "N";
+        }
+        mSpeedKm = mSpeedKn*1.852;
+
+    }
+
+    //if there is a GPGSV sentence
+    else if(sscanf(mNmeaData, "GPGSV, %d, %d, %d", &mNumberOfMsgs, &mMsgNumber , &mSatellitesInView) >=1) {
+        retVal=GSV;
+    }
+    return retVal;
+}
+
+
+
+
+
+//getter methods
+UTC_Time GTS4E60:: getTime()
+{
+    return mUtcTime;
+}
+
+Date GTS4E60:: getDate()
+{
+    return mDate;
+}
+
+float GTS4E60:: getLongitude()
+{
+    return mLongitude;
+}
+
+float GTS4E60::getLatitude()
+{
+    return mLatitude;
+}
+
+float GTS4E60::getAltitude()
+{
+    return mAltitude;
+}
+
+float GTS4E60::getSpeedKn()
+{
+    return mSpeedKn;
+}
+
+float GTS4E60::getSpeedKm()
+{
+    return mSpeedKm;
+}
+
+int   GTS4E60::getSatelites()
+{
+    return mSatellites;
+}
+
+//float GTS4E60::getCourseT() {}
+//float GTS4E60::getCourseM() {}
+
+int GTS4E60::getFixType()
+{
+    return mFixType;
+}
+
+int GTS4E60::getSatellites()
+{
+    return mSatellites;
+}
+
+int GTS4E60:: getStatus()
+{
+    return mDataStatus;
+}
+
+char GTS4E60:: getNS()
+{
+    return NS;
+}
+char GTS4E60:: getEW()
+{
+    return EW;
+}
+
+float GTS4E60:: getHeading()
+{
+    return mHeading;
+}
+
+

diff -r 000000000000 -r b876c6606429 gts4E60.h
--- /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__