Diff: GPSINT.cpp

Revision:

0:549c4aa291d5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSINT.cpp	Tue Nov 17 20:28:54 2020 +0000
@@ -0,0 +1,201 @@
+/* GPSINT.cpp
+ * Original program from
+ * jbradshaw (20141101)
+ * The program is modified for ublox NEO 6M.
+ */
+
+#include "GPSINT.h"
+
+GPSINT::GPSINT(PinName tx, PinName rx) : _gps(tx, rx) {
+    _gps.baud(9600);
+    GPSidx=0;          // Index for GPS buffer
+    GPSstate=0;        // Used to wait for '$' in GPS interrupt
+    _gps.attach(this,&GPSINT::GPSSerialRecvInterrupt, _gps.RxIrq);    // Recv interrupt handler
+}
+
+int GPSINT::nmea_validate(char *nmeastr){
+    char check[3];
+    char checkcalcstr[3];
+    int i;
+    int calculated_check;
+
+    i=0;
+    calculated_check=0;
+
+    // check to ensure that the string starts with a $
+    if(nmeastr[i] == '$')
+        i++;
+    else
+        return 0;
+
+    //No NULL reached, 75 char largest possible NMEA message, no '*' reached
+    while((nmeastr[i] != 0) && (nmeastr[i] != '*') && (i < 75)){
+        calculated_check ^= nmeastr[i];// calculate the checksum
+        i++;
+    }
+
+    if(i >= 75){
+        return 0;// the string was too long so return an error
+    }
+
+    if (nmeastr[i] == '*'){
+        check[0] = nmeastr[i+1];    //put hex chars in check string
+        check[1] = nmeastr[i+2];
+        check[2] = 0;
+    }
+    else
+        return 0;// no checksum separator found therefor invalid
+
+    sprintf(checkcalcstr,"%02X",calculated_check);
+    return((checkcalcstr[0] == check[0])
+        && (checkcalcstr[1] == check[1])) ? 1 : 0 ;
+} 
+
+void GPSINT::parseGPSString(char *GPSstrParse){
+    //check if $GPGGA string
+    if(!strncmp(GPSstrParse, "$GPGGA", 6)){
+        if (sscanf(GPSstrParse, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
+  //          printf("%s", GPSstrParse);
+            return;
+        }
+        else{
+ //           printf("BAD parse %s", GPSstrParse);    
+        }
+    }
+    // Check if $GPRMC string
+    else if (!strncmp(GPSstrParse, "$GPRMC", 6)){
+        if(sscanf(GPSstrParse, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,%f,%d", &utc_time, &status,&nmea_latitude, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
+//            printf("%s", GPSstrParse);
+            return;
+        }
+        else{
+ //           printf("BAD parse %s", GPSstrParse);    
+        }
+    }
+    // GLL - Geographic Position-Lat/Lon
+    else if (!strncmp(GPSstrParse, "$GPGLL", 6)){
+        if(sscanf(GPSstrParse, "$GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
+//            printf("%s", GPSstrParse);
+            return;
+        }
+        else{
+ //           printf("BAD parse %s", GPSstrParse);    
+        }        
+    }
+    // VTG-Course Over Ground and Ground Speed
+    else if (!strncmp(GPSstrParse, "$GPVTG", 6)){
+        if(sscanf(GPSstrParse, "$GPVTG,%f,%c,%f,%c,%f,%c,%f,%c", &course_t, &course_t_unit, &course_m, &course_m_unit, &speed_k, &speed_k_unit, &speed_km, &speed_km_unit) >= 1) {
+//            printf("%s", GPSstrParse);
+            return;
+        }
+        else{
+//            printf("BAD parse %s", GPSstrParse);    
+        }        
+    }            
+}//parseGPSstring()
+
+void GPSINT::GPSSerialRecvInterrupt(void)
+{
+    char c;
+    c =_gps.getc();            // On receive interrupt, get the character.          
+   // pc.printf("%c", c);
+    
+    switch(GPSstate){
+        case 0:
+            if(c =='$'){
+                GPSidx=0;
+                Temp_GPSbuf[GPSidx] = c;  //load char in current idx of array
+                GPSidx++;
+                GPSstate = 1;
+            }            
+            break;
+        case 1:                    
+            Temp_GPSbuf[GPSidx] = c;  //load char in current idx of array
+            GPSidx++;            
+            if(c == '\n'){  //if last char was a newline
+                Temp_GPSbuf[GPSidx] = '\0'; //append a NULL
+                strcpy(GPSbuf, Temp_GPSbuf);    //copy temp buf into GPS buf
+                GPSidx=0;                       //reset index
+                GPSstate = 0;                   //reset GPS state
+                if(nmea_validate(GPSbuf)){
+                    parseGPSString(GPSbuf);
+                }
+            }            
+            break;
+        
+        default:
+            break;
+            
+    }//switch state                                 
+}
+     
+float GPSINT::nmea_to_dec(float deg_coord, char nsew) {
+    int degree = (int)(deg_coord/100);
+    float minutes = deg_coord - degree*100;
+    float dec_deg = minutes / 60;
+    float decimal = degree + dec_deg;
+    if (nsew == 'S' || nsew == 'W') { // return negative
+        decimal *= -1;
+    }
+    return decimal;
+}
+
+// NAVIGATION FUNCTIONS ////////////////////////////////////////////////////////////
+float GPSINT::calc_course_to(float pointLat, float pontLong) {
+    const double d2r = PI / 180.0;
+    const double r2d = 180.0 / PI;
+    double dlat = abs(pointLat - dec_latitude) * d2r;
+    double dlong = abs(pontLong - dec_longitude) * d2r;
+    double y = sin(dlong) * cos(pointLat * d2r);
+    double x = cos(dec_latitude*d2r)*sin(pointLat*d2r) - sin(dec_latitude*d2r)*cos(pointLat*d2r)*cos(dlong);
+    return atan2(y,x)*r2d;
+}    
+ 
+/*
+var y = Math.sin(dLon) * Math.cos(lat2);
+var x = Math.cos(lat1)*Math.sin(lat2) -
+        Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
+var brng = Math.atan2(y, x).toDeg();
+*/
+ 
+/*
+            The Haversine formula according to Dr. Math.
+            http://mathforum.org/library/drmath/view/51879.html
+                
+            dlon = lon2 - lon1
+            dlat = lat2 - lat1
+            a = (sin(dlat/2))^2 + cos(lat1) * cos(lat2) * (sin(dlon/2))^2
+            c = 2 * atan2(sqrt(a), sqrt(1-a)) 
+            d = R * c
+                
+            Where
+                * dlon is the change in longitude
+                * dlat is the change in latitude
+                * c is the great circle distance in Radians.
+                * R is the radius of a spherical Earth.
+                * The locations of the two points in 
+                    spherical coordinates (longitude and 
+                    latitude) are lon1,lat1 and lon2, lat2.
+*/
+double GPSINT::calc_dist_to_mi(float pointLat, float pontLong) {
+    const double d2r = PI / 180.0;
+    double dlat = pointLat - dec_latitude;
+    double dlong = pontLong - dec_longitude;
+    double a = pow(sin(dlat/2.0),2.0) + cos(dec_latitude*d2r) * cos(pointLat*d2r) * pow(sin(dlong/2.0),2.0);
+    double c = 2.0 * asin(sqrt(abs(a)));
+    double d = 63.765 * c;
+    
+    return d;
+}
+ 
+double GPSINT::calc_dist_to_ft(float pointLat, float pontLong) {
+    return calc_dist_to_mi(pointLat, pontLong)*5280.0;
+}
+ 
+double GPSINT::calc_dist_to_km(float pointLat, float pontLong) {
+    return calc_dist_to_mi(pointLat, pontLong)*1.609344;
+}
+ 
+double GPSINT::calc_dist_to_m(float pointLat, float pontLong) {
+    return calc_dist_to_mi(pointLat, pontLong)*1609.344;
+}
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