Willem Melching
/
bootje_v4
MODGPS/GPS.h@0:bec310bde899, 2011-09-27 (annotated)
- Committer:
- pd0wm
- Date:
- Tue Sep 27 19:46:30 2011 +0000
- Revision:
- 0:bec310bde899
Who changed what in which revision?
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 | #ifndef GPS_H |
pd0wm | 0:bec310bde899 | 24 | #define GPS_H |
pd0wm | 0:bec310bde899 | 25 | |
pd0wm | 0:bec310bde899 | 26 | #include "mbed.h" |
pd0wm | 0:bec310bde899 | 27 | #include "GPS_VTG.h" |
pd0wm | 0:bec310bde899 | 28 | #include "GPS_Time.h" |
pd0wm | 0:bec310bde899 | 29 | #include "GPS_Geodetic.h" |
pd0wm | 0:bec310bde899 | 30 | |
pd0wm | 0:bec310bde899 | 31 | #define GPS_RBR 0x00 |
pd0wm | 0:bec310bde899 | 32 | #define GPS_THR 0x00 |
pd0wm | 0:bec310bde899 | 33 | #define GPS_DLL 0x00 |
pd0wm | 0:bec310bde899 | 34 | #define GPS_IER 0x04 |
pd0wm | 0:bec310bde899 | 35 | #define GPS_DML 0x04 |
pd0wm | 0:bec310bde899 | 36 | #define GPS_IIR 0x08 |
pd0wm | 0:bec310bde899 | 37 | #define GPS_FCR 0x08 |
pd0wm | 0:bec310bde899 | 38 | #define GPS_LCR 0x0C |
pd0wm | 0:bec310bde899 | 39 | #define GPS_LSR 0x14 |
pd0wm | 0:bec310bde899 | 40 | #define GPS_SCR 0x1C |
pd0wm | 0:bec310bde899 | 41 | #define GPS_ACR 0x20 |
pd0wm | 0:bec310bde899 | 42 | #define GPS_ICR 0x24 |
pd0wm | 0:bec310bde899 | 43 | #define GPS_FDR 0x28 |
pd0wm | 0:bec310bde899 | 44 | #define GPS_TER 0x30 |
pd0wm | 0:bec310bde899 | 45 | |
pd0wm | 0:bec310bde899 | 46 | #define GPS_BUFFER_LEN 128 |
pd0wm | 0:bec310bde899 | 47 | #define GPS_TICKTOCK 10000 |
pd0wm | 0:bec310bde899 | 48 | |
pd0wm | 0:bec310bde899 | 49 | /** @defgroup API The MODGPS API */ |
pd0wm | 0:bec310bde899 | 50 | |
pd0wm | 0:bec310bde899 | 51 | /** GPS module |
pd0wm | 0:bec310bde899 | 52 | * @author Andy Kirkham |
pd0wm | 0:bec310bde899 | 53 | * @see http://mbed.org/cookbook/MODGPS |
pd0wm | 0:bec310bde899 | 54 | * @see example1.cpp |
pd0wm | 0:bec310bde899 | 55 | * @see example2.cpp |
pd0wm | 0:bec310bde899 | 56 | * @see API |
pd0wm | 0:bec310bde899 | 57 | * |
pd0wm | 0:bec310bde899 | 58 | * @image html /media/uploads/AjK/gps_interfaces.png "Wiring up the GPS module" |
pd0wm | 0:bec310bde899 | 59 | * |
pd0wm | 0:bec310bde899 | 60 | * Example: |
pd0wm | 0:bec310bde899 | 61 | * @code |
pd0wm | 0:bec310bde899 | 62 | * #include "mbed.h" |
pd0wm | 0:bec310bde899 | 63 | * #include "GPS.h" |
pd0wm | 0:bec310bde899 | 64 | * |
pd0wm | 0:bec310bde899 | 65 | * DigitalOut led1(LED1); |
pd0wm | 0:bec310bde899 | 66 | * Serial pc(USBTX, USBRX); |
pd0wm | 0:bec310bde899 | 67 | * GPS gps(NC, p10); |
pd0wm | 0:bec310bde899 | 68 | * |
pd0wm | 0:bec310bde899 | 69 | * int main() { |
pd0wm | 0:bec310bde899 | 70 | * GPS_Time t; |
pd0wm | 0:bec310bde899 | 71 | * |
pd0wm | 0:bec310bde899 | 72 | * // Wait for the GPS NMEA data to become valid. |
pd0wm | 0:bec310bde899 | 73 | * while (!gps.isTimeValid()) { |
pd0wm | 0:bec310bde899 | 74 | * led1 = !led1; |
pd0wm | 0:bec310bde899 | 75 | * wait(1); |
pd0wm | 0:bec310bde899 | 76 | * } |
pd0wm | 0:bec310bde899 | 77 | * |
pd0wm | 0:bec310bde899 | 78 | * gps.timeNow(&t); |
pd0wm | 0:bec310bde899 | 79 | * |
pd0wm | 0:bec310bde899 | 80 | * pc.printf("The time/date is %02d:%02d:%02d %02d/%02d/%04d\r\n", |
pd0wm | 0:bec310bde899 | 81 | * t.hour, t.minute, t.second, t.day, t.month, t.year); |
pd0wm | 0:bec310bde899 | 82 | * |
pd0wm | 0:bec310bde899 | 83 | * // Wait until at least four satellites produce a position fix and a valid quality. |
pd0wm | 0:bec310bde899 | 84 | * while (gps.numOfSats() < 4 && gps.getGPSquality != 0) { |
pd0wm | 0:bec310bde899 | 85 | * led1 = !led1; |
pd0wm | 0:bec310bde899 | 86 | * wait(1); |
pd0wm | 0:bec310bde899 | 87 | * } |
pd0wm | 0:bec310bde899 | 88 | * |
pd0wm | 0:bec310bde899 | 89 | * pc.printf("Lat = %.4f Lon = %.4f Alt = %.1fkm\r\n", |
pd0wm | 0:bec310bde899 | 90 | * gps.latitude(), gps.longitude, gps.altitude()); |
pd0wm | 0:bec310bde899 | 91 | * |
pd0wm | 0:bec310bde899 | 92 | * // Make the LED go steady to indicate we have finished. |
pd0wm | 0:bec310bde899 | 93 | * led1 = 1; |
pd0wm | 0:bec310bde899 | 94 | * |
pd0wm | 0:bec310bde899 | 95 | * while(1) {} |
pd0wm | 0:bec310bde899 | 96 | * } |
pd0wm | 0:bec310bde899 | 97 | * @endcode |
pd0wm | 0:bec310bde899 | 98 | */ |
pd0wm | 0:bec310bde899 | 99 | |
pd0wm | 0:bec310bde899 | 100 | class GPS : Serial { |
pd0wm | 0:bec310bde899 | 101 | public: |
pd0wm | 0:bec310bde899 | 102 | |
pd0wm | 0:bec310bde899 | 103 | //! The PPS edge type to interrupt on. |
pd0wm | 0:bec310bde899 | 104 | enum ppsEdgeType { |
pd0wm | 0:bec310bde899 | 105 | ppsRise = 0, /*!< Use the rising edge (default). */ |
pd0wm | 0:bec310bde899 | 106 | ppsFall /*!< Use the falling edge. */ |
pd0wm | 0:bec310bde899 | 107 | }; |
pd0wm | 0:bec310bde899 | 108 | |
pd0wm | 0:bec310bde899 | 109 | //! A copy of the Serial parity enum |
pd0wm | 0:bec310bde899 | 110 | enum Parity { |
pd0wm | 0:bec310bde899 | 111 | None = 0 |
pd0wm | 0:bec310bde899 | 112 | , Odd |
pd0wm | 0:bec310bde899 | 113 | , Even |
pd0wm | 0:bec310bde899 | 114 | , Forced1 |
pd0wm | 0:bec310bde899 | 115 | , Forced0 |
pd0wm | 0:bec310bde899 | 116 | }; |
pd0wm | 0:bec310bde899 | 117 | |
pd0wm | 0:bec310bde899 | 118 | //! GPS constructor. |
pd0wm | 0:bec310bde899 | 119 | /** |
pd0wm | 0:bec310bde899 | 120 | * The GPS constructor is used to initialise the GPS object. |
pd0wm | 0:bec310bde899 | 121 | * |
pd0wm | 0:bec310bde899 | 122 | * @param tx Usually unused and set to NC |
pd0wm | 0:bec310bde899 | 123 | * @param rx The RX pin the GPS is connected to, p10, p14( OR p25), p27. |
pd0wm | 0:bec310bde899 | 124 | * @param name An option name for RPC usage. |
pd0wm | 0:bec310bde899 | 125 | */ |
pd0wm | 0:bec310bde899 | 126 | GPS(PinName tx, PinName rx, const char *name = NULL); |
pd0wm | 0:bec310bde899 | 127 | |
pd0wm | 0:bec310bde899 | 128 | //! Is the time reported by the GPS valid. |
pd0wm | 0:bec310bde899 | 129 | /** |
pd0wm | 0:bec310bde899 | 130 | * Method used to check the validity of the time the GPS module is reporting. |
pd0wm | 0:bec310bde899 | 131 | * |
pd0wm | 0:bec310bde899 | 132 | * @code |
pd0wm | 0:bec310bde899 | 133 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 134 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 135 | * |
pd0wm | 0:bec310bde899 | 136 | * if (gps.isTimeValid()) { |
pd0wm | 0:bec310bde899 | 137 | * // Time is valid :) |
pd0wm | 0:bec310bde899 | 138 | * } |
pd0wm | 0:bec310bde899 | 139 | * else { |
pd0wm | 0:bec310bde899 | 140 | * // Doh, time is not valid :( |
pd0wm | 0:bec310bde899 | 141 | * ) |
pd0wm | 0:bec310bde899 | 142 | * |
pd0wm | 0:bec310bde899 | 143 | * @endcode |
pd0wm | 0:bec310bde899 | 144 | * |
pd0wm | 0:bec310bde899 | 145 | * @ingroup API |
pd0wm | 0:bec310bde899 | 146 | * @return bool true if valid, false otherwise |
pd0wm | 0:bec310bde899 | 147 | */ |
pd0wm | 0:bec310bde899 | 148 | bool isTimeValid(void) { return theTime.status == 'V' ? false : true; } |
pd0wm | 0:bec310bde899 | 149 | |
pd0wm | 0:bec310bde899 | 150 | //! Is the positional fix reported by the GPS valid. |
pd0wm | 0:bec310bde899 | 151 | /** |
pd0wm | 0:bec310bde899 | 152 | * Method used to check the validity of the positional data. This method |
pd0wm | 0:bec310bde899 | 153 | * returns the GGA field, 0 is "bad, 1 is "ok", etc. See the NMEA GGA |
pd0wm | 0:bec310bde899 | 154 | * description for more details. |
pd0wm | 0:bec310bde899 | 155 | * |
pd0wm | 0:bec310bde899 | 156 | * @code |
pd0wm | 0:bec310bde899 | 157 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 158 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 159 | * |
pd0wm | 0:bec310bde899 | 160 | * if (gps.getGPSquality() == 0) { |
pd0wm | 0:bec310bde899 | 161 | * // The location fix is no good/not accurate :( |
pd0wm | 0:bec310bde899 | 162 | * } |
pd0wm | 0:bec310bde899 | 163 | * else { |
pd0wm | 0:bec310bde899 | 164 | * // All good, can use last fix data. |
pd0wm | 0:bec310bde899 | 165 | * ) |
pd0wm | 0:bec310bde899 | 166 | * |
pd0wm | 0:bec310bde899 | 167 | * @endcode |
pd0wm | 0:bec310bde899 | 168 | * |
pd0wm | 0:bec310bde899 | 169 | * @ingroup API |
pd0wm | 0:bec310bde899 | 170 | * @return int 0 on no fix, 1... (see NMEA GGA for more details). |
pd0wm | 0:bec310bde899 | 171 | */ |
pd0wm | 0:bec310bde899 | 172 | int getGPSquality(void) { return thePlace.getGPSquality(); } |
pd0wm | 0:bec310bde899 | 173 | |
pd0wm | 0:bec310bde899 | 174 | //! How many satellites were used in the last fix. |
pd0wm | 0:bec310bde899 | 175 | /** |
pd0wm | 0:bec310bde899 | 176 | * Method returns the number of GPS satellites used on the last fix. |
pd0wm | 0:bec310bde899 | 177 | * |
pd0wm | 0:bec310bde899 | 178 | * @code |
pd0wm | 0:bec310bde899 | 179 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 180 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 181 | * |
pd0wm | 0:bec310bde899 | 182 | * int sats = gps.numOfSats(); |
pd0wm | 0:bec310bde899 | 183 | * |
pd0wm | 0:bec310bde899 | 184 | * @endcode |
pd0wm | 0:bec310bde899 | 185 | * |
pd0wm | 0:bec310bde899 | 186 | * @ingroup API |
pd0wm | 0:bec310bde899 | 187 | * @return int The number of satellites. |
pd0wm | 0:bec310bde899 | 188 | */ |
pd0wm | 0:bec310bde899 | 189 | int numOfSats(void) { return thePlace.numOfSats(); } |
pd0wm | 0:bec310bde899 | 190 | |
pd0wm | 0:bec310bde899 | 191 | //! What was the last reported latitude (in degrees) |
pd0wm | 0:bec310bde899 | 192 | /** |
pd0wm | 0:bec310bde899 | 193 | * Method returns a double in degrees, positive being North, negative being South. |
pd0wm | 0:bec310bde899 | 194 | * |
pd0wm | 0:bec310bde899 | 195 | * @code |
pd0wm | 0:bec310bde899 | 196 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 197 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 198 | * |
pd0wm | 0:bec310bde899 | 199 | * double latitude = gps.latitude(); |
pd0wm | 0:bec310bde899 | 200 | * |
pd0wm | 0:bec310bde899 | 201 | * @endcode |
pd0wm | 0:bec310bde899 | 202 | * |
pd0wm | 0:bec310bde899 | 203 | * @ingroup API |
pd0wm | 0:bec310bde899 | 204 | * @return double Degrees |
pd0wm | 0:bec310bde899 | 205 | */ |
pd0wm | 0:bec310bde899 | 206 | double latitude(void); |
pd0wm | 0:bec310bde899 | 207 | |
pd0wm | 0:bec310bde899 | 208 | //! What was the last reported longitude (in degrees) |
pd0wm | 0:bec310bde899 | 209 | /** |
pd0wm | 0:bec310bde899 | 210 | * Method returns a double in degrees, positive being East, negative being West. |
pd0wm | 0:bec310bde899 | 211 | * |
pd0wm | 0:bec310bde899 | 212 | * @code |
pd0wm | 0:bec310bde899 | 213 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 214 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 215 | * |
pd0wm | 0:bec310bde899 | 216 | * double logitude = gps.logitude(); |
pd0wm | 0:bec310bde899 | 217 | * |
pd0wm | 0:bec310bde899 | 218 | * @endcode |
pd0wm | 0:bec310bde899 | 219 | * |
pd0wm | 0:bec310bde899 | 220 | * @ingroup API |
pd0wm | 0:bec310bde899 | 221 | * @return double Degrees |
pd0wm | 0:bec310bde899 | 222 | */ |
pd0wm | 0:bec310bde899 | 223 | double longitude(void); |
pd0wm | 0:bec310bde899 | 224 | |
pd0wm | 0:bec310bde899 | 225 | //! What was the last reported altitude (in kilometers) |
pd0wm | 0:bec310bde899 | 226 | /** |
pd0wm | 0:bec310bde899 | 227 | * Method returns a double in kilometers. |
pd0wm | 0:bec310bde899 | 228 | * |
pd0wm | 0:bec310bde899 | 229 | * @code |
pd0wm | 0:bec310bde899 | 230 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 231 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 232 | * |
pd0wm | 0:bec310bde899 | 233 | * double altitude = gps.altitude(); |
pd0wm | 0:bec310bde899 | 234 | * |
pd0wm | 0:bec310bde899 | 235 | * @endcode |
pd0wm | 0:bec310bde899 | 236 | * |
pd0wm | 0:bec310bde899 | 237 | * @ingroup API |
pd0wm | 0:bec310bde899 | 238 | * @return double Kilometers |
pd0wm | 0:bec310bde899 | 239 | */ |
pd0wm | 0:bec310bde899 | 240 | double altitude(void); |
pd0wm | 0:bec310bde899 | 241 | |
pd0wm | 0:bec310bde899 | 242 | //! What was the last reported altitude/height (in kilometers) |
pd0wm | 0:bec310bde899 | 243 | /** |
pd0wm | 0:bec310bde899 | 244 | * @see altitude() |
pd0wm | 0:bec310bde899 | 245 | * |
pd0wm | 0:bec310bde899 | 246 | * @code |
pd0wm | 0:bec310bde899 | 247 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 248 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 249 | * |
pd0wm | 0:bec310bde899 | 250 | * double height = gps.height(); |
pd0wm | 0:bec310bde899 | 251 | * |
pd0wm | 0:bec310bde899 | 252 | * @endcode |
pd0wm | 0:bec310bde899 | 253 | * |
pd0wm | 0:bec310bde899 | 254 | * Note, this is identical to altitude() |
pd0wm | 0:bec310bde899 | 255 | * @see altitude() |
pd0wm | 0:bec310bde899 | 256 | * |
pd0wm | 0:bec310bde899 | 257 | * @ingroup API |
pd0wm | 0:bec310bde899 | 258 | * @return double Kilometers |
pd0wm | 0:bec310bde899 | 259 | */ |
pd0wm | 0:bec310bde899 | 260 | double height(void) { return altitude(); } |
pd0wm | 0:bec310bde899 | 261 | |
pd0wm | 0:bec310bde899 | 262 | //! Get all vector parameters together. |
pd0wm | 0:bec310bde899 | 263 | /** |
pd0wm | 0:bec310bde899 | 264 | * Pass a pointer to a GPS_VTG object and the current |
pd0wm | 0:bec310bde899 | 265 | * GPS data will be copied into it. |
pd0wm | 0:bec310bde899 | 266 | * |
pd0wm | 0:bec310bde899 | 267 | * @code |
pd0wm | 0:bec310bde899 | 268 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 269 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 270 | * |
pd0wm | 0:bec310bde899 | 271 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 272 | * GPS_VTG p; |
pd0wm | 0:bec310bde899 | 273 | * gps.vtg(&p); |
pd0wm | 0:bec310bde899 | 274 | * printf("Speed (knots) = %.4f", p.velocity_knots); |
pd0wm | 0:bec310bde899 | 275 | * printf("Speed (kps) = %.4f", p.velocity_kps); |
pd0wm | 0:bec310bde899 | 276 | * printf("Track (true) = %.4f", p.track_true); |
pd0wm | 0:bec310bde899 | 277 | * printf("Track (mag) = %.4f", p.track_mag); |
pd0wm | 0:bec310bde899 | 278 | * |
pd0wm | 0:bec310bde899 | 279 | * @endcode |
pd0wm | 0:bec310bde899 | 280 | * |
pd0wm | 0:bec310bde899 | 281 | * @ingroup API |
pd0wm | 0:bec310bde899 | 282 | * @param g A GSP_VTG pointer to an existing GPS_VTG object. |
pd0wm | 0:bec310bde899 | 283 | * @return GPS_VTG * The pointer passed in. |
pd0wm | 0:bec310bde899 | 284 | */ |
pd0wm | 0:bec310bde899 | 285 | GPS_VTG *vtg(GPS_VTG *g); |
pd0wm | 0:bec310bde899 | 286 | |
pd0wm | 0:bec310bde899 | 287 | //! Get all vector parameters together. |
pd0wm | 0:bec310bde899 | 288 | /** |
pd0wm | 0:bec310bde899 | 289 | * Get all the vector data at once. For example:- |
pd0wm | 0:bec310bde899 | 290 | * |
pd0wm | 0:bec310bde899 | 291 | * @code |
pd0wm | 0:bec310bde899 | 292 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 293 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 294 | * |
pd0wm | 0:bec310bde899 | 295 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 296 | * GPS_VTG *p = gps.vtg(); |
pd0wm | 0:bec310bde899 | 297 | * printf("Speed (knots) = %.4f", p->velocity_knots); |
pd0wm | 0:bec310bde899 | 298 | * printf("Speed (kps) = %.4f", p->velocity_kps); |
pd0wm | 0:bec310bde899 | 299 | * printf("Track (true) = %.4f", p->track_true); |
pd0wm | 0:bec310bde899 | 300 | * printf("Track (mag) = %.4f", p->track_mag); |
pd0wm | 0:bec310bde899 | 301 | * delete(p); // then remember to delete the object to prevent memory leaks. |
pd0wm | 0:bec310bde899 | 302 | * |
pd0wm | 0:bec310bde899 | 303 | * @endcode |
pd0wm | 0:bec310bde899 | 304 | * |
pd0wm | 0:bec310bde899 | 305 | * @ingroup API |
pd0wm | 0:bec310bde899 | 306 | * @return GPS_Geodetic * A pointer to the data. |
pd0wm | 0:bec310bde899 | 307 | */ |
pd0wm | 0:bec310bde899 | 308 | GPS_VTG *vtg(void) { return vtg(NULL); } |
pd0wm | 0:bec310bde899 | 309 | |
pd0wm | 0:bec310bde899 | 310 | //! Get all three geodetic parameters together. |
pd0wm | 0:bec310bde899 | 311 | /** |
pd0wm | 0:bec310bde899 | 312 | * Pass a pointer to a GPS_Geodetic object and the current |
pd0wm | 0:bec310bde899 | 313 | * GPS data will be copied into it. |
pd0wm | 0:bec310bde899 | 314 | * |
pd0wm | 0:bec310bde899 | 315 | * @code |
pd0wm | 0:bec310bde899 | 316 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 317 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 318 | * |
pd0wm | 0:bec310bde899 | 319 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 320 | * GPS_Geodetic p; |
pd0wm | 0:bec310bde899 | 321 | * gps.geodetic(&p); |
pd0wm | 0:bec310bde899 | 322 | * printf("Latitude = %.4f", p.lat); |
pd0wm | 0:bec310bde899 | 323 | * printf("Longitude = %.4f", p.lon); |
pd0wm | 0:bec310bde899 | 324 | * printf("Altitude = %.4f", p.alt); |
pd0wm | 0:bec310bde899 | 325 | * |
pd0wm | 0:bec310bde899 | 326 | * @endcode |
pd0wm | 0:bec310bde899 | 327 | * |
pd0wm | 0:bec310bde899 | 328 | * @ingroup API |
pd0wm | 0:bec310bde899 | 329 | * @param g A GSP_Geodetic pointer to an existing GPS_Geodetic object. |
pd0wm | 0:bec310bde899 | 330 | * @return GPS_Geodetic * The pointer passed in. |
pd0wm | 0:bec310bde899 | 331 | */ |
pd0wm | 0:bec310bde899 | 332 | GPS_Geodetic *geodetic(GPS_Geodetic *g); |
pd0wm | 0:bec310bde899 | 333 | |
pd0wm | 0:bec310bde899 | 334 | //! Get all three geodetic parameters together. |
pd0wm | 0:bec310bde899 | 335 | /** |
pd0wm | 0:bec310bde899 | 336 | * Get all the geodetic data at once. For example:- |
pd0wm | 0:bec310bde899 | 337 | * |
pd0wm | 0:bec310bde899 | 338 | * @code |
pd0wm | 0:bec310bde899 | 339 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 340 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 341 | * |
pd0wm | 0:bec310bde899 | 342 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 343 | * GPS_Geodetic *p = gps.geodetic(); |
pd0wm | 0:bec310bde899 | 344 | * printf("Latitude = %.4f", p->lat); |
pd0wm | 0:bec310bde899 | 345 | * delete(p); // then remember to delete the object to prevent memory leaks. |
pd0wm | 0:bec310bde899 | 346 | * |
pd0wm | 0:bec310bde899 | 347 | * @endcode |
pd0wm | 0:bec310bde899 | 348 | * |
pd0wm | 0:bec310bde899 | 349 | * @ingroup API |
pd0wm | 0:bec310bde899 | 350 | * @return GPS_Geodetic * A pointer to the data. |
pd0wm | 0:bec310bde899 | 351 | */ |
pd0wm | 0:bec310bde899 | 352 | GPS_Geodetic *geodetic(void) { return geodetic(NULL); } |
pd0wm | 0:bec310bde899 | 353 | |
pd0wm | 0:bec310bde899 | 354 | //! Take a snap shot of the current time. |
pd0wm | 0:bec310bde899 | 355 | /** |
pd0wm | 0:bec310bde899 | 356 | * Pass a pointer to a GPS_Time object to get a copy of the current |
pd0wm | 0:bec310bde899 | 357 | * time and date as reported by the GPS. |
pd0wm | 0:bec310bde899 | 358 | * |
pd0wm | 0:bec310bde899 | 359 | * @code |
pd0wm | 0:bec310bde899 | 360 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 361 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 362 | * |
pd0wm | 0:bec310bde899 | 363 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 364 | * GPS_Time t; |
pd0wm | 0:bec310bde899 | 365 | * gps.timeNow(&t); |
pd0wm | 0:bec310bde899 | 366 | * printf("Year = %d", t.year); |
pd0wm | 0:bec310bde899 | 367 | * |
pd0wm | 0:bec310bde899 | 368 | * @endcode |
pd0wm | 0:bec310bde899 | 369 | * |
pd0wm | 0:bec310bde899 | 370 | * @ingroup API |
pd0wm | 0:bec310bde899 | 371 | * @param n A GPS_Time * pointer to an existing GPS_Time object. |
pd0wm | 0:bec310bde899 | 372 | * @return GPS_Time * The pointer passed in. |
pd0wm | 0:bec310bde899 | 373 | */ |
pd0wm | 0:bec310bde899 | 374 | GPS_Time * timeNow(GPS_Time *n) { return theTime.timeNow(n); } |
pd0wm | 0:bec310bde899 | 375 | |
pd0wm | 0:bec310bde899 | 376 | //! Take a snap shot of the current time. |
pd0wm | 0:bec310bde899 | 377 | /** |
pd0wm | 0:bec310bde899 | 378 | * Pass a pointer to a GPS_Time object to get a copy of the current |
pd0wm | 0:bec310bde899 | 379 | * time and date as reported by the GPS. |
pd0wm | 0:bec310bde899 | 380 | * |
pd0wm | 0:bec310bde899 | 381 | * @code |
pd0wm | 0:bec310bde899 | 382 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 383 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 384 | * |
pd0wm | 0:bec310bde899 | 385 | * // Then get the data... |
pd0wm | 0:bec310bde899 | 386 | * GPS_Time *t = gps.timeNow(); |
pd0wm | 0:bec310bde899 | 387 | * printf("Year = %d", t->year); |
pd0wm | 0:bec310bde899 | 388 | * delete(t); // Avoid memory leaks. |
pd0wm | 0:bec310bde899 | 389 | * |
pd0wm | 0:bec310bde899 | 390 | * @endcode |
pd0wm | 0:bec310bde899 | 391 | * |
pd0wm | 0:bec310bde899 | 392 | * @ingroup API |
pd0wm | 0:bec310bde899 | 393 | * @return GPS_Time * The pointer passed in. |
pd0wm | 0:bec310bde899 | 394 | */ |
pd0wm | 0:bec310bde899 | 395 | GPS_Time * timeNow(void) { GPS_Time *n = new GPS_Time; return theTime.timeNow(n); } |
pd0wm | 0:bec310bde899 | 396 | |
pd0wm | 0:bec310bde899 | 397 | //! Return the curent day. |
pd0wm | 0:bec310bde899 | 398 | /** |
pd0wm | 0:bec310bde899 | 399 | * @code |
pd0wm | 0:bec310bde899 | 400 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 401 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 402 | * |
pd0wm | 0:bec310bde899 | 403 | * // Then get the Julain Day Number. |
pd0wm | 0:bec310bde899 | 404 | * double julianDayNumber = gps.julianDayNumber(); |
pd0wm | 0:bec310bde899 | 405 | * |
pd0wm | 0:bec310bde899 | 406 | * @endcode |
pd0wm | 0:bec310bde899 | 407 | * |
pd0wm | 0:bec310bde899 | 408 | * @ingroup API |
pd0wm | 0:bec310bde899 | 409 | * @return double The Julian Date as a double. |
pd0wm | 0:bec310bde899 | 410 | */ |
pd0wm | 0:bec310bde899 | 411 | double julianDayNumber(void) { return theTime.julian_day_number(); } |
pd0wm | 0:bec310bde899 | 412 | |
pd0wm | 0:bec310bde899 | 413 | //! Return the curent date/time as a Julian date |
pd0wm | 0:bec310bde899 | 414 | /** |
pd0wm | 0:bec310bde899 | 415 | * @code |
pd0wm | 0:bec310bde899 | 416 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 417 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 418 | * |
pd0wm | 0:bec310bde899 | 419 | * // Then get the Julian Date. |
pd0wm | 0:bec310bde899 | 420 | * double julianDate = gps.julianDate(); |
pd0wm | 0:bec310bde899 | 421 | * |
pd0wm | 0:bec310bde899 | 422 | * @endcode |
pd0wm | 0:bec310bde899 | 423 | * |
pd0wm | 0:bec310bde899 | 424 | * @ingroup API |
pd0wm | 0:bec310bde899 | 425 | * @return double The Julian Date as a double. |
pd0wm | 0:bec310bde899 | 426 | */ |
pd0wm | 0:bec310bde899 | 427 | double julianDate(void) { return theTime.julian_date(); } |
pd0wm | 0:bec310bde899 | 428 | |
pd0wm | 0:bec310bde899 | 429 | //! Get the current sidereal degree angle. |
pd0wm | 0:bec310bde899 | 430 | /** |
pd0wm | 0:bec310bde899 | 431 | * @code |
pd0wm | 0:bec310bde899 | 432 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 433 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 434 | * double sidereal = gps.siderealDegrees(); |
pd0wm | 0:bec310bde899 | 435 | * |
pd0wm | 0:bec310bde899 | 436 | * @endcode |
pd0wm | 0:bec310bde899 | 437 | * |
pd0wm | 0:bec310bde899 | 438 | * @ingroup API |
pd0wm | 0:bec310bde899 | 439 | * @return double Sidereal degree angle.. |
pd0wm | 0:bec310bde899 | 440 | */ |
pd0wm | 0:bec310bde899 | 441 | double siderealDegrees(void) { return theTime.siderealDegrees(&theTime, longitude()); } |
pd0wm | 0:bec310bde899 | 442 | |
pd0wm | 0:bec310bde899 | 443 | //! Get the current sidereal hour angle. |
pd0wm | 0:bec310bde899 | 444 | /** |
pd0wm | 0:bec310bde899 | 445 | * @code |
pd0wm | 0:bec310bde899 | 446 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 447 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 448 | * double sidereal = gps.siderealHA(); |
pd0wm | 0:bec310bde899 | 449 | * |
pd0wm | 0:bec310bde899 | 450 | * @endcode |
pd0wm | 0:bec310bde899 | 451 | * |
pd0wm | 0:bec310bde899 | 452 | * @ingroup API |
pd0wm | 0:bec310bde899 | 453 | * @return double Sidereal degree angle.. |
pd0wm | 0:bec310bde899 | 454 | */ |
pd0wm | 0:bec310bde899 | 455 | double siderealHA(void) { return theTime.siderealHA(&theTime, longitude()); } |
pd0wm | 0:bec310bde899 | 456 | |
pd0wm | 0:bec310bde899 | 457 | //! Optionally, connect a 1PPS single to an Mbed pin. |
pd0wm | 0:bec310bde899 | 458 | /** |
pd0wm | 0:bec310bde899 | 459 | * Optional: If the GPS unit has a 1PPS output, use this to |
pd0wm | 0:bec310bde899 | 460 | * connect that to our internal ISR. Using the 1PPS increases |
pd0wm | 0:bec310bde899 | 461 | * the GPS_Time time accuracy from +/-0.25s to +/-0.001s |
pd0wm | 0:bec310bde899 | 462 | * |
pd0wm | 0:bec310bde899 | 463 | * @code |
pd0wm | 0:bec310bde899 | 464 | * // Assuming we have a GPS object previously created... |
pd0wm | 0:bec310bde899 | 465 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 466 | * |
pd0wm | 0:bec310bde899 | 467 | * gps.ppsAttach(p29); // default to GPS::ppsRise, rising edge. |
pd0wm | 0:bec310bde899 | 468 | * |
pd0wm | 0:bec310bde899 | 469 | * // Or... |
pd0wm | 0:bec310bde899 | 470 | * gps.ppsAttach(p29, GPS::ppsRise); // The default. |
pd0wm | 0:bec310bde899 | 471 | * |
pd0wm | 0:bec310bde899 | 472 | * // Or... |
pd0wm | 0:bec310bde899 | 473 | * gps.ppsAttach(p29, GPS::ppsFall); // If a falling edge. |
pd0wm | 0:bec310bde899 | 474 | * |
pd0wm | 0:bec310bde899 | 475 | * @endcode |
pd0wm | 0:bec310bde899 | 476 | * |
pd0wm | 0:bec310bde899 | 477 | * <b>Note</b>, before using this function you should attach an actual |
pd0wm | 0:bec310bde899 | 478 | * callback function using attach_pps() |
pd0wm | 0:bec310bde899 | 479 | * |
pd0wm | 0:bec310bde899 | 480 | * @see attach_pps() |
pd0wm | 0:bec310bde899 | 481 | * |
pd0wm | 0:bec310bde899 | 482 | * @ingroup API |
pd0wm | 0:bec310bde899 | 483 | * @param irq A PinName to attach |
pd0wm | 0:bec310bde899 | 484 | * @param type The type of edge, MAX7456::ppsRise OR MAX7456::ppsFall |
pd0wm | 0:bec310bde899 | 485 | */ |
pd0wm | 0:bec310bde899 | 486 | void ppsAttach(PinName irq, ppsEdgeType type = ppsRise); |
pd0wm | 0:bec310bde899 | 487 | |
pd0wm | 0:bec310bde899 | 488 | //! Remove any 1PPS signal previously attached. |
pd0wm | 0:bec310bde899 | 489 | void ppsUnattach(void); |
pd0wm | 0:bec310bde899 | 490 | |
pd0wm | 0:bec310bde899 | 491 | //! GPS serial receive interrupt handler. |
pd0wm | 0:bec310bde899 | 492 | void rx_irq(void); |
pd0wm | 0:bec310bde899 | 493 | |
pd0wm | 0:bec310bde899 | 494 | //! GPS pps interrupt handler. |
pd0wm | 0:bec310bde899 | 495 | void pps_irq(void); |
pd0wm | 0:bec310bde899 | 496 | |
pd0wm | 0:bec310bde899 | 497 | //! A pointer to the UART peripheral base address being used. |
pd0wm | 0:bec310bde899 | 498 | void *_base; |
pd0wm | 0:bec310bde899 | 499 | |
pd0wm | 0:bec310bde899 | 500 | //! The RX serial buffer. |
pd0wm | 0:bec310bde899 | 501 | char buffer[2][GPS_BUFFER_LEN]; |
pd0wm | 0:bec310bde899 | 502 | |
pd0wm | 0:bec310bde899 | 503 | //! The current "active" buffer, i.e. the buffer the ISR is writing to. |
pd0wm | 0:bec310bde899 | 504 | int active_buffer; |
pd0wm | 0:bec310bde899 | 505 | |
pd0wm | 0:bec310bde899 | 506 | //! The active buffer "in" pointer. |
pd0wm | 0:bec310bde899 | 507 | int rx_buffer_in; |
pd0wm | 0:bec310bde899 | 508 | |
pd0wm | 0:bec310bde899 | 509 | //! Boolean flag set when the "passive" buffer is full and needs processing. |
pd0wm | 0:bec310bde899 | 510 | bool process_required; |
pd0wm | 0:bec310bde899 | 511 | |
pd0wm | 0:bec310bde899 | 512 | //! 10ms Ticker callback. |
pd0wm | 0:bec310bde899 | 513 | void ticktock(void); |
pd0wm | 0:bec310bde899 | 514 | |
pd0wm | 0:bec310bde899 | 515 | //! Attach a user object/method callback function to the PPS signal |
pd0wm | 0:bec310bde899 | 516 | /** |
pd0wm | 0:bec310bde899 | 517 | * Attach a user callback object/method to call when the 1PPS signal activates. |
pd0wm | 0:bec310bde899 | 518 | * |
pd0wm | 0:bec310bde899 | 519 | * @code |
pd0wm | 0:bec310bde899 | 520 | * class FOO { |
pd0wm | 0:bec310bde899 | 521 | * public: |
pd0wm | 0:bec310bde899 | 522 | * void myCallback(void); |
pd0wm | 0:bec310bde899 | 523 | * }; |
pd0wm | 0:bec310bde899 | 524 | * |
pd0wm | 0:bec310bde899 | 525 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 526 | * Foo foo; |
pd0wm | 0:bec310bde899 | 527 | * |
pd0wm | 0:bec310bde899 | 528 | * gps.attach_pps(foo, &FOO::myCallback); |
pd0wm | 0:bec310bde899 | 529 | * |
pd0wm | 0:bec310bde899 | 530 | * @endcode |
pd0wm | 0:bec310bde899 | 531 | * |
pd0wm | 0:bec310bde899 | 532 | * @ingroup API |
pd0wm | 0:bec310bde899 | 533 | * @param tptr pointer to the object to call the member function on |
pd0wm | 0:bec310bde899 | 534 | * @param mptr pointer to the member function to be called |
pd0wm | 0:bec310bde899 | 535 | */ |
pd0wm | 0:bec310bde899 | 536 | template<typename T> |
pd0wm | 0:bec310bde899 | 537 | void attach_pps(T* tptr, void (T::*mptr)(void)) { cb_pps.attach(tptr, mptr); } |
pd0wm | 0:bec310bde899 | 538 | |
pd0wm | 0:bec310bde899 | 539 | //! Attach a user callback function to the PPS signal |
pd0wm | 0:bec310bde899 | 540 | /** |
pd0wm | 0:bec310bde899 | 541 | * Attach a user callback function pointer to call when the 1PPS signal activates. |
pd0wm | 0:bec310bde899 | 542 | * |
pd0wm | 0:bec310bde899 | 543 | * @code |
pd0wm | 0:bec310bde899 | 544 | * void myCallback(void) { ... } |
pd0wm | 0:bec310bde899 | 545 | * |
pd0wm | 0:bec310bde899 | 546 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 547 | * Foo foo; |
pd0wm | 0:bec310bde899 | 548 | * |
pd0wm | 0:bec310bde899 | 549 | * gps.attach_pps(&myCallback); |
pd0wm | 0:bec310bde899 | 550 | * |
pd0wm | 0:bec310bde899 | 551 | * @endcode |
pd0wm | 0:bec310bde899 | 552 | * |
pd0wm | 0:bec310bde899 | 553 | * @ingroup API |
pd0wm | 0:bec310bde899 | 554 | * @param fptr Callback function pointer |
pd0wm | 0:bec310bde899 | 555 | */ |
pd0wm | 0:bec310bde899 | 556 | void attach_pps(void (*fptr)(void)) { cb_pps.attach(fptr); } |
pd0wm | 0:bec310bde899 | 557 | |
pd0wm | 0:bec310bde899 | 558 | //! A callback object for the 1PPS user API. |
pd0wm | 0:bec310bde899 | 559 | FunctionPointer cb_pps; |
pd0wm | 0:bec310bde899 | 560 | |
pd0wm | 0:bec310bde899 | 561 | //! Attach a user callback function to the NMEA RMC message processed signal. |
pd0wm | 0:bec310bde899 | 562 | /** |
pd0wm | 0:bec310bde899 | 563 | * Attach a user callback object/method to call when an NMEA RMC packet has been processed. |
pd0wm | 0:bec310bde899 | 564 | * |
pd0wm | 0:bec310bde899 | 565 | * @code |
pd0wm | 0:bec310bde899 | 566 | * class FOO { |
pd0wm | 0:bec310bde899 | 567 | * public: |
pd0wm | 0:bec310bde899 | 568 | * void myCallback(void); |
pd0wm | 0:bec310bde899 | 569 | * }; |
pd0wm | 0:bec310bde899 | 570 | * |
pd0wm | 0:bec310bde899 | 571 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 572 | * Foo foo; |
pd0wm | 0:bec310bde899 | 573 | * |
pd0wm | 0:bec310bde899 | 574 | * gps.attach_rmc(foo, &FOO::myCallback); |
pd0wm | 0:bec310bde899 | 575 | * |
pd0wm | 0:bec310bde899 | 576 | * @endcode |
pd0wm | 0:bec310bde899 | 577 | * |
pd0wm | 0:bec310bde899 | 578 | * @ingroup API |
pd0wm | 0:bec310bde899 | 579 | * @param tptr pointer to the object to call the member function on |
pd0wm | 0:bec310bde899 | 580 | * @param mptr pointer to the member function to be called |
pd0wm | 0:bec310bde899 | 581 | */ |
pd0wm | 0:bec310bde899 | 582 | template<typename T> |
pd0wm | 0:bec310bde899 | 583 | void attach_rmc(T* tptr, void (T::*mptr)(void)) { cb_rmc.attach(tptr, mptr); } |
pd0wm | 0:bec310bde899 | 584 | |
pd0wm | 0:bec310bde899 | 585 | //! Attach a user callback function to the NMEA RMC message processed signal. |
pd0wm | 0:bec310bde899 | 586 | /** |
pd0wm | 0:bec310bde899 | 587 | * Attach a user callback function pointer to call when an NMEA RMC packet has been processed. |
pd0wm | 0:bec310bde899 | 588 | * |
pd0wm | 0:bec310bde899 | 589 | * @code |
pd0wm | 0:bec310bde899 | 590 | * void myCallback(void) { ... } |
pd0wm | 0:bec310bde899 | 591 | * |
pd0wm | 0:bec310bde899 | 592 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 593 | * Foo foo; |
pd0wm | 0:bec310bde899 | 594 | * |
pd0wm | 0:bec310bde899 | 595 | * gps.attach_rmc(&myCallback); |
pd0wm | 0:bec310bde899 | 596 | * |
pd0wm | 0:bec310bde899 | 597 | * @endcode |
pd0wm | 0:bec310bde899 | 598 | * |
pd0wm | 0:bec310bde899 | 599 | * @ingroup API |
pd0wm | 0:bec310bde899 | 600 | * @param fptr Callback function pointer. |
pd0wm | 0:bec310bde899 | 601 | */ |
pd0wm | 0:bec310bde899 | 602 | void attach_rmc(void (*fptr)(void)) { cb_rmc.attach(fptr); } |
pd0wm | 0:bec310bde899 | 603 | |
pd0wm | 0:bec310bde899 | 604 | //! A callback object for the NMEA RMS message processed signal user API. |
pd0wm | 0:bec310bde899 | 605 | FunctionPointer cb_rmc; |
pd0wm | 0:bec310bde899 | 606 | |
pd0wm | 0:bec310bde899 | 607 | //! Attach a user callback function to the NMEA GGA message processed signal. |
pd0wm | 0:bec310bde899 | 608 | /** |
pd0wm | 0:bec310bde899 | 609 | * Attach a user callback object/method to call when an NMEA GGA packet has been processed. |
pd0wm | 0:bec310bde899 | 610 | * |
pd0wm | 0:bec310bde899 | 611 | * @code |
pd0wm | 0:bec310bde899 | 612 | * class FOO { |
pd0wm | 0:bec310bde899 | 613 | * public: |
pd0wm | 0:bec310bde899 | 614 | * void myCallback(void); |
pd0wm | 0:bec310bde899 | 615 | * }; |
pd0wm | 0:bec310bde899 | 616 | * |
pd0wm | 0:bec310bde899 | 617 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 618 | * Foo foo; |
pd0wm | 0:bec310bde899 | 619 | * |
pd0wm | 0:bec310bde899 | 620 | * gps.attach_gga(foo, &FOO::myCallback); |
pd0wm | 0:bec310bde899 | 621 | * |
pd0wm | 0:bec310bde899 | 622 | * @endcode |
pd0wm | 0:bec310bde899 | 623 | * |
pd0wm | 0:bec310bde899 | 624 | * @ingroup API |
pd0wm | 0:bec310bde899 | 625 | * @param tptr pointer to the object to call the member function on |
pd0wm | 0:bec310bde899 | 626 | * @param mptr pointer to the member function to be called |
pd0wm | 0:bec310bde899 | 627 | */ |
pd0wm | 0:bec310bde899 | 628 | template<typename T> |
pd0wm | 0:bec310bde899 | 629 | void attach_gga(T* tptr, void (T::*mptr)(void)) { cb_gga.attach(tptr, mptr); } |
pd0wm | 0:bec310bde899 | 630 | |
pd0wm | 0:bec310bde899 | 631 | //! Attach a user callback function to the NMEA GGA message processed signal. |
pd0wm | 0:bec310bde899 | 632 | /** |
pd0wm | 0:bec310bde899 | 633 | * Attach a user callback function pointer to call when an NMEA GGA packet has been processed. |
pd0wm | 0:bec310bde899 | 634 | * |
pd0wm | 0:bec310bde899 | 635 | * @code |
pd0wm | 0:bec310bde899 | 636 | * void myCallback(void) { ... } |
pd0wm | 0:bec310bde899 | 637 | * |
pd0wm | 0:bec310bde899 | 638 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 639 | * Foo foo; |
pd0wm | 0:bec310bde899 | 640 | * |
pd0wm | 0:bec310bde899 | 641 | * gps.attach_gga(&myCallback); |
pd0wm | 0:bec310bde899 | 642 | * |
pd0wm | 0:bec310bde899 | 643 | * @endcode |
pd0wm | 0:bec310bde899 | 644 | * |
pd0wm | 0:bec310bde899 | 645 | * @ingroup API |
pd0wm | 0:bec310bde899 | 646 | * @param fptr Callback function pointer. |
pd0wm | 0:bec310bde899 | 647 | */ |
pd0wm | 0:bec310bde899 | 648 | void attach_gga(void (*fptr)(void)) { cb_gga.attach(fptr); } |
pd0wm | 0:bec310bde899 | 649 | |
pd0wm | 0:bec310bde899 | 650 | //! A callback object for the NMEA GGA message processed signal user API. |
pd0wm | 0:bec310bde899 | 651 | FunctionPointer cb_gga; |
pd0wm | 0:bec310bde899 | 652 | |
pd0wm | 0:bec310bde899 | 653 | |
pd0wm | 0:bec310bde899 | 654 | //! Attach a user callback function to the NMEA VTG message processed signal. |
pd0wm | 0:bec310bde899 | 655 | /** |
pd0wm | 0:bec310bde899 | 656 | * Attach a user callback object/method to call when an NMEA VTG packet has been processed. |
pd0wm | 0:bec310bde899 | 657 | * |
pd0wm | 0:bec310bde899 | 658 | * @code |
pd0wm | 0:bec310bde899 | 659 | * class FOO { |
pd0wm | 0:bec310bde899 | 660 | * public: |
pd0wm | 0:bec310bde899 | 661 | * void myCallback(void); |
pd0wm | 0:bec310bde899 | 662 | * }; |
pd0wm | 0:bec310bde899 | 663 | * |
pd0wm | 0:bec310bde899 | 664 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 665 | * Foo foo; |
pd0wm | 0:bec310bde899 | 666 | * |
pd0wm | 0:bec310bde899 | 667 | * gps.attach_vtg(foo, &FOO::myCallback); |
pd0wm | 0:bec310bde899 | 668 | * |
pd0wm | 0:bec310bde899 | 669 | * @endcode |
pd0wm | 0:bec310bde899 | 670 | * |
pd0wm | 0:bec310bde899 | 671 | * @ingroup API |
pd0wm | 0:bec310bde899 | 672 | * @param tptr pointer to the object to call the member function on |
pd0wm | 0:bec310bde899 | 673 | * @param mptr pointer to the member function to be called |
pd0wm | 0:bec310bde899 | 674 | */ |
pd0wm | 0:bec310bde899 | 675 | template<typename T> |
pd0wm | 0:bec310bde899 | 676 | void attach_vtg(T* tptr, void (T::*mptr)(void)) { cb_vtg.attach(tptr, mptr); } |
pd0wm | 0:bec310bde899 | 677 | |
pd0wm | 0:bec310bde899 | 678 | //! Attach a user callback function to the NMEA VTG message processed signal. |
pd0wm | 0:bec310bde899 | 679 | /** |
pd0wm | 0:bec310bde899 | 680 | * Attach a user callback function pointer to call when an NMEA VTG packet has been processed. |
pd0wm | 0:bec310bde899 | 681 | * |
pd0wm | 0:bec310bde899 | 682 | * @code |
pd0wm | 0:bec310bde899 | 683 | * void myCallback(void) { ... } |
pd0wm | 0:bec310bde899 | 684 | * |
pd0wm | 0:bec310bde899 | 685 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 686 | * Foo foo; |
pd0wm | 0:bec310bde899 | 687 | * |
pd0wm | 0:bec310bde899 | 688 | * gps.attach_vtg(&myCallback); |
pd0wm | 0:bec310bde899 | 689 | * |
pd0wm | 0:bec310bde899 | 690 | * @endcode |
pd0wm | 0:bec310bde899 | 691 | * |
pd0wm | 0:bec310bde899 | 692 | * @ingroup API |
pd0wm | 0:bec310bde899 | 693 | * @param fptr Callback function pointer. |
pd0wm | 0:bec310bde899 | 694 | */ |
pd0wm | 0:bec310bde899 | 695 | void attach_vtg(void (*fptr)(void)) { cb_vtg.attach(fptr); } |
pd0wm | 0:bec310bde899 | 696 | |
pd0wm | 0:bec310bde899 | 697 | //! A callback object for the NMEA RMS message processed signal user API. |
pd0wm | 0:bec310bde899 | 698 | FunctionPointer cb_vtg; |
pd0wm | 0:bec310bde899 | 699 | |
pd0wm | 0:bec310bde899 | 700 | //! Attach a user callback function to the unknown NMEA message. |
pd0wm | 0:bec310bde899 | 701 | /** |
pd0wm | 0:bec310bde899 | 702 | * Attach a user callback object/method to call when an unknown NMEA packet. |
pd0wm | 0:bec310bde899 | 703 | * |
pd0wm | 0:bec310bde899 | 704 | * @code |
pd0wm | 0:bec310bde899 | 705 | * class FOO { |
pd0wm | 0:bec310bde899 | 706 | * public: |
pd0wm | 0:bec310bde899 | 707 | * void myCallback(void); |
pd0wm | 0:bec310bde899 | 708 | * }; |
pd0wm | 0:bec310bde899 | 709 | * |
pd0wm | 0:bec310bde899 | 710 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 711 | * Foo foo; |
pd0wm | 0:bec310bde899 | 712 | * |
pd0wm | 0:bec310bde899 | 713 | * gps.attach_ukn(foo, &FOO::myCallback); |
pd0wm | 0:bec310bde899 | 714 | * |
pd0wm | 0:bec310bde899 | 715 | * @endcode |
pd0wm | 0:bec310bde899 | 716 | * |
pd0wm | 0:bec310bde899 | 717 | * @ingroup API |
pd0wm | 0:bec310bde899 | 718 | * @param tptr pointer to the object to call the member function on |
pd0wm | 0:bec310bde899 | 719 | * @param mptr pointer to the member function to be called |
pd0wm | 0:bec310bde899 | 720 | */ |
pd0wm | 0:bec310bde899 | 721 | template<typename T> |
pd0wm | 0:bec310bde899 | 722 | void attach_ukn(T* tptr, void (T::*mptr)(void)) { cb_ukn.attach(tptr, mptr); } |
pd0wm | 0:bec310bde899 | 723 | |
pd0wm | 0:bec310bde899 | 724 | //! Attach a user callback function to the unknown NMEA message. |
pd0wm | 0:bec310bde899 | 725 | /** |
pd0wm | 0:bec310bde899 | 726 | * Attach a user callback function pointer to call when an unknown NMEA. |
pd0wm | 0:bec310bde899 | 727 | * |
pd0wm | 0:bec310bde899 | 728 | * @code |
pd0wm | 0:bec310bde899 | 729 | * void myCallback(void) { ... } |
pd0wm | 0:bec310bde899 | 730 | * |
pd0wm | 0:bec310bde899 | 731 | * GPS gps(NC, p9); |
pd0wm | 0:bec310bde899 | 732 | * Foo foo; |
pd0wm | 0:bec310bde899 | 733 | * |
pd0wm | 0:bec310bde899 | 734 | * gps.attach_ukn(&myCallback); |
pd0wm | 0:bec310bde899 | 735 | * |
pd0wm | 0:bec310bde899 | 736 | * @endcode |
pd0wm | 0:bec310bde899 | 737 | * |
pd0wm | 0:bec310bde899 | 738 | * @ingroup API |
pd0wm | 0:bec310bde899 | 739 | * @param fptr Callback function pointer. |
pd0wm | 0:bec310bde899 | 740 | */ |
pd0wm | 0:bec310bde899 | 741 | void attach_ukn(void (*fptr)(void)) { cb_ukn.attach(fptr); } |
pd0wm | 0:bec310bde899 | 742 | |
pd0wm | 0:bec310bde899 | 743 | //! A callback object for the NMEA RMS message processed signal user API. |
pd0wm | 0:bec310bde899 | 744 | FunctionPointer cb_ukn; |
pd0wm | 0:bec310bde899 | 745 | |
pd0wm | 0:bec310bde899 | 746 | /** |
pd0wm | 0:bec310bde899 | 747 | * Set's the GGA string memory pointer. |
pd0wm | 0:bec310bde899 | 748 | * @param s char pointer ti string. |
pd0wm | 0:bec310bde899 | 749 | * @return char s passed in. |
pd0wm | 0:bec310bde899 | 750 | */ |
pd0wm | 0:bec310bde899 | 751 | char * setGga(char *s) { _gga = s; return s; } |
pd0wm | 0:bec310bde899 | 752 | |
pd0wm | 0:bec310bde899 | 753 | /** |
pd0wm | 0:bec310bde899 | 754 | * Set's the RMC string memory pointer. |
pd0wm | 0:bec310bde899 | 755 | * @param s char pointer ti string. |
pd0wm | 0:bec310bde899 | 756 | * @return char s passed in. |
pd0wm | 0:bec310bde899 | 757 | */ |
pd0wm | 0:bec310bde899 | 758 | char * setRmc(char *s) { _rmc = s; return s; }; |
pd0wm | 0:bec310bde899 | 759 | |
pd0wm | 0:bec310bde899 | 760 | /** |
pd0wm | 0:bec310bde899 | 761 | * Set's the VTG string memory pointer. |
pd0wm | 0:bec310bde899 | 762 | * @param s char pointer ti string. |
pd0wm | 0:bec310bde899 | 763 | * @return char s passed in. |
pd0wm | 0:bec310bde899 | 764 | */ |
pd0wm | 0:bec310bde899 | 765 | char * setVtg(char *s) { _vtg = s; return s; }; |
pd0wm | 0:bec310bde899 | 766 | |
pd0wm | 0:bec310bde899 | 767 | /** |
pd0wm | 0:bec310bde899 | 768 | * Set's the UKN string memory pointer. |
pd0wm | 0:bec310bde899 | 769 | * @param s char pointer ti string. |
pd0wm | 0:bec310bde899 | 770 | * @return char s passed in. |
pd0wm | 0:bec310bde899 | 771 | */ |
pd0wm | 0:bec310bde899 | 772 | char * setUkn(char *s) { _ukn = s; return s; }; |
pd0wm | 0:bec310bde899 | 773 | |
pd0wm | 0:bec310bde899 | 774 | //! Set the baud rate the GPS module is using. |
pd0wm | 0:bec310bde899 | 775 | /** |
pd0wm | 0:bec310bde899 | 776 | * Set the baud rate of the serial port |
pd0wm | 0:bec310bde899 | 777 | * |
pd0wm | 0:bec310bde899 | 778 | * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.baud |
pd0wm | 0:bec310bde899 | 779 | * |
pd0wm | 0:bec310bde899 | 780 | * @ingroup API |
pd0wm | 0:bec310bde899 | 781 | * @param baudrate The baudrate to set. |
pd0wm | 0:bec310bde899 | 782 | */ |
pd0wm | 0:bec310bde899 | 783 | void baud(int baudrate) { Serial::baud(baudrate); } |
pd0wm | 0:bec310bde899 | 784 | |
pd0wm | 0:bec310bde899 | 785 | //! Set the serial port format the GPS module is using. |
pd0wm | 0:bec310bde899 | 786 | /** |
pd0wm | 0:bec310bde899 | 787 | * Set the transmission format used by the Serial port |
pd0wm | 0:bec310bde899 | 788 | * |
pd0wm | 0:bec310bde899 | 789 | * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format |
pd0wm | 0:bec310bde899 | 790 | * |
pd0wm | 0:bec310bde899 | 791 | * @ingroup API |
pd0wm | 0:bec310bde899 | 792 | * @param bits - The number of bits in a word (5-8; default = 8) |
pd0wm | 0:bec310bde899 | 793 | * @param parity - The parity used (GPS::None, GPS::Odd, GPS::Even, GPS::Forced1, GPS::Forced0; default = GPS::None) |
pd0wm | 0:bec310bde899 | 794 | * @param stop_bits - The number of stop bits (1 or 2; default = 1) |
pd0wm | 0:bec310bde899 | 795 | */ |
pd0wm | 0:bec310bde899 | 796 | void format(int bits, Parity parity, int stop_bits) { Serial::format(bits, (Serial::Parity)parity, stop_bits); } |
pd0wm | 0:bec310bde899 | 797 | |
pd0wm | 0:bec310bde899 | 798 | //! Send incoming GPS bytes to Uart0 |
pd0wm | 0:bec310bde899 | 799 | /** |
pd0wm | 0:bec310bde899 | 800 | * Send incoming GPS bytes to Uart0 |
pd0wm | 0:bec310bde899 | 801 | * |
pd0wm | 0:bec310bde899 | 802 | * This can be useful for printing out the bytes from the GPS onto |
pd0wm | 0:bec310bde899 | 803 | * a the common debug port Uart0. Note, Uart0 should have been setup |
pd0wm | 0:bec310bde899 | 804 | * and initialised before switching this on. Also, realistically, |
pd0wm | 0:bec310bde899 | 805 | * you should ensure Uart0 has a higher baud rate than that being |
pd0wm | 0:bec310bde899 | 806 | * used by the GPS. Sending of bytes to Uart0 is "raw" and should |
pd0wm | 0:bec310bde899 | 807 | * only be used to initially gather data and should NOT be used as |
pd0wm | 0:bec310bde899 | 808 | * part of the application design. If you need to forward on the |
pd0wm | 0:bec310bde899 | 809 | * data you should come up with a proper strategy. |
pd0wm | 0:bec310bde899 | 810 | * |
pd0wm | 0:bec310bde899 | 811 | * @ingroup API |
pd0wm | 0:bec310bde899 | 812 | * @param b - True to send to Uart0, false otherwise |
pd0wm | 0:bec310bde899 | 813 | */ |
pd0wm | 0:bec310bde899 | 814 | void NmeaOnUart0(bool b) { _nmeaOnUart0 = b; } |
pd0wm | 0:bec310bde899 | 815 | |
pd0wm | 0:bec310bde899 | 816 | protected: |
pd0wm | 0:bec310bde899 | 817 | |
pd0wm | 0:bec310bde899 | 818 | //! Flag set true when a GPS PPS has been attached to a pin. |
pd0wm | 0:bec310bde899 | 819 | bool _ppsInUse; |
pd0wm | 0:bec310bde899 | 820 | |
pd0wm | 0:bec310bde899 | 821 | //! An InterruptIn object to "trigger" on the PPS edge. |
pd0wm | 0:bec310bde899 | 822 | InterruptIn *_pps; |
pd0wm | 0:bec310bde899 | 823 | |
pd0wm | 0:bec310bde899 | 824 | //! A Ticker object called every 10ms. |
pd0wm | 0:bec310bde899 | 825 | Ticker *_second100; |
pd0wm | 0:bec310bde899 | 826 | |
pd0wm | 0:bec310bde899 | 827 | //! A GPS_Time object used to hold the last parsed time/date data. |
pd0wm | 0:bec310bde899 | 828 | GPS_Time theTime; |
pd0wm | 0:bec310bde899 | 829 | |
pd0wm | 0:bec310bde899 | 830 | //! A GPS_Geodetic object used to hold the last parsed positional data. |
pd0wm | 0:bec310bde899 | 831 | GPS_Geodetic thePlace; |
pd0wm | 0:bec310bde899 | 832 | |
pd0wm | 0:bec310bde899 | 833 | //! A GPS_VTG object used to hold vector data. |
pd0wm | 0:bec310bde899 | 834 | GPS_VTG theVTG; |
pd0wm | 0:bec310bde899 | 835 | |
pd0wm | 0:bec310bde899 | 836 | //! Used to record the previous byte received. |
pd0wm | 0:bec310bde899 | 837 | char _lastByte; |
pd0wm | 0:bec310bde899 | 838 | |
pd0wm | 0:bec310bde899 | 839 | char *_gga; |
pd0wm | 0:bec310bde899 | 840 | char *_rmc; |
pd0wm | 0:bec310bde899 | 841 | char *_vtg; |
pd0wm | 0:bec310bde899 | 842 | char *_ukn; |
pd0wm | 0:bec310bde899 | 843 | |
pd0wm | 0:bec310bde899 | 844 | //! Used for debugging. |
pd0wm | 0:bec310bde899 | 845 | bool _nmeaOnUart0; |
pd0wm | 0:bec310bde899 | 846 | }; |
pd0wm | 0:bec310bde899 | 847 | |
pd0wm | 0:bec310bde899 | 848 | #endif |
pd0wm | 0:bec310bde899 | 849 |