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/* mbed EM-406 GPS Module Library
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* Copyright (c) 2008-2010, sford
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "GPS.h"
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GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
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_gps.baud(4800);
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longitude = 0.0;
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latitude = 0.0;
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}
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int GPS::sample() {
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float time;
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char ns, ew;
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int lock;
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while(1) {
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getline();
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// Check if it is a GPGGA msg (matches both locked and non-locked msg)
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if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
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if(!lock) {
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longitude = 0.0;
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latitude = 0.0;
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return 0;
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} else {
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if(ns == 'S') { latitude *= -1.0; }
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if(ew == 'W') { longitude *= -1.0; }
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float degrees = trunc(latitude / 100.0f);
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float minutes = latitude - (degrees * 100.0f);
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latitude = degrees + minutes / 60.0f;
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degrees = trunc(longitude / 100.0f * 0.01f);
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minutes = longitude - (degrees * 100.0f);
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longitude = degrees + minutes / 60.0f;
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return 1;
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}
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}
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}
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}
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float GPS::trunc(float v) {
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if(v < 0.0) {
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v*= -1.0;
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v = floor(v);
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v*=-1.0;
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} else {
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v = floor(v);
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}
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return v;
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}
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void GPS::getline() {
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while(_gps.getc() != '$'); // wait for the start of a line
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for(int i=0; i<256; i++) {
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msg[i] = _gps.getc();
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if(msg[i] == '\r') {
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msg[i] = 0;
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return;
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}
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}
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error("Overflowed message limit");
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}
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Keerthana Santhi Pethappan