Ka Yu Ho / Mbed 2 deprecated GPS_copy

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Dependencies:   mbed

main.cpp@1:cfbdc934e8c6, 2017-03-18 (annotated)

Committer:
kayu
Date:
Sat Mar 18 20:49:10 2017 +0000
Revision:
1:cfbdc934e8c6
Parent:
0:447ddbf579d9 
VTG not working...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kayu 0:447ddbf579d9 1 #include "mbed.h"
kayu 0:447ddbf579d9 2
kayu 0:447ddbf579d9 3 #define MESS_LEN 100 // maximum message length
kayu 0:447ddbf579d9 4 #define MAX_STR 20
kayu 0:447ddbf579d9 5 #define STR_LEN 40
kayu 0:447ddbf579d9 6
kayu 0:447ddbf579d9 7 Serial _gps(A0, A1); //tx,rx
kayu 0:447ddbf579d9 8 Serial pc(SERIAL_TX,SERIAL_RX);
kayu 0:447ddbf579d9 9 DigitalOut myled(LED1);
kayu 0:447ddbf579d9 10
kayu 1:cfbdc934e8c6 11 char nmea[MESS_LEN] = {0x00};
kayu 1:cfbdc934e8c6 12 char test[100];
kayu 0:447ddbf579d9 13 char gp[MAX_STR][STR_LEN];
kayu 0:447ddbf579d9 14
kayu 0:447ddbf579d9 15
kayu 0:447ddbf579d9 16 void read_nmea(void); // read nmea message from gps module
kayu 0:447ddbf579d9 17 int chop_message(void); // chop the nmea messeage
kayu 1:cfbdc934e8c6 18 void present_gga_array(void); // send a part of the available info to the laptop
kayu 1:cfbdc934e8c6 19 void present_vtg_array(void); // send a part of the available info to the laptop
kayu 1:cfbdc934e8c6 20 void setNmeaMessages( bool , bool , bool , bool , bool , bool );
kayu 0:447ddbf579d9 21 void setUpdateRate(const uint8_t );
kayu 1:cfbdc934e8c6 22 void vtgMessage(bool);
kayu 1:cfbdc934e8c6 23
kayu 0:447ddbf579d9 24
kayu 0:447ddbf579d9 25 int main() {
kayu 0:447ddbf579d9 26 printf("HERE!\n");
kayu 0:447ddbf579d9 27 _gps.baud(9600);
kayu 1:cfbdc934e8c6 28 //pc.baud(4800);
kayu 1:cfbdc934e8c6 29 setUpdateRate(1);
kayu 1:cfbdc934e8c6 30 setNmeaMessages(true,false,false,false,false,true);
kayu 1:cfbdc934e8c6 31 vtgMessage(true);
kayu 1:cfbdc934e8c6 32 //setNavigationMode(0);
kayu 1:cfbdc934e8c6 33 while(1){
kayu 0:447ddbf579d9 34 read_nmea();
kayu 1:cfbdc934e8c6 35
kayu 0:447ddbf579d9 36 chop_message();
kayu 1:cfbdc934e8c6 37 present_gga_array();
kayu 1:cfbdc934e8c6 38 // present_vtg_array();
kayu 1:cfbdc934e8c6 39
kayu 1:cfbdc934e8c6 40
kayu 0:447ddbf579d9 41 }
kayu 0:447ddbf579d9 42 }
kayu 0:447ddbf579d9 43
kayu 0:447ddbf579d9 44 //--------------------read nmea from GPS unit--------------------
kayu 0:447ddbf579d9 45 void read_nmea(void) {
kayu 0:447ddbf579d9 46 _gps.scanf("%s,",nmea);
kayu 1:cfbdc934e8c6 47
kayu 0:447ddbf579d9 48 pc.printf("Raw message %s \n\r",nmea); // just for testing
kayu 0:447ddbf579d9 49 }
kayu 0:447ddbf579d9 50
kayu 0:447ddbf579d9 51 //---------------- chop the nmea message separated by comma's-----------
kayu 0:447ddbf579d9 52 int chop_message(void) {
kayu 0:447ddbf579d9 53 for (int k=0; k<MAX_STR; k++) { // just to make sure thet the char array is set to 0x00
kayu 0:447ddbf579d9 54 for (int l=0; l<STR_LEN; l++) {
kayu 0:447ddbf579d9 55 gp[k][l]= 0x00;
kayu 0:447ddbf579d9 56 };
kayu 0:447ddbf579d9 57 }
kayu 0:447ddbf579d9 58 int strcnt=0; // string counter
kayu 0:447ddbf579d9 59 int strpos=0; // position inside the string
kayu 0:447ddbf579d9 60 for (int k=0; k < MESS_LEN; k++) {
kayu 0:447ddbf579d9 61 if (nmea[k] == '*') { // detect end of message is found
kayu 0:447ddbf579d9 62 gp[strcnt][strpos]= 0x00; // close the string with 0x00
kayu 0:447ddbf579d9 63 return 0; // the work is done, end of this function
kayu 0:447ddbf579d9 64 }
kayu 0:447ddbf579d9 65 if (nmea[k] == 0x2c) { // detect the comma
kayu 0:447ddbf579d9 66 if (strpos == 0) {
kayu 0:447ddbf579d9 67 gp[strcnt][0]= 'E'; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 68 gp[strcnt][1]= 'm'; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 69 gp[strcnt][2]= 'p'; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 70 gp[strcnt][3]= 't'; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 71 gp[strcnt][4]= 'y'; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 72 gp[strcnt][5]= 0x00; // comma at position zero, string must be empty
kayu 0:447ddbf579d9 73 } else {
kayu 0:447ddbf579d9 74 gp[strcnt][strpos]= 0x00; // end the previous string
kayu 0:447ddbf579d9 75 }
kayu 0:447ddbf579d9 76 strcnt += 1; // increment to the next string
kayu 0:447ddbf579d9 77 strpos =0; // start at position zero
kayu 0:447ddbf579d9 78 } else {
kayu 0:447ddbf579d9 79 gp[strcnt][strpos]= nmea[k]; // add char to string
kayu 0:447ddbf579d9 80 strpos += 1;
kayu 0:447ddbf579d9 81 }
kayu 0:447ddbf579d9 82 }
kayu 0:447ddbf579d9 83 return 0;
kayu 0:447ddbf579d9 84 }
kayu 0:447ddbf579d9 85
kayu 0:447ddbf579d9 86 // --------------- Dump only $GPGGA on the screen------------------
kayu 1:cfbdc934e8c6 87 void present_gga_array(void) {
kayu 0:447ddbf579d9 88 if ((gp[0][2]=='P') and (gp[0][3]=='G') and (gp[0][4]=='G') and (gp[0][5]=='A')) {
kayu 0:447ddbf579d9 89 pc.printf("Chop results ");
kayu 0:447ddbf579d9 90 for (int k=0; k<MAX_STR; k++) {
kayu 0:447ddbf579d9 91 pc.printf("r%d=%s ",k, gp[k]);
kayu 0:447ddbf579d9 92 }
kayu 0:447ddbf579d9 93 pc.printf("\n\r");
kayu 0:447ddbf579d9 94 }
kayu 0:447ddbf579d9 95 }
kayu 1:cfbdc934e8c6 96
kayu 1:cfbdc934e8c6 97 // --------------- Dump only $GPVTG on the screen------------------
kayu 1:cfbdc934e8c6 98 void present_vtg_array(void) {
kayu 1:cfbdc934e8c6 99 if ( (gp[0][3]=='V') and (gp[0][4]=='T') and (gp[0][5]=='G')) {
kayu 1:cfbdc934e8c6 100 pc.printf("Chop results ");
kayu 1:cfbdc934e8c6 101 for (int k=0; k<MAX_STR; k++) {
kayu 1:cfbdc934e8c6 102 pc.printf("r%d=%s ",k, gp[k]);
kayu 1:cfbdc934e8c6 103 }
kayu 1:cfbdc934e8c6 104 pc.printf("\n\r");
kayu 1:cfbdc934e8c6 105 }
kayu 1:cfbdc934e8c6 106 }
kayu 0:447ddbf579d9 107 //----------------Set Msg Command-----------------------------
kayu 1:cfbdc934e8c6 108 void setNmeaMessages( bool gga, bool gsa, bool gsv, bool gll, bool rmc, bool vtg) {
kayu 1:cfbdc934e8c6 109
kayu 1:cfbdc934e8c6 110 //A0, A1, 00, 09
kayu 1:cfbdc934e8c6 111 //08, 01, 01, 01, 00, 01, 00, 00, 00,
kayu 1:cfbdc934e8c6 112 //08 0D 0A
kayu 1:cfbdc934e8c6 113
kayu 1:cfbdc934e8c6 114 char cmd[15] = {
kayu 0:447ddbf579d9 115 0xA0, 0xA1, 0x00, 0x09,
kayu 1:cfbdc934e8c6 116 0x08, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01,0,
kayu 0:447ddbf579d9 117 0x00, 0x0D, 0x0A
kayu 0:447ddbf579d9 118 };
kayu 1:cfbdc934e8c6 119
kayu 1:cfbdc934e8c6 120 for(int i = 4; i < 12; i++) cmd[12] ^= cmd[i];
kayu 1:cfbdc934e8c6 121 for(int i = 0; i < 15; i++) _gps.putc(cmd[i]);
kayu 0:447ddbf579d9 122 }
kayu 0:447ddbf579d9 123
kayu 0:447ddbf579d9 124 //----------------Set Update Rate-----------------------------
kayu 0:447ddbf579d9 125 void setUpdateRate(const uint8_t rate) {
kayu 0:447ddbf579d9 126 char cmd[10] = {
kayu 0:447ddbf579d9 127 0xA0, 0xA1, 0x00, 0x03,
kayu 0:447ddbf579d9 128 0x0E, rate, 0x01,
kayu 0:447ddbf579d9 129 0x00, 0x0D, 0x0A
kayu 0:447ddbf579d9 130 };
kayu 0:447ddbf579d9 131 for(int i = 4; i < 7; i++) cmd[7] ^= cmd[i];
kayu 0:447ddbf579d9 132 for(int i = 0; i < 10; i++) _gps.putc(cmd[i]);
kayu 1:cfbdc934e8c6 133 }
kayu 1:cfbdc934e8c6 134
kayu 1:cfbdc934e8c6 135 //----------------Enable VTG---------------------------------
kayu 1:cfbdc934e8c6 136 void vtgMessage(bool enable){
kayu 1:cfbdc934e8c6 137 if (enable) {
kayu 1:cfbdc934e8c6 138 _gps.printf("$PSRF103,05,00,01,01*20\r\n"); // Enable VTG
kayu 1:cfbdc934e8c6 139 }
kayu 1:cfbdc934e8c6 140 else {
kayu 1:cfbdc934e8c6 141 _gps.printf("$PSRF103,05,00,00,01*21\r\n"); // Disable VTG
kayu 1:cfbdc934e8c6 142 }
kayu 1:cfbdc934e8c6 143 }
kayu 1:cfbdc934e8c6 144
kayu 1:cfbdc934e8c6 145 //---------------Set Navigation Mode--------------------------
kayu 1:cfbdc934e8c6 146 void setNavigationMode(const int mode) {
kayu 1:cfbdc934e8c6 147 char cmd[] = {
kayu 1:cfbdc934e8c6 148 0xA0, 0xA1, 0x00, 0x02,
kayu 1:cfbdc934e8c6 149 0xB5, 0x00,
kayu 1:cfbdc934e8c6 150 0x00, 0x0D, 0x0A
kayu 1:cfbdc934e8c6 151 };
kayu 1:cfbdc934e8c6 152 for(int i = 4; i < 6; i++) cmd[6] ^= cmd[i];
kayu 1:cfbdc934e8c6 153 for(int i = 0; i < 10; i++) _gps.putc(cmd[i]);
kayu 1:cfbdc934e8c6 154 }
kayu 1:cfbdc934e8c6 155