Library for ublox neo 6m
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GPS.cpp
00001 /* mbed GPS Module Library 00002 * Copyright (c) 2008-2010, sford 00003 * Copyright (c) 2013, B.Adryan 00004 * 00005 * Permission is hereby granted, free of charge, to any person obtaining a copy 00006 * of this software and associated documentation files (the "Software"), to deal 00007 * in the Software without restriction, including without limitation the rights 00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00009 * copies of the Software, and to permit persons to whom the Software is 00010 * furnished to do so, subject to the following conditions: 00011 * 00012 * The above copyright notice and this permission notice shall be included in 00013 * all copies or substantial portions of the Software. 00014 * 00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00021 * THE SOFTWARE. 00022 */ 00023 00024 #include "GPS.h" 00025 00026 GPS::GPS(PinName tx, PinName rx, int Baud) : _gps(tx, rx) 00027 { 00028 _gps.baud(Baud); 00029 longitude = 0.0; 00030 latitude = 0.0; 00031 } 00032 00033 int GPS::sample() 00034 { 00035 00036 int lock; 00037 00038 while(1) { 00039 getline(); 00040 00041 // Check if it is a GPGGA msg (matches both locked and non-locked msg) 00042 if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c,%f", &time, &latitude, &ns, &longitude, &ew, &lock, &sats, &hdop, &alt, &unit, &geoid) >= 1) { 00043 if(!lock) { 00044 time = 0.0; 00045 longitude = 0.0; 00046 latitude = 0.0; 00047 sats = 0; 00048 hdop = 0.0; 00049 alt = 0.0; 00050 geoid = 0.0; 00051 return 0; 00052 } else { 00053 //GPGGA format according http://aprs.gids.nl/nmea/#gga 00054 // time (float), lat (f), (N/S) (c), long (f), (E/W) (c), fix (d), sats (d), 00055 // hdop (float), altitude (float), M, geoid (float), M, , , 00056 //GPGGA,092010.000,5210.9546,N,00008.8913,E,1,07,1.3,9.7,M,47.0,M,,0000*5D 00057 00058 //format utc time to beijing time,add 8 time zone 00059 time = time + 80000.00f; 00060 hour = int(time) / 10000; 00061 minute = (int(time) % 10000) / 100; 00062 seconed = int(time) % 100; 00063 00064 return 1; 00065 } 00066 } 00067 } 00068 } 00069 00070 float GPS::trunc(float v) 00071 { 00072 if(v < 0.0) { 00073 v*= -1.0; 00074 v = floor(v); 00075 v*=-1.0; 00076 } else { 00077 v = floor(v); 00078 } 00079 return v; 00080 } 00081 00082 void GPS::getline() 00083 { 00084 while(_gps.getc() != '$'); // wait for the start of a line 00085 for(int i=0; i<256; i++) { 00086 msg[i] = _gps.getc(); 00087 if(msg[i] == '\r') { 00088 msg[i] = 0; 00089 return; 00090 } 00091 } 00092 error("Overflowed message limit"); 00093 } 00094
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