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.cpp@7:34a9030f27a4, 2013-02-17 (annotated)

Committer:
mprinke
Date:
Sun Feb 17 17:37:22 2013 +0000
Revision:
7:34a9030f27a4
Parent:
6:64771e31464e 
- fixed declaration and initialization of/assignment to _uidx; - fixed declaration of index variable i;

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 #include "GPS.h"
AjK 0:db98027c0bbb 24
AjK 0:db98027c0bbb 25 GPS::GPS(PinName tx, PinName rx, const char *name) : Serial(tx, rx, name)
AjK 0:db98027c0bbb 26 {
AjK 3:28a1b60b0f37 27 _nmeaOnUart0 = false;
AjK 3:28a1b60b0f37 28
AjK 3:28a1b60b0f37 29 _lastByte = 0;
AjK 3:28a1b60b0f37 30
AjK 6:64771e31464e 31 _gga = (char *)NULL;
AjK 6:64771e31464e 32
AjK 6:64771e31464e 33 _rmc = (char *)NULL;
AjK 6:64771e31464e 34
AjK 6:64771e31464e 35 _vtg = (char *)NULL;
AjK 6:64771e31464e 36
mprinke 7:34a9030f27a4 37 switch (rx) {
mprinke 7:34a9030f27a4 38 case p14:
mprinke 7:34a9030f27a4 39 _uidx = 1;
mprinke 7:34a9030f27a4 40 break;
mprinke 7:34a9030f27a4 41
mprinke 7:34a9030f27a4 42 case p27:
mprinke 7:34a9030f27a4 43 _uidx = 2;
mprinke 7:34a9030f27a4 44 break;
mprinke 7:34a9030f27a4 45
mprinke 7:34a9030f27a4 46 case p10:
mprinke 7:34a9030f27a4 47 _uidx = 3;
mprinke 7:34a9030f27a4 48 break;
mprinke 7:34a9030f27a4 49
mprinke 7:34a9030f27a4 50 default:
mprinke 7:34a9030f27a4 51 _uidx = 0;
mprinke 7:34a9030f27a4 52 }
mprinke 7:34a9030f27a4 53
AjK 0:db98027c0bbb 54 switch(_uidx) {
AjK 0:db98027c0bbb 55 case 1: _base = LPC_UART1; break;
AjK 0:db98027c0bbb 56 case 2: _base = LPC_UART2; break;
AjK 0:db98027c0bbb 57 case 3: _base = LPC_UART3; break;
AjK 0:db98027c0bbb 58 default : _base = NULL; break;
AjK 0:db98027c0bbb 59 }
AjK 0:db98027c0bbb 60
AjK 0:db98027c0bbb 61 _pps = NULL;
AjK 0:db98027c0bbb 62 _ppsInUse = false;
AjK 0:db98027c0bbb 63
AjK 0:db98027c0bbb 64 if (_base != NULL) attach(this, &GPS::rx_irq);
AjK 0:db98027c0bbb 65
AjK 0:db98027c0bbb 66 _second100 = new Ticker;
AjK 0:db98027c0bbb 67 _second100->attach_us(this, &GPS::ticktock, GPS_TICKTOCK);
AjK 0:db98027c0bbb 68 }
AjK 0:db98027c0bbb 69
AjK 0:db98027c0bbb 70 void
AjK 0:db98027c0bbb 71 GPS::ppsAttach(PinName irq, ppsEdgeType type)
AjK 0:db98027c0bbb 72 {
AjK 0:db98027c0bbb 73 if (_pps != NULL) delete(_pps);
AjK 0:db98027c0bbb 74 _pps = new InterruptIn(irq);
AjK 0:db98027c0bbb 75 if (type == ppsRise) _pps->rise(this, &GPS::pps_irq);
AjK 0:db98027c0bbb 76 else _pps->fall(this, &GPS::pps_irq);
AjK 0:db98027c0bbb 77 _ppsInUse = true;
AjK 0:db98027c0bbb 78 }
AjK 0:db98027c0bbb 79
AjK 0:db98027c0bbb 80 void
AjK 0:db98027c0bbb 81 GPS::ppsUnattach(void)
AjK 0:db98027c0bbb 82 {
AjK 0:db98027c0bbb 83 if (_pps != NULL) delete(_pps);
AjK 0:db98027c0bbb 84 _ppsInUse = false;
AjK 0:db98027c0bbb 85 }
AjK 0:db98027c0bbb 86
AjK 0:db98027c0bbb 87 double
AjK 0:db98027c0bbb 88 GPS::latitude(void)
AjK 0:db98027c0bbb 89 {
AjK 0:db98027c0bbb 90 double a, b;
AjK 0:db98027c0bbb 91 do { a = thePlace.lat; b = thePlace.lat; } while (a != b);
AjK 0:db98027c0bbb 92 return a;
AjK 0:db98027c0bbb 93 }
AjK 0:db98027c0bbb 94
AjK 0:db98027c0bbb 95 double
AjK 0:db98027c0bbb 96 GPS::longitude(void)
AjK 0:db98027c0bbb 97 {
AjK 0:db98027c0bbb 98 double a, b;
AjK 0:db98027c0bbb 99 do { a = thePlace.lon; b = thePlace.lon; } while (a != b);
AjK 0:db98027c0bbb 100 return a;
AjK 0:db98027c0bbb 101 }
AjK 0:db98027c0bbb 102
AjK 0:db98027c0bbb 103 double
AjK 0:db98027c0bbb 104 GPS::altitude(void)
AjK 0:db98027c0bbb 105 {
AjK 0:db98027c0bbb 106 double a, b;
AjK 0:db98027c0bbb 107 do { a = thePlace.alt; b = thePlace.alt; } while (a != b);
AjK 0:db98027c0bbb 108 return a;
AjK 0:db98027c0bbb 109 }
AjK 0:db98027c0bbb 110
AjK 0:db98027c0bbb 111 GPS_Geodetic *
AjK 0:db98027c0bbb 112 GPS::geodetic(GPS_Geodetic *q)
AjK 0:db98027c0bbb 113 {
AjK 3:28a1b60b0f37 114 GPS_Geodetic a;
AjK 0:db98027c0bbb 115
AjK 0:db98027c0bbb 116 if (q == NULL) q = new GPS_Geodetic;
AjK 0:db98027c0bbb 117
AjK 0:db98027c0bbb 118 do {
AjK 0:db98027c0bbb 119 memcpy(&a, &thePlace, sizeof(GPS_Geodetic));
AjK 3:28a1b60b0f37 120 memcpy(q, &thePlace, sizeof(GPS_Geodetic));
AjK 0:db98027c0bbb 121 }
AjK 3:28a1b60b0f37 122 while (memcmp(&a, q, sizeof(GPS_Geodetic)) != 0);
AjK 0:db98027c0bbb 123
AjK 0:db98027c0bbb 124 return q;
AjK 0:db98027c0bbb 125 }
AjK 0:db98027c0bbb 126
AjK 2:8aa059e7d8b1 127 GPS_VTG *
AjK 2:8aa059e7d8b1 128 GPS::vtg(GPS_VTG *q)
AjK 2:8aa059e7d8b1 129 {
AjK 3:28a1b60b0f37 130 GPS_VTG a;
AjK 2:8aa059e7d8b1 131
AjK 2:8aa059e7d8b1 132 if (q == NULL) q = new GPS_VTG;
AjK 2:8aa059e7d8b1 133
AjK 2:8aa059e7d8b1 134 do {
AjK 2:8aa059e7d8b1 135 memcpy(&a, &theVTG, sizeof(GPS_VTG));
AjK 3:28a1b60b0f37 136 memcpy(q, &theVTG, sizeof(GPS_VTG));
AjK 2:8aa059e7d8b1 137 }
AjK 3:28a1b60b0f37 138 while (memcmp(&a, q, sizeof(GPS_VTG)) != 0);
AjK 2:8aa059e7d8b1 139
AjK 2:8aa059e7d8b1 140 return q;
AjK 2:8aa059e7d8b1 141 }
AjK 2:8aa059e7d8b1 142
AjK 0:db98027c0bbb 143 void
AjK 0:db98027c0bbb 144 GPS::ticktock(void)
mprinke 7:34a9030f27a4 145 {
AjK 0:db98027c0bbb 146 // Increment the time structure by 1/100th of a second.
AjK 0:db98027c0bbb 147 ++theTime;
AjK 0:db98027c0bbb 148
AjK 0:db98027c0bbb 149 // Test the serial queue.
AjK 0:db98027c0bbb 150 if (process_required) {
mprinke 7:34a9030f27a4 151
AjK 0:db98027c0bbb 152 char *s = buffer[active_buffer == 0 ? 1 : 0];
AjK 0:db98027c0bbb 153 if (!strncmp(s, "$GPRMC", 6)) {
AjK 6:64771e31464e 154 if (_rmc) {
mprinke 7:34a9030f27a4 155 int i;
AjK 6:64771e31464e 156 for(i = 0; s[i] != '\n'; i++) {
AjK 6:64771e31464e 157 _rmc[i] = s[i];
AjK 6:64771e31464e 158 }
AjK 6:64771e31464e 159 _rmc[i++] = '\n'; _rmc[i] = '\0';
AjK 6:64771e31464e 160 }
AjK 0:db98027c0bbb 161 theTime.nmea_rmc(s);
AjK 0:db98027c0bbb 162 cb_rmc.call();
AjK 0:db98027c0bbb 163 if (!_ppsInUse) theTime.fractionalReset();
AjK 0:db98027c0bbb 164 }
AjK 0:db98027c0bbb 165 else if (!strncmp(s, "$GPGGA", 6)) {
AjK 6:64771e31464e 166 if (_gga) {
mprinke 7:34a9030f27a4 167 int i;
mprinke 7:34a9030f27a4 168 for(i = 0; s[i] != '\n'; i++) {
AjK 6:64771e31464e 169 _gga[i] = s[i];
AjK 6:64771e31464e 170 }
AjK 6:64771e31464e 171 _gga[i++] = '\n'; _gga[i] = '\0';
AjK 6:64771e31464e 172 }
AjK 0:db98027c0bbb 173 thePlace.nmea_gga(s);
AjK 0:db98027c0bbb 174 cb_gga.call();
AjK 0:db98027c0bbb 175 }
AjK 2:8aa059e7d8b1 176 else if (!strncmp(s, "$GPVTG", 6)) {
AjK 6:64771e31464e 177 if (_vtg) {
mprinke 7:34a9030f27a4 178 int i;
mprinke 7:34a9030f27a4 179 for(i = 0; s[i] != '\n'; i++) {
AjK 6:64771e31464e 180 _vtg[i] = s[i];
AjK 6:64771e31464e 181 }
AjK 6:64771e31464e 182 _vtg[i++] = '\n'; _vtg[i] = '\0';
AjK 6:64771e31464e 183 }
AjK 2:8aa059e7d8b1 184 theVTG.nmea_vtg(s);
AjK 2:8aa059e7d8b1 185 cb_vtg.call();
AjK 2:8aa059e7d8b1 186 }
AjK 6:64771e31464e 187 else {
AjK 6:64771e31464e 188 if (_ukn) {
mprinke 7:34a9030f27a4 189 int i;
mprinke 7:34a9030f27a4 190 for(i = 0; s[i] != '\n'; i++) {
AjK 6:64771e31464e 191 _ukn[i] = s[i];
AjK 6:64771e31464e 192 }
AjK 6:64771e31464e 193 _ukn[i++] = '\n'; _ukn[i] = '\0';
AjK 6:64771e31464e 194 cb_ukn.call();
AjK 6:64771e31464e 195 }
AjK 6:64771e31464e 196 }
AjK 0:db98027c0bbb 197 process_required = false;
AjK 0:db98027c0bbb 198 }
AjK 5:7f130f85d5a4 199
AjK 5:7f130f85d5a4 200 // If we have a valid GPS time then, once per minute, set the RTC.
AjK 5:7f130f85d5a4 201 if (theTime.status == 'A' && theTime.second == 0 && theTime.tenths == 0 && theTime.hundreths == 0) {
AjK 5:7f130f85d5a4 202 // set_time() is defined in rtc_time.h
AjK 5:7f130f85d5a4 203 // http://mbed.org/projects/libraries/svn/mbed/trunk/rtc_time.h
AjK 5:7f130f85d5a4 204 set_time(theTime.to_C_tm());
AjK 5:7f130f85d5a4 205 }
AjK 5:7f130f85d5a4 206
AjK 0:db98027c0bbb 207 }
AjK 0:db98027c0bbb 208
AjK 0:db98027c0bbb 209 void
AjK 0:db98027c0bbb 210 GPS::pps_irq(void)
AjK 0:db98027c0bbb 211 {
AjK 0:db98027c0bbb 212 theTime.fractionalReset();
AjK 0:db98027c0bbb 213 theTime++; // Increment the time/date by one second.
AjK 0:db98027c0bbb 214 cb_pps.call();
AjK 0:db98027c0bbb 215 }
AjK 2:8aa059e7d8b1 216
AjK 0:db98027c0bbb 217 void
AjK 0:db98027c0bbb 218 GPS::rx_irq(void)
AjK 0:db98027c0bbb 219 {
AjK 0:db98027c0bbb 220 uint32_t iir __attribute__((unused));
AjK 0:db98027c0bbb 221 char c;
AjK 0:db98027c0bbb 222
AjK 0:db98027c0bbb 223 if (_base) {
AjK 0:db98027c0bbb 224 iir = (uint32_t)*((char *)_base + GPS_IIR);
AjK 0:db98027c0bbb 225 while((int)(*((char *)_base + GPS_LSR) & 0x1)) {
AjK 3:28a1b60b0f37 226 c = (char)(*((char *)_base + GPS_RBR) & 0xFF);
AjK 3:28a1b60b0f37 227
AjK 3:28a1b60b0f37 228 // strtok workaround.
AjK 3:28a1b60b0f37 229 // Found that ,, together (which some NMEA sentences
AjK 3:28a1b60b0f37 230 // contain for a null/empty field) confuses strtok()
AjK 3:28a1b60b0f37 231 // function. Solution:- Push a "zero" into the string
AjK 3:28a1b60b0f37 232 // for missing/empty fields.
AjK 3:28a1b60b0f37 233 if (c == ',' && _lastByte == ',') {
AjK 3:28a1b60b0f37 234 buffer[active_buffer][rx_buffer_in] = '0';
AjK 3:28a1b60b0f37 235 if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
AjK 3:28a1b60b0f37 236 }
AjK 3:28a1b60b0f37 237
AjK 3:28a1b60b0f37 238 // Debugging/dumping data.
AjK 3:28a1b60b0f37 239 if (_nmeaOnUart0) LPC_UART0->RBR = c;
AjK 3:28a1b60b0f37 240
AjK 3:28a1b60b0f37 241 // Put the byte into the string.
AjK 3:28a1b60b0f37 242 buffer[active_buffer][rx_buffer_in] = c;
AjK 3:28a1b60b0f37 243 if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
AjK 3:28a1b60b0f37 244
AjK 3:28a1b60b0f37 245 // Save for next time an irq occurs. See strtok() above.
AjK 3:28a1b60b0f37 246 _lastByte = c;
AjK 3:28a1b60b0f37 247
AjK 3:28a1b60b0f37 248 // If end of NMEA sentence flag for processing.
AjK 0:db98027c0bbb 249 if (c == '\n') {
AjK 0:db98027c0bbb 250 active_buffer = active_buffer == 0 ? 1 : 0;
AjK 0:db98027c0bbb 251 process_required = true;
AjK 0:db98027c0bbb 252 rx_buffer_in = 0;
AjK 3:28a1b60b0f37 253 }
AjK 0:db98027c0bbb 254 }
AjK 0:db98027c0bbb 255 }
AjK 0:db98027c0bbb 256 }