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GPS.h@0:62fa44dd600b, 2011-06-17 (annotated)

Committer:: joosttromp
Date:: Fri Jun 17 12:37:03 2011 +0000
Revision:: 0:62fa44dd600b

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User	Revision	Line number	New contents of line
joosttromp	0:62fa44dd600b	1	/*
joosttromp	0:62fa44dd600b	2	Copyright (c) 2010 Andy Kirkham
joosttromp	0:62fa44dd600b	3
joosttromp	0:62fa44dd600b	4	Permission is hereby granted, free of charge, to any person obtaining a copy
joosttromp	0:62fa44dd600b	5	of this software and associated documentation files (the "Software"), to deal
joosttromp	0:62fa44dd600b	6	in the Software without restriction, including without limitation the rights
joosttromp	0:62fa44dd600b	7	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
joosttromp	0:62fa44dd600b	8	copies of the Software, and to permit persons to whom the Software is
joosttromp	0:62fa44dd600b	9	furnished to do so, subject to the following conditions:
joosttromp	0:62fa44dd600b	10
joosttromp	0:62fa44dd600b	11	The above copyright notice and this permission notice shall be included in
joosttromp	0:62fa44dd600b	12	all copies or substantial portions of the Software.
joosttromp	0:62fa44dd600b	13
joosttromp	0:62fa44dd600b	14	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
joosttromp	0:62fa44dd600b	15	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
joosttromp	0:62fa44dd600b	16	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
joosttromp	0:62fa44dd600b	17	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
joosttromp	0:62fa44dd600b	18	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
joosttromp	0:62fa44dd600b	19	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
joosttromp	0:62fa44dd600b	20	THE SOFTWARE.
joosttromp	0:62fa44dd600b	21	*/
joosttromp	0:62fa44dd600b	22
joosttromp	0:62fa44dd600b	23	#ifndef GPS_H
joosttromp	0:62fa44dd600b	24	#define GPS_H
joosttromp	0:62fa44dd600b	25
joosttromp	0:62fa44dd600b	26	#include "mbed.h"
joosttromp	0:62fa44dd600b	27	#include "GPS_VTG.h"
joosttromp	0:62fa44dd600b	28	#include "GPS_Time.h"
joosttromp	0:62fa44dd600b	29	#include "GPS_Geodetic.h"
joosttromp	0:62fa44dd600b	30
joosttromp	0:62fa44dd600b	31	#define GPS_RBR 0x00
joosttromp	0:62fa44dd600b	32	#define GPS_THR 0x00
joosttromp	0:62fa44dd600b	33	#define GPS_DLL 0x00
joosttromp	0:62fa44dd600b	34	#define GPS_IER 0x04
joosttromp	0:62fa44dd600b	35	#define GPS_DML 0x04
joosttromp	0:62fa44dd600b	36	#define GPS_IIR 0x08
joosttromp	0:62fa44dd600b	37	#define GPS_FCR 0x08
joosttromp	0:62fa44dd600b	38	#define GPS_LCR 0x0C
joosttromp	0:62fa44dd600b	39	#define GPS_LSR 0x14
joosttromp	0:62fa44dd600b	40	#define GPS_SCR 0x1C
joosttromp	0:62fa44dd600b	41	#define GPS_ACR 0x20
joosttromp	0:62fa44dd600b	42	#define GPS_ICR 0x24
joosttromp	0:62fa44dd600b	43	#define GPS_FDR 0x28
joosttromp	0:62fa44dd600b	44	#define GPS_TER 0x30
joosttromp	0:62fa44dd600b	45
joosttromp	0:62fa44dd600b	46	#define GPS_BUFFER_LEN 128
joosttromp	0:62fa44dd600b	47	#define GPS_TICKTOCK 2500
joosttromp	0:62fa44dd600b	48
joosttromp	0:62fa44dd600b	49	/** @defgroup API The MODGPS API */
joosttromp	0:62fa44dd600b	50
joosttromp	0:62fa44dd600b	51	/** GPS module
joosttromp	0:62fa44dd600b	52	* @author Andy Kirkham
joosttromp	0:62fa44dd600b	53	* @see http://mbed.org/cookbook/MODGPS
joosttromp	0:62fa44dd600b	54	* @see example1.cpp
joosttromp	0:62fa44dd600b	55	* @see example2.cpp
joosttromp	0:62fa44dd600b	56	* @see API
joosttromp	0:62fa44dd600b	57	*
joosttromp	0:62fa44dd600b	58	* @image html /media/uploads/AjK/gps_interfaces.png "Wiring up the GPS module"
joosttromp	0:62fa44dd600b	59	*
joosttromp	0:62fa44dd600b	60	* Example:
joosttromp	0:62fa44dd600b	61	* @code
joosttromp	0:62fa44dd600b	62	* #include "mbed.h"
joosttromp	0:62fa44dd600b	63	* #include "GPS.h"
joosttromp	0:62fa44dd600b	64	*
joosttromp	0:62fa44dd600b	65	* DigitalOut led1(LED1);
joosttromp	0:62fa44dd600b	66	* Serial pc(USBTX, USBRX);
joosttromp	0:62fa44dd600b	67	* GPS gps(NC, p10);
joosttromp	0:62fa44dd600b	68	*
joosttromp	0:62fa44dd600b	69	* int main() {
joosttromp	0:62fa44dd600b	70	* GPS_Time t;
joosttromp	0:62fa44dd600b	71	*
joosttromp	0:62fa44dd600b	72	* // Wait for the GPS NMEA data to become valid.
joosttromp	0:62fa44dd600b	73	* while (!gps.isTimeValid()) {
joosttromp	0:62fa44dd600b	74	* led1 = !led1;
joosttromp	0:62fa44dd600b	75	* wait(1);
joosttromp	0:62fa44dd600b	76	* }
joosttromp	0:62fa44dd600b	77	*
joosttromp	0:62fa44dd600b	78	* gps.timeNow(&t);
joosttromp	0:62fa44dd600b	79	*
joosttromp	0:62fa44dd600b	80	* pc.printf("The time/date is %02d:%02d:%02d %02d/%02d/%04d\r\n",
joosttromp	0:62fa44dd600b	81	* t.hour, t.minute, t.second, t.day, t.month, t.year);
joosttromp	0:62fa44dd600b	82	*
joosttromp	0:62fa44dd600b	83	* // Wait until at least four satellites produce a position fix and a valid quality.
joosttromp	0:62fa44dd600b	84	* while (gps.numOfSats() < 4 && gps.getGPSquality != 0) {
joosttromp	0:62fa44dd600b	85	* led1 = !led1;
joosttromp	0:62fa44dd600b	86	* wait(1);
joosttromp	0:62fa44dd600b	87	* }
joosttromp	0:62fa44dd600b	88	*
joosttromp	0:62fa44dd600b	89	* pc.printf("Lat = %.4f Lon = %.4f Alt = %.1fkm\r\n",
joosttromp	0:62fa44dd600b	90	* gps.latitude(), gps.longitude, gps.altitude());
joosttromp	0:62fa44dd600b	91	*
joosttromp	0:62fa44dd600b	92	* // Make the LED go steady to indicate we have finished.
joosttromp	0:62fa44dd600b	93	* led1 = 1;
joosttromp	0:62fa44dd600b	94	*
joosttromp	0:62fa44dd600b	95	* while(1) {}
joosttromp	0:62fa44dd600b	96	* }
joosttromp	0:62fa44dd600b	97	* @endcode
joosttromp	0:62fa44dd600b	98	*/
joosttromp	0:62fa44dd600b	99
joosttromp	0:62fa44dd600b	100	class GPS : Serial {
joosttromp	0:62fa44dd600b	101	public:
joosttromp	0:62fa44dd600b	102
joosttromp	0:62fa44dd600b	103	//! The PPS edge type to interrupt on.
joosttromp	0:62fa44dd600b	104	enum ppsEdgeType {
joosttromp	0:62fa44dd600b	105	ppsRise = 0, /!< Use the rising edge (default). /
joosttromp	0:62fa44dd600b	106	ppsFall /!< Use the falling edge. /
joosttromp	0:62fa44dd600b	107	};
joosttromp	0:62fa44dd600b	108
joosttromp	0:62fa44dd600b	109	//! A copy of the Serial parity enum
joosttromp	0:62fa44dd600b	110	enum Parity {
joosttromp	0:62fa44dd600b	111	None = 0
joosttromp	0:62fa44dd600b	112	, Odd
joosttromp	0:62fa44dd600b	113	, Even
joosttromp	0:62fa44dd600b	114	, Forced1
joosttromp	0:62fa44dd600b	115	, Forced0
joosttromp	0:62fa44dd600b	116	};
joosttromp	0:62fa44dd600b	117
joosttromp	0:62fa44dd600b	118	//! GPS constructor.
joosttromp	0:62fa44dd600b	119	/**
joosttromp	0:62fa44dd600b	120	* The GPS constructor is used to initialise the GPS object.
joosttromp	0:62fa44dd600b	121	*
joosttromp	0:62fa44dd600b	122	* @param tx Usually unused and set to NC
joosttromp	0:62fa44dd600b	123	* @param rx The RX pin the GPS is connected to, p10, p14( OR p25), p27.
joosttromp	0:62fa44dd600b	124	* @param name An option name for RPC usage.
joosttromp	0:62fa44dd600b	125	*/
joosttromp	0:62fa44dd600b	126	GPS(PinName tx, PinName rx, const char *name = NULL);
joosttromp	0:62fa44dd600b	127
joosttromp	0:62fa44dd600b	128	//! Is the time reported by the GPS valid.
joosttromp	0:62fa44dd600b	129	/**
joosttromp	0:62fa44dd600b	130	* Method used to check the validity of the time the GPS module is reporting.
joosttromp	0:62fa44dd600b	131	*
joosttromp	0:62fa44dd600b	132	* @code
joosttromp	0:62fa44dd600b	133	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	134	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	135	*
joosttromp	0:62fa44dd600b	136	* if (gps.isTimeValid()) {
joosttromp	0:62fa44dd600b	137	* // Time is valid :)
joosttromp	0:62fa44dd600b	138	* }
joosttromp	0:62fa44dd600b	139	* else {
joosttromp	0:62fa44dd600b	140	* // Doh, time is not valid :(
joosttromp	0:62fa44dd600b	141	* )
joosttromp	0:62fa44dd600b	142	*
joosttromp	0:62fa44dd600b	143	* @endcode
joosttromp	0:62fa44dd600b	144	*
joosttromp	0:62fa44dd600b	145	* @ingroup API
joosttromp	0:62fa44dd600b	146	* @return bool true if valid, false otherwise
joosttromp	0:62fa44dd600b	147	*/
joosttromp	0:62fa44dd600b	148	bool isTimeValid(void) { return theTime.status == 'V' ? false : true; }
joosttromp	0:62fa44dd600b	149
joosttromp	0:62fa44dd600b	150	//! Is the positional fix reported by the GPS valid.
joosttromp	0:62fa44dd600b	151	/**
joosttromp	0:62fa44dd600b	152	* Method used to check the validity of the positional data. This method
joosttromp	0:62fa44dd600b	153	* returns the GGA field, 0 is "bad, 1 is "ok", etc. See the NMEA GGA
joosttromp	0:62fa44dd600b	154	* description for more details.
joosttromp	0:62fa44dd600b	155	*
joosttromp	0:62fa44dd600b	156	* @code
joosttromp	0:62fa44dd600b	157	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	158	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	159	*
joosttromp	0:62fa44dd600b	160	* if (gps.getGPSquality() == 0) {
joosttromp	0:62fa44dd600b	161	* // The location fix is no good/not accurate :(
joosttromp	0:62fa44dd600b	162	* }
joosttromp	0:62fa44dd600b	163	* else {
joosttromp	0:62fa44dd600b	164	* // All good, can use last fix data.
joosttromp	0:62fa44dd600b	165	* )
joosttromp	0:62fa44dd600b	166	*
joosttromp	0:62fa44dd600b	167	* @endcode
joosttromp	0:62fa44dd600b	168	*
joosttromp	0:62fa44dd600b	169	* @ingroup API
joosttromp	0:62fa44dd600b	170	* @return int 0 on no fix, 1... (see NMEA GGA for more details).
joosttromp	0:62fa44dd600b	171	*/
joosttromp	0:62fa44dd600b	172	int getGPSquality(void) { return thePlace.getGPSquality(); }
joosttromp	0:62fa44dd600b	173
joosttromp	0:62fa44dd600b	174	//! How many satellites were used in the last fix.
joosttromp	0:62fa44dd600b	175	/**
joosttromp	0:62fa44dd600b	176	* Method returns the number of GPS satellites used on the last fix.
joosttromp	0:62fa44dd600b	177	*
joosttromp	0:62fa44dd600b	178	* @code
joosttromp	0:62fa44dd600b	179	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	180	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	181	*
joosttromp	0:62fa44dd600b	182	* int sats = gps.numOfSats();
joosttromp	0:62fa44dd600b	183	*
joosttromp	0:62fa44dd600b	184	* @endcode
joosttromp	0:62fa44dd600b	185	*
joosttromp	0:62fa44dd600b	186	* @ingroup API
joosttromp	0:62fa44dd600b	187	* @return int The number of satellites.
joosttromp	0:62fa44dd600b	188	*/
joosttromp	0:62fa44dd600b	189	int numOfSats(void) { return thePlace.numOfSats(); }
joosttromp	0:62fa44dd600b	190
joosttromp	0:62fa44dd600b	191	//! What was the last reported latitude (in degrees)
joosttromp	0:62fa44dd600b	192	/**
joosttromp	0:62fa44dd600b	193	* Method returns a double in degrees, positive being North, negative being South.
joosttromp	0:62fa44dd600b	194	*
joosttromp	0:62fa44dd600b	195	* @code
joosttromp	0:62fa44dd600b	196	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	197	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	198	*
joosttromp	0:62fa44dd600b	199	* double latitude = gps.latitude();
joosttromp	0:62fa44dd600b	200	*
joosttromp	0:62fa44dd600b	201	* @endcode
joosttromp	0:62fa44dd600b	202	*
joosttromp	0:62fa44dd600b	203	* @ingroup API
joosttromp	0:62fa44dd600b	204	* @return double Degrees
joosttromp	0:62fa44dd600b	205	*/
joosttromp	0:62fa44dd600b	206	double latitude(void);
joosttromp	0:62fa44dd600b	207
joosttromp	0:62fa44dd600b	208	//! What was the last reported longitude (in degrees)
joosttromp	0:62fa44dd600b	209	/**
joosttromp	0:62fa44dd600b	210	* Method returns a double in degrees, positive being East, negative being West.
joosttromp	0:62fa44dd600b	211	*
joosttromp	0:62fa44dd600b	212	* @code
joosttromp	0:62fa44dd600b	213	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	214	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	215	*
joosttromp	0:62fa44dd600b	216	* double logitude = gps.logitude();
joosttromp	0:62fa44dd600b	217	*
joosttromp	0:62fa44dd600b	218	* @endcode
joosttromp	0:62fa44dd600b	219	*
joosttromp	0:62fa44dd600b	220	* @ingroup API
joosttromp	0:62fa44dd600b	221	* @return double Degrees
joosttromp	0:62fa44dd600b	222	*/
joosttromp	0:62fa44dd600b	223	double longitude(void);
joosttromp	0:62fa44dd600b	224
joosttromp	0:62fa44dd600b	225	//! What was the last reported altitude (in kilometers)
joosttromp	0:62fa44dd600b	226	/**
joosttromp	0:62fa44dd600b	227	* Method returns a double in kilometers.
joosttromp	0:62fa44dd600b	228	*
joosttromp	0:62fa44dd600b	229	* @code
joosttromp	0:62fa44dd600b	230	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	231	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	232	*
joosttromp	0:62fa44dd600b	233	* double altitude = gps.altitude();
joosttromp	0:62fa44dd600b	234	*
joosttromp	0:62fa44dd600b	235	* @endcode
joosttromp	0:62fa44dd600b	236	*
joosttromp	0:62fa44dd600b	237	* @ingroup API
joosttromp	0:62fa44dd600b	238	* @return double Kilometers
joosttromp	0:62fa44dd600b	239	*/
joosttromp	0:62fa44dd600b	240	double altitude(void);
joosttromp	0:62fa44dd600b	241
joosttromp	0:62fa44dd600b	242	//! What was the last reported altitude/height (in kilometers)
joosttromp	0:62fa44dd600b	243	/**
joosttromp	0:62fa44dd600b	244	* @see altitude()
joosttromp	0:62fa44dd600b	245	*
joosttromp	0:62fa44dd600b	246	* @code
joosttromp	0:62fa44dd600b	247	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	248	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	249	*
joosttromp	0:62fa44dd600b	250	* double height = gps.height();
joosttromp	0:62fa44dd600b	251	*
joosttromp	0:62fa44dd600b	252	* @endcode
joosttromp	0:62fa44dd600b	253	*
joosttromp	0:62fa44dd600b	254	* Note, this is identical to altitude()
joosttromp	0:62fa44dd600b	255	* @see altitude()
joosttromp	0:62fa44dd600b	256	*
joosttromp	0:62fa44dd600b	257	* @ingroup API
joosttromp	0:62fa44dd600b	258	* @return double Kilometers
joosttromp	0:62fa44dd600b	259	*/
joosttromp	0:62fa44dd600b	260	double height(void) { return altitude(); }
joosttromp	0:62fa44dd600b	261
joosttromp	0:62fa44dd600b	262	//! Get all vector parameters together.
joosttromp	0:62fa44dd600b	263	/**
joosttromp	0:62fa44dd600b	264	* Pass a pointer to a GPS_VTG object and the current
joosttromp	0:62fa44dd600b	265	* GPS data will be copied into it.
joosttromp	0:62fa44dd600b	266	*
joosttromp	0:62fa44dd600b	267	* @code
joosttromp	0:62fa44dd600b	268	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	269	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	270	*
joosttromp	0:62fa44dd600b	271	* // Then get the data...
joosttromp	0:62fa44dd600b	272	* GPS_VTG p;
joosttromp	0:62fa44dd600b	273	* gps.vtg(&p);
joosttromp	0:62fa44dd600b	274	* printf("Speed (knots) = %.4f", p.velocity_knots);
joosttromp	0:62fa44dd600b	275	* printf("Speed (kps) = %.4f", p.velocity_kps);
joosttromp	0:62fa44dd600b	276	* printf("Track (true) = %.4f", p.track_true);
joosttromp	0:62fa44dd600b	277	* printf("Track (mag) = %.4f", p.track_mag);
joosttromp	0:62fa44dd600b	278	*
joosttromp	0:62fa44dd600b	279	* @endcode
joosttromp	0:62fa44dd600b	280	*
joosttromp	0:62fa44dd600b	281	* @ingroup API
joosttromp	0:62fa44dd600b	282	* @param g A GSP_VTG pointer to an existing GPS_VTG object.
joosttromp	0:62fa44dd600b	283	* @return GPS_VTG * The pointer passed in.
joosttromp	0:62fa44dd600b	284	*/
joosttromp	0:62fa44dd600b	285	GPS_VTG vtg(GPS_VTG g);
joosttromp	0:62fa44dd600b	286
joosttromp	0:62fa44dd600b	287	//! Get all vector parameters together.
joosttromp	0:62fa44dd600b	288	/**
joosttromp	0:62fa44dd600b	289	* Get all the vector data at once. For example:-
joosttromp	0:62fa44dd600b	290	*
joosttromp	0:62fa44dd600b	291	* @code
joosttromp	0:62fa44dd600b	292	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	293	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	294	*
joosttromp	0:62fa44dd600b	295	* // Then get the data...
joosttromp	0:62fa44dd600b	296	* GPS_VTG *p = gps.vtg();
joosttromp	0:62fa44dd600b	297	* printf("Speed (knots) = %.4f", p->velocity_knots);
joosttromp	0:62fa44dd600b	298	* printf("Speed (kps) = %.4f", p->velocity_kps);
joosttromp	0:62fa44dd600b	299	* printf("Track (true) = %.4f", p->track_true);
joosttromp	0:62fa44dd600b	300	* printf("Track (mag) = %.4f", p->track_mag);
joosttromp	0:62fa44dd600b	301	* delete(p); // then remember to delete the object to prevent memory leaks.
joosttromp	0:62fa44dd600b	302	*
joosttromp	0:62fa44dd600b	303	* @endcode
joosttromp	0:62fa44dd600b	304	*
joosttromp	0:62fa44dd600b	305	* @ingroup API
joosttromp	0:62fa44dd600b	306	* @return GPS_Geodetic * A pointer to the data.
joosttromp	0:62fa44dd600b	307	*/
joosttromp	0:62fa44dd600b	308	GPS_VTG *vtg(void) { return vtg(NULL); }
joosttromp	0:62fa44dd600b	309
joosttromp	0:62fa44dd600b	310	//! Get all three geodetic parameters together.
joosttromp	0:62fa44dd600b	311	/**
joosttromp	0:62fa44dd600b	312	* Pass a pointer to a GPS_Geodetic object and the current
joosttromp	0:62fa44dd600b	313	* GPS data will be copied into it.
joosttromp	0:62fa44dd600b	314	*
joosttromp	0:62fa44dd600b	315	* @code
joosttromp	0:62fa44dd600b	316	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	317	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	318	*
joosttromp	0:62fa44dd600b	319	* // Then get the data...
joosttromp	0:62fa44dd600b	320	* GPS_Geodetic p;
joosttromp	0:62fa44dd600b	321	* gps.geodetic(&p);
joosttromp	0:62fa44dd600b	322	* printf("Latitude = %.4f", p.lat);
joosttromp	0:62fa44dd600b	323	* printf("Longitude = %.4f", p.lon);
joosttromp	0:62fa44dd600b	324	* printf("Altitude = %.4f", p.alt);
joosttromp	0:62fa44dd600b	325	*
joosttromp	0:62fa44dd600b	326	* @endcode
joosttromp	0:62fa44dd600b	327	*
joosttromp	0:62fa44dd600b	328	* @ingroup API
joosttromp	0:62fa44dd600b	329	* @param g A GSP_Geodetic pointer to an existing GPS_Geodetic object.
joosttromp	0:62fa44dd600b	330	* @return GPS_Geodetic * The pointer passed in.
joosttromp	0:62fa44dd600b	331	*/
joosttromp	0:62fa44dd600b	332	GPS_Geodetic geodetic(GPS_Geodetic g);
joosttromp	0:62fa44dd600b	333
joosttromp	0:62fa44dd600b	334	//! Get all three geodetic parameters together.
joosttromp	0:62fa44dd600b	335	/**
joosttromp	0:62fa44dd600b	336	* Get all the geodetic data at once. For example:-
joosttromp	0:62fa44dd600b	337	*
joosttromp	0:62fa44dd600b	338	* @code
joosttromp	0:62fa44dd600b	339	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	340	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	341	*
joosttromp	0:62fa44dd600b	342	* // Then get the data...
joosttromp	0:62fa44dd600b	343	* GPS_Geodetic *p = gps.geodetic();
joosttromp	0:62fa44dd600b	344	* printf("Latitude = %.4f", p->lat);
joosttromp	0:62fa44dd600b	345	* delete(p); // then remember to delete the object to prevent memory leaks.
joosttromp	0:62fa44dd600b	346	*
joosttromp	0:62fa44dd600b	347	* @endcode
joosttromp	0:62fa44dd600b	348	*
joosttromp	0:62fa44dd600b	349	* @ingroup API
joosttromp	0:62fa44dd600b	350	* @return GPS_Geodetic * A pointer to the data.
joosttromp	0:62fa44dd600b	351	*/
joosttromp	0:62fa44dd600b	352	GPS_Geodetic *geodetic(void) { return geodetic(NULL); }
joosttromp	0:62fa44dd600b	353
joosttromp	0:62fa44dd600b	354	//! Take a snap shot of the current time.
joosttromp	0:62fa44dd600b	355	/**
joosttromp	0:62fa44dd600b	356	* Pass a pointer to a GPS_Time object to get a copy of the current
joosttromp	0:62fa44dd600b	357	* time and date as reported by the GPS.
joosttromp	0:62fa44dd600b	358	*
joosttromp	0:62fa44dd600b	359	* @code
joosttromp	0:62fa44dd600b	360	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	361	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	362	*
joosttromp	0:62fa44dd600b	363	* // Then get the data...
joosttromp	0:62fa44dd600b	364	* GPS_Time t;
joosttromp	0:62fa44dd600b	365	* gps.timeNow(&t);
joosttromp	0:62fa44dd600b	366	* printf("Year = %d", t.year);
joosttromp	0:62fa44dd600b	367	*
joosttromp	0:62fa44dd600b	368	* @endcode
joosttromp	0:62fa44dd600b	369	*
joosttromp	0:62fa44dd600b	370	* @ingroup API
joosttromp	0:62fa44dd600b	371	* @param n A GPS_Time * pointer to an existing GPS_Time object.
joosttromp	0:62fa44dd600b	372	* @return GPS_Time * The pointer passed in.
joosttromp	0:62fa44dd600b	373	*/
joosttromp	0:62fa44dd600b	374	GPS_Time * timeNow(GPS_Time *n) { return theTime.timeNow(n); }
joosttromp	0:62fa44dd600b	375
joosttromp	0:62fa44dd600b	376	//! Take a snap shot of the current time.
joosttromp	0:62fa44dd600b	377	/**
joosttromp	0:62fa44dd600b	378	* Pass a pointer to a GPS_Time object to get a copy of the current
joosttromp	0:62fa44dd600b	379	* time and date as reported by the GPS.
joosttromp	0:62fa44dd600b	380	*
joosttromp	0:62fa44dd600b	381	* @code
joosttromp	0:62fa44dd600b	382	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	383	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	384	*
joosttromp	0:62fa44dd600b	385	* // Then get the data...
joosttromp	0:62fa44dd600b	386	* GPS_Time *t = gps.timeNow();
joosttromp	0:62fa44dd600b	387	* printf("Year = %d", t->year);
joosttromp	0:62fa44dd600b	388	* delete(t); // Avoid memory leaks.
joosttromp	0:62fa44dd600b	389	*
joosttromp	0:62fa44dd600b	390	* @endcode
joosttromp	0:62fa44dd600b	391	*
joosttromp	0:62fa44dd600b	392	* @ingroup API
joosttromp	0:62fa44dd600b	393	* @return GPS_Time * The pointer passed in.
joosttromp	0:62fa44dd600b	394	*/
joosttromp	0:62fa44dd600b	395	GPS_Time * timeNow(void) { GPS_Time *n = new GPS_Time; return theTime.timeNow(n); }
joosttromp	0:62fa44dd600b	396
joosttromp	0:62fa44dd600b	397	//! Return the curent day.
joosttromp	0:62fa44dd600b	398	/**
joosttromp	0:62fa44dd600b	399	* @code
joosttromp	0:62fa44dd600b	400	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	401	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	402	*
joosttromp	0:62fa44dd600b	403	* // Then get the Julain Day Number.
joosttromp	0:62fa44dd600b	404	* double julianDayNumber = gps.julianDayNumber();
joosttromp	0:62fa44dd600b	405	*
joosttromp	0:62fa44dd600b	406	* @endcode
joosttromp	0:62fa44dd600b	407	*
joosttromp	0:62fa44dd600b	408	* @ingroup API
joosttromp	0:62fa44dd600b	409	* @return double The Julian Date as a double.
joosttromp	0:62fa44dd600b	410	*/
joosttromp	0:62fa44dd600b	411	double julianDayNumber(void) { return theTime.julian_day_number(); }
joosttromp	0:62fa44dd600b	412
joosttromp	0:62fa44dd600b	413	//! Return the curent date/time as a Julian date
joosttromp	0:62fa44dd600b	414	/**
joosttromp	0:62fa44dd600b	415	* @code
joosttromp	0:62fa44dd600b	416	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	417	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	418	*
joosttromp	0:62fa44dd600b	419	* // Then get the Julian Date.
joosttromp	0:62fa44dd600b	420	* double julianDate = gps.julianDate();
joosttromp	0:62fa44dd600b	421	*
joosttromp	0:62fa44dd600b	422	* @endcode
joosttromp	0:62fa44dd600b	423	*
joosttromp	0:62fa44dd600b	424	* @ingroup API
joosttromp	0:62fa44dd600b	425	* @return double The Julian Date as a double.
joosttromp	0:62fa44dd600b	426	*/
joosttromp	0:62fa44dd600b	427	double julianDate(void) { return theTime.julian_date(); }
joosttromp	0:62fa44dd600b	428
joosttromp	0:62fa44dd600b	429	//! Get the current sidereal degree angle.
joosttromp	0:62fa44dd600b	430	/**
joosttromp	0:62fa44dd600b	431	* @code
joosttromp	0:62fa44dd600b	432	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	433	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	434	* double sidereal = gps.siderealDegrees();
joosttromp	0:62fa44dd600b	435	*
joosttromp	0:62fa44dd600b	436	* @endcode
joosttromp	0:62fa44dd600b	437	*
joosttromp	0:62fa44dd600b	438	* @ingroup API
joosttromp	0:62fa44dd600b	439	* @return double Sidereal degree angle..
joosttromp	0:62fa44dd600b	440	*/
joosttromp	0:62fa44dd600b	441	double siderealDegrees(void) { return theTime.siderealDegrees(&theTime, longitude()); }
joosttromp	0:62fa44dd600b	442
joosttromp	0:62fa44dd600b	443	//! Get the current sidereal hour angle.
joosttromp	0:62fa44dd600b	444	/**
joosttromp	0:62fa44dd600b	445	* @code
joosttromp	0:62fa44dd600b	446	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	447	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	448	* double sidereal = gps.siderealHA();
joosttromp	0:62fa44dd600b	449	*
joosttromp	0:62fa44dd600b	450	* @endcode
joosttromp	0:62fa44dd600b	451	*
joosttromp	0:62fa44dd600b	452	* @ingroup API
joosttromp	0:62fa44dd600b	453	* @return double Sidereal degree angle..
joosttromp	0:62fa44dd600b	454	*/
joosttromp	0:62fa44dd600b	455	double siderealHA(void) { return theTime.siderealHA(&theTime, longitude()); }
joosttromp	0:62fa44dd600b	456
joosttromp	0:62fa44dd600b	457	//! Optionally, connect a 1PPS single to an Mbed pin.
joosttromp	0:62fa44dd600b	458	/**
joosttromp	0:62fa44dd600b	459	* Optional: If the GPS unit has a 1PPS output, use this to
joosttromp	0:62fa44dd600b	460	* connect that to our internal ISR. Using the 1PPS increases
joosttromp	0:62fa44dd600b	461	* the GPS_Time time accuracy from +/-0.25s to +/-0.001s
joosttromp	0:62fa44dd600b	462	*
joosttromp	0:62fa44dd600b	463	* @code
joosttromp	0:62fa44dd600b	464	* // Assuming we have a GPS object previously created...
joosttromp	0:62fa44dd600b	465	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	466	*
joosttromp	0:62fa44dd600b	467	* gps.ppsAttach(p29); // default to GPS::ppsRise, rising edge.
joosttromp	0:62fa44dd600b	468	*
joosttromp	0:62fa44dd600b	469	* // Or...
joosttromp	0:62fa44dd600b	470	* gps.ppsAttach(p29, GPS::ppsRise); // The default.
joosttromp	0:62fa44dd600b	471	*
joosttromp	0:62fa44dd600b	472	* // Or...
joosttromp	0:62fa44dd600b	473	* gps.ppsAttach(p29, GPS::ppsFall); // If a falling edge.
joosttromp	0:62fa44dd600b	474	*
joosttromp	0:62fa44dd600b	475	* @endcode
joosttromp	0:62fa44dd600b	476	*
joosttromp	0:62fa44dd600b	477	* <b>Note</b>, before using this function you should attach an actual
joosttromp	0:62fa44dd600b	478	* callback function using attach_pps()
joosttromp	0:62fa44dd600b	479	*
joosttromp	0:62fa44dd600b	480	* @see attach_pps()
joosttromp	0:62fa44dd600b	481	*
joosttromp	0:62fa44dd600b	482	* @ingroup API
joosttromp	0:62fa44dd600b	483	* @param irq A PinName to attach
joosttromp	0:62fa44dd600b	484	* @param type The type of edge, MAX7456::ppsRise OR MAX7456::ppsFall
joosttromp	0:62fa44dd600b	485	*/
joosttromp	0:62fa44dd600b	486	void ppsAttach(PinName irq, ppsEdgeType type = ppsRise);
joosttromp	0:62fa44dd600b	487
joosttromp	0:62fa44dd600b	488	//! Remove any 1PPS signal previously attached.
joosttromp	0:62fa44dd600b	489	void ppsUnattach(void);
joosttromp	0:62fa44dd600b	490
joosttromp	0:62fa44dd600b	491	//! GPS serial receive interrupt handler.
joosttromp	0:62fa44dd600b	492	void rx_irq(void);
joosttromp	0:62fa44dd600b	493
joosttromp	0:62fa44dd600b	494	//! GPS pps interrupt handler.
joosttromp	0:62fa44dd600b	495	void pps_irq(void);
joosttromp	0:62fa44dd600b	496
joosttromp	0:62fa44dd600b	497	//! A pointer to the UART peripheral base address being used.
joosttromp	0:62fa44dd600b	498	void *_base;
joosttromp	0:62fa44dd600b	499
joosttromp	0:62fa44dd600b	500	//! The RX serial buffer.
joosttromp	0:62fa44dd600b	501	char buffer[2][GPS_BUFFER_LEN];
joosttromp	0:62fa44dd600b	502
joosttromp	0:62fa44dd600b	503	//! The current "active" buffer, i.e. the buffer the ISR is writing to.
joosttromp	0:62fa44dd600b	504	int active_buffer;
joosttromp	0:62fa44dd600b	505
joosttromp	0:62fa44dd600b	506	//! The active buffer "in" pointer.
joosttromp	0:62fa44dd600b	507	int rx_buffer_in;
joosttromp	0:62fa44dd600b	508
joosttromp	0:62fa44dd600b	509	//! Boolean flag set when the "passive" buffer is full and needs processing.
joosttromp	0:62fa44dd600b	510	bool process_required;
joosttromp	0:62fa44dd600b	511
joosttromp	0:62fa44dd600b	512	//! 10ms Ticker callback.
joosttromp	0:62fa44dd600b	513	void ticktock(void);
joosttromp	0:62fa44dd600b	514
joosttromp	0:62fa44dd600b	515	//! Attach a user object/method callback function to the PPS signal
joosttromp	0:62fa44dd600b	516	/**
joosttromp	0:62fa44dd600b	517	* Attach a user callback object/method to call when the 1PPS signal activates.
joosttromp	0:62fa44dd600b	518	*
joosttromp	0:62fa44dd600b	519	* @code
joosttromp	0:62fa44dd600b	520	* class FOO {
joosttromp	0:62fa44dd600b	521	* public:
joosttromp	0:62fa44dd600b	522	* void myCallback(void);
joosttromp	0:62fa44dd600b	523	* };
joosttromp	0:62fa44dd600b	524	*
joosttromp	0:62fa44dd600b	525	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	526	* Foo foo;
joosttromp	0:62fa44dd600b	527	*
joosttromp	0:62fa44dd600b	528	* gps.attach_pps(foo, &FOO::myCallback);
joosttromp	0:62fa44dd600b	529	*
joosttromp	0:62fa44dd600b	530	* @endcode
joosttromp	0:62fa44dd600b	531	*
joosttromp	0:62fa44dd600b	532	* @ingroup API
joosttromp	0:62fa44dd600b	533	* @param tptr pointer to the object to call the member function on
joosttromp	0:62fa44dd600b	534	* @param mptr pointer to the member function to be called
joosttromp	0:62fa44dd600b	535	*/
joosttromp	0:62fa44dd600b	536	template<typename T>
joosttromp	0:62fa44dd600b	537	void attach_pps(T* tptr, void (T::*mptr)(void)) { cb_pps.attach(tptr, mptr); }
joosttromp	0:62fa44dd600b	538
joosttromp	0:62fa44dd600b	539	//! Attach a user callback function to the PPS signal
joosttromp	0:62fa44dd600b	540	/**
joosttromp	0:62fa44dd600b	541	* Attach a user callback function pointer to call when the 1PPS signal activates.
joosttromp	0:62fa44dd600b	542	*
joosttromp	0:62fa44dd600b	543	* @code
joosttromp	0:62fa44dd600b	544	* void myCallback(void) { ... }
joosttromp	0:62fa44dd600b	545	*
joosttromp	0:62fa44dd600b	546	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	547	* Foo foo;
joosttromp	0:62fa44dd600b	548	*
joosttromp	0:62fa44dd600b	549	* gps.attach_pps(&myCallback);
joosttromp	0:62fa44dd600b	550	*
joosttromp	0:62fa44dd600b	551	* @endcode
joosttromp	0:62fa44dd600b	552	*
joosttromp	0:62fa44dd600b	553	* @ingroup API
joosttromp	0:62fa44dd600b	554	* @param fptr Callback function pointer
joosttromp	0:62fa44dd600b	555	*/
joosttromp	0:62fa44dd600b	556	void attach_pps(void (*fptr)(void)) { cb_pps.attach(fptr); }
joosttromp	0:62fa44dd600b	557
joosttromp	0:62fa44dd600b	558	//! A callback object for the 1PPS user API.
joosttromp	0:62fa44dd600b	559	FunctionPointer cb_pps;
joosttromp	0:62fa44dd600b	560
joosttromp	0:62fa44dd600b	561	//! Attach a user callback function to the NMEA RMC message processed signal.
joosttromp	0:62fa44dd600b	562	/**
joosttromp	0:62fa44dd600b	563	* Attach a user callback object/method to call when an NMEA RMC packet has been processed.
joosttromp	0:62fa44dd600b	564	*
joosttromp	0:62fa44dd600b	565	* @code
joosttromp	0:62fa44dd600b	566	* class FOO {
joosttromp	0:62fa44dd600b	567	* public:
joosttromp	0:62fa44dd600b	568	* void myCallback(void);
joosttromp	0:62fa44dd600b	569	* };
joosttromp	0:62fa44dd600b	570	*
joosttromp	0:62fa44dd600b	571	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	572	* Foo foo;
joosttromp	0:62fa44dd600b	573	*
joosttromp	0:62fa44dd600b	574	* gps.attach_rmc(foo, &FOO::myCallback);
joosttromp	0:62fa44dd600b	575	*
joosttromp	0:62fa44dd600b	576	* @endcode
joosttromp	0:62fa44dd600b	577	*
joosttromp	0:62fa44dd600b	578	* @ingroup API
joosttromp	0:62fa44dd600b	579	* @param tptr pointer to the object to call the member function on
joosttromp	0:62fa44dd600b	580	* @param mptr pointer to the member function to be called
joosttromp	0:62fa44dd600b	581	*/
joosttromp	0:62fa44dd600b	582	template<typename T>
joosttromp	0:62fa44dd600b	583	void attach_rmc(T* tptr, void (T::*mptr)(void)) { cb_rmc.attach(tptr, mptr); }
joosttromp	0:62fa44dd600b	584
joosttromp	0:62fa44dd600b	585	//! Attach a user callback function to the NMEA RMC message processed signal.
joosttromp	0:62fa44dd600b	586	/**
joosttromp	0:62fa44dd600b	587	* Attach a user callback function pointer to call when an NMEA RMC packet has been processed.
joosttromp	0:62fa44dd600b	588	*
joosttromp	0:62fa44dd600b	589	* @code
joosttromp	0:62fa44dd600b	590	* void myCallback(void) { ... }
joosttromp	0:62fa44dd600b	591	*
joosttromp	0:62fa44dd600b	592	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	593	* Foo foo;
joosttromp	0:62fa44dd600b	594	*
joosttromp	0:62fa44dd600b	595	* gps.attach_rmc(&myCallback);
joosttromp	0:62fa44dd600b	596	*
joosttromp	0:62fa44dd600b	597	* @endcode
joosttromp	0:62fa44dd600b	598	*
joosttromp	0:62fa44dd600b	599	* @ingroup API
joosttromp	0:62fa44dd600b	600	* @param fptr Callback function pointer.
joosttromp	0:62fa44dd600b	601	*/
joosttromp	0:62fa44dd600b	602	void attach_rmc(void (*fptr)(void)) { cb_rmc.attach(fptr); }
joosttromp	0:62fa44dd600b	603
joosttromp	0:62fa44dd600b	604	//! A callback object for the NMEA RMS message processed signal user API.
joosttromp	0:62fa44dd600b	605	FunctionPointer cb_rmc;
joosttromp	0:62fa44dd600b	606
joosttromp	0:62fa44dd600b	607	//! Attach a user callback function to the NMEA GGA message processed signal.
joosttromp	0:62fa44dd600b	608	/**
joosttromp	0:62fa44dd600b	609	* Attach a user callback object/method to call when an NMEA GGA packet has been processed.
joosttromp	0:62fa44dd600b	610	*
joosttromp	0:62fa44dd600b	611	* @code
joosttromp	0:62fa44dd600b	612	* class FOO {
joosttromp	0:62fa44dd600b	613	* public:
joosttromp	0:62fa44dd600b	614	* void myCallback(void);
joosttromp	0:62fa44dd600b	615	* };
joosttromp	0:62fa44dd600b	616	*
joosttromp	0:62fa44dd600b	617	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	618	* Foo foo;
joosttromp	0:62fa44dd600b	619	*
joosttromp	0:62fa44dd600b	620	* gps.attach_gga(foo, &FOO::myCallback);
joosttromp	0:62fa44dd600b	621	*
joosttromp	0:62fa44dd600b	622	* @endcode
joosttromp	0:62fa44dd600b	623	*
joosttromp	0:62fa44dd600b	624	* @ingroup API
joosttromp	0:62fa44dd600b	625	* @param tptr pointer to the object to call the member function on
joosttromp	0:62fa44dd600b	626	* @param mptr pointer to the member function to be called
joosttromp	0:62fa44dd600b	627	*/
joosttromp	0:62fa44dd600b	628	template<typename T>
joosttromp	0:62fa44dd600b	629	void attach_gga(T* tptr, void (T::*mptr)(void)) { cb_gga.attach(tptr, mptr); }
joosttromp	0:62fa44dd600b	630
joosttromp	0:62fa44dd600b	631	//! Attach a user callback function to the NMEA GGA message processed signal.
joosttromp	0:62fa44dd600b	632	/**
joosttromp	0:62fa44dd600b	633	* Attach a user callback function pointer to call when an NMEA GGA packet has been processed.
joosttromp	0:62fa44dd600b	634	*
joosttromp	0:62fa44dd600b	635	* @code
joosttromp	0:62fa44dd600b	636	* void myCallback(void) { ... }
joosttromp	0:62fa44dd600b	637	*
joosttromp	0:62fa44dd600b	638	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	639	* Foo foo;
joosttromp	0:62fa44dd600b	640	*
joosttromp	0:62fa44dd600b	641	* gps.attach_gga(&myCallback);
joosttromp	0:62fa44dd600b	642	*
joosttromp	0:62fa44dd600b	643	* @endcode
joosttromp	0:62fa44dd600b	644	*
joosttromp	0:62fa44dd600b	645	* @ingroup API
joosttromp	0:62fa44dd600b	646	* @param fptr Callback function pointer.
joosttromp	0:62fa44dd600b	647	*/
joosttromp	0:62fa44dd600b	648	void attach_gga(void (*fptr)(void)) { cb_gga.attach(fptr); }
joosttromp	0:62fa44dd600b	649
joosttromp	0:62fa44dd600b	650	//! A callback object for the NMEA GGA message processed signal user API.
joosttromp	0:62fa44dd600b	651	FunctionPointer cb_gga;
joosttromp	0:62fa44dd600b	652
joosttromp	0:62fa44dd600b	653
joosttromp	0:62fa44dd600b	654	//! Attach a user callback function to the NMEA VTG message processed signal.
joosttromp	0:62fa44dd600b	655	/**
joosttromp	0:62fa44dd600b	656	* Attach a user callback object/method to call when an NMEA VTG packet has been processed.
joosttromp	0:62fa44dd600b	657	*
joosttromp	0:62fa44dd600b	658	* @code
joosttromp	0:62fa44dd600b	659	* class FOO {
joosttromp	0:62fa44dd600b	660	* public:
joosttromp	0:62fa44dd600b	661	* void myCallback(void);
joosttromp	0:62fa44dd600b	662	* };
joosttromp	0:62fa44dd600b	663	*
joosttromp	0:62fa44dd600b	664	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	665	* Foo foo;
joosttromp	0:62fa44dd600b	666	*
joosttromp	0:62fa44dd600b	667	* gps.attach_vtg(foo, &FOO::myCallback);
joosttromp	0:62fa44dd600b	668	*
joosttromp	0:62fa44dd600b	669	* @endcode
joosttromp	0:62fa44dd600b	670	*
joosttromp	0:62fa44dd600b	671	* @ingroup API
joosttromp	0:62fa44dd600b	672	* @param tptr pointer to the object to call the member function on
joosttromp	0:62fa44dd600b	673	* @param mptr pointer to the member function to be called
joosttromp	0:62fa44dd600b	674	*/
joosttromp	0:62fa44dd600b	675	template<typename T>
joosttromp	0:62fa44dd600b	676	void attach_vtg(T* tptr, void (T::*mptr)(void)) { cb_vtg.attach(tptr, mptr); }
joosttromp	0:62fa44dd600b	677
joosttromp	0:62fa44dd600b	678	//! Attach a user callback function to the NMEA VTG message processed signal.
joosttromp	0:62fa44dd600b	679	/**
joosttromp	0:62fa44dd600b	680	* Attach a user callback function pointer to call when an NMEA VTG packet has been processed.
joosttromp	0:62fa44dd600b	681	*
joosttromp	0:62fa44dd600b	682	* @code
joosttromp	0:62fa44dd600b	683	* void myCallback(void) { ... }
joosttromp	0:62fa44dd600b	684	*
joosttromp	0:62fa44dd600b	685	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	686	* Foo foo;
joosttromp	0:62fa44dd600b	687	*
joosttromp	0:62fa44dd600b	688	* gps.attach_vtg(&myCallback);
joosttromp	0:62fa44dd600b	689	*
joosttromp	0:62fa44dd600b	690	* @endcode
joosttromp	0:62fa44dd600b	691	*
joosttromp	0:62fa44dd600b	692	* @ingroup API
joosttromp	0:62fa44dd600b	693	* @param fptr Callback function pointer.
joosttromp	0:62fa44dd600b	694	*/
joosttromp	0:62fa44dd600b	695	void attach_vtg(void (*fptr)(void)) { cb_vtg.attach(fptr); }
joosttromp	0:62fa44dd600b	696
joosttromp	0:62fa44dd600b	697	//! A callback object for the NMEA RMS message processed signal user API.
joosttromp	0:62fa44dd600b	698	FunctionPointer cb_vtg;
joosttromp	0:62fa44dd600b	699
joosttromp	0:62fa44dd600b	700	//! Attach a user callback function to the unknown NMEA message.
joosttromp	0:62fa44dd600b	701	/**
joosttromp	0:62fa44dd600b	702	* Attach a user callback object/method to call when an unknown NMEA packet.
joosttromp	0:62fa44dd600b	703	*
joosttromp	0:62fa44dd600b	704	* @code
joosttromp	0:62fa44dd600b	705	* class FOO {
joosttromp	0:62fa44dd600b	706	* public:
joosttromp	0:62fa44dd600b	707	* void myCallback(void);
joosttromp	0:62fa44dd600b	708	* };
joosttromp	0:62fa44dd600b	709	*
joosttromp	0:62fa44dd600b	710	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	711	* Foo foo;
joosttromp	0:62fa44dd600b	712	*
joosttromp	0:62fa44dd600b	713	* gps.attach_ukn(foo, &FOO::myCallback);
joosttromp	0:62fa44dd600b	714	*
joosttromp	0:62fa44dd600b	715	* @endcode
joosttromp	0:62fa44dd600b	716	*
joosttromp	0:62fa44dd600b	717	* @ingroup API
joosttromp	0:62fa44dd600b	718	* @param tptr pointer to the object to call the member function on
joosttromp	0:62fa44dd600b	719	* @param mptr pointer to the member function to be called
joosttromp	0:62fa44dd600b	720	*/
joosttromp	0:62fa44dd600b	721	template<typename T>
joosttromp	0:62fa44dd600b	722	void attach_ukn(T* tptr, void (T::*mptr)(void)) { cb_ukn.attach(tptr, mptr); }
joosttromp	0:62fa44dd600b	723
joosttromp	0:62fa44dd600b	724	//! Attach a user callback function to the unknown NMEA message.
joosttromp	0:62fa44dd600b	725	/**
joosttromp	0:62fa44dd600b	726	* Attach a user callback function pointer to call when an unknown NMEA.
joosttromp	0:62fa44dd600b	727	*
joosttromp	0:62fa44dd600b	728	* @code
joosttromp	0:62fa44dd600b	729	* void myCallback(void) { ... }
joosttromp	0:62fa44dd600b	730	*
joosttromp	0:62fa44dd600b	731	* GPS gps(NC, p9);
joosttromp	0:62fa44dd600b	732	* Foo foo;
joosttromp	0:62fa44dd600b	733	*
joosttromp	0:62fa44dd600b	734	* gps.attach_ukn(&myCallback);
joosttromp	0:62fa44dd600b	735	*
joosttromp	0:62fa44dd600b	736	* @endcode
joosttromp	0:62fa44dd600b	737	*
joosttromp	0:62fa44dd600b	738	* @ingroup API
joosttromp	0:62fa44dd600b	739	* @param fptr Callback function pointer.
joosttromp	0:62fa44dd600b	740	*/
joosttromp	0:62fa44dd600b	741	void attach_ukn(void (*fptr)(void)) { cb_ukn.attach(fptr); }
joosttromp	0:62fa44dd600b	742
joosttromp	0:62fa44dd600b	743	//! A callback object for the NMEA RMS message processed signal user API.
joosttromp	0:62fa44dd600b	744	FunctionPointer cb_ukn;
joosttromp	0:62fa44dd600b	745
joosttromp	0:62fa44dd600b	746	/**
joosttromp	0:62fa44dd600b	747	* Set's the GGA string memory pointer.
joosttromp	0:62fa44dd600b	748	* @param s char pointer ti string.
joosttromp	0:62fa44dd600b	749	* @return char s passed in.
joosttromp	0:62fa44dd600b	750	*/
joosttromp	0:62fa44dd600b	751	char * setGga(char *s) { _gga = s; return s; }
joosttromp	0:62fa44dd600b	752
joosttromp	0:62fa44dd600b	753	/**
joosttromp	0:62fa44dd600b	754	* Set's the RMC string memory pointer.
joosttromp	0:62fa44dd600b	755	* @param s char pointer ti string.
joosttromp	0:62fa44dd600b	756	* @return char s passed in.
joosttromp	0:62fa44dd600b	757	*/
joosttromp	0:62fa44dd600b	758	char * setRmc(char *s) { _rmc = s; return s; };
joosttromp	0:62fa44dd600b	759
joosttromp	0:62fa44dd600b	760	/**
joosttromp	0:62fa44dd600b	761	* Set's the VTG string memory pointer.
joosttromp	0:62fa44dd600b	762	* @param s char pointer ti string.
joosttromp	0:62fa44dd600b	763	* @return char s passed in.
joosttromp	0:62fa44dd600b	764	*/
joosttromp	0:62fa44dd600b	765	char * setVtg(char *s) { _vtg = s; return s; };
joosttromp	0:62fa44dd600b	766
joosttromp	0:62fa44dd600b	767	/**
joosttromp	0:62fa44dd600b	768	* Set's the UKN string memory pointer.
joosttromp	0:62fa44dd600b	769	* @param s char pointer ti string.
joosttromp	0:62fa44dd600b	770	* @return char s passed in.
joosttromp	0:62fa44dd600b	771	*/
joosttromp	0:62fa44dd600b	772	char * setUkn(char *s) { _ukn = s; return s; };
joosttromp	0:62fa44dd600b	773
joosttromp	0:62fa44dd600b	774	//! Set the baud rate the GPS module is using.
joosttromp	0:62fa44dd600b	775	/**
joosttromp	0:62fa44dd600b	776	* Set the baud rate of the serial port
joosttromp	0:62fa44dd600b	777	*
joosttromp	0:62fa44dd600b	778	* @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.baud
joosttromp	0:62fa44dd600b	779	*
joosttromp	0:62fa44dd600b	780	* @ingroup API
joosttromp	0:62fa44dd600b	781	* @param baudrate The baudrate to set.
joosttromp	0:62fa44dd600b	782	*/
joosttromp	0:62fa44dd600b	783	void baud(int baudrate) { Serial::baud(baudrate); }
joosttromp	0:62fa44dd600b	784
joosttromp	0:62fa44dd600b	785	//! Set the serial port format the GPS module is using.
joosttromp	0:62fa44dd600b	786	/**
joosttromp	0:62fa44dd600b	787	* Set the transmission format used by the Serial port
joosttromp	0:62fa44dd600b	788	*
joosttromp	0:62fa44dd600b	789	* @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format
joosttromp	0:62fa44dd600b	790	*
joosttromp	0:62fa44dd600b	791	* @ingroup API
joosttromp	0:62fa44dd600b	792	* @param bits - The number of bits in a word (5-8; default = 8)
joosttromp	0:62fa44dd600b	793	* @param parity - The parity used (GPS::None, GPS::Odd, GPS::Even, GPS::Forced1, GPS::Forced0; default = GPS::None)
joosttromp	0:62fa44dd600b	794	* @param stop_bits - The number of stop bits (1 or 2; default = 1)
joosttromp	0:62fa44dd600b	795	*/
joosttromp	0:62fa44dd600b	796	void format(int bits, Parity parity, int stop_bits) { Serial::format(bits, (Serial::Parity)parity, stop_bits); }
joosttromp	0:62fa44dd600b	797
joosttromp	0:62fa44dd600b	798	//! Send incoming GPS bytes to Uart0
joosttromp	0:62fa44dd600b	799	/**
joosttromp	0:62fa44dd600b	800	* Send incoming GPS bytes to Uart0
joosttromp	0:62fa44dd600b	801	*
joosttromp	0:62fa44dd600b	802	* This can be useful for printing out the bytes from the GPS onto
joosttromp	0:62fa44dd600b	803	* a the common debug port Uart0. Note, Uart0 should have been setup
joosttromp	0:62fa44dd600b	804	* and initialised before switching this on. Also, realistically,
joosttromp	0:62fa44dd600b	805	* you should ensure Uart0 has a higher baud rate than that being
joosttromp	0:62fa44dd600b	806	* used by the GPS. Sending of bytes to Uart0 is "raw" and should
joosttromp	0:62fa44dd600b	807	* only be used to initially gather data and should NOT be used as
joosttromp	0:62fa44dd600b	808	* part of the application design. If you need to forward on the
joosttromp	0:62fa44dd600b	809	* data you should come up with a proper strategy.
joosttromp	0:62fa44dd600b	810	*
joosttromp	0:62fa44dd600b	811	* @ingroup API
joosttromp	0:62fa44dd600b	812	* @param b - True to send to Uart0, false otherwise
joosttromp	0:62fa44dd600b	813	*/
joosttromp	0:62fa44dd600b	814	void NmeaOnUart0(bool b) { _nmeaOnUart0 = b; }
joosttromp	0:62fa44dd600b	815
joosttromp	0:62fa44dd600b	816	protected:
joosttromp	0:62fa44dd600b	817
joosttromp	0:62fa44dd600b	818	//! Flag set true when a GPS PPS has been attached to a pin.
joosttromp	0:62fa44dd600b	819	bool _ppsInUse;
joosttromp	0:62fa44dd600b	820
joosttromp	0:62fa44dd600b	821	//! An InterruptIn object to "trigger" on the PPS edge.
joosttromp	0:62fa44dd600b	822	InterruptIn *_pps;
joosttromp	0:62fa44dd600b	823
joosttromp	0:62fa44dd600b	824	//! A Ticker object called every 10ms.
joosttromp	0:62fa44dd600b	825	Ticker *_second100;
joosttromp	0:62fa44dd600b	826
joosttromp	0:62fa44dd600b	827	//! A GPS_Time object used to hold the last parsed time/date data.
joosttromp	0:62fa44dd600b	828	GPS_Time theTime;
joosttromp	0:62fa44dd600b	829
joosttromp	0:62fa44dd600b	830	//! A GPS_Geodetic object used to hold the last parsed positional data.
joosttromp	0:62fa44dd600b	831	GPS_Geodetic thePlace;
joosttromp	0:62fa44dd600b	832
joosttromp	0:62fa44dd600b	833	//! A GPS_VTG object used to hold vector data.
joosttromp	0:62fa44dd600b	834	GPS_VTG theVTG;
joosttromp	0:62fa44dd600b	835
joosttromp	0:62fa44dd600b	836	//! Used to record the previous byte received.
joosttromp	0:62fa44dd600b	837	char _lastByte;
joosttromp	0:62fa44dd600b	838
joosttromp	0:62fa44dd600b	839	char *_gga;
joosttromp	0:62fa44dd600b	840	char *_rmc;
joosttromp	0:62fa44dd600b	841	char *_vtg;
joosttromp	0:62fa44dd600b	842	char *_ukn;
joosttromp	0:62fa44dd600b	843
joosttromp	0:62fa44dd600b	844	//! Used for debugging.
joosttromp	0:62fa44dd600b	845	bool _nmeaOnUart0;
joosttromp	0:62fa44dd600b	846	};
joosttromp	0:62fa44dd600b	847
joosttromp	0:62fa44dd600b	848	#endif
joosttromp	0:62fa44dd600b	849

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Type:	Library
Created:	17 Jun 2011
Imports:	39
Forks:	0
Commits:	1
Dependents:	1
Dependencies:	0
Followers:	3

GPS.h@0:62fa44dd600b, 2011-06-17 (annotated)

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