GPS.h

00001 #include "mbed.h"
00002 
00003 #ifndef MBED_GPS_H
00004 #define MBED_GPS_H
00005 
00006 #define NO_LOCK     1
00007 #define NOT_PARSED  2
00008 #define GGA         3
00009 #define GLL         4
00010 #define RMC         5
00011 #define VTG         6
00012 #define ESTIMATE    7
00013 #define GSA         8
00014 
00015 #define PI (3.141592653589793)
00016 
00017 /**  A GPS interface for reading from a Globalsat EM-406 GPS Module */
00018 class GPS {
00019 public:
00020 
00021     /** Create the GPS interface, connected to the specified serial port
00022      */    
00023     GPS(PinName tx, PinName rx);
00024     
00025     /** Sample the incoming GPS data, returning whether there is a lock
00026      * 
00027      * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
00028      */
00029     int sample();
00030     char operating_mode;
00031     int navigation_mode;
00032     int satellites[12];
00033     float pdop;
00034     float hdop;
00035     float vdop;
00036     char gprmc_status;
00037     
00038     float get_nmea_longitude();
00039     float get_nmea_latitude();
00040     float get_dec_longitude();
00041     float get_dec_latitude();
00042     float get_msl_altitude();
00043     float get_course_t();
00044     float get_course_m();
00045     float get_speed_k();
00046     float get_speed_km();
00047     int get_satelites();
00048     float get_altitude_ft();
00049     char * get_nmea_to_td();
00050     char tdformat[32];
00051     
00052     // navigational functions
00053     float calc_course_to(float, float);
00054     double calc_dist_to_mi(float, float);
00055     double calc_dist_to_ft(float, float);
00056     double calc_dist_to_km(float, float);
00057     double calc_dist_to_m(float, float); 
00058     
00059 private:
00060     float nmea_to_dec(float, char);
00061     float trunc(float v);
00062     void getline();
00063     void format_for_log(void);
00064     
00065     Serial _gps;
00066     char msg[1024];
00067     char bfr[1030];
00068 
00069     // calculated values
00070     float dec_longitude;
00071     float dec_latitude;
00072     float altitude_ft;
00073     
00074     // GGA - Global Positioning System Fixed Data
00075     float nmea_longitude;
00076     float nmea_latitude;    
00077     float utc_time;
00078     char ns, ew;
00079     int lock;
00080     int satelites;
00081     float msl_altitude;
00082     char msl_units;
00083     
00084     // RMC - Recommended Minimmum Specific GNS Data
00085     char rmc_status;
00086     float speed_k;
00087     float course_d;
00088     int date;
00089     
00090     // GLL
00091     char gll_status;
00092     
00093     // VTG - Course over ground, ground speed
00094     float course_t; // ground speed true
00095     char course_t_unit;
00096     float course_m; // magnetic
00097     char course_m_unit;
00098     char speed_k_unit;
00099     float speed_km; // speek km/hr
00100     char speed_km_unit;
00101 };
00102 
00103 #endif