canuck lehead / lib_gps

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Fork of lib_gps by wayne roberts

gps.cpp@10:007840923181, 2017-07-24 (annotated)

Committer:
shaunkrnelson
Date:
Mon Jul 24 10:56:33 2017 -0400
Revision:
10:007840923181
Parent:
9:c7bd750b4fc9
Child:
11:caeed886e2ed
Backed out changeset c7bd750b4fc9

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dudmuck 0:0bd73064b7f6 1 #include "mbed.h"
dudmuck 0:0bd73064b7f6 2 #include "gps.h"
dudmuck 0:0bd73064b7f6 3
dudmuck 1:2f5fbb33ae8b 4 #define LAT_UNFIXED 0xaaaaa9
dudmuck 1:2f5fbb33ae8b 5 #define LONG_UNFIXED 0x355554e
dudmuck 1:2f5fbb33ae8b 6
dudmuck 0:0bd73064b7f6 7 const char NmeaDataTypeGPGGA[] = "GPGGA";
dudmuck 0:0bd73064b7f6 8 //const char NmeaDataTypeGPGSA[] = "GPGSA";
dudmuck 0:0bd73064b7f6 9 //const char NmeaDataTypeGPGSV[] = "GPGSV";
dudmuck 0:0bd73064b7f6 10 const char NmeaDataTypeGPRMC[] = "GPRMC";
dudmuck 0:0bd73064b7f6 11
dudmuck 0:0bd73064b7f6 12 /* Value used for the conversion of the position from DMS to decimal */
dudmuck 0:0bd73064b7f6 13 const int32_t MaxNorthPosition = 8388607; // 2^23 - 1
dudmuck 0:0bd73064b7f6 14 const int32_t MaxSouthPosition = 8388608; // -2^23
dudmuck 0:0bd73064b7f6 15 const int32_t MaxEastPosition = 8388607; // 2^23 - 1
dudmuck 0:0bd73064b7f6 16 const int32_t MaxWestPosition = 8388608; // -2^23
dudmuck 0:0bd73064b7f6 17
dudmuck 2:b531881123bf 18 //InterruptIn pps_pin(PC_5);
dudmuck 0:0bd73064b7f6 19
dudmuck 2:b531881123bf 20
dudmuck 2:b531881123bf 21 GPS::GPS(PinName uart_tx, PinName uart_rx, PinName en) : m_uart(uart_tx, uart_rx), m_en_pin(en)
dudmuck 0:0bd73064b7f6 22 {
dudmuck 1:2f5fbb33ae8b 23 have_fix = false;
shaunkrnelson 6:9dfe135334c9 24 uart_rx_count = 0;
dudmuck 1:2f5fbb33ae8b 25 }
dudmuck 0:0bd73064b7f6 26
dudmuck 0:0bd73064b7f6 27 GPS::~GPS()
dudmuck 0:0bd73064b7f6 28 {
dudmuck 0:0bd73064b7f6 29 }
dudmuck 0:0bd73064b7f6 30
dudmuck 2:b531881123bf 31 /*void GPS::pps()
dudmuck 0:0bd73064b7f6 32 {
dudmuck 0:0bd73064b7f6 33 pps_occurred = true;
dudmuck 2:b531881123bf 34 }*/
dudmuck 0:0bd73064b7f6 35
dudmuck 0:0bd73064b7f6 36 void GPS::on_uart_rx()
dudmuck 0:0bd73064b7f6 37 {
dudmuck 0:0bd73064b7f6 38 //uint8_t *len = &rx_buf_lens[rx_bufs_in_idx];
dudmuck 0:0bd73064b7f6 39 uint8_t len = rx_buf_lens[rx_bufs_in_idx];
dudmuck 0:0bd73064b7f6 40 char ch;
dudmuck 0:0bd73064b7f6 41
dudmuck 0:0bd73064b7f6 42 do {
dudmuck 2:b531881123bf 43 ch = m_uart.getc();
dudmuck 0:0bd73064b7f6 44
dudmuck 0:0bd73064b7f6 45 if (ch != '$') {
dudmuck 0:0bd73064b7f6 46 if (len < RX_BUF_SIZE) {
dudmuck 0:0bd73064b7f6 47 rx_bufs[rx_bufs_in_idx][len] = ch;
dudmuck 0:0bd73064b7f6 48 rx_buf_lens[rx_bufs_in_idx]++;
shaunkrnelson 6:9dfe135334c9 49 } else
shaunkrnelson 6:9dfe135334c9 50 printf("S");
shaunkrnelson 6:9dfe135334c9 51 } else if (len != 0) {
shaunkrnelson 6:9dfe135334c9 52 if(verbose)
shaunkrnelson 6:9dfe135334c9 53 printf("$ at %d\r\n", len);
shaunkrnelson 6:9dfe135334c9 54 }
dudmuck 0:0bd73064b7f6 55
dudmuck 0:0bd73064b7f6 56 if (ch == '\n') {
dudmuck 0:0bd73064b7f6 57 rx_bufs[rx_bufs_in_idx][len] = 0; // null terminate
shaunkrnelson 6:9dfe135334c9 58
shaunkrnelson 6:9dfe135334c9 59 #if 0
shaunkrnelson 6:9dfe135334c9 60 if(verbose)
shaunkrnelson 6:9dfe135334c9 61 {
shaunkrnelson 6:9dfe135334c9 62 printf("on_uart_rx: buf=%d, len=%d\r\n", rx_bufs_in_idx, len);
shaunkrnelson 6:9dfe135334c9 63 }
shaunkrnelson 6:9dfe135334c9 64 #endif
shaunkrnelson 6:9dfe135334c9 65
dudmuck 0:0bd73064b7f6 66 if (++rx_bufs_in_idx == NUM_RX_BUFS)
dudmuck 0:0bd73064b7f6 67 rx_bufs_in_idx = 0;
dudmuck 0:0bd73064b7f6 68 /* just let it overflow -- if (rx_bufs_in_idx == rx_bufs_out_idx)
dudmuck 0:0bd73064b7f6 69 printf("gps overflow\r\n");*/
dudmuck 0:0bd73064b7f6 70 rx_buf_lens[rx_bufs_in_idx] = 0;
shaunkrnelson 6:9dfe135334c9 71 uart_rx_count++;
dudmuck 0:0bd73064b7f6 72 }
dudmuck 2:b531881123bf 73 } while (m_uart.readable());
dudmuck 0:0bd73064b7f6 74 }
dudmuck 0:0bd73064b7f6 75
dudmuck 0:0bd73064b7f6 76 void GPS::init()
dudmuck 0:0bd73064b7f6 77 {
dudmuck 0:0bd73064b7f6 78 rx_bufs_in_idx = 0;
dudmuck 0:0bd73064b7f6 79 rx_buf_lens[rx_bufs_in_idx] = 0;
dudmuck 0:0bd73064b7f6 80 rx_bufs_out_idx = 0;
dudmuck 0:0bd73064b7f6 81
dudmuck 0:0bd73064b7f6 82 //gps_uart.baud(57600);
shaunkrnelson 10:007840923181 83 m_uart.attach(this, &GPS::on_uart_rx);
dudmuck 0:0bd73064b7f6 84
dudmuck 2:b531881123bf 85 //pps_pin.rise(this, &GPS::pps);
dudmuck 0:0bd73064b7f6 86 }
dudmuck 0:0bd73064b7f6 87
dudmuck 0:0bd73064b7f6 88 void GPS::enable(bool en)
dudmuck 0:0bd73064b7f6 89 {
dudmuck 0:0bd73064b7f6 90 if (en) {
dudmuck 3:03d7275dc4fd 91 if (en_invert)
dudmuck 3:03d7275dc4fd 92 m_en_pin = 0;
dudmuck 3:03d7275dc4fd 93 else
dudmuck 3:03d7275dc4fd 94 m_en_pin = 1;
dudmuck 0:0bd73064b7f6 95 } else {
dudmuck 3:03d7275dc4fd 96 if (en_invert)
dudmuck 3:03d7275dc4fd 97 m_en_pin = 1;
dudmuck 3:03d7275dc4fd 98 else
dudmuck 3:03d7275dc4fd 99 m_en_pin = 0;
dudmuck 0:0bd73064b7f6 100 }
dudmuck 1:2f5fbb33ae8b 101
dudmuck 1:2f5fbb33ae8b 102 // reset current string index
dudmuck 1:2f5fbb33ae8b 103 rx_buf_lens[rx_bufs_in_idx] = 0;
dudmuck 0:0bd73064b7f6 104 }
dudmuck 0:0bd73064b7f6 105
dudmuck 0:0bd73064b7f6 106 bool GPS::enabled()
dudmuck 0:0bd73064b7f6 107 {
dudmuck 3:03d7275dc4fd 108 if (en_invert)
dudmuck 3:03d7275dc4fd 109 return !m_en_pin.read();
dudmuck 3:03d7275dc4fd 110 else
dudmuck 3:03d7275dc4fd 111 return m_en_pin.read();
dudmuck 0:0bd73064b7f6 112 }
dudmuck 0:0bd73064b7f6 113
dudmuck 0:0bd73064b7f6 114 /*char GPS::Nibble2HexChar( char a );
dudmuck 0:0bd73064b7f6 115 {
dudmuck 0:0bd73064b7f6 116 if( a < 10 )
dudmuck 0:0bd73064b7f6 117 {
dudmuck 0:0bd73064b7f6 118 return '0' + a;
dudmuck 0:0bd73064b7f6 119 }
dudmuck 0:0bd73064b7f6 120 else if( a < 16 )
dudmuck 0:0bd73064b7f6 121 {
dudmuck 0:0bd73064b7f6 122 return 'A' + ( a - 10 );
dudmuck 0:0bd73064b7f6 123 }
dudmuck 0:0bd73064b7f6 124 else
dudmuck 0:0bd73064b7f6 125 {
dudmuck 0:0bd73064b7f6 126 return '?';
dudmuck 0:0bd73064b7f6 127 }
dudmuck 0:0bd73064b7f6 128 }*/
dudmuck 0:0bd73064b7f6 129
dudmuck 0:0bd73064b7f6 130 int GPS::NmeaChecksum( char *nmeaStr, uint8_t nmeaStrSize, char * checksum )
dudmuck 0:0bd73064b7f6 131 {
dudmuck 0:0bd73064b7f6 132 int i = 0;
dudmuck 0:0bd73064b7f6 133 uint8_t checkNum = 0;
dudmuck 0:0bd73064b7f6 134
dudmuck 0:0bd73064b7f6 135 // Check input parameters
dudmuck 0:0bd73064b7f6 136 if( ( nmeaStr == NULL ) || ( checksum == NULL ) || ( nmeaStrSize <= 1 ) )
dudmuck 0:0bd73064b7f6 137 {
dudmuck 0:0bd73064b7f6 138 return -1;
dudmuck 0:0bd73064b7f6 139 }
dudmuck 0:0bd73064b7f6 140
dudmuck 0:0bd73064b7f6 141 // Skip the first '$' if necessary
dudmuck 0:0bd73064b7f6 142 if( nmeaStr[i] == '$' )
dudmuck 0:0bd73064b7f6 143 {
dudmuck 0:0bd73064b7f6 144 i += 1;
dudmuck 0:0bd73064b7f6 145 }
dudmuck 0:0bd73064b7f6 146
dudmuck 0:0bd73064b7f6 147 // XOR until '*' or max length is reached
dudmuck 0:0bd73064b7f6 148 while( nmeaStr[i] != '*' )
dudmuck 0:0bd73064b7f6 149 {
dudmuck 0:0bd73064b7f6 150 checkNum ^= nmeaStr[i];
dudmuck 0:0bd73064b7f6 151 i += 1;
dudmuck 0:0bd73064b7f6 152 if( i >= nmeaStrSize )
dudmuck 0:0bd73064b7f6 153 {
dudmuck 0:0bd73064b7f6 154 return -1;
dudmuck 0:0bd73064b7f6 155 }
dudmuck 0:0bd73064b7f6 156 }
dudmuck 0:0bd73064b7f6 157
dudmuck 0:0bd73064b7f6 158 // Convert checksum value to 2 hexadecimal characters
dudmuck 0:0bd73064b7f6 159 /*checksum[0] = Nibble2HexChar( checkNum / 16 ); // upper nibble
dudmuck 0:0bd73064b7f6 160 checksum[1] = Nibble2HexChar( checkNum % 16 ); // lower nibble
dudmuck 0:0bd73064b7f6 161 */
dudmuck 0:0bd73064b7f6 162 sprintf(checksum, "%02X", checkNum);
dudmuck 0:0bd73064b7f6 163
dudmuck 0:0bd73064b7f6 164 return i + 1;
dudmuck 0:0bd73064b7f6 165 }
dudmuck 0:0bd73064b7f6 166
dudmuck 0:0bd73064b7f6 167 bool GPS::NmeaValidateChecksum(int idx)
dudmuck 0:0bd73064b7f6 168 {
dudmuck 0:0bd73064b7f6 169 int checksumIndex;
dudmuck 0:0bd73064b7f6 170 char checksum[4];
dudmuck 0:0bd73064b7f6 171 char *NmeaString = rx_bufs[idx];
dudmuck 0:0bd73064b7f6 172
dudmuck 0:0bd73064b7f6 173 checksumIndex = NmeaChecksum( NmeaString, rx_buf_lens[idx], checksum );
dudmuck 0:0bd73064b7f6 174
dudmuck 0:0bd73064b7f6 175 // could we calculate a verification checksum ?
dudmuck 0:0bd73064b7f6 176 if( checksumIndex < 0 )
dudmuck 0:0bd73064b7f6 177 return false;
dudmuck 0:0bd73064b7f6 178
dudmuck 0:0bd73064b7f6 179 // check if there are enough char in the serial buffer to read checksum
dudmuck 0:0bd73064b7f6 180 if( checksumIndex >= ( rx_buf_lens[idx] - 2 ) )
dudmuck 0:0bd73064b7f6 181 return false;
dudmuck 0:0bd73064b7f6 182
dudmuck 0:0bd73064b7f6 183 // check the checksum
dudmuck 0:0bd73064b7f6 184 if( ( NmeaString[checksumIndex] == checksum[0] ) && ( NmeaString[checksumIndex + 1] == checksum[1] ) )
dudmuck 0:0bd73064b7f6 185 {
dudmuck 0:0bd73064b7f6 186 return true;
dudmuck 0:0bd73064b7f6 187 }
dudmuck 0:0bd73064b7f6 188 else
dudmuck 0:0bd73064b7f6 189 return false;
dudmuck 0:0bd73064b7f6 190 }
dudmuck 0:0bd73064b7f6 191
dudmuck 0:0bd73064b7f6 192 void GPS::ConvertPositionFromStringToNumerical( )
dudmuck 0:0bd73064b7f6 193 {
dudmuck 0:0bd73064b7f6 194 int i;
dudmuck 0:0bd73064b7f6 195
dudmuck 0:0bd73064b7f6 196 double valueTmp1;
dudmuck 0:0bd73064b7f6 197 double valueTmp2;
dudmuck 0:0bd73064b7f6 198 double valueTmp3;
dudmuck 0:0bd73064b7f6 199 double valueTmp4;
dudmuck 0:0bd73064b7f6 200
shaunkrnelson 6:9dfe135334c9 201
dudmuck 0:0bd73064b7f6 202 // Convert the latitude from ASCII to uint8_t values
dudmuck 0:0bd73064b7f6 203 for( i = 0 ; i < 10 ; i++ )
dudmuck 0:0bd73064b7f6 204 {
dudmuck 0:0bd73064b7f6 205 NmeaGpsData.NmeaLatitude[i] = NmeaGpsData.NmeaLatitude[i] & 0xF;
dudmuck 0:0bd73064b7f6 206 }
dudmuck 0:0bd73064b7f6 207 // Convert latitude from degree/minute/second (DMS) format into decimal
dudmuck 0:0bd73064b7f6 208 valueTmp1 = ( double )NmeaGpsData.NmeaLatitude[0] * 10.0 + ( double )NmeaGpsData.NmeaLatitude[1];
dudmuck 0:0bd73064b7f6 209 valueTmp2 = ( double )NmeaGpsData.NmeaLatitude[2] * 10.0 + ( double )NmeaGpsData.NmeaLatitude[3];
dudmuck 0:0bd73064b7f6 210 valueTmp3 = ( double )NmeaGpsData.NmeaLatitude[5] * 1000.0 + ( double )NmeaGpsData.NmeaLatitude[6] * 100.0 +
dudmuck 0:0bd73064b7f6 211 ( double )NmeaGpsData.NmeaLatitude[7] * 10.0 + ( double )NmeaGpsData.NmeaLatitude[8];
dudmuck 0:0bd73064b7f6 212
dudmuck 0:0bd73064b7f6 213 Latitude = valueTmp1 + ( ( valueTmp2 + ( valueTmp3 * 0.0001 ) ) / 60.0 );
dudmuck 0:0bd73064b7f6 214
dudmuck 0:0bd73064b7f6 215 if( NmeaGpsData.NmeaLatitudePole[0] == 'S' )
dudmuck 0:0bd73064b7f6 216 {
dudmuck 0:0bd73064b7f6 217 Latitude *= -1;
dudmuck 0:0bd73064b7f6 218 }
dudmuck 0:0bd73064b7f6 219
dudmuck 0:0bd73064b7f6 220 // Convert the longitude from ASCII to uint8_t values
dudmuck 0:0bd73064b7f6 221 for( i = 0 ; i < 10 ; i++ )
dudmuck 0:0bd73064b7f6 222 {
dudmuck 0:0bd73064b7f6 223 NmeaGpsData.NmeaLongitude[i] = NmeaGpsData.NmeaLongitude[i] & 0xF;
dudmuck 0:0bd73064b7f6 224 }
dudmuck 0:0bd73064b7f6 225 // Convert longitude from degree/minute/second (DMS) format into decimal
dudmuck 0:0bd73064b7f6 226 valueTmp1 = ( double )NmeaGpsData.NmeaLongitude[0] * 100.0 + ( double )NmeaGpsData.NmeaLongitude[1] * 10.0 + ( double )NmeaGpsData.NmeaLongitude[2];
dudmuck 0:0bd73064b7f6 227 valueTmp2 = ( double )NmeaGpsData.NmeaLongitude[3] * 10.0 + ( double )NmeaGpsData.NmeaLongitude[4];
dudmuck 0:0bd73064b7f6 228 valueTmp3 = ( double )NmeaGpsData.NmeaLongitude[6] * 1000.0 + ( double )NmeaGpsData.NmeaLongitude[7] * 100;
dudmuck 0:0bd73064b7f6 229 valueTmp4 = ( double )NmeaGpsData.NmeaLongitude[8] * 10.0 + ( double )NmeaGpsData.NmeaLongitude[9];
dudmuck 0:0bd73064b7f6 230
dudmuck 0:0bd73064b7f6 231 Longitude = valueTmp1 + ( valueTmp2 / 60.0 ) + ( ( ( valueTmp3 + valueTmp4 ) * 0.0001 ) / 60.0 );
dudmuck 0:0bd73064b7f6 232
dudmuck 0:0bd73064b7f6 233 if( NmeaGpsData.NmeaLongitudePole[0] == 'W' )
dudmuck 0:0bd73064b7f6 234 {
dudmuck 0:0bd73064b7f6 235 Longitude *= -1;
dudmuck 0:0bd73064b7f6 236 }
dudmuck 0:0bd73064b7f6 237
dudmuck 0:0bd73064b7f6 238 //printf("DD %f, %f\r\n", Latitude, Longitude);
dudmuck 0:0bd73064b7f6 239 }
dudmuck 0:0bd73064b7f6 240
dudmuck 0:0bd73064b7f6 241 void GPS::ConvertPositionIntoBinary( )
dudmuck 0:0bd73064b7f6 242 {
dudmuck 0:0bd73064b7f6 243 long double temp;
dudmuck 0:0bd73064b7f6 244
dudmuck 0:0bd73064b7f6 245 if( Latitude >= 0 ) // North
dudmuck 0:0bd73064b7f6 246 {
dudmuck 0:0bd73064b7f6 247 temp = Latitude * MaxNorthPosition;
dudmuck 0:0bd73064b7f6 248 LatitudeBinary = temp / 90;
dudmuck 0:0bd73064b7f6 249 }
dudmuck 0:0bd73064b7f6 250 else // South
dudmuck 0:0bd73064b7f6 251 {
dudmuck 0:0bd73064b7f6 252 temp = Latitude * MaxSouthPosition;
dudmuck 0:0bd73064b7f6 253 LatitudeBinary = temp / 90;
dudmuck 0:0bd73064b7f6 254 }
dudmuck 0:0bd73064b7f6 255
dudmuck 0:0bd73064b7f6 256 if( Longitude >= 0 ) // East
dudmuck 0:0bd73064b7f6 257 {
dudmuck 0:0bd73064b7f6 258 temp = Longitude * MaxEastPosition;
dudmuck 0:0bd73064b7f6 259 LongitudeBinary = temp / 180;
dudmuck 0:0bd73064b7f6 260 }
dudmuck 0:0bd73064b7f6 261 else // West
dudmuck 0:0bd73064b7f6 262 {
dudmuck 0:0bd73064b7f6 263 temp = Longitude * MaxWestPosition;
dudmuck 0:0bd73064b7f6 264 LongitudeBinary = temp / 180;
dudmuck 0:0bd73064b7f6 265 }
dudmuck 1:2f5fbb33ae8b 266
dudmuck 1:2f5fbb33ae8b 267 if (LatitudeBinary == LAT_UNFIXED && LongitudeBinary == LONG_UNFIXED)
dudmuck 1:2f5fbb33ae8b 268 have_fix = false;
dudmuck 1:2f5fbb33ae8b 269 else
shaunkrnelson 7:44cb21f05dcc 270 {
dudmuck 1:2f5fbb33ae8b 271 have_fix = true;
shaunkrnelson 7:44cb21f05dcc 272 if(verbose == true)
shaunkrnelson 7:44cb21f05dcc 273 printf("GPS: latitude=%f, longitude=%f\r\n", Latitude, Longitude);
shaunkrnelson 7:44cb21f05dcc 274 }
dudmuck 0:0bd73064b7f6 275 }
dudmuck 0:0bd73064b7f6 276
dudmuck 0:0bd73064b7f6 277 int GPS::ParseGPSData(int idx)
dudmuck 0:0bd73064b7f6 278 {
dudmuck 0:0bd73064b7f6 279 uint8_t i, j, fieldSize;
dudmuck 0:0bd73064b7f6 280 char *NmeaString;
dudmuck 0:0bd73064b7f6 281
dudmuck 0:0bd73064b7f6 282 if (NmeaValidateChecksum(idx) == false) {
dudmuck 0:0bd73064b7f6 283 return FAIL;
dudmuck 0:0bd73064b7f6 284 }
dudmuck 0:0bd73064b7f6 285
dudmuck 0:0bd73064b7f6 286 NmeaString = rx_bufs[idx];
dudmuck 1:2f5fbb33ae8b 287
dudmuck 1:2f5fbb33ae8b 288 if (NmeaString[0] == 'P' && NmeaString[1] == 'M' && NmeaString[2] == 'T' && NmeaString[3] == 'K') {
dudmuck 1:2f5fbb33ae8b 289 /* anything useful from PMTK packets? */
dudmuck 1:2f5fbb33ae8b 290 return SUCCESS;
dudmuck 1:2f5fbb33ae8b 291 }
dudmuck 1:2f5fbb33ae8b 292
dudmuck 0:0bd73064b7f6 293 fieldSize = 0;
dudmuck 0:0bd73064b7f6 294 i = 0;
dudmuck 0:0bd73064b7f6 295 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 296 {
dudmuck 0:0bd73064b7f6 297 if( fieldSize > 6 )
dudmuck 0:0bd73064b7f6 298 {
dudmuck 1:2f5fbb33ae8b 299 printf("gps parse:%s\r\n", NmeaString);
dudmuck 0:0bd73064b7f6 300 return FAIL;
dudmuck 0:0bd73064b7f6 301 }
dudmuck 0:0bd73064b7f6 302 }
dudmuck 0:0bd73064b7f6 303
dudmuck 0:0bd73064b7f6 304 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 305 {
dudmuck 0:0bd73064b7f6 306 NmeaGpsData.NmeaDataType[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 307 }
dudmuck 0:0bd73064b7f6 308 // Parse the GPGGA data
dudmuck 0:0bd73064b7f6 309 if( strncmp( ( const char* )NmeaGpsData.NmeaDataType, ( const char* )NmeaDataTypeGPGGA, 5 ) == 0 )
dudmuck 0:0bd73064b7f6 310 {
shaunkrnelson 7:44cb21f05dcc 311 if(verbose == true)
shaunkrnelson 7:44cb21f05dcc 312 printf("GPGAA: %s\r\n",NmeaString);
shaunkrnelson 7:44cb21f05dcc 313
dudmuck 0:0bd73064b7f6 314 // NmeaUtcTime
dudmuck 0:0bd73064b7f6 315 fieldSize = 0;
dudmuck 0:0bd73064b7f6 316 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 317 {
dudmuck 0:0bd73064b7f6 318 if( fieldSize > 11 )
dudmuck 0:0bd73064b7f6 319 {
dudmuck 0:0bd73064b7f6 320 return FAIL;
dudmuck 0:0bd73064b7f6 321 }
dudmuck 0:0bd73064b7f6 322 }
dudmuck 0:0bd73064b7f6 323 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 324 {
dudmuck 0:0bd73064b7f6 325 NmeaGpsData.NmeaUtcTime[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 326 }
dudmuck 0:0bd73064b7f6 327 // NmeaLatitude
dudmuck 0:0bd73064b7f6 328 fieldSize = 0;
dudmuck 0:0bd73064b7f6 329 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 330 {
dudmuck 0:0bd73064b7f6 331 if( fieldSize > 10 )
dudmuck 0:0bd73064b7f6 332 {
dudmuck 0:0bd73064b7f6 333 return FAIL;
dudmuck 0:0bd73064b7f6 334 }
dudmuck 0:0bd73064b7f6 335 }
shaunkrnelson 7:44cb21f05dcc 336 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 337 return FAIL;
shaunkrnelson 6:9dfe135334c9 338
dudmuck 0:0bd73064b7f6 339 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 340 {
dudmuck 0:0bd73064b7f6 341 NmeaGpsData.NmeaLatitude[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 342 }
dudmuck 0:0bd73064b7f6 343 // NmeaLatitudePole
dudmuck 0:0bd73064b7f6 344 fieldSize = 0;
dudmuck 0:0bd73064b7f6 345 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 346 {
dudmuck 0:0bd73064b7f6 347 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 348 {
dudmuck 0:0bd73064b7f6 349 return FAIL;
dudmuck 0:0bd73064b7f6 350 }
dudmuck 0:0bd73064b7f6 351 }
shaunkrnelson 6:9dfe135334c9 352
shaunkrnelson 7:44cb21f05dcc 353 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 354 return FAIL;
dudmuck 0:0bd73064b7f6 355 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 356 {
dudmuck 0:0bd73064b7f6 357 NmeaGpsData.NmeaLatitudePole[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 358 }
dudmuck 0:0bd73064b7f6 359 // NmeaLongitude
dudmuck 0:0bd73064b7f6 360 fieldSize = 0;
dudmuck 0:0bd73064b7f6 361 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 362 {
dudmuck 0:0bd73064b7f6 363 if( fieldSize > 11 )
dudmuck 0:0bd73064b7f6 364 {
dudmuck 0:0bd73064b7f6 365 return FAIL;
dudmuck 0:0bd73064b7f6 366 }
dudmuck 0:0bd73064b7f6 367 }
shaunkrnelson 7:44cb21f05dcc 368 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 369 return FAIL;
shaunkrnelson 6:9dfe135334c9 370
dudmuck 0:0bd73064b7f6 371 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 372 {
dudmuck 0:0bd73064b7f6 373 NmeaGpsData.NmeaLongitude[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 374 }
dudmuck 0:0bd73064b7f6 375 // NmeaLongitudePole
dudmuck 0:0bd73064b7f6 376 fieldSize = 0;
dudmuck 0:0bd73064b7f6 377 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 378 {
dudmuck 0:0bd73064b7f6 379 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 380 {
dudmuck 0:0bd73064b7f6 381 return FAIL;
dudmuck 0:0bd73064b7f6 382 }
dudmuck 0:0bd73064b7f6 383 }
shaunkrnelson 6:9dfe135334c9 384
shaunkrnelson 7:44cb21f05dcc 385 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 386 return FAIL;
dudmuck 0:0bd73064b7f6 387 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 388 {
dudmuck 0:0bd73064b7f6 389 NmeaGpsData.NmeaLongitudePole[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 390 }
dudmuck 0:0bd73064b7f6 391 // NmeaFixQuality
dudmuck 0:0bd73064b7f6 392 fieldSize = 0;
dudmuck 0:0bd73064b7f6 393 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 394 {
dudmuck 0:0bd73064b7f6 395 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 396 {
dudmuck 0:0bd73064b7f6 397 return FAIL;
dudmuck 0:0bd73064b7f6 398 }
dudmuck 0:0bd73064b7f6 399 }
dudmuck 0:0bd73064b7f6 400 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 401 {
dudmuck 0:0bd73064b7f6 402 NmeaGpsData.NmeaFixQuality[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 403 }
dudmuck 0:0bd73064b7f6 404 // NmeaSatelliteTracked
dudmuck 0:0bd73064b7f6 405 fieldSize = 0;
dudmuck 0:0bd73064b7f6 406 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 407 {
dudmuck 0:0bd73064b7f6 408 if( fieldSize > 3 )
dudmuck 0:0bd73064b7f6 409 {
dudmuck 0:0bd73064b7f6 410 return FAIL;
dudmuck 0:0bd73064b7f6 411 }
dudmuck 0:0bd73064b7f6 412 }
dudmuck 0:0bd73064b7f6 413 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 414 {
dudmuck 0:0bd73064b7f6 415 NmeaGpsData.NmeaSatelliteTracked[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 416 }
dudmuck 0:0bd73064b7f6 417 // NmeaHorizontalDilution
dudmuck 0:0bd73064b7f6 418 fieldSize = 0;
dudmuck 0:0bd73064b7f6 419 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 420 {
dudmuck 0:0bd73064b7f6 421 if( fieldSize > 6 )
dudmuck 0:0bd73064b7f6 422 {
dudmuck 0:0bd73064b7f6 423 return FAIL;
dudmuck 0:0bd73064b7f6 424 }
dudmuck 0:0bd73064b7f6 425 }
dudmuck 0:0bd73064b7f6 426 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 427 {
dudmuck 0:0bd73064b7f6 428 NmeaGpsData.NmeaHorizontalDilution[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 429 }
dudmuck 0:0bd73064b7f6 430 // NmeaAltitude
dudmuck 0:0bd73064b7f6 431 fieldSize = 0;
dudmuck 0:0bd73064b7f6 432 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 433 {
dudmuck 0:0bd73064b7f6 434 if( fieldSize > 8 )
dudmuck 0:0bd73064b7f6 435 {
dudmuck 0:0bd73064b7f6 436 return FAIL;
dudmuck 0:0bd73064b7f6 437 }
dudmuck 0:0bd73064b7f6 438 }
dudmuck 0:0bd73064b7f6 439 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 440 {
dudmuck 0:0bd73064b7f6 441 NmeaGpsData.NmeaAltitude[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 442 }
dudmuck 0:0bd73064b7f6 443 // NmeaAltitudeUnit
dudmuck 0:0bd73064b7f6 444 fieldSize = 0;
dudmuck 0:0bd73064b7f6 445 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 446 {
dudmuck 0:0bd73064b7f6 447 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 448 {
dudmuck 0:0bd73064b7f6 449 return FAIL;
dudmuck 0:0bd73064b7f6 450 }
dudmuck 0:0bd73064b7f6 451 }
dudmuck 0:0bd73064b7f6 452 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 453 {
dudmuck 0:0bd73064b7f6 454 NmeaGpsData.NmeaAltitudeUnit[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 455 }
dudmuck 0:0bd73064b7f6 456 // NmeaHeightGeoid
dudmuck 0:0bd73064b7f6 457 fieldSize = 0;
dudmuck 0:0bd73064b7f6 458 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 459 {
dudmuck 0:0bd73064b7f6 460 if( fieldSize > 8 )
dudmuck 0:0bd73064b7f6 461 {
dudmuck 0:0bd73064b7f6 462 return FAIL;
dudmuck 0:0bd73064b7f6 463 }
dudmuck 0:0bd73064b7f6 464 }
dudmuck 0:0bd73064b7f6 465 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 466 {
dudmuck 0:0bd73064b7f6 467 NmeaGpsData.NmeaHeightGeoid[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 468 }
dudmuck 0:0bd73064b7f6 469 // NmeaHeightGeoidUnit
dudmuck 0:0bd73064b7f6 470 fieldSize = 0;
dudmuck 0:0bd73064b7f6 471 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 472 {
dudmuck 0:0bd73064b7f6 473 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 474 {
dudmuck 0:0bd73064b7f6 475 return FAIL;
dudmuck 0:0bd73064b7f6 476 }
dudmuck 0:0bd73064b7f6 477 }
dudmuck 0:0bd73064b7f6 478 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 479 {
dudmuck 0:0bd73064b7f6 480 NmeaGpsData.NmeaHeightGeoidUnit[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 481 }
dudmuck 0:0bd73064b7f6 482
dudmuck 0:0bd73064b7f6 483 //FormatGpsData( );
dudmuck 0:0bd73064b7f6 484 ConvertPositionFromStringToNumerical( );
dudmuck 0:0bd73064b7f6 485 ConvertPositionIntoBinary( );
dudmuck 0:0bd73064b7f6 486 return SUCCESS;
dudmuck 0:0bd73064b7f6 487 }
dudmuck 0:0bd73064b7f6 488 else if ( strncmp( ( const char* )NmeaGpsData.NmeaDataType, ( const char* )NmeaDataTypeGPRMC, 5 ) == 0 )
dudmuck 0:0bd73064b7f6 489 {
shaunkrnelson 7:44cb21f05dcc 490 if(verbose == true)
shaunkrnelson 7:44cb21f05dcc 491 printf("GPMRC: %s\r\n", NmeaString);
shaunkrnelson 7:44cb21f05dcc 492
dudmuck 0:0bd73064b7f6 493 // NmeaUtcTime
dudmuck 0:0bd73064b7f6 494 fieldSize = 0;
dudmuck 0:0bd73064b7f6 495 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 496 {
dudmuck 0:0bd73064b7f6 497 if( fieldSize > 11 )
dudmuck 0:0bd73064b7f6 498 {
dudmuck 0:0bd73064b7f6 499 return FAIL;
dudmuck 0:0bd73064b7f6 500 }
dudmuck 0:0bd73064b7f6 501 }
dudmuck 0:0bd73064b7f6 502 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 503 {
dudmuck 0:0bd73064b7f6 504 NmeaGpsData.NmeaUtcTime[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 505 }
dudmuck 0:0bd73064b7f6 506 // NmeaDataStatus
dudmuck 0:0bd73064b7f6 507 fieldSize = 0;
dudmuck 0:0bd73064b7f6 508 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 509 {
dudmuck 0:0bd73064b7f6 510 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 511 {
dudmuck 0:0bd73064b7f6 512 return FAIL;
dudmuck 0:0bd73064b7f6 513 }
dudmuck 0:0bd73064b7f6 514 }
shaunkrnelson 7:44cb21f05dcc 515 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 516 return FAIL;
dudmuck 0:0bd73064b7f6 517 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 518 {
dudmuck 0:0bd73064b7f6 519 NmeaGpsData.NmeaDataStatus[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 520 }
shaunkrnelson 6:9dfe135334c9 521
shaunkrnelson 6:9dfe135334c9 522 if(NmeaGpsData.NmeaDataStatus[0] != 'A')
shaunkrnelson 6:9dfe135334c9 523 return FAIL;
shaunkrnelson 6:9dfe135334c9 524 //
dudmuck 0:0bd73064b7f6 525 // NmeaLatitude
dudmuck 0:0bd73064b7f6 526 fieldSize = 0;
dudmuck 0:0bd73064b7f6 527 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 528 {
dudmuck 0:0bd73064b7f6 529 if( fieldSize > 10 )
dudmuck 0:0bd73064b7f6 530 {
dudmuck 0:0bd73064b7f6 531 return FAIL;
dudmuck 0:0bd73064b7f6 532 }
dudmuck 0:0bd73064b7f6 533 }
shaunkrnelson 6:9dfe135334c9 534
shaunkrnelson 7:44cb21f05dcc 535 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 536 return FAIL;
shaunkrnelson 6:9dfe135334c9 537
dudmuck 0:0bd73064b7f6 538 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 539 {
dudmuck 0:0bd73064b7f6 540 NmeaGpsData.NmeaLatitude[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 541 }
dudmuck 0:0bd73064b7f6 542 // NmeaLatitudePole
dudmuck 0:0bd73064b7f6 543 fieldSize = 0;
dudmuck 0:0bd73064b7f6 544 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 545 {
dudmuck 0:0bd73064b7f6 546 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 547 {
dudmuck 0:0bd73064b7f6 548 return FAIL;
dudmuck 0:0bd73064b7f6 549 }
dudmuck 0:0bd73064b7f6 550 }
shaunkrnelson 7:44cb21f05dcc 551 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 552 return FAIL;
dudmuck 0:0bd73064b7f6 553 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 554 {
dudmuck 0:0bd73064b7f6 555 NmeaGpsData.NmeaLatitudePole[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 556 }
dudmuck 0:0bd73064b7f6 557 // NmeaLongitude
dudmuck 0:0bd73064b7f6 558 fieldSize = 0;
dudmuck 0:0bd73064b7f6 559 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 560 {
dudmuck 0:0bd73064b7f6 561 if( fieldSize > 11 )
dudmuck 0:0bd73064b7f6 562 {
dudmuck 0:0bd73064b7f6 563 return FAIL;
dudmuck 0:0bd73064b7f6 564 }
dudmuck 0:0bd73064b7f6 565 }
shaunkrnelson 7:44cb21f05dcc 566 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 567 return FAIL;
dudmuck 0:0bd73064b7f6 568 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 569 {
dudmuck 0:0bd73064b7f6 570 NmeaGpsData.NmeaLongitude[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 571 }
dudmuck 0:0bd73064b7f6 572 // NmeaLongitudePole
dudmuck 0:0bd73064b7f6 573 fieldSize = 0;
dudmuck 0:0bd73064b7f6 574 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 575 {
dudmuck 0:0bd73064b7f6 576 if( fieldSize > 2 )
dudmuck 0:0bd73064b7f6 577 {
dudmuck 0:0bd73064b7f6 578 return FAIL;
dudmuck 0:0bd73064b7f6 579 }
dudmuck 0:0bd73064b7f6 580 }
shaunkrnelson 7:44cb21f05dcc 581 if(fieldSize <= 1)
shaunkrnelson 6:9dfe135334c9 582 return FAIL;
dudmuck 0:0bd73064b7f6 583 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 584 {
dudmuck 0:0bd73064b7f6 585 NmeaGpsData.NmeaLongitudePole[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 586 }
dudmuck 0:0bd73064b7f6 587 // NmeaSpeed
dudmuck 0:0bd73064b7f6 588 fieldSize = 0;
dudmuck 0:0bd73064b7f6 589 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 590 {
dudmuck 0:0bd73064b7f6 591 if( fieldSize > 8 )
dudmuck 0:0bd73064b7f6 592 {
dudmuck 0:0bd73064b7f6 593 return FAIL;
dudmuck 0:0bd73064b7f6 594 }
dudmuck 0:0bd73064b7f6 595 }
dudmuck 0:0bd73064b7f6 596 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 597 {
dudmuck 0:0bd73064b7f6 598 NmeaGpsData.NmeaSpeed[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 599 }
dudmuck 0:0bd73064b7f6 600 // NmeaDetectionAngle
dudmuck 0:0bd73064b7f6 601 fieldSize = 0;
dudmuck 0:0bd73064b7f6 602 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 603 {
dudmuck 0:0bd73064b7f6 604 if( fieldSize > 8 )
dudmuck 0:0bd73064b7f6 605 {
dudmuck 0:0bd73064b7f6 606 return FAIL;
dudmuck 0:0bd73064b7f6 607 }
dudmuck 0:0bd73064b7f6 608 }
dudmuck 0:0bd73064b7f6 609 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 610 {
dudmuck 0:0bd73064b7f6 611 NmeaGpsData.NmeaDetectionAngle[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 612 }
dudmuck 0:0bd73064b7f6 613 // NmeaDate
dudmuck 0:0bd73064b7f6 614 fieldSize = 0;
dudmuck 0:0bd73064b7f6 615 while( NmeaString[i + fieldSize++] != ',' )
dudmuck 0:0bd73064b7f6 616 {
dudmuck 0:0bd73064b7f6 617 if( fieldSize > 8 )
dudmuck 0:0bd73064b7f6 618 {
dudmuck 0:0bd73064b7f6 619 return FAIL;
dudmuck 0:0bd73064b7f6 620 }
dudmuck 0:0bd73064b7f6 621 }
dudmuck 0:0bd73064b7f6 622 for( j = 0; j < fieldSize; j++, i++ )
dudmuck 0:0bd73064b7f6 623 {
dudmuck 0:0bd73064b7f6 624 NmeaGpsData.NmeaDate[j] = NmeaString[i];
dudmuck 0:0bd73064b7f6 625 }
dudmuck 0:0bd73064b7f6 626
dudmuck 0:0bd73064b7f6 627 //FormatGpsData( );
dudmuck 0:0bd73064b7f6 628 ConvertPositionFromStringToNumerical( );
dudmuck 0:0bd73064b7f6 629 ConvertPositionIntoBinary( );
dudmuck 0:0bd73064b7f6 630 return SUCCESS;
dudmuck 0:0bd73064b7f6 631 }
dudmuck 0:0bd73064b7f6 632 else
dudmuck 0:0bd73064b7f6 633 {
dudmuck 0:0bd73064b7f6 634 return FAIL;
dudmuck 0:0bd73064b7f6 635 }
dudmuck 0:0bd73064b7f6 636 }
dudmuck 0:0bd73064b7f6 637
dudmuck 0:0bd73064b7f6 638 void GPS::service()
dudmuck 0:0bd73064b7f6 639 {
dudmuck 0:0bd73064b7f6 640 while (rx_bufs_in_idx != rx_bufs_out_idx) {
dudmuck 0:0bd73064b7f6 641 ParseGPSData(rx_bufs_out_idx);
dudmuck 0:0bd73064b7f6 642 if (++rx_bufs_out_idx == NUM_RX_BUFS)
dudmuck 0:0bd73064b7f6 643 rx_bufs_out_idx = 0;
dudmuck 0:0bd73064b7f6 644 }
dudmuck 0:0bd73064b7f6 645
dudmuck 2:b531881123bf 646 /*if (pps_occurred) {
dudmuck 0:0bd73064b7f6 647 pps_occurred = false;
dudmuck 0:0bd73064b7f6 648 if (verbose)
dudmuck 0:0bd73064b7f6 649 printf("gps:pps\r\n");
dudmuck 2:b531881123bf 650 }*/
dudmuck 0:0bd73064b7f6 651 }
dudmuck 0:0bd73064b7f6 652
dudmuck 0:0bd73064b7f6 653