Matthias Prinke / MODGPS

Fixed compiler errors/warnings (declaration of _uidx, scope of index variables i)

Dependents:   GPSDevice LogData_UM6-to-SDcard UM6withGPS mbed-cansat-test-GPS ... more

Fork of MODGPS by Andy K

GPS.h@1:6aec92e77ad2, 2010-11-20 (annotated)

Committer:
AjK
Date:
Sat Nov 20 21:02:06 2010 +0000
Revision:
1:6aec92e77ad2
Parent:
0:db98027c0bbb
Child:
2:8aa059e7d8b1
1.11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 0:db98027c0bbb 1 /*
AjK 0:db98027c0bbb 2 Copyright (c) 2010 Andy Kirkham
AjK 0:db98027c0bbb 3
AjK 0:db98027c0bbb 4 Permission is hereby granted, free of charge, to any person obtaining a copy
AjK 0:db98027c0bbb 5 of this software and associated documentation files (the "Software"), to deal
AjK 0:db98027c0bbb 6 in the Software without restriction, including without limitation the rights
AjK 0:db98027c0bbb 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
AjK 0:db98027c0bbb 8 copies of the Software, and to permit persons to whom the Software is
AjK 0:db98027c0bbb 9 furnished to do so, subject to the following conditions:
AjK 0:db98027c0bbb 10
AjK 0:db98027c0bbb 11 The above copyright notice and this permission notice shall be included in
AjK 0:db98027c0bbb 12 all copies or substantial portions of the Software.
AjK 0:db98027c0bbb 13
AjK 0:db98027c0bbb 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
AjK 0:db98027c0bbb 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
AjK 0:db98027c0bbb 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AjK 0:db98027c0bbb 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
AjK 0:db98027c0bbb 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
AjK 0:db98027c0bbb 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
AjK 0:db98027c0bbb 20 THE SOFTWARE.
AjK 0:db98027c0bbb 21 */
AjK 0:db98027c0bbb 22
AjK 0:db98027c0bbb 23 #ifndef GPS_H
AjK 0:db98027c0bbb 24 #define GPS_H
AjK 0:db98027c0bbb 25
AjK 0:db98027c0bbb 26 #include "mbed.h"
AjK 0:db98027c0bbb 27 #include "GPS_Time.h"
AjK 0:db98027c0bbb 28 #include "GPS_Geodetic.h"
AjK 0:db98027c0bbb 29
AjK 0:db98027c0bbb 30 #define GPS_RBR 0x00
AjK 0:db98027c0bbb 31 #define GPS_THR 0x00
AjK 0:db98027c0bbb 32 #define GPS_DLL 0x00
AjK 0:db98027c0bbb 33 #define GPS_IER 0x04
AjK 0:db98027c0bbb 34 #define GPS_DML 0x04
AjK 0:db98027c0bbb 35 #define GPS_IIR 0x08
AjK 0:db98027c0bbb 36 #define GPS_FCR 0x08
AjK 0:db98027c0bbb 37 #define GPS_LCR 0x0C
AjK 0:db98027c0bbb 38 #define GPS_LSR 0x14
AjK 0:db98027c0bbb 39 #define GPS_SCR 0x1C
AjK 0:db98027c0bbb 40 #define GPS_ACR 0x20
AjK 0:db98027c0bbb 41 #define GPS_ICR 0x24
AjK 0:db98027c0bbb 42 #define GPS_FDR 0x28
AjK 0:db98027c0bbb 43 #define GPS_TER 0x30
AjK 0:db98027c0bbb 44
AjK 0:db98027c0bbb 45 #define GPS_BUFFER_LEN 128
AjK 0:db98027c0bbb 46 #define GPS_TICKTOCK 10000
AjK 0:db98027c0bbb 47
AjK 1:6aec92e77ad2 48 /** @defgroup API The MODGPS API */
AjK 0:db98027c0bbb 49
AjK 0:db98027c0bbb 50 /** GPS module
AjK 1:6aec92e77ad2 51 * @author Andy Kirkham
AjK 0:db98027c0bbb 52 * @see http://mbed.org/cookbook/MODGPS
AjK 0:db98027c0bbb 53 * @see example1.cpp
AjK 0:db98027c0bbb 54 * @see example2.cpp
AjK 1:6aec92e77ad2 55 * @see API
AjK 1:6aec92e77ad2 56 *
AjK 1:6aec92e77ad2 57 * @image html /media/uploads/AjK/gps_interfaces.png "Wiring up the GPS module"
AjK 0:db98027c0bbb 58 *
AjK 0:db98027c0bbb 59 * Example:
AjK 0:db98027c0bbb 60 * @code
AjK 0:db98027c0bbb 61 * #include "mbed.h"
AjK 0:db98027c0bbb 62 * #include "GPS.h"
AjK 0:db98027c0bbb 63 *
AjK 0:db98027c0bbb 64 * DigitalOut led1(LED1);
AjK 0:db98027c0bbb 65 * Serial pc(USBTX, USBRX);
AjK 0:db98027c0bbb 66 * GPS gps(NC, p10);
AjK 0:db98027c0bbb 67 *
AjK 0:db98027c0bbb 68 * int main() {
AjK 0:db98027c0bbb 69 * GPS_Time t;
AjK 0:db98027c0bbb 70 *
AjK 0:db98027c0bbb 71 * // Wait for the GPS NMEA data to become valid.
AjK 0:db98027c0bbb 72 * while (!gps.isTimeValid()) {
AjK 0:db98027c0bbb 73 * led1 = !led1;
AjK 0:db98027c0bbb 74 * wait(1);
AjK 0:db98027c0bbb 75 * }
AjK 0:db98027c0bbb 76 *
AjK 0:db98027c0bbb 77 * gps.timeNow(&t);
AjK 0:db98027c0bbb 78 *
AjK 0:db98027c0bbb 79 * pc.printf("The time/date is %02d:%02d:%02d %02d/%02d/%04d\r\n",
AjK 0:db98027c0bbb 80 * t.hour, t.minute, t.second, t.day, t.month, t.year);
AjK 0:db98027c0bbb 81 *
AjK 0:db98027c0bbb 82 * // Wait until at least four satellites produce a position fix and a valid quality.
AjK 0:db98027c0bbb 83 * while (gps.numOfSats() < 4 && gps.getGPSquality != 0) {
AjK 0:db98027c0bbb 84 * led1 = !led1;
AjK 0:db98027c0bbb 85 * wait(1);
AjK 0:db98027c0bbb 86 * }
AjK 0:db98027c0bbb 87 *
AjK 0:db98027c0bbb 88 * pc.printf("Lat = %.4f Lon = %.4f Alt = %.1fkm\r\n",
AjK 0:db98027c0bbb 89 * gps.latitude(), gps.longitude, gps.altitude());
AjK 0:db98027c0bbb 90 *
AjK 0:db98027c0bbb 91 * // Make the LED go steady to indicate we have finished.
AjK 0:db98027c0bbb 92 * led1 = 1;
AjK 0:db98027c0bbb 93 *
AjK 0:db98027c0bbb 94 * while(1) {}
AjK 0:db98027c0bbb 95 * }
AjK 0:db98027c0bbb 96 * @endcode
AjK 0:db98027c0bbb 97 */
AjK 0:db98027c0bbb 98
AjK 0:db98027c0bbb 99 class GPS : Serial {
AjK 0:db98027c0bbb 100 public:
AjK 0:db98027c0bbb 101
AjK 0:db98027c0bbb 102 //! The PPS edge type to interrupt on.
AjK 0:db98027c0bbb 103 enum ppsEdgeType {
AjK 0:db98027c0bbb 104 ppsRise = 0, /*!< Use the rising edge (default). */
AjK 0:db98027c0bbb 105 ppsFall /*!< Use the falling edge. */
AjK 0:db98027c0bbb 106 };
AjK 0:db98027c0bbb 107
AjK 0:db98027c0bbb 108 //! A copy of the Serial parity enum
AjK 0:db98027c0bbb 109 enum Parity {
AjK 0:db98027c0bbb 110 None = 0
AjK 0:db98027c0bbb 111 , Odd
AjK 0:db98027c0bbb 112 , Even
AjK 0:db98027c0bbb 113 , Forced1
AjK 0:db98027c0bbb 114 , Forced0
AjK 0:db98027c0bbb 115 };
AjK 0:db98027c0bbb 116
AjK 0:db98027c0bbb 117 //! GPS constructor.
AjK 0:db98027c0bbb 118 /**
AjK 0:db98027c0bbb 119 * The GPS constructor is used to initialise the GPS object.
AjK 0:db98027c0bbb 120 *
AjK 0:db98027c0bbb 121 * @param tx Usually unused and set to NC
AjK 0:db98027c0bbb 122 * @param rx The RX pin the GPS is connected to, p10, p14( OR p25), p27.
AjK 0:db98027c0bbb 123 * @param name An option name for RPC usage.
AjK 0:db98027c0bbb 124 */
AjK 0:db98027c0bbb 125 GPS(PinName tx, PinName rx, const char *name = NULL);
AjK 0:db98027c0bbb 126
AjK 0:db98027c0bbb 127 //! Is the time reported by the GPS valid.
AjK 0:db98027c0bbb 128 /**
AjK 0:db98027c0bbb 129 * Method used to check the validity of the time the GPS module is reporting.
AjK 0:db98027c0bbb 130 *
AjK 0:db98027c0bbb 131 * @code
AjK 0:db98027c0bbb 132 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 133 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 134 *
AjK 0:db98027c0bbb 135 * if (gps.isTimeValid()) {
AjK 0:db98027c0bbb 136 * // Time is valid :)
AjK 0:db98027c0bbb 137 * }
AjK 0:db98027c0bbb 138 * else {
AjK 0:db98027c0bbb 139 * // Doh, time is not valid :(
AjK 0:db98027c0bbb 140 * )
AjK 0:db98027c0bbb 141 *
AjK 0:db98027c0bbb 142 * @endcode
AjK 0:db98027c0bbb 143 *
AjK 0:db98027c0bbb 144 * @ingroup API
AjK 0:db98027c0bbb 145 * @return bool true if valid, false otherwise
AjK 0:db98027c0bbb 146 */
AjK 0:db98027c0bbb 147 bool isTimeValid(void) { return theTime.status == 'V' ? false : true; }
AjK 0:db98027c0bbb 148
AjK 0:db98027c0bbb 149 //! Is the positional fix reported by the GPS valid.
AjK 0:db98027c0bbb 150 /**
AjK 0:db98027c0bbb 151 * Method used to check the validity of the positional data. This method
AjK 0:db98027c0bbb 152 * returns the GGA field, 0 is "bad, 1 is "ok", etc. See the NMEA GGA
AjK 1:6aec92e77ad2 153 * description for more details.
AjK 1:6aec92e77ad2 154 *
AjK 1:6aec92e77ad2 155 * @code
AjK 1:6aec92e77ad2 156 * // Assuming we have a GPS object previously created...
AjK 1:6aec92e77ad2 157 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 158 *
AjK 1:6aec92e77ad2 159 * if (gps.getGPSquality() == 0) {
AjK 1:6aec92e77ad2 160 * // The location fix is no good/not accurate :(
AjK 1:6aec92e77ad2 161 * }
AjK 1:6aec92e77ad2 162 * else {
AjK 1:6aec92e77ad2 163 * // All good, can use last fix data.
AjK 1:6aec92e77ad2 164 * )
AjK 1:6aec92e77ad2 165 *
AjK 1:6aec92e77ad2 166 * @endcode
AjK 1:6aec92e77ad2 167 *
AjK 1:6aec92e77ad2 168 * @ingroup API
AjK 0:db98027c0bbb 169 * @return int 0 on no fix, 1... (see NMEA GGA for more details).
AjK 0:db98027c0bbb 170 */
AjK 0:db98027c0bbb 171 int getGPSquality(void) { return thePlace.getGPSquality(); }
AjK 0:db98027c0bbb 172
AjK 0:db98027c0bbb 173 //! How many satellites were used in the last fix.
AjK 0:db98027c0bbb 174 /**
AjK 0:db98027c0bbb 175 * Method returns the number of GPS satellites used on the last fix.
AjK 0:db98027c0bbb 176 *
AjK 0:db98027c0bbb 177 * @code
AjK 0:db98027c0bbb 178 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 179 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 180 *
AjK 0:db98027c0bbb 181 * int sats = gps.numOfSats();
AjK 0:db98027c0bbb 182 *
AjK 0:db98027c0bbb 183 * @endcode
AjK 0:db98027c0bbb 184 *
AjK 0:db98027c0bbb 185 * @ingroup API
AjK 0:db98027c0bbb 186 * @return int The number of satellites.
AjK 0:db98027c0bbb 187 */
AjK 0:db98027c0bbb 188 int numOfSats(void) { return thePlace.numOfSats(); }
AjK 0:db98027c0bbb 189
AjK 0:db98027c0bbb 190 //! What was the last reported latitude (in degrees)
AjK 0:db98027c0bbb 191 /**
AjK 0:db98027c0bbb 192 * Method returns a double in degrees, positive being North, negative being South.
AjK 0:db98027c0bbb 193 *
AjK 0:db98027c0bbb 194 * @code
AjK 0:db98027c0bbb 195 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 196 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 197 *
AjK 0:db98027c0bbb 198 * double latitude = gps.latitude();
AjK 0:db98027c0bbb 199 *
AjK 0:db98027c0bbb 200 * @endcode
AjK 0:db98027c0bbb 201 *
AjK 0:db98027c0bbb 202 * @ingroup API
AjK 0:db98027c0bbb 203 * @return double Degrees
AjK 0:db98027c0bbb 204 */
AjK 0:db98027c0bbb 205 double latitude(void);
AjK 0:db98027c0bbb 206
AjK 0:db98027c0bbb 207 //! What was the last reported longitude (in degrees)
AjK 0:db98027c0bbb 208 /**
AjK 0:db98027c0bbb 209 * Method returns a double in degrees, positive being East, negative being West.
AjK 0:db98027c0bbb 210 *
AjK 0:db98027c0bbb 211 * @code
AjK 0:db98027c0bbb 212 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 213 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 214 *
AjK 0:db98027c0bbb 215 * double logitude = gps.logitude();
AjK 0:db98027c0bbb 216 *
AjK 0:db98027c0bbb 217 * @endcode
AjK 0:db98027c0bbb 218 *
AjK 0:db98027c0bbb 219 * @ingroup API
AjK 0:db98027c0bbb 220 * @return double Degrees
AjK 0:db98027c0bbb 221 */
AjK 0:db98027c0bbb 222 double longitude(void);
AjK 0:db98027c0bbb 223
AjK 0:db98027c0bbb 224 //! What was the last reported altitude (in kilometers)
AjK 0:db98027c0bbb 225 /**
AjK 0:db98027c0bbb 226 * Method returns a double in kilometers.
AjK 0:db98027c0bbb 227 *
AjK 0:db98027c0bbb 228 * @code
AjK 0:db98027c0bbb 229 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 230 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 231 *
AjK 0:db98027c0bbb 232 * double altitude = gps.altitude();
AjK 0:db98027c0bbb 233 *
AjK 0:db98027c0bbb 234 * @endcode
AjK 0:db98027c0bbb 235 *
AjK 0:db98027c0bbb 236 * @ingroup API
AjK 0:db98027c0bbb 237 * @return double Kilometers
AjK 0:db98027c0bbb 238 */
AjK 0:db98027c0bbb 239 double altitude(void);
AjK 0:db98027c0bbb 240
AjK 0:db98027c0bbb 241 //! What was the last reported altitude/height (in kilometers)
AjK 0:db98027c0bbb 242 /**
AjK 0:db98027c0bbb 243 * @see altitude()
AjK 0:db98027c0bbb 244 *
AjK 0:db98027c0bbb 245 * @code
AjK 0:db98027c0bbb 246 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 247 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 248 *
AjK 0:db98027c0bbb 249 * double height = gps.height();
AjK 0:db98027c0bbb 250 *
AjK 0:db98027c0bbb 251 * @endcode
AjK 0:db98027c0bbb 252 *
AjK 0:db98027c0bbb 253 * Note, this is identical to altitude()
AjK 0:db98027c0bbb 254 * @see altitude()
AjK 0:db98027c0bbb 255 *
AjK 0:db98027c0bbb 256 * @ingroup API
AjK 0:db98027c0bbb 257 * @return double Kilometers
AjK 0:db98027c0bbb 258 */
AjK 0:db98027c0bbb 259 double height(void) { return altitude(); }
AjK 0:db98027c0bbb 260
AjK 0:db98027c0bbb 261 //! Get all three geodetic parameters together.
AjK 0:db98027c0bbb 262 /**
AjK 0:db98027c0bbb 263 * Pass a pointer to a GPS_Geodetic object and the current
AjK 0:db98027c0bbb 264 * GPS data will be copied into it.
AjK 0:db98027c0bbb 265 *
AjK 0:db98027c0bbb 266 * @code
AjK 0:db98027c0bbb 267 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 268 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 269 *
AjK 0:db98027c0bbb 270 * // Then get the data...
AjK 0:db98027c0bbb 271 * GPS_Geodetic p;
AjK 0:db98027c0bbb 272 * gps.geodetic(&p);
AjK 0:db98027c0bbb 273 * printf("Latitude = %.4f", p.lat);
AjK 0:db98027c0bbb 274 * printf("Longitude = %.4f", p.lon);
AjK 0:db98027c0bbb 275 * printf("Altitude = %.4f", p.alt);
AjK 0:db98027c0bbb 276 *
AjK 0:db98027c0bbb 277 * @endcode
AjK 0:db98027c0bbb 278 *
AjK 0:db98027c0bbb 279 * @ingroup API
AjK 0:db98027c0bbb 280 * @param g A GSP_Geodetic pointer to an existing GPS_Geodetic object.
AjK 0:db98027c0bbb 281 * @return GPS_Geodetic * The pointer passed in.
AjK 0:db98027c0bbb 282 */
AjK 0:db98027c0bbb 283 GPS_Geodetic *geodetic(GPS_Geodetic *g);
AjK 0:db98027c0bbb 284
AjK 0:db98027c0bbb 285 //! Get all three geodetic parameters together.
AjK 0:db98027c0bbb 286 /**
AjK 0:db98027c0bbb 287 * Get all the geodetic data at once. For example:-
AjK 0:db98027c0bbb 288 *
AjK 0:db98027c0bbb 289 * @code
AjK 0:db98027c0bbb 290 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 291 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 292 *
AjK 0:db98027c0bbb 293 * // Then get the data...
AjK 0:db98027c0bbb 294 * GPS_Geodetic *p = gps.geodetic();
AjK 0:db98027c0bbb 295 * printf("Latitude = %.4f", p->lat);
AjK 0:db98027c0bbb 296 * delete(p); // then remember to delete the object to prevent memory leaks.
AjK 0:db98027c0bbb 297 *
AjK 0:db98027c0bbb 298 * @endcode
AjK 0:db98027c0bbb 299 *
AjK 0:db98027c0bbb 300 * @ingroup API
AjK 0:db98027c0bbb 301 * @return GPS_Geodetic * A pointer to the data.
AjK 0:db98027c0bbb 302 */
AjK 0:db98027c0bbb 303 GPS_Geodetic *geodetic(void) { return geodetic(NULL); }
AjK 0:db98027c0bbb 304
AjK 0:db98027c0bbb 305 //! Take a snap shot of the current time.
AjK 0:db98027c0bbb 306 /**
AjK 0:db98027c0bbb 307 * Pass a pointer to a GPS_Time object to get a copy of the current
AjK 0:db98027c0bbb 308 * time and date as reported by the GPS.
AjK 0:db98027c0bbb 309 *
AjK 0:db98027c0bbb 310 * @code
AjK 0:db98027c0bbb 311 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 312 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 313 *
AjK 0:db98027c0bbb 314 * // Then get the data...
AjK 0:db98027c0bbb 315 * GPS_Time t;
AjK 0:db98027c0bbb 316 * gps.timeNow(&t);
AjK 0:db98027c0bbb 317 * printf("Year = %d", t.year);
AjK 0:db98027c0bbb 318 *
AjK 0:db98027c0bbb 319 * @endcode
AjK 0:db98027c0bbb 320 *
AjK 0:db98027c0bbb 321 * @ingroup API
AjK 0:db98027c0bbb 322 * @param n A GPS_Time * pointer to an existing GPS_Time object.
AjK 0:db98027c0bbb 323 * @return GPS_Time * The pointer passed in.
AjK 0:db98027c0bbb 324 */
AjK 0:db98027c0bbb 325 GPS_Time * timeNow(GPS_Time *n) { return theTime.timeNow(n); }
AjK 0:db98027c0bbb 326
AjK 0:db98027c0bbb 327 //! Take a snap shot of the current time.
AjK 0:db98027c0bbb 328 /**
AjK 0:db98027c0bbb 329 * Pass a pointer to a GPS_Time object to get a copy of the current
AjK 0:db98027c0bbb 330 * time and date as reported by the GPS.
AjK 0:db98027c0bbb 331 *
AjK 0:db98027c0bbb 332 * @code
AjK 0:db98027c0bbb 333 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 334 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 335 *
AjK 0:db98027c0bbb 336 * // Then get the data...
AjK 0:db98027c0bbb 337 * GPS_Time *t = gps.timeNow();
AjK 0:db98027c0bbb 338 * printf("Year = %d", t->year);
AjK 0:db98027c0bbb 339 * delete(t); // Avoid memory leaks.
AjK 0:db98027c0bbb 340 *
AjK 0:db98027c0bbb 341 * @endcode
AjK 0:db98027c0bbb 342 *
AjK 0:db98027c0bbb 343 * @ingroup API
AjK 0:db98027c0bbb 344 * @return GPS_Time * The pointer passed in.
AjK 0:db98027c0bbb 345 */
AjK 0:db98027c0bbb 346 GPS_Time * timeNow(void) { GPS_Time *n = new GPS_Time; return theTime.timeNow(n); }
AjK 0:db98027c0bbb 347
AjK 0:db98027c0bbb 348 //! Return the curent day.
AjK 0:db98027c0bbb 349 /**
AjK 0:db98027c0bbb 350 * @code
AjK 0:db98027c0bbb 351 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 352 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 353 *
AjK 0:db98027c0bbb 354 * // Then get the Julain Day Number.
AjK 0:db98027c0bbb 355 * double julianDayNumber = gps.julianDayNumber();
AjK 0:db98027c0bbb 356 *
AjK 0:db98027c0bbb 357 * @endcode
AjK 0:db98027c0bbb 358 *
AjK 0:db98027c0bbb 359 * @ingroup API
AjK 0:db98027c0bbb 360 * @return double The Julian Date as a double.
AjK 0:db98027c0bbb 361 */
AjK 0:db98027c0bbb 362 double julianDayNumber(void) { return theTime.julian_day_number(); }
AjK 0:db98027c0bbb 363
AjK 0:db98027c0bbb 364 //! Return the curent date/time as a Julian date
AjK 0:db98027c0bbb 365 /**
AjK 0:db98027c0bbb 366 * @code
AjK 0:db98027c0bbb 367 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 368 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 369 *
AjK 0:db98027c0bbb 370 * // Then get the Julian Date.
AjK 0:db98027c0bbb 371 * double julianDate = gps.julianDate();
AjK 0:db98027c0bbb 372 *
AjK 0:db98027c0bbb 373 * @endcode
AjK 0:db98027c0bbb 374 *
AjK 0:db98027c0bbb 375 * @ingroup API
AjK 0:db98027c0bbb 376 * @return double The Julian Date as a double.
AjK 0:db98027c0bbb 377 */
AjK 0:db98027c0bbb 378 double julianDate(void) { return theTime.julian_date(); }
AjK 0:db98027c0bbb 379
AjK 0:db98027c0bbb 380 //! Get the current sidereal degree angle.
AjK 0:db98027c0bbb 381 /**
AjK 0:db98027c0bbb 382 * @code
AjK 0:db98027c0bbb 383 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 384 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 385 * double sidereal = gps.siderealDegrees();
AjK 0:db98027c0bbb 386 *
AjK 0:db98027c0bbb 387 * @endcode
AjK 0:db98027c0bbb 388 *
AjK 0:db98027c0bbb 389 * @ingroup API
AjK 0:db98027c0bbb 390 * @return double Sidereal degree angle..
AjK 0:db98027c0bbb 391 */
AjK 0:db98027c0bbb 392 double siderealDegrees(void) { return theTime.siderealDegrees(&theTime, longitude()); }
AjK 0:db98027c0bbb 393
AjK 0:db98027c0bbb 394 //! Get the current sidereal hour angle.
AjK 0:db98027c0bbb 395 /**
AjK 0:db98027c0bbb 396 * @code
AjK 0:db98027c0bbb 397 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 398 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 399 * double sidereal = gps.siderealHA();
AjK 0:db98027c0bbb 400 *
AjK 0:db98027c0bbb 401 * @endcode
AjK 0:db98027c0bbb 402 *
AjK 0:db98027c0bbb 403 * @ingroup API
AjK 0:db98027c0bbb 404 * @return double Sidereal degree angle..
AjK 0:db98027c0bbb 405 */
AjK 0:db98027c0bbb 406 double siderealHA(void) { return theTime.siderealHA(&theTime, longitude()); }
AjK 0:db98027c0bbb 407
AjK 0:db98027c0bbb 408 //! Optionally, connect a 1PPS single to an Mbed pin.
AjK 0:db98027c0bbb 409 /**
AjK 0:db98027c0bbb 410 * Optional: If the GPS unit has a 1PPS output, use this to
AjK 0:db98027c0bbb 411 * connect that to our internal ISR. Using the 1PPS increases
AjK 0:db98027c0bbb 412 * the GPS_Time time accuracy from +/-0.25s to +/-0.001s
AjK 0:db98027c0bbb 413 *
AjK 0:db98027c0bbb 414 * @code
AjK 0:db98027c0bbb 415 * // Assuming we have a GPS object previously created...
AjK 0:db98027c0bbb 416 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 417 *
AjK 0:db98027c0bbb 418 * gps.ppsAttach(p29); // default to GPS::ppsRise, rising edge.
AjK 0:db98027c0bbb 419 *
AjK 0:db98027c0bbb 420 * // Or...
AjK 0:db98027c0bbb 421 * gps.ppsAttach(p29, GPS::ppsRise); // The default.
AjK 0:db98027c0bbb 422 *
AjK 0:db98027c0bbb 423 * // Or...
AjK 0:db98027c0bbb 424 * gps.ppsAttach(p29, GPS::ppsFall); // If a falling edge.
AjK 0:db98027c0bbb 425 *
AjK 0:db98027c0bbb 426 * @endcode
AjK 0:db98027c0bbb 427 *
AjK 0:db98027c0bbb 428 * <b>Note</b>, before using this function you should attach an actual
AjK 0:db98027c0bbb 429 * callback function using attach_pps()
AjK 0:db98027c0bbb 430 *
AjK 0:db98027c0bbb 431 * @see attach_pps()
AjK 0:db98027c0bbb 432 *
AjK 0:db98027c0bbb 433 * @ingroup API
AjK 0:db98027c0bbb 434 * @param irq A PinName to attach
AjK 0:db98027c0bbb 435 * @param type The type of edge, MAX7456::ppsRise OR MAX7456::ppsFall
AjK 0:db98027c0bbb 436 */
AjK 0:db98027c0bbb 437 void ppsAttach(PinName irq, ppsEdgeType type = ppsRise);
AjK 0:db98027c0bbb 438
AjK 0:db98027c0bbb 439 //! Remove any 1PPS signal previously attached.
AjK 0:db98027c0bbb 440 void ppsUnattach(void);
AjK 0:db98027c0bbb 441
AjK 0:db98027c0bbb 442 //! GPS serial receive interrupt handler.
AjK 0:db98027c0bbb 443 void rx_irq(void);
AjK 0:db98027c0bbb 444
AjK 0:db98027c0bbb 445 //! GPS pps interrupt handler.
AjK 0:db98027c0bbb 446 void pps_irq(void);
AjK 0:db98027c0bbb 447
AjK 0:db98027c0bbb 448 //! A pointer to the UART peripheral base address being used.
AjK 0:db98027c0bbb 449 void *_base;
AjK 0:db98027c0bbb 450
AjK 0:db98027c0bbb 451 //! The RX serial buffer.
AjK 0:db98027c0bbb 452 char buffer[2][GPS_BUFFER_LEN];
AjK 0:db98027c0bbb 453
AjK 0:db98027c0bbb 454 //! The current "active" buffer, i.e. the buffer the ISR is writing to.
AjK 0:db98027c0bbb 455 int active_buffer;
AjK 0:db98027c0bbb 456
AjK 0:db98027c0bbb 457 //! The active buffer "in" pointer.
AjK 0:db98027c0bbb 458 int rx_buffer_in;
AjK 0:db98027c0bbb 459
AjK 0:db98027c0bbb 460 //! Boolean flag set when the "passive" buffer is full and needs processing.
AjK 0:db98027c0bbb 461 bool process_required;
AjK 0:db98027c0bbb 462
AjK 0:db98027c0bbb 463 //! 10ms Ticker callback.
AjK 0:db98027c0bbb 464 void ticktock(void);
AjK 0:db98027c0bbb 465
AjK 0:db98027c0bbb 466 //! Attach a user object/method callback function to the PPS signal
AjK 0:db98027c0bbb 467 /**
AjK 0:db98027c0bbb 468 * Attach a user callback object/method to call when the 1PPS signal activates.
AjK 0:db98027c0bbb 469 *
AjK 0:db98027c0bbb 470 * @code
AjK 0:db98027c0bbb 471 * class FOO {
AjK 0:db98027c0bbb 472 * public:
AjK 0:db98027c0bbb 473 * void myCallback(void);
AjK 0:db98027c0bbb 474 * };
AjK 0:db98027c0bbb 475 *
AjK 0:db98027c0bbb 476 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 477 * Foo foo;
AjK 0:db98027c0bbb 478 *
AjK 0:db98027c0bbb 479 * gps.attach_pps(foo, &FOO::myCallback);
AjK 0:db98027c0bbb 480 *
AjK 0:db98027c0bbb 481 * @endcode
AjK 0:db98027c0bbb 482 *
AjK 0:db98027c0bbb 483 * @ingroup API
AjK 0:db98027c0bbb 484 * @param tptr pointer to the object to call the member function on
AjK 0:db98027c0bbb 485 * @param mptr pointer to the member function to be called
AjK 0:db98027c0bbb 486 */
AjK 0:db98027c0bbb 487 template<typename T>
AjK 0:db98027c0bbb 488 void attach_pps(T* tptr, void (T::*mptr)(void)) { cb_pps.attach(tptr, mptr); }
AjK 0:db98027c0bbb 489
AjK 0:db98027c0bbb 490 //! Attach a user callback function to the PPS signal
AjK 0:db98027c0bbb 491 /**
AjK 0:db98027c0bbb 492 * Attach a user callback function pointer to call when the 1PPS signal activates.
AjK 0:db98027c0bbb 493 *
AjK 0:db98027c0bbb 494 * @code
AjK 0:db98027c0bbb 495 * void myCallback(void) { ... }
AjK 0:db98027c0bbb 496 *
AjK 0:db98027c0bbb 497 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 498 * Foo foo;
AjK 0:db98027c0bbb 499 *
AjK 0:db98027c0bbb 500 * gps.attach_pps(&myCallback);
AjK 0:db98027c0bbb 501 *
AjK 0:db98027c0bbb 502 * @endcode
AjK 0:db98027c0bbb 503 *
AjK 0:db98027c0bbb 504 * @ingroup API
AjK 0:db98027c0bbb 505 * @param fptr Callback function pointer
AjK 0:db98027c0bbb 506 */
AjK 0:db98027c0bbb 507 void attach_pps(void (*fptr)(void)) { cb_pps.attach(fptr); }
AjK 0:db98027c0bbb 508
AjK 0:db98027c0bbb 509 //! A callback object for the 1PPS user API.
AjK 0:db98027c0bbb 510 FunctionPointer cb_pps;
AjK 0:db98027c0bbb 511
AjK 0:db98027c0bbb 512 //! Attach a user callback function to the NMEA RMC message processed signal.
AjK 0:db98027c0bbb 513 /**
AjK 0:db98027c0bbb 514 * Attach a user callback object/method to call when an NMEA RMC packet has been processed.
AjK 0:db98027c0bbb 515 *
AjK 0:db98027c0bbb 516 * @code
AjK 0:db98027c0bbb 517 * class FOO {
AjK 0:db98027c0bbb 518 * public:
AjK 0:db98027c0bbb 519 * void myCallback(void);
AjK 0:db98027c0bbb 520 * };
AjK 0:db98027c0bbb 521 *
AjK 0:db98027c0bbb 522 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 523 * Foo foo;
AjK 0:db98027c0bbb 524 *
AjK 0:db98027c0bbb 525 * gps.attach_rmc(foo, &FOO::myCallback);
AjK 0:db98027c0bbb 526 *
AjK 0:db98027c0bbb 527 * @endcode
AjK 0:db98027c0bbb 528 *
AjK 0:db98027c0bbb 529 * @ingroup API
AjK 0:db98027c0bbb 530 * @param tptr pointer to the object to call the member function on
AjK 0:db98027c0bbb 531 * @param mptr pointer to the member function to be called
AjK 0:db98027c0bbb 532 */
AjK 0:db98027c0bbb 533 template<typename T>
AjK 0:db98027c0bbb 534 void attach_rmc(T* tptr, void (T::*mptr)(void)) { cb_rmc.attach(tptr, mptr); }
AjK 0:db98027c0bbb 535
AjK 0:db98027c0bbb 536 //! Attach a user callback function to the NMEA RMC message processed signal.
AjK 0:db98027c0bbb 537 /**
AjK 0:db98027c0bbb 538 * Attach a user callback function pointer to call when an NMEA RMC packet has been processed.
AjK 0:db98027c0bbb 539 *
AjK 0:db98027c0bbb 540 * @code
AjK 0:db98027c0bbb 541 * void myCallback(void) { ... }
AjK 0:db98027c0bbb 542 *
AjK 0:db98027c0bbb 543 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 544 * Foo foo;
AjK 0:db98027c0bbb 545 *
AjK 0:db98027c0bbb 546 * gps.attach_rmc(&myCallback);
AjK 0:db98027c0bbb 547 *
AjK 0:db98027c0bbb 548 * @endcode
AjK 0:db98027c0bbb 549 *
AjK 0:db98027c0bbb 550 * @ingroup API
AjK 0:db98027c0bbb 551 * @param fptr Callback function pointer.
AjK 0:db98027c0bbb 552 */
AjK 0:db98027c0bbb 553 void attach_rmc(void (*fptr)(void)) { cb_rmc.attach(fptr); }
AjK 0:db98027c0bbb 554
AjK 0:db98027c0bbb 555 //! A callback object for the NMEA RMS message processed signal user API.
AjK 0:db98027c0bbb 556 FunctionPointer cb_rmc;
AjK 0:db98027c0bbb 557
AjK 0:db98027c0bbb 558 //! Attach a user callback function to the NMEA GGA message processed signal.
AjK 0:db98027c0bbb 559 /**
AjK 0:db98027c0bbb 560 * Attach a user callback object/method to call when an NMEA GGA packet has been processed.
AjK 0:db98027c0bbb 561 *
AjK 0:db98027c0bbb 562 * @code
AjK 0:db98027c0bbb 563 * class FOO {
AjK 0:db98027c0bbb 564 * public:
AjK 0:db98027c0bbb 565 * void myCallback(void);
AjK 0:db98027c0bbb 566 * };
AjK 0:db98027c0bbb 567 *
AjK 0:db98027c0bbb 568 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 569 * Foo foo;
AjK 0:db98027c0bbb 570 *
AjK 0:db98027c0bbb 571 * gps.attach_gga(foo, &FOO::myCallback);
AjK 0:db98027c0bbb 572 *
AjK 0:db98027c0bbb 573 * @endcode
AjK 0:db98027c0bbb 574 *
AjK 0:db98027c0bbb 575 * @ingroup API
AjK 0:db98027c0bbb 576 * @param tptr pointer to the object to call the member function on
AjK 0:db98027c0bbb 577 * @param mptr pointer to the member function to be called
AjK 0:db98027c0bbb 578 */
AjK 0:db98027c0bbb 579 template<typename T>
AjK 0:db98027c0bbb 580 void attach_gga(T* tptr, void (T::*mptr)(void)) { cb_gga.attach(tptr, mptr); }
AjK 0:db98027c0bbb 581
AjK 0:db98027c0bbb 582 //! Attach a user callback function to the NMEA GGA message processed signal.
AjK 0:db98027c0bbb 583 /**
AjK 0:db98027c0bbb 584 * Attach a user callback function pointer to call when an NMEA GGA packet has been processed.
AjK 0:db98027c0bbb 585 *
AjK 0:db98027c0bbb 586 * @code
AjK 0:db98027c0bbb 587 * void myCallback(void) { ... }
AjK 0:db98027c0bbb 588 *
AjK 0:db98027c0bbb 589 * GPS gps(NC, p9);
AjK 0:db98027c0bbb 590 * Foo foo;
AjK 0:db98027c0bbb 591 *
AjK 0:db98027c0bbb 592 * gps.attach_gga(&myCallback);
AjK 0:db98027c0bbb 593 *
AjK 0:db98027c0bbb 594 * @endcode
AjK 0:db98027c0bbb 595 *
AjK 0:db98027c0bbb 596 * @ingroup API
AjK 0:db98027c0bbb 597 * @param fptr Callback function pointer.
AjK 0:db98027c0bbb 598 */
AjK 0:db98027c0bbb 599 void attach_gga(void (*fptr)(void)) { cb_gga.attach(fptr); }
AjK 0:db98027c0bbb 600
AjK 0:db98027c0bbb 601 //! A callback object for the NMEA GGA message processed signal user API.
AjK 0:db98027c0bbb 602 FunctionPointer cb_gga;
AjK 0:db98027c0bbb 603
AjK 0:db98027c0bbb 604 //! Set the baud rate the GPS module is using.
AjK 0:db98027c0bbb 605 /**
AjK 0:db98027c0bbb 606 * Set the baud rate of the serial port
AjK 0:db98027c0bbb 607 *
AjK 0:db98027c0bbb 608 * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.baud
AjK 0:db98027c0bbb 609 *
AjK 0:db98027c0bbb 610 * @ingroup API
AjK 0:db98027c0bbb 611 * @param baudrate The baudrate to set.
AjK 0:db98027c0bbb 612 */
AjK 0:db98027c0bbb 613 void baud(int baudrate) { Serial::baud(baudrate); }
AjK 0:db98027c0bbb 614
AjK 0:db98027c0bbb 615 //! Set the serial port format the GPS module is using.
AjK 0:db98027c0bbb 616 /**
AjK 0:db98027c0bbb 617 * Set the transmission format used by the Serial port
AjK 0:db98027c0bbb 618 *
AjK 0:db98027c0bbb 619 * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format
AjK 0:db98027c0bbb 620 *
AjK 0:db98027c0bbb 621 * @ingroup API
AjK 0:db98027c0bbb 622 * @param bits - The number of bits in a word (5-8; default = 8)
AjK 0:db98027c0bbb 623 * @param parity - The parity used (GPS::None, GPS::Odd, GPS::Even, GPS::Forced1, GPS::Forced0; default = GPS::None)
AjK 0:db98027c0bbb 624 * @param stop_bits - The number of stop bits (1 or 2; default = 1)
AjK 0:db98027c0bbb 625 */
AjK 0:db98027c0bbb 626 void format(int bits, Parity parity, int stop_bits) { Serial::format(bits, (Serial::Parity)parity, stop_bits); }
AjK 0:db98027c0bbb 627
AjK 0:db98027c0bbb 628 protected:
AjK 0:db98027c0bbb 629
AjK 0:db98027c0bbb 630 //! Flag set true when a GPS PPS has been attached to a pin.
AjK 0:db98027c0bbb 631 bool _ppsInUse;
AjK 0:db98027c0bbb 632
AjK 0:db98027c0bbb 633 //! An InterruptIn object to "trigger" on the PPS edge.
AjK 0:db98027c0bbb 634 InterruptIn *_pps;
AjK 0:db98027c0bbb 635
AjK 0:db98027c0bbb 636 //! A Ticker object called every 10ms.
AjK 0:db98027c0bbb 637 Ticker *_second100;
AjK 0:db98027c0bbb 638
AjK 0:db98027c0bbb 639 //! A GPS_Time object used to hold the last parsed time/date data.
AjK 0:db98027c0bbb 640 GPS_Time theTime;
AjK 0:db98027c0bbb 641
AjK 0:db98027c0bbb 642 //! A GPS_Geodetic object used to hold the last parsed positional data.
AjK 0:db98027c0bbb 643 GPS_Geodetic thePlace;
AjK 0:db98027c0bbb 644 };
AjK 0:db98027c0bbb 645
AjK 0:db98027c0bbb 646 #endif
AjK 0:db98027c0bbb 647