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Willem Melching / Mbed 2 deprecated bootje_v4

MODGPS/GPS.cpp@0:bec310bde899, 2011-09-27 (annotated)

Committer:: pd0wm
Date:: Tue Sep 27 19:46:30 2011 +0000
Revision:: 0:bec310bde899

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User	Revision	Line number	New contents of line
pd0wm	0:bec310bde899	1	/*
pd0wm	0:bec310bde899	2	Copyright (c) 2010 Andy Kirkham
pd0wm	0:bec310bde899	3
pd0wm	0:bec310bde899	4	Permission is hereby granted, free of charge, to any person obtaining a copy
pd0wm	0:bec310bde899	5	of this software and associated documentation files (the "Software"), to deal
pd0wm	0:bec310bde899	6	in the Software without restriction, including without limitation the rights
pd0wm	0:bec310bde899	7	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
pd0wm	0:bec310bde899	8	copies of the Software, and to permit persons to whom the Software is
pd0wm	0:bec310bde899	9	furnished to do so, subject to the following conditions:
pd0wm	0:bec310bde899	10
pd0wm	0:bec310bde899	11	The above copyright notice and this permission notice shall be included in
pd0wm	0:bec310bde899	12	all copies or substantial portions of the Software.
pd0wm	0:bec310bde899	13
pd0wm	0:bec310bde899	14	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
pd0wm	0:bec310bde899	15	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
pd0wm	0:bec310bde899	16	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
pd0wm	0:bec310bde899	17	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
pd0wm	0:bec310bde899	18	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
pd0wm	0:bec310bde899	19	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
pd0wm	0:bec310bde899	20	THE SOFTWARE.
pd0wm	0:bec310bde899	21	*/
pd0wm	0:bec310bde899	22
pd0wm	0:bec310bde899	23	#include "GPS.h"
pd0wm	0:bec310bde899	24
pd0wm	0:bec310bde899	25	GPS::GPS(PinName tx, PinName rx, const char *name) : Serial(tx, rx, name)
pd0wm	0:bec310bde899	26	{
pd0wm	0:bec310bde899	27	_nmeaOnUart0 = false;
pd0wm	0:bec310bde899	28
pd0wm	0:bec310bde899	29	_lastByte = 0;
pd0wm	0:bec310bde899	30
pd0wm	0:bec310bde899	31	_gga = (char *)NULL;
pd0wm	0:bec310bde899	32
pd0wm	0:bec310bde899	33	_rmc = (char *)NULL;
pd0wm	0:bec310bde899	34
pd0wm	0:bec310bde899	35	_vtg = (char *)NULL;
pd0wm	0:bec310bde899	36
pd0wm	0:bec310bde899	37	switch(_uidx) {
pd0wm	0:bec310bde899	38	case 1: _base = LPC_UART1; break;
pd0wm	0:bec310bde899	39	case 2: _base = LPC_UART2; break;
pd0wm	0:bec310bde899	40	case 3: _base = LPC_UART3; break;
pd0wm	0:bec310bde899	41	default : _base = NULL; break;
pd0wm	0:bec310bde899	42	}
pd0wm	0:bec310bde899	43
pd0wm	0:bec310bde899	44	_pps = NULL;
pd0wm	0:bec310bde899	45	_ppsInUse = false;
pd0wm	0:bec310bde899	46
pd0wm	0:bec310bde899	47	if (_base != NULL) attach(this, &GPS::rx_irq);
pd0wm	0:bec310bde899	48
pd0wm	0:bec310bde899	49	_second100 = new Ticker;
pd0wm	0:bec310bde899	50	_second100->attach_us(this, &GPS::ticktock, GPS_TICKTOCK);
pd0wm	0:bec310bde899	51	}
pd0wm	0:bec310bde899	52
pd0wm	0:bec310bde899	53	void
pd0wm	0:bec310bde899	54	GPS::ppsAttach(PinName irq, ppsEdgeType type)
pd0wm	0:bec310bde899	55	{
pd0wm	0:bec310bde899	56	if (_pps != NULL) delete(_pps);
pd0wm	0:bec310bde899	57	_pps = new InterruptIn(irq);
pd0wm	0:bec310bde899	58	if (type == ppsRise) _pps->rise(this, &GPS::pps_irq);
pd0wm	0:bec310bde899	59	else _pps->fall(this, &GPS::pps_irq);
pd0wm	0:bec310bde899	60	_ppsInUse = true;
pd0wm	0:bec310bde899	61	}
pd0wm	0:bec310bde899	62
pd0wm	0:bec310bde899	63	void
pd0wm	0:bec310bde899	64	GPS::ppsUnattach(void)
pd0wm	0:bec310bde899	65	{
pd0wm	0:bec310bde899	66	if (_pps != NULL) delete(_pps);
pd0wm	0:bec310bde899	67	_ppsInUse = false;
pd0wm	0:bec310bde899	68	}
pd0wm	0:bec310bde899	69
pd0wm	0:bec310bde899	70	double
pd0wm	0:bec310bde899	71	GPS::latitude(void)
pd0wm	0:bec310bde899	72	{
pd0wm	0:bec310bde899	73	double a, b;
pd0wm	0:bec310bde899	74	do { a = thePlace.lat; b = thePlace.lat; } while (a != b);
pd0wm	0:bec310bde899	75	return a;
pd0wm	0:bec310bde899	76	}
pd0wm	0:bec310bde899	77
pd0wm	0:bec310bde899	78	double
pd0wm	0:bec310bde899	79	GPS::longitude(void)
pd0wm	0:bec310bde899	80	{
pd0wm	0:bec310bde899	81	double a, b;
pd0wm	0:bec310bde899	82	do { a = thePlace.lon; b = thePlace.lon; } while (a != b);
pd0wm	0:bec310bde899	83	return a;
pd0wm	0:bec310bde899	84	}
pd0wm	0:bec310bde899	85
pd0wm	0:bec310bde899	86	double
pd0wm	0:bec310bde899	87	GPS::altitude(void)
pd0wm	0:bec310bde899	88	{
pd0wm	0:bec310bde899	89	double a, b;
pd0wm	0:bec310bde899	90	do { a = thePlace.alt; b = thePlace.alt; } while (a != b);
pd0wm	0:bec310bde899	91	return a;
pd0wm	0:bec310bde899	92	}
pd0wm	0:bec310bde899	93
pd0wm	0:bec310bde899	94	GPS_Geodetic *
pd0wm	0:bec310bde899	95	GPS::geodetic(GPS_Geodetic *q)
pd0wm	0:bec310bde899	96	{
pd0wm	0:bec310bde899	97	GPS_Geodetic a;
pd0wm	0:bec310bde899	98
pd0wm	0:bec310bde899	99	if (q == NULL) q = new GPS_Geodetic;
pd0wm	0:bec310bde899	100
pd0wm	0:bec310bde899	101	do {
pd0wm	0:bec310bde899	102	memcpy(&a, &thePlace, sizeof(GPS_Geodetic));
pd0wm	0:bec310bde899	103	memcpy(q, &thePlace, sizeof(GPS_Geodetic));
pd0wm	0:bec310bde899	104	}
pd0wm	0:bec310bde899	105	while (memcmp(&a, q, sizeof(GPS_Geodetic)) != 0);
pd0wm	0:bec310bde899	106
pd0wm	0:bec310bde899	107	return q;
pd0wm	0:bec310bde899	108	}
pd0wm	0:bec310bde899	109
pd0wm	0:bec310bde899	110	GPS_VTG *
pd0wm	0:bec310bde899	111	GPS::vtg(GPS_VTG *q)
pd0wm	0:bec310bde899	112	{
pd0wm	0:bec310bde899	113	GPS_VTG a;
pd0wm	0:bec310bde899	114
pd0wm	0:bec310bde899	115	if (q == NULL) q = new GPS_VTG;
pd0wm	0:bec310bde899	116
pd0wm	0:bec310bde899	117	do {
pd0wm	0:bec310bde899	118	memcpy(&a, &theVTG, sizeof(GPS_VTG));
pd0wm	0:bec310bde899	119	memcpy(q, &theVTG, sizeof(GPS_VTG));
pd0wm	0:bec310bde899	120	}
pd0wm	0:bec310bde899	121	while (memcmp(&a, q, sizeof(GPS_VTG)) != 0);
pd0wm	0:bec310bde899	122
pd0wm	0:bec310bde899	123	return q;
pd0wm	0:bec310bde899	124	}
pd0wm	0:bec310bde899	125
pd0wm	0:bec310bde899	126	void
pd0wm	0:bec310bde899	127	GPS::ticktock(void)
pd0wm	0:bec310bde899	128	{
pd0wm	0:bec310bde899	129	int i;
pd0wm	0:bec310bde899	130
pd0wm	0:bec310bde899	131	// Increment the time structure by 1/100th of a second.
pd0wm	0:bec310bde899	132	++theTime;
pd0wm	0:bec310bde899	133
pd0wm	0:bec310bde899	134	// Test the serial queue.
pd0wm	0:bec310bde899	135	if (process_required) {
pd0wm	0:bec310bde899	136	char *s = buffer[active_buffer == 0 ? 1 : 0];
pd0wm	0:bec310bde899	137	if (!strncmp(s, "$GPRMC", 6)) {
pd0wm	0:bec310bde899	138	if (_rmc) {
pd0wm	0:bec310bde899	139	for(i = 0; s[i] != '\n'; i++) {
pd0wm	0:bec310bde899	140	_rmc[i] = s[i];
pd0wm	0:bec310bde899	141	}
pd0wm	0:bec310bde899	142	_rmc[i++] = '\n'; _rmc[i] = '\0';
pd0wm	0:bec310bde899	143	}
pd0wm	0:bec310bde899	144	theTime.nmea_rmc(s);
pd0wm	0:bec310bde899	145	cb_rmc.call();
pd0wm	0:bec310bde899	146	if (!_ppsInUse) theTime.fractionalReset();
pd0wm	0:bec310bde899	147	}
pd0wm	0:bec310bde899	148	else if (!strncmp(s, "$GPGGA", 6)) {
pd0wm	0:bec310bde899	149	if (_gga) {
pd0wm	0:bec310bde899	150	for(i = 0; s[i] != '\n'; i++) {
pd0wm	0:bec310bde899	151	_gga[i] = s[i];
pd0wm	0:bec310bde899	152	}
pd0wm	0:bec310bde899	153	_gga[i++] = '\n'; _gga[i] = '\0';
pd0wm	0:bec310bde899	154	}
pd0wm	0:bec310bde899	155	thePlace.nmea_gga(s);
pd0wm	0:bec310bde899	156	cb_gga.call();
pd0wm	0:bec310bde899	157	}
pd0wm	0:bec310bde899	158	else if (!strncmp(s, "$GPVTG", 6)) {
pd0wm	0:bec310bde899	159	if (_vtg) {
pd0wm	0:bec310bde899	160	for(i = 0; s[i] != '\n'; i++) {
pd0wm	0:bec310bde899	161	_vtg[i] = s[i];
pd0wm	0:bec310bde899	162	}
pd0wm	0:bec310bde899	163	_vtg[i++] = '\n'; _vtg[i] = '\0';
pd0wm	0:bec310bde899	164	}
pd0wm	0:bec310bde899	165	theVTG.nmea_vtg(s);
pd0wm	0:bec310bde899	166	cb_vtg.call();
pd0wm	0:bec310bde899	167	}
pd0wm	0:bec310bde899	168	else {
pd0wm	0:bec310bde899	169	if (_ukn) {
pd0wm	0:bec310bde899	170	for(i = 0; s[i] != '\n'; i++) {
pd0wm	0:bec310bde899	171	_ukn[i] = s[i];
pd0wm	0:bec310bde899	172	}
pd0wm	0:bec310bde899	173	_ukn[i++] = '\n'; _ukn[i] = '\0';
pd0wm	0:bec310bde899	174	cb_ukn.call();
pd0wm	0:bec310bde899	175	}
pd0wm	0:bec310bde899	176	}
pd0wm	0:bec310bde899	177	process_required = false;
pd0wm	0:bec310bde899	178	}
pd0wm	0:bec310bde899	179
pd0wm	0:bec310bde899	180	// If we have a valid GPS time then, once per minute, set the RTC.
pd0wm	0:bec310bde899	181	if (theTime.status == 'A' && theTime.second == 0 && theTime.tenths == 0 && theTime.hundreths == 0) {
pd0wm	0:bec310bde899	182	// set_time() is defined in rtc_time.h
pd0wm	0:bec310bde899	183	// http://mbed.org/projects/libraries/svn/mbed/trunk/rtc_time.h
pd0wm	0:bec310bde899	184	set_time(theTime.to_C_tm());
pd0wm	0:bec310bde899	185	}
pd0wm	0:bec310bde899	186
pd0wm	0:bec310bde899	187	}
pd0wm	0:bec310bde899	188
pd0wm	0:bec310bde899	189	void
pd0wm	0:bec310bde899	190	GPS::pps_irq(void)
pd0wm	0:bec310bde899	191	{
pd0wm	0:bec310bde899	192	theTime.fractionalReset();
pd0wm	0:bec310bde899	193	theTime++; // Increment the time/date by one second.
pd0wm	0:bec310bde899	194	cb_pps.call();
pd0wm	0:bec310bde899	195	}
pd0wm	0:bec310bde899	196
pd0wm	0:bec310bde899	197	void
pd0wm	0:bec310bde899	198	GPS::rx_irq(void)
pd0wm	0:bec310bde899	199	{
pd0wm	0:bec310bde899	200	uint32_t iir __attribute__((unused));
pd0wm	0:bec310bde899	201	char c;
pd0wm	0:bec310bde899	202
pd0wm	0:bec310bde899	203	if (_base) {
pd0wm	0:bec310bde899	204	iir = (uint32_t)((char )_base + GPS_IIR);
pd0wm	0:bec310bde899	205	while((int)(((char )_base + GPS_LSR) & 0x1)) {
pd0wm	0:bec310bde899	206	c = (char)(((char )_base + GPS_RBR) & 0xFF);
pd0wm	0:bec310bde899	207
pd0wm	0:bec310bde899	208	// strtok workaround.
pd0wm	0:bec310bde899	209	// Found that ,, together (which some NMEA sentences
pd0wm	0:bec310bde899	210	// contain for a null/empty field) confuses strtok()
pd0wm	0:bec310bde899	211	// function. Solution:- Push a "zero" into the string
pd0wm	0:bec310bde899	212	// for missing/empty fields.
pd0wm	0:bec310bde899	213	if (c == ',' && _lastByte == ',') {
pd0wm	0:bec310bde899	214	buffer[active_buffer][rx_buffer_in] = '0';
pd0wm	0:bec310bde899	215	if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
pd0wm	0:bec310bde899	216	}
pd0wm	0:bec310bde899	217
pd0wm	0:bec310bde899	218	// Debugging/dumping data.
pd0wm	0:bec310bde899	219	if (_nmeaOnUart0) LPC_UART0->RBR = c;
pd0wm	0:bec310bde899	220
pd0wm	0:bec310bde899	221	// Put the byte into the string.
pd0wm	0:bec310bde899	222	buffer[active_buffer][rx_buffer_in] = c;
pd0wm	0:bec310bde899	223	if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0;
pd0wm	0:bec310bde899	224
pd0wm	0:bec310bde899	225	// Save for next time an irq occurs. See strtok() above.
pd0wm	0:bec310bde899	226	_lastByte = c;
pd0wm	0:bec310bde899	227
pd0wm	0:bec310bde899	228	// If end of NMEA sentence flag for processing.
pd0wm	0:bec310bde899	229	if (c == '\n') {
pd0wm	0:bec310bde899	230	active_buffer = active_buffer == 0 ? 1 : 0;
pd0wm	0:bec310bde899	231	process_required = true;
pd0wm	0:bec310bde899	232	rx_buffer_in = 0;
pd0wm	0:bec310bde899	233	}
pd0wm	0:bec310bde899	234	}
pd0wm	0:bec310bde899	235	}
pd0wm	0:bec310bde899	236	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	27 Sep 2011
Imports:	2
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

MODGPS/GPS.cpp@0:bec310bde899, 2011-09-27 (annotated)

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