SerialGPS.h

00001 /* mbed GPS Module Library
00002  * Copyright (c) 2008-2010, sford
00003  * Copyright (c) 2013, B.Adryan
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #ifndef MBED_GPS_H
00025 #define MBED_GPS_H
00026 
00027 #include "mbed.h"
00028 #include <cstring>
00029 #include "BufferedSerial.h"
00030 
00031 #define MAX_LINELENGTH 255
00032 
00033 class SerialGPS 
00034 {
00035     public:
00036         SerialGPS(PinName tx, PinName rx, int baud);
00037 
00038         SerialGPS(BufferedSerial* serial);
00039     
00040         /** 
00041         * Read the incoming GPS data
00042         */
00043         void read();
00044     
00045         /**
00046         * Send PMTK command to GPS
00047         *
00048         * @param cmd the PMTK command to send to the GPS module
00049         */
00050         void send_command(const char* cmd);
00051 
00052         /**
00053         * GPS fix
00054         *
00055         * @return true if the GPS module has acquired fix
00056         */ 
00057         bool fix();
00058 
00059         /**
00060          * Read one character from the UART interface
00061          *
00062          * @return ch the character extracted from the UART interface
00063          */
00064         inline char read_char()
00065         {
00066             char ch;
00067             this->_gps_p->read(&ch, 1);
00068             return ch;
00069         }
00070 
00071         /**
00072         * Helper function for converting from Decimal Minutes Seconds (DMS) to Decimal Degrees (DD)
00073         *
00074         * @param dms float containing the DMS value
00075         * @return dd the converted value
00076         */
00077         inline float convert(float dms)
00078         {
00079             float degmin, sec;
00080             sec = modf(dms, &degmin);
00081 
00082             float deg = (int) degmin / 100;
00083             float min = (int) degmin % 100;
00084 
00085             float dd = deg + (min / 60.0) + (sec / 3600);
00086 
00087             return dd;
00088         };
00089 
00090         /** 
00091         * The longitude (call read() to set) 
00092         *
00093         * @return _lat the latitude component
00094         */
00095         float get_lon();
00096 
00097         /** 
00098         * The latitude (call read() to set) 
00099         *
00100         * @return _lon the longitude component
00101         */
00102         float get_lat();
00103     
00104     private:
00105         void getline();
00106         void set_vals();
00107         char read_char();
00108 
00109         BufferedSerial* _gps_p;
00110         BufferedSerial& _gps;
00111 
00112         char _nmea[MAX_LINELENGTH];
00113         bool _fix;
00114 
00115         float _UTCtime, _lat, _lon;
00116         int _lock;
00117         char _status, _NS, _EW;
00118 };
00119 
00120 #endif