Revision 0:62fa44dd600b, committed 2011-06-17
- Comitter:
- joosttromp
- Date:
- Fri Jun 17 12:37:03 2011 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 62fa44dd600b GPS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.cpp Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,236 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "GPS.h"
+
+GPS::GPS(PinName tx, PinName rx, const char *name) : Serial(tx, rx, name)
+{
+ _nmeaOnUart0 = false;
+
+ _lastByte = 0;
+
+ _gga = (char *)NULL;
+
+ _rmc = (char *)NULL;
+
+ _vtg = (char *)NULL;
+
+ switch(_uidx) {
+ case 1: _base = LPC_UART1; break;
+ case 2: _base = LPC_UART2; break;
+ case 3: _base = LPC_UART3; break;
+ default : _base = NULL; break;
+ }
+
+ _pps = NULL;
+ _ppsInUse = false;
+
+ if (_base != NULL) attach(this, &GPS::rx_irq);
+
+ _second100 = new Ticker;
+ _second100->attach_us(this, &GPS::ticktock, GPS_TICKTOCK);
+}
+
+void
+GPS::ppsAttach(PinName irq, ppsEdgeType type)
+{
+ if (_pps != NULL) delete(_pps);
+ _pps = new InterruptIn(irq);
+ if (type == ppsRise) _pps->rise(this, &GPS::pps_irq);
+ else _pps->fall(this, &GPS::pps_irq);
+ _ppsInUse = true;
+}
+
+void
+GPS::ppsUnattach(void)
+{
+ if (_pps != NULL) delete(_pps);
+ _ppsInUse = false;
+}
+
+double
+GPS::latitude(void)
+{
+ double a, b;
+ do { a = thePlace.lat; b = thePlace.lat; } while (a != b);
+ return a;
+}
+
+double
+GPS::longitude(void)
+{
+ double a, b;
+ do { a = thePlace.lon; b = thePlace.lon; } while (a != b);
+ return a;
+}
+
+double
+GPS::altitude(void)
+{
+ double a, b;
+ do { a = thePlace.alt; b = thePlace.alt; } while (a != b);
+ return a;
+}
+
+GPS_Geodetic *
+GPS::geodetic(GPS_Geodetic *q)
+{
+ GPS_Geodetic a;
+
+ if (q == NULL) q = new GPS_Geodetic;
+
+ do {
+ memcpy(&a, &thePlace, sizeof(GPS_Geodetic));
+ memcpy(q, &thePlace, sizeof(GPS_Geodetic));
+ }
+ while (memcmp(&a, q, sizeof(GPS_Geodetic)) != 0);
+
+ return q;
+}
+
+GPS_VTG *
+GPS::vtg(GPS_VTG *q)
+{
+ GPS_VTG a;
+
+ if (q == NULL) q = new GPS_VTG;
+
+ do {
+ memcpy(&a, &theVTG, sizeof(GPS_VTG));
+ memcpy(q, &theVTG, sizeof(GPS_VTG));
+ }
+ while (memcmp(&a, q, sizeof(GPS_VTG)) != 0);
+
+ return q;
+}
+
+void
+GPS::ticktock(void)
+{
+ int i;
+
+ // Increment the time structure by 1/100th of a second.
+ ++theTime;
+
+ // Test the serial queue.
+ if (process_required) {
+ char *s = buffer[active_buffer == 0 ? 1 : 0];
+ if (!strncmp(s, "$GPRMC", 6)) {
+ if (_rmc) {
+ for(i = 0; s[i] != '\n'; i++) {
+ _rmc[i] = s[i];
+ }
+ _rmc[i++] = '\n'; _rmc[i] = '\0';
+ }
+ theTime.nmea_rmc(s);
+ cb_rmc.call();
+ if (!_ppsInUse) theTime.fractionalReset();
+ }
+ else if (!strncmp(s, "$GPGGA", 6)) {
+ if (_gga) {
+ for(i = 0; s[i] != '\n'; i++) {
+ _gga[i] = s[i];
+ }
+ _gga[i++] = '\n'; _gga[i] = '\0';
+ }
+ thePlace.nmea_gga(s);
+ cb_gga.call();
+ }
+ else if (!strncmp(s, "$GPVTG", 6)) {
+ if (_vtg) {
+ for(i = 0; s[i] != '\n'; i++) {
+ _vtg[i] = s[i];
+ }
+ _vtg[i++] = '\n'; _vtg[i] = '\0';
+ }
+ theVTG.nmea_vtg(s);
+ cb_vtg.call();
+ }
+ else {
+ if (_ukn) {
+ for(i = 0; s[i] != '\n'; i++) {
+ _ukn[i] = s[i];
+ }
+ _ukn[i++] = '\n'; _ukn[i] = '\0';
+ cb_ukn.call();
+ }
+ }
+ process_required = false;
+ }
+
+ // If we have a valid GPS time then, once per minute, set the RTC.
+ if (theTime.status == 'A' && theTime.second == 0 && theTime.tenths == 0 && theTime.hundreths == 0) {
+ // set_time() is defined in rtc_time.h
+ // http://mbed.org/projects/libraries/svn/mbed/trunk/rtc_time.h
+ set_time(theTime.to_C_tm());
+ }
+
+}
+
+void
+GPS::pps_irq(void)
+{
+ theTime.fractionalReset();
+ theTime++; // Increment the time/date by one second.
+ cb_pps.call();
+}
+
+void
+GPS::rx_irq(void)
+{
+ uint32_t iir __attribute__((unused));
+ char c;
+
+ if (_base) {
+ iir = (uint32_t)*((char *)_base + GPS_IIR);
+ while((int)(*((char *)_base + GPS_LSR) & 0x1)) {
+ c = (char)(*((char *)_base + GPS_RBR) & 0xFF);
+
+ // strtok workaround.
+ // Found that ,, together (which some NMEA sentences
+ // contain for a null/empty field) confuses strtok()
+ // function. Solution:- Push a "zero" into the string
+ // for missing/empty fields.
+ if (c == ',' && _lastByte == ',') {
+ buffer[active_buffer][rx_buffer_in] = '0';
+ if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
+ }
+
+ // Debugging/dumping data.
+ if (_nmeaOnUart0) LPC_UART0->RBR = c;
+
+ // Put the byte into the string.
+ buffer[active_buffer][rx_buffer_in] = c;
+ if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
+
+ // Save for next time an irq occurs. See strtok() above.
+ _lastByte = c;
+
+ // If end of NMEA sentence flag for processing.
+ if (c == '\n') {
+ active_buffer = active_buffer == 0 ? 1 : 0;
+ process_required = true;
+ rx_buffer_in = 0;
+ }
+ }
+ }
+}
diff -r 000000000000 -r 62fa44dd600b GPS.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.h Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,849 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#ifndef GPS_H
+#define GPS_H
+
+#include "mbed.h"
+#include "GPS_VTG.h"
+#include "GPS_Time.h"
+#include "GPS_Geodetic.h"
+
+#define GPS_RBR 0x00
+#define GPS_THR 0x00
+#define GPS_DLL 0x00
+#define GPS_IER 0x04
+#define GPS_DML 0x04
+#define GPS_IIR 0x08
+#define GPS_FCR 0x08
+#define GPS_LCR 0x0C
+#define GPS_LSR 0x14
+#define GPS_SCR 0x1C
+#define GPS_ACR 0x20
+#define GPS_ICR 0x24
+#define GPS_FDR 0x28
+#define GPS_TER 0x30
+
+#define GPS_BUFFER_LEN 128
+#define GPS_TICKTOCK 2500
+
+/** @defgroup API The MODGPS API */
+
+/** GPS module
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODGPS
+ * @see example1.cpp
+ * @see example2.cpp
+ * @see API
+ *
+ * @image html /media/uploads/AjK/gps_interfaces.png "Wiring up the GPS module"
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "GPS.h"
+ *
+ * DigitalOut led1(LED1);
+ * Serial pc(USBTX, USBRX);
+ * GPS gps(NC, p10);
+ *
+ * int main() {
+ * GPS_Time t;
+ *
+ * // Wait for the GPS NMEA data to become valid.
+ * while (!gps.isTimeValid()) {
+ * led1 = !led1;
+ * wait(1);
+ * }
+ *
+ * gps.timeNow(&t);
+ *
+ * pc.printf("The time/date is %02d:%02d:%02d %02d/%02d/%04d\r\n",
+ * t.hour, t.minute, t.second, t.day, t.month, t.year);
+ *
+ * // Wait until at least four satellites produce a position fix and a valid quality.
+ * while (gps.numOfSats() < 4 && gps.getGPSquality != 0) {
+ * led1 = !led1;
+ * wait(1);
+ * }
+ *
+ * pc.printf("Lat = %.4f Lon = %.4f Alt = %.1fkm\r\n",
+ * gps.latitude(), gps.longitude, gps.altitude());
+ *
+ * // Make the LED go steady to indicate we have finished.
+ * led1 = 1;
+ *
+ * while(1) {}
+ * }
+ * @endcode
+ */
+
+class GPS : Serial {
+public:
+
+ //! The PPS edge type to interrupt on.
+ enum ppsEdgeType {
+ ppsRise = 0, /*!< Use the rising edge (default). */
+ ppsFall /*!< Use the falling edge. */
+ };
+
+ //! A copy of the Serial parity enum
+ enum Parity {
+ None = 0
+ , Odd
+ , Even
+ , Forced1
+ , Forced0
+ };
+
+ //! GPS constructor.
+ /**
+ * The GPS constructor is used to initialise the GPS object.
+ *
+ * @param tx Usually unused and set to NC
+ * @param rx The RX pin the GPS is connected to, p10, p14( OR p25), p27.
+ * @param name An option name for RPC usage.
+ */
+ GPS(PinName tx, PinName rx, const char *name = NULL);
+
+ //! Is the time reported by the GPS valid.
+ /**
+ * Method used to check the validity of the time the GPS module is reporting.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * if (gps.isTimeValid()) {
+ * // Time is valid :)
+ * }
+ * else {
+ * // Doh, time is not valid :(
+ * )
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return bool true if valid, false otherwise
+ */
+ bool isTimeValid(void) { return theTime.status == 'V' ? false : true; }
+
+ //! Is the positional fix reported by the GPS valid.
+ /**
+ * Method used to check the validity of the positional data. This method
+ * returns the GGA field, 0 is "bad, 1 is "ok", etc. See the NMEA GGA
+ * description for more details.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * if (gps.getGPSquality() == 0) {
+ * // The location fix is no good/not accurate :(
+ * }
+ * else {
+ * // All good, can use last fix data.
+ * )
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return int 0 on no fix, 1... (see NMEA GGA for more details).
+ */
+ int getGPSquality(void) { return thePlace.getGPSquality(); }
+
+ //! How many satellites were used in the last fix.
+ /**
+ * Method returns the number of GPS satellites used on the last fix.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * int sats = gps.numOfSats();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return int The number of satellites.
+ */
+ int numOfSats(void) { return thePlace.numOfSats(); }
+
+ //! What was the last reported latitude (in degrees)
+ /**
+ * Method returns a double in degrees, positive being North, negative being South.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * double latitude = gps.latitude();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double Degrees
+ */
+ double latitude(void);
+
+ //! What was the last reported longitude (in degrees)
+ /**
+ * Method returns a double in degrees, positive being East, negative being West.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * double logitude = gps.logitude();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double Degrees
+ */
+ double longitude(void);
+
+ //! What was the last reported altitude (in kilometers)
+ /**
+ * Method returns a double in kilometers.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * double altitude = gps.altitude();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double Kilometers
+ */
+ double altitude(void);
+
+ //! What was the last reported altitude/height (in kilometers)
+ /**
+ * @see altitude()
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * double height = gps.height();
+ *
+ * @endcode
+ *
+ * Note, this is identical to altitude()
+ * @see altitude()
+ *
+ * @ingroup API
+ * @return double Kilometers
+ */
+ double height(void) { return altitude(); }
+
+ //! Get all vector parameters together.
+ /**
+ * Pass a pointer to a GPS_VTG object and the current
+ * GPS data will be copied into it.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_VTG p;
+ * gps.vtg(&p);
+ * printf("Speed (knots) = %.4f", p.velocity_knots);
+ * printf("Speed (kps) = %.4f", p.velocity_kps);
+ * printf("Track (true) = %.4f", p.track_true);
+ * printf("Track (mag) = %.4f", p.track_mag);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param g A GSP_VTG pointer to an existing GPS_VTG object.
+ * @return GPS_VTG * The pointer passed in.
+ */
+ GPS_VTG *vtg(GPS_VTG *g);
+
+ //! Get all vector parameters together.
+ /**
+ * Get all the vector data at once. For example:-
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_VTG *p = gps.vtg();
+ * printf("Speed (knots) = %.4f", p->velocity_knots);
+ * printf("Speed (kps) = %.4f", p->velocity_kps);
+ * printf("Track (true) = %.4f", p->track_true);
+ * printf("Track (mag) = %.4f", p->track_mag);
+ * delete(p); // then remember to delete the object to prevent memory leaks.
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return GPS_Geodetic * A pointer to the data.
+ */
+ GPS_VTG *vtg(void) { return vtg(NULL); }
+
+ //! Get all three geodetic parameters together.
+ /**
+ * Pass a pointer to a GPS_Geodetic object and the current
+ * GPS data will be copied into it.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_Geodetic p;
+ * gps.geodetic(&p);
+ * printf("Latitude = %.4f", p.lat);
+ * printf("Longitude = %.4f", p.lon);
+ * printf("Altitude = %.4f", p.alt);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param g A GSP_Geodetic pointer to an existing GPS_Geodetic object.
+ * @return GPS_Geodetic * The pointer passed in.
+ */
+ GPS_Geodetic *geodetic(GPS_Geodetic *g);
+
+ //! Get all three geodetic parameters together.
+ /**
+ * Get all the geodetic data at once. For example:-
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_Geodetic *p = gps.geodetic();
+ * printf("Latitude = %.4f", p->lat);
+ * delete(p); // then remember to delete the object to prevent memory leaks.
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return GPS_Geodetic * A pointer to the data.
+ */
+ GPS_Geodetic *geodetic(void) { return geodetic(NULL); }
+
+ //! Take a snap shot of the current time.
+ /**
+ * Pass a pointer to a GPS_Time object to get a copy of the current
+ * time and date as reported by the GPS.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_Time t;
+ * gps.timeNow(&t);
+ * printf("Year = %d", t.year);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param n A GPS_Time * pointer to an existing GPS_Time object.
+ * @return GPS_Time * The pointer passed in.
+ */
+ GPS_Time * timeNow(GPS_Time *n) { return theTime.timeNow(n); }
+
+ //! Take a snap shot of the current time.
+ /**
+ * Pass a pointer to a GPS_Time object to get a copy of the current
+ * time and date as reported by the GPS.
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the data...
+ * GPS_Time *t = gps.timeNow();
+ * printf("Year = %d", t->year);
+ * delete(t); // Avoid memory leaks.
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return GPS_Time * The pointer passed in.
+ */
+ GPS_Time * timeNow(void) { GPS_Time *n = new GPS_Time; return theTime.timeNow(n); }
+
+ //! Return the curent day.
+ /**
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the Julain Day Number.
+ * double julianDayNumber = gps.julianDayNumber();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double The Julian Date as a double.
+ */
+ double julianDayNumber(void) { return theTime.julian_day_number(); }
+
+ //! Return the curent date/time as a Julian date
+ /**
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * // Then get the Julian Date.
+ * double julianDate = gps.julianDate();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double The Julian Date as a double.
+ */
+ double julianDate(void) { return theTime.julian_date(); }
+
+ //! Get the current sidereal degree angle.
+ /**
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ * double sidereal = gps.siderealDegrees();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double Sidereal degree angle..
+ */
+ double siderealDegrees(void) { return theTime.siderealDegrees(&theTime, longitude()); }
+
+ //! Get the current sidereal hour angle.
+ /**
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ * double sidereal = gps.siderealHA();
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @return double Sidereal degree angle..
+ */
+ double siderealHA(void) { return theTime.siderealHA(&theTime, longitude()); }
+
+ //! Optionally, connect a 1PPS single to an Mbed pin.
+ /**
+ * Optional: If the GPS unit has a 1PPS output, use this to
+ * connect that to our internal ISR. Using the 1PPS increases
+ * the GPS_Time time accuracy from +/-0.25s to +/-0.001s
+ *
+ * @code
+ * // Assuming we have a GPS object previously created...
+ * GPS gps(NC, p9);
+ *
+ * gps.ppsAttach(p29); // default to GPS::ppsRise, rising edge.
+ *
+ * // Or...
+ * gps.ppsAttach(p29, GPS::ppsRise); // The default.
+ *
+ * // Or...
+ * gps.ppsAttach(p29, GPS::ppsFall); // If a falling edge.
+ *
+ * @endcode
+ *
+ * <b>Note</b>, before using this function you should attach an actual
+ * callback function using attach_pps()
+ *
+ * @see attach_pps()
+ *
+ * @ingroup API
+ * @param irq A PinName to attach
+ * @param type The type of edge, MAX7456::ppsRise OR MAX7456::ppsFall
+ */
+ void ppsAttach(PinName irq, ppsEdgeType type = ppsRise);
+
+ //! Remove any 1PPS signal previously attached.
+ void ppsUnattach(void);
+
+ //! GPS serial receive interrupt handler.
+ void rx_irq(void);
+
+ //! GPS pps interrupt handler.
+ void pps_irq(void);
+
+ //! A pointer to the UART peripheral base address being used.
+ void *_base;
+
+ //! The RX serial buffer.
+ char buffer[2][GPS_BUFFER_LEN];
+
+ //! The current "active" buffer, i.e. the buffer the ISR is writing to.
+ int active_buffer;
+
+ //! The active buffer "in" pointer.
+ int rx_buffer_in;
+
+ //! Boolean flag set when the "passive" buffer is full and needs processing.
+ bool process_required;
+
+ //! 10ms Ticker callback.
+ void ticktock(void);
+
+ //! Attach a user object/method callback function to the PPS signal
+ /**
+ * Attach a user callback object/method to call when the 1PPS signal activates.
+ *
+ * @code
+ * class FOO {
+ * public:
+ * void myCallback(void);
+ * };
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_pps(foo, &FOO::myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
+ */
+ template<typename T>
+ void attach_pps(T* tptr, void (T::*mptr)(void)) { cb_pps.attach(tptr, mptr); }
+
+ //! Attach a user callback function to the PPS signal
+ /**
+ * Attach a user callback function pointer to call when the 1PPS signal activates.
+ *
+ * @code
+ * void myCallback(void) { ... }
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_pps(&myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr Callback function pointer
+ */
+ void attach_pps(void (*fptr)(void)) { cb_pps.attach(fptr); }
+
+ //! A callback object for the 1PPS user API.
+ FunctionPointer cb_pps;
+
+ //! Attach a user callback function to the NMEA RMC message processed signal.
+ /**
+ * Attach a user callback object/method to call when an NMEA RMC packet has been processed.
+ *
+ * @code
+ * class FOO {
+ * public:
+ * void myCallback(void);
+ * };
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_rmc(foo, &FOO::myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
+ */
+ template<typename T>
+ void attach_rmc(T* tptr, void (T::*mptr)(void)) { cb_rmc.attach(tptr, mptr); }
+
+ //! Attach a user callback function to the NMEA RMC message processed signal.
+ /**
+ * Attach a user callback function pointer to call when an NMEA RMC packet has been processed.
+ *
+ * @code
+ * void myCallback(void) { ... }
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_rmc(&myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr Callback function pointer.
+ */
+ void attach_rmc(void (*fptr)(void)) { cb_rmc.attach(fptr); }
+
+ //! A callback object for the NMEA RMS message processed signal user API.
+ FunctionPointer cb_rmc;
+
+ //! Attach a user callback function to the NMEA GGA message processed signal.
+ /**
+ * Attach a user callback object/method to call when an NMEA GGA packet has been processed.
+ *
+ * @code
+ * class FOO {
+ * public:
+ * void myCallback(void);
+ * };
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_gga(foo, &FOO::myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
+ */
+ template<typename T>
+ void attach_gga(T* tptr, void (T::*mptr)(void)) { cb_gga.attach(tptr, mptr); }
+
+ //! Attach a user callback function to the NMEA GGA message processed signal.
+ /**
+ * Attach a user callback function pointer to call when an NMEA GGA packet has been processed.
+ *
+ * @code
+ * void myCallback(void) { ... }
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_gga(&myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr Callback function pointer.
+ */
+ void attach_gga(void (*fptr)(void)) { cb_gga.attach(fptr); }
+
+ //! A callback object for the NMEA GGA message processed signal user API.
+ FunctionPointer cb_gga;
+
+
+ //! Attach a user callback function to the NMEA VTG message processed signal.
+ /**
+ * Attach a user callback object/method to call when an NMEA VTG packet has been processed.
+ *
+ * @code
+ * class FOO {
+ * public:
+ * void myCallback(void);
+ * };
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_vtg(foo, &FOO::myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
+ */
+ template<typename T>
+ void attach_vtg(T* tptr, void (T::*mptr)(void)) { cb_vtg.attach(tptr, mptr); }
+
+ //! Attach a user callback function to the NMEA VTG message processed signal.
+ /**
+ * Attach a user callback function pointer to call when an NMEA VTG packet has been processed.
+ *
+ * @code
+ * void myCallback(void) { ... }
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_vtg(&myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr Callback function pointer.
+ */
+ void attach_vtg(void (*fptr)(void)) { cb_vtg.attach(fptr); }
+
+ //! A callback object for the NMEA RMS message processed signal user API.
+ FunctionPointer cb_vtg;
+
+ //! Attach a user callback function to the unknown NMEA message.
+ /**
+ * Attach a user callback object/method to call when an unknown NMEA packet.
+ *
+ * @code
+ * class FOO {
+ * public:
+ * void myCallback(void);
+ * };
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_ukn(foo, &FOO::myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
+ */
+ template<typename T>
+ void attach_ukn(T* tptr, void (T::*mptr)(void)) { cb_ukn.attach(tptr, mptr); }
+
+ //! Attach a user callback function to the unknown NMEA message.
+ /**
+ * Attach a user callback function pointer to call when an unknown NMEA.
+ *
+ * @code
+ * void myCallback(void) { ... }
+ *
+ * GPS gps(NC, p9);
+ * Foo foo;
+ *
+ * gps.attach_ukn(&myCallback);
+ *
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr Callback function pointer.
+ */
+ void attach_ukn(void (*fptr)(void)) { cb_ukn.attach(fptr); }
+
+ //! A callback object for the NMEA RMS message processed signal user API.
+ FunctionPointer cb_ukn;
+
+ /**
+ * Set's the GGA string memory pointer.
+ * @param s char pointer ti string.
+ * @return char s passed in.
+ */
+ char * setGga(char *s) { _gga = s; return s; }
+
+ /**
+ * Set's the RMC string memory pointer.
+ * @param s char pointer ti string.
+ * @return char s passed in.
+ */
+ char * setRmc(char *s) { _rmc = s; return s; };
+
+ /**
+ * Set's the VTG string memory pointer.
+ * @param s char pointer ti string.
+ * @return char s passed in.
+ */
+ char * setVtg(char *s) { _vtg = s; return s; };
+
+ /**
+ * Set's the UKN string memory pointer.
+ * @param s char pointer ti string.
+ * @return char s passed in.
+ */
+ char * setUkn(char *s) { _ukn = s; return s; };
+
+ //! Set the baud rate the GPS module is using.
+ /**
+ * Set the baud rate of the serial port
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.baud
+ *
+ * @ingroup API
+ * @param baudrate The baudrate to set.
+ */
+ void baud(int baudrate) { Serial::baud(baudrate); }
+
+ //! Set the serial port format the GPS module is using.
+ /**
+ * Set the transmission format used by the Serial port
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format
+ *
+ * @ingroup API
+ * @param bits - The number of bits in a word (5-8; default = 8)
+ * @param parity - The parity used (GPS::None, GPS::Odd, GPS::Even, GPS::Forced1, GPS::Forced0; default = GPS::None)
+ * @param stop_bits - The number of stop bits (1 or 2; default = 1)
+ */
+ void format(int bits, Parity parity, int stop_bits) { Serial::format(bits, (Serial::Parity)parity, stop_bits); }
+
+ //! Send incoming GPS bytes to Uart0
+ /**
+ * Send incoming GPS bytes to Uart0
+ *
+ * This can be useful for printing out the bytes from the GPS onto
+ * a the common debug port Uart0. Note, Uart0 should have been setup
+ * and initialised before switching this on. Also, realistically,
+ * you should ensure Uart0 has a higher baud rate than that being
+ * used by the GPS. Sending of bytes to Uart0 is "raw" and should
+ * only be used to initially gather data and should NOT be used as
+ * part of the application design. If you need to forward on the
+ * data you should come up with a proper strategy.
+ *
+ * @ingroup API
+ * @param b - True to send to Uart0, false otherwise
+ */
+ void NmeaOnUart0(bool b) { _nmeaOnUart0 = b; }
+
+protected:
+
+ //! Flag set true when a GPS PPS has been attached to a pin.
+ bool _ppsInUse;
+
+ //! An InterruptIn object to "trigger" on the PPS edge.
+ InterruptIn *_pps;
+
+ //! A Ticker object called every 10ms.
+ Ticker *_second100;
+
+ //! A GPS_Time object used to hold the last parsed time/date data.
+ GPS_Time theTime;
+
+ //! A GPS_Geodetic object used to hold the last parsed positional data.
+ GPS_Geodetic thePlace;
+
+ //! A GPS_VTG object used to hold vector data.
+ GPS_VTG theVTG;
+
+ //! Used to record the previous byte received.
+ char _lastByte;
+
+ char *_gga;
+ char *_rmc;
+ char *_vtg;
+ char *_ukn;
+
+ //! Used for debugging.
+ bool _nmeaOnUart0;
+};
+
+#endif
+
diff -r 000000000000 -r 62fa44dd600b GPS_Geodetic.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_Geodetic.cpp Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,107 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "GPS_Geodetic.h"
+
+void
+GPS_Geodetic::nmea_gga(char *s) {
+ char *token;
+ int token_counter = 0;
+ char *latitude = (char *)NULL;
+ char *longitude = (char *)NULL;
+ char *lat_dir = (char *)NULL;
+ char *lon_dir = (char *)NULL;
+ char *qual = (char *)NULL;
+ char *altitude = (char *)NULL;
+ char *sats = (char *)NULL;
+
+ token = strtok(s, ",");
+ while (token) {
+ switch (token_counter) {
+ case 2: latitude = token; break;
+ case 4: longitude = token; break;
+ case 3: lat_dir = token; break;
+ case 5: lon_dir = token; break;
+ case 6: qual = token; break;
+ case 7: sats = token; break;
+ case 9: altitude = token; break;
+ }
+ token = strtok((char *)NULL, ",");
+ token_counter++;
+ }
+
+ // If the fix quality is valid set our location information.
+ if (latitude && longitude && altitude && sats) {
+ lat = convert_lat_coord(latitude, lat_dir[0]);
+ lon = convert_lon_coord(longitude, lon_dir[0]);
+ alt = convert_height(altitude);
+ num_of_gps_sats = atoi(sats);
+ gps_satellite_quality = atoi(qual);
+ }
+ else {
+ gps_satellite_quality = 0;
+ }
+}
+
+double
+GPS_Geodetic::convert_lat_coord(char *s, char north_south)
+{
+ int deg, min, sec;
+ double fsec, val;
+
+ deg = ( (s[0] - '0') * 10) + s[1] - '0';
+ min = ( (s[2] - '0') * 10) + s[3] - '0';
+ sec = ( ((s[5] - '0') * 1000) + ((s[6] - '0') * 100) + ((s[7] - '0') * 10) + (s[8] - '0'));
+ fsec = (double)((double)sec /10000.0);
+ val = (double)deg + ((double)((double)min/60.0)) + (fsec/60.0);
+ if (north_south == 'S') { val *= -1.0; }
+ lat = val;
+ return val;
+}
+
+double
+GPS_Geodetic::convert_lon_coord(char *s, char east_west)
+{
+ int deg, min, sec;
+ double fsec, val;
+
+ deg = ( (s[0] - '0') * 100) + ((s[1] - '0') * 10) + (s[2] - '0');
+ min = ( (s[3] - '0') * 10) + s[4] - '0';
+ sec = ( ((s[6] - '0') * 1000) + ((s[7] - '0') * 100) + ((s[8] - '0') * 10) + (s[9] - '0'));
+ fsec = (double)((double)sec /10000.0);
+ val = (double)deg + ((double)((double)min/60.0)) + (fsec/60.0);
+ if (east_west == 'W') { val *= -1.0; }
+ lon = val;
+ return val;
+
+}
+
+double
+GPS_Geodetic::convert_height(char *s)
+{
+ //double val = (double)(atof(s) / 1000.0);
+ double val = (double)(atof(s) * 3.2808399);
+ alt = val;
+ return val;
+}
+
+
diff -r 000000000000 -r 62fa44dd600b GPS_Geodetic.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_Geodetic.h Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,55 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#ifndef GPS_GEODETIC_H
+#define GPS_GEODETIC_H
+
+#include "mbed.h"
+
+/** GPS_Geodetic definition.
+ */
+class GPS_Geodetic {
+public:
+
+ //! double The latitude
+ double lat;
+
+ //! double The longitude
+ double lon;
+
+ //! double The altitude
+ double alt;
+
+ int num_of_gps_sats;
+ int gps_satellite_quality;
+ GPS_Geodetic() { lat = 0.0; lon = 0.0; alt = 0.0; }
+
+ int numOfSats(void) { return num_of_gps_sats; }
+ int getGPSquality(void) { return gps_satellite_quality; }
+ void nmea_gga(char *s);
+ double convert_lat_coord(char *s, char north_south);
+ double convert_lon_coord(char *s, char east_west);
+ double convert_height(char *s);
+};
+
+#endif
+
diff -r 000000000000 -r 62fa44dd600b GPS_Time.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_Time.cpp Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,234 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "GPS_Time.h"
+
+//GPS_Time *t = gps.timeNow();
+//pc.printf("%02d:%02d:%02d.%i %02d/%02d/%04d\r\n\n", t->hour, t->minute, t->second, t->hundreths, t->day, t->month, t->year);
+//delete(t);
+
+GPS_Time::GPS_Time()
+{
+ year = 2000;
+ month = 1;
+ day = 1;
+ hour = 0;
+ minute = 0;
+ second = 0;
+ tenths = 0;
+ hundreths = 0;
+ status = 'V';
+ velocity = 0;
+ track = 0;
+ magvar_dir = 'W';
+ magvar = 0;
+}
+
+time_t
+GPS_Time::to_C_tm(bool set)
+{
+ GPS_Time t;
+ tm ct;
+ time_t q;
+
+ timeNow(&t);
+ ct.tm_sec = t.second;
+ ct.tm_min = t.minute;
+ ct.tm_hour = t.hour;
+ ct.tm_mday = t.day;
+ ct.tm_mon = t.month - 1;
+ ct.tm_year = t.year - 1900;
+ ct.tm_isdst = 0; // GPS has no understanding of DST.
+
+ q = mktime(&ct);
+ if (set) {
+ set_time(q);
+ }
+ return q;
+}
+
+GPS_Time *
+GPS_Time::timeNow(GPS_Time *n)
+{
+ if (n == NULL) n = new GPS_Time;
+
+ do {
+ memcpy(n, this, sizeof(GPS_Time));
+ }
+ while (memcmp(n, this, sizeof(GPS_Time)));
+ return n;
+}
+
+void
+GPS_Time::operator++()
+{
+ hundreths++;
+ if (hundreths == 10) {
+ hundreths = 0;
+ tenths++;
+ if (tenths == 10) {
+ tenths = hundreths = 0;
+ }
+ }
+}
+
+void
+GPS_Time::operator++(int)
+{
+ const int days[12] = { 31,28,31,30,31,30,31,31,30,31,30,31 };
+ bool dateInc = false;
+
+ tenths = hundreths = 0;
+ second++;
+
+ if (second == 60) {
+ second = 0;
+ minute++;
+ if (minute == 60) {
+ minute = 0;
+ hour++;
+ if (hour == 24) {
+ hour = 0;
+ dateInc = true;
+ }
+ }
+ }
+
+ if (dateInc) {
+ /* Handle February leap year. */
+ int leap_year = ((year % 4 == 0 && year % 100 != 0) || year % 400 == 0) ? 1 : 0;
+ int days_this_month = days[month - 1];
+ if (month == 2 && leap_year) days_this_month++;
+ day++;
+ if (day > days_this_month) {
+ day = 1;
+ month++;
+ if (month == 13) {
+ year++;
+ }
+ }
+ }
+}
+
+// $GPRMC,112709.735,A,5611.5340,N,00302.0306,W,000.0,307.0,150411,,,A*70
+void
+GPS_Time::nmea_rmc(char *s)
+{
+ char *token;
+ int token_counter = 0;
+ char *time = (char *)NULL;
+ char *date = (char *)NULL;
+ char *stat = (char *)NULL;
+ char *vel = (char *)NULL;
+ char *trk = (char *)NULL;
+ char *magv = (char *)NULL;
+ char *magd = (char *)NULL;
+
+ token = strtok(s, ",");
+ while (token) {
+ switch (token_counter) {
+ case 9: date = token; break;
+ case 1: time = token; break;
+ case 2: stat = token; break;
+ case 7: vel = token; break;
+ case 8: trk = token; break;
+ case 10: magv = token; break;
+ case 11: magd = token; break;
+ }
+ token = strtok((char *)NULL, ",");
+ token_counter++;
+ }
+
+ if (stat && date && time) {
+ hour = (char)((time[0] - '0') * 10) + (time[1] - '0');
+ minute = (char)((time[2] - '0') * 10) + (time[3] - '0');
+ second = (char)((time[4] - '0') * 10) + (time[5] - '0');
+ day = (char)((date[0] - '0') * 10) + (date[1] - '0');
+ month = (char)((date[2] - '0') * 10) + (date[3] - '0');
+ year = (int)((date[4] - '0') * 10) + (date[5] - '0') + 2000;
+ status = stat[0];
+ velocity = atof(vel);
+ track = atof(trk);
+ magvar = atof(magv);
+ magvar_dir = magd[0];
+ }
+}
+
+double
+GPS_Time::julian_day_number(GPS_Time *t) {
+ double wikipedia_jdn = (double)(1461 * ((int)t->year + 4800 + ((int)t->month - 14) / 12)) / 4 + (367 * ((int)t->month - 2 - 12 * (((int)t->month - 14) / 12))) / 12 - (3 * (((int)t->year + 4900 + ((int)t->month - 14) / 12 ) / 100)) / 4 + (int)t->day - 32075;
+ return wikipedia_jdn;
+}
+
+double
+GPS_Time::julian_date(GPS_Time *t) {
+ double hour, minute, second, jd;
+ hour = (double)t->hour;
+ minute = (double)t->minute;
+ second = (double)t->second + ((double)t->tenths / 10.) + ((double)t->hundreths / 100.);
+
+ jd = julian_day_number(t) - 0.5 +
+ ((hour - 12.) / 24.) +
+ (minute / 1440.) +
+ (second / 86400.);
+
+ return jd;
+}
+
+double
+GPS_Time::siderealDegrees(double jd, double longitude) {
+ double sidereal, gmst, lmst;
+ double T = jd - 2451545.0;
+ double T1 = T / 36525.0;
+ double T2 = T1 * T1;
+ double T3 = T2 * T1;
+
+ /* Calculate gmst angle. */
+ sidereal = 280.46061837 + (360.98564736629 * T) + (0.000387933 * T2) - (T3 / 38710000.0);
+
+ /* Convert to degrees. */
+ sidereal = fmod(sidereal, 360.0);
+ if (sidereal < 0.0) sidereal += 360.0;
+
+ gmst = sidereal;
+ lmst = gmst + longitude;
+ return lmst;
+}
+
+double
+GPS_Time::siderealDegrees(GPS_Time *t, double longitude) {
+ if (t == NULL) t = new GPS_Time;
+ return siderealDegrees(julian_date(t), longitude);
+}
+
+double
+GPS_Time::siderealHA(double jd, double longitude) {
+ double lmst = siderealDegrees(jd, longitude);
+ return lmst / 360.0 * 24.0;
+}
+
+double
+GPS_Time::siderealHA(GPS_Time *t, double longitude) {
+ double lmst = siderealDegrees(t, longitude);
+ return lmst / 360.0 * 24.0;
+}
+
diff -r 000000000000 -r 62fa44dd600b GPS_Time.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_Time.h Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,85 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#ifndef GPS_TIME_H
+#define GPS_TIME_H
+
+#include "mbed.h"
+
+/** GPS_Time definition.
+ */
+class GPS_Time {
+public:
+
+ //! The year
+ int year;
+ //! The month
+ int month;
+ //! The day
+ int day;
+ //! The hour
+ int hour;
+ //! The minute
+ int minute;
+ //! The second
+ int second;
+ //! Tenths of a second
+ int tenths;
+ //! Hundredths of a second
+ int hundreths;
+ //! Time status.
+ char status;
+ //! The velocity (in knots)
+ double velocity;
+ //! The track (in decimal degrees true)
+ double track;
+ //! The magnetic variation direction
+ char magvar_dir;
+ //! The magnetic variation value
+ double magvar;
+
+ GPS_Time();
+ void fractionalReset(void) { tenths = hundreths = 0; }
+ void operator++();
+ void operator++(int);
+ GPS_Time * timeNow(GPS_Time *n);
+ GPS_Time * timeNow(void) { return timeNow(NULL); }
+ void nmea_rmc(char *s);
+ double velocity_knots(void) { return velocity; }
+ double velocity_kph(void) { return (velocity * 1.852); }
+ double velocity_mps(void) { return velocity_kph() / 3600.0; }
+ double velocity_mph(void) { return velocity_kph() / 0.621371192; }
+ double track_over_ground(void) { return track; }
+ double magnetic_variation(void) { return magvar_dir == 'W' ? (magvar * -1.0) : (magvar); }
+ double julian_day_number(GPS_Time *t);
+ double julian_date(GPS_Time *t);
+ double julian_day_number(void) { return julian_day_number(this); }
+ double julian_date(void) { return julian_date(this); }
+ double siderealDegrees(double jd, double longitude);
+ double siderealDegrees(GPS_Time *t, double longitude);
+ double siderealHA(double jd, double longitude);
+ double siderealHA(GPS_Time *t, double longitude);
+ time_t to_C_tm(bool set = false);
+};
+
+#endif
+
diff -r 000000000000 -r 62fa44dd600b GPS_VTG.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_VTG.cpp Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,74 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "GPS_VTG.h"
+#include <math.h>
+
+GPS_VTG::GPS_VTG()
+{
+ _velocity_knots = 0;
+ _velocity_kph = 0;
+ _track_true = 0;
+ _track_mag = 0;
+}
+
+GPS_VTG *
+GPS_VTG::vtg(GPS_VTG *n)
+{
+ if (n == NULL) n = new GPS_VTG;
+
+ n->_velocity_knots = _velocity_knots;
+ n->_velocity_kph = _velocity_kph;
+ n->_track_true = _track_true;
+ n->_track_mag = _track_mag;
+
+ return n;
+}
+
+void
+GPS_VTG::nmea_vtg(char *s)
+{
+ char *token;
+ int token_counter = 0;
+ char *vel_knots = (char *)NULL;
+ char *vel_kph = (char *)NULL;
+ char *trk_t = (char *)NULL;
+ char *trk_m = (char *)NULL;
+
+ token = strtok(s, ",");
+ while (token) {
+ switch (token_counter) {
+ case 5: vel_knots = token; break;
+ case 7: vel_kph = token; break;
+ case 1: trk_t = token; break;
+ case 3: trk_m = token; break;
+ }
+ token = strtok((char *)NULL, ",");
+ token_counter++;
+ }
+
+ if (trk_t) { _track_true = atof(trk_t); }
+ if (trk_m) { _track_mag = atof(trk_m); }
+ if (vel_knots) { _velocity_knots = atof(vel_knots); }
+ if (vel_kph) { _velocity_kph = atof(vel_kph); }
+}
+
diff -r 000000000000 -r 62fa44dd600b GPS_VTG.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_VTG.h Fri Jun 17 12:37:03 2011 +0000
@@ -0,0 +1,54 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#ifndef GPS_VTG_H
+#define GPS_VTG_H
+
+#include "mbed.h"
+
+/** GPS_Time definition.
+ */
+class GPS_VTG {
+public:
+
+ //! The velocity (in knots)
+ double _velocity_knots;
+ //! The velocity (in kph)
+ double _velocity_kph;
+ //! The track (in decimal degrees true)
+ double _track_true;
+ //! The track (in decimal degrees magnetic)
+ double _track_mag;
+
+ GPS_VTG();
+ GPS_VTG * vtg(GPS_VTG *n);
+ void nmea_vtg(char *s);
+
+ double velocity_knots(void) { return _velocity_knots; }
+ double velocity_kph(void) { return _velocity_kph; }
+ double track_true(void) { return _track_true; }
+ double track_mag(void) { return _track_mag; }
+
+};
+
+#endif
+
Joost Tromp