Diff: GPS/GPS.h

Revision:

3:d7ec6dc025b0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS/GPS.h	Fri Mar 30 10:32:10 2018 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+#ifndef MBED_GPS_H
+#define MBED_GPS_H
+
+#define NO_LOCK     1
+#define NOT_PARSED  2
+#define GGA         3
+#define GLL         4
+#define RMC         5
+#define VTG         6
+
+#define PI (3.141592653589793)
+
+/**  A GPS interface for reading from a Globalsat EM-406 GPS Module */
+class GPS {
+public:
+
+    /** Create the GPS interface, connected to the specified serial port
+     */    
+    GPS(PinName tx, PinName rx);
+    
+    /** Sample the incoming GPS data, returning whether there is a lock
+     * 
+     * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
+     */
+    int sample();
+    float get_nmea_longitude();
+    float get_nmea_latitude();
+    float get_dec_longitude();
+    float get_dec_latitude();
+    float get_msl_altitude();
+    float get_course_t();
+    float get_course_m();
+    float get_speed_k();
+    float get_speed_km();
+    int get_satelites();
+    float get_altitude_ft();
+    
+    // navigational functions
+    float calc_course_to(float, float);
+    double calc_dist_to_mi(float, float);
+    double calc_dist_to_ft(float, float);
+    double calc_dist_to_km(float, float);
+    double calc_dist_to_m(float, float);
+    
+    void onInterrupt(){
+        printf("%d\r\n", _gps.readable());
+    }
+#ifdef OPEN_LOG
+    void start_log(void);
+    void new_file(void);
+    void stop_log(void);
+#endif    
+    
+private:
+    float nmea_to_dec(float, char);
+    float trunc(float v);
+    void getline();
+    void format_for_log(void);
+    
+    BufferedSerial _gps;
+    char msg[1024];
+    char bfr[1030];
+    bool is_logging;
+#ifdef OPEN_LOG
+    Logger _openLog;
+#endif
+    // calculated values
+    float dec_longitude;
+    float dec_latitude;
+    float altitude_ft;
+    
+    // GGA - Global Positioning System Fixed Data
+    float nmea_longitude;
+    float nmea_latitude;    
+    float utc_time;
+    char ns, ew;
+    int lock;
+    int satelites;
+    float hdop;
+    float msl_altitude;
+    char msl_units;
+    
+    // RMC - Recommended Minimmum Specific GNS Data
+    char rmc_status;
+    float speed_k;
+    float course_d;
+    int date;
+    
+    // GLL
+    char gll_status;
+    
+    // VTG - Course over ground, ground speed
+    float course_t; // ground speed true
+    char course_t_unit;
+    float course_m; // magnetic
+    char course_m_unit;
+    char speed_k_unit;
+    float speed_km; // speek km/hr
+    char speed_km_unit;
+};
+
+#endif