Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Sensors/GPS/TinyGPS/TinyGPS.cpp@0:826c6171fc1b, 2012-06-20 (annotated)
- Committer:
- shimniok
- Date:
- Wed Jun 20 14:57:48 2012 +0000
- Revision:
- 0:826c6171fc1b
Updated documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | /* |
shimniok | 0:826c6171fc1b | 2 | TinyGPS - a small GPS library for Arduino providing basic NMEA parsing |
shimniok | 0:826c6171fc1b | 3 | Copyright (C) 2008-9 Mikal Hart |
shimniok | 0:826c6171fc1b | 4 | All rights reserved. |
shimniok | 0:826c6171fc1b | 5 | |
shimniok | 0:826c6171fc1b | 6 | This library is free software; you can redistribute it and/or |
shimniok | 0:826c6171fc1b | 7 | modify it under the terms of the GNU Lesser General Public |
shimniok | 0:826c6171fc1b | 8 | License as published by the Free Software Foundation; either |
shimniok | 0:826c6171fc1b | 9 | version 2.1 of the License, or (at your option) any later version. |
shimniok | 0:826c6171fc1b | 10 | |
shimniok | 0:826c6171fc1b | 11 | This library is distributed in the hope that it will be useful, |
shimniok | 0:826c6171fc1b | 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
shimniok | 0:826c6171fc1b | 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
shimniok | 0:826c6171fc1b | 14 | Lesser General Public License for more details. |
shimniok | 0:826c6171fc1b | 15 | |
shimniok | 0:826c6171fc1b | 16 | You should have received a copy of the GNU Lesser General Public |
shimniok | 0:826c6171fc1b | 17 | License along with this library; if not, write to the Free Software |
shimniok | 0:826c6171fc1b | 18 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
shimniok | 0:826c6171fc1b | 19 | |
shimniok | 0:826c6171fc1b | 20 | Ported to mbed by Michael Shimniok http://www.bot-thoughts.com/ |
shimniok | 0:826c6171fc1b | 21 | */ |
shimniok | 0:826c6171fc1b | 22 | |
shimniok | 0:826c6171fc1b | 23 | #include "TinyGPS.h" |
shimniok | 0:826c6171fc1b | 24 | |
shimniok | 0:826c6171fc1b | 25 | #define _GPRMC_TERM "GPRMC" |
shimniok | 0:826c6171fc1b | 26 | #define _GPGGA_TERM "GPGGA" |
shimniok | 0:826c6171fc1b | 27 | #define _GPGSV_TERM "GPGSV" |
shimniok | 0:826c6171fc1b | 28 | |
shimniok | 0:826c6171fc1b | 29 | TinyGPS::TinyGPS() |
shimniok | 0:826c6171fc1b | 30 | : _time(GPS_INVALID_TIME) |
shimniok | 0:826c6171fc1b | 31 | , _date(GPS_INVALID_DATE) |
shimniok | 0:826c6171fc1b | 32 | , _latitude(GPS_INVALID_ANGLE) |
shimniok | 0:826c6171fc1b | 33 | , _longitude(GPS_INVALID_ANGLE) |
shimniok | 0:826c6171fc1b | 34 | , _altitude(GPS_INVALID_ALTITUDE) |
shimniok | 0:826c6171fc1b | 35 | , _speed(GPS_INVALID_SPEED) |
shimniok | 0:826c6171fc1b | 36 | , _course(GPS_INVALID_ANGLE) |
shimniok | 0:826c6171fc1b | 37 | , _hdop(0) |
shimniok | 0:826c6171fc1b | 38 | , _sat_count(0) |
shimniok | 0:826c6171fc1b | 39 | , _last_time_fix(GPS_INVALID_FIX_TIME) |
shimniok | 0:826c6171fc1b | 40 | , _last_position_fix(GPS_INVALID_FIX_TIME) |
shimniok | 0:826c6171fc1b | 41 | , _parity(0) |
shimniok | 0:826c6171fc1b | 42 | , _is_checksum_term(false) |
shimniok | 0:826c6171fc1b | 43 | , _sentence_type(_GPS_SENTENCE_OTHER) |
shimniok | 0:826c6171fc1b | 44 | , _term_number(0) |
shimniok | 0:826c6171fc1b | 45 | , _term_offset(0) |
shimniok | 0:826c6171fc1b | 46 | , _gps_data_good(false) |
shimniok | 0:826c6171fc1b | 47 | , _rmc_ready(false) |
shimniok | 0:826c6171fc1b | 48 | , _gga_ready(false) |
shimniok | 0:826c6171fc1b | 49 | , _gsv_ready(false) |
shimniok | 0:826c6171fc1b | 50 | #ifndef _GPS_NO_STATS |
shimniok | 0:826c6171fc1b | 51 | , _encoded_characters(0) |
shimniok | 0:826c6171fc1b | 52 | , _good_sentences(0) |
shimniok | 0:826c6171fc1b | 53 | , _failed_checksum(0) |
shimniok | 0:826c6171fc1b | 54 | #endif |
shimniok | 0:826c6171fc1b | 55 | { |
shimniok | 0:826c6171fc1b | 56 | _term[0] = '\0'; |
shimniok | 0:826c6171fc1b | 57 | } |
shimniok | 0:826c6171fc1b | 58 | |
shimniok | 0:826c6171fc1b | 59 | // |
shimniok | 0:826c6171fc1b | 60 | // public methods |
shimniok | 0:826c6171fc1b | 61 | // |
shimniok | 0:826c6171fc1b | 62 | |
shimniok | 0:826c6171fc1b | 63 | bool TinyGPS::encode(char c) |
shimniok | 0:826c6171fc1b | 64 | { |
shimniok | 0:826c6171fc1b | 65 | bool valid_sentence = false; |
shimniok | 0:826c6171fc1b | 66 | |
shimniok | 0:826c6171fc1b | 67 | ++_encoded_characters; |
shimniok | 0:826c6171fc1b | 68 | switch(c) |
shimniok | 0:826c6171fc1b | 69 | { |
shimniok | 0:826c6171fc1b | 70 | case ',': // term terminators |
shimniok | 0:826c6171fc1b | 71 | _parity ^= c; |
shimniok | 0:826c6171fc1b | 72 | case '\r': |
shimniok | 0:826c6171fc1b | 73 | case '\n': |
shimniok | 0:826c6171fc1b | 74 | case '*': |
shimniok | 0:826c6171fc1b | 75 | if (_term_offset < sizeof(_term)) |
shimniok | 0:826c6171fc1b | 76 | { |
shimniok | 0:826c6171fc1b | 77 | _term[_term_offset] = 0; |
shimniok | 0:826c6171fc1b | 78 | valid_sentence = term_complete(); |
shimniok | 0:826c6171fc1b | 79 | } |
shimniok | 0:826c6171fc1b | 80 | ++_term_number; |
shimniok | 0:826c6171fc1b | 81 | _term_offset = 0; |
shimniok | 0:826c6171fc1b | 82 | _is_checksum_term = c == '*'; |
shimniok | 0:826c6171fc1b | 83 | return valid_sentence; |
shimniok | 0:826c6171fc1b | 84 | |
shimniok | 0:826c6171fc1b | 85 | case '$': // sentence begin |
shimniok | 0:826c6171fc1b | 86 | _term_number = _term_offset = 0; |
shimniok | 0:826c6171fc1b | 87 | _parity = 0; |
shimniok | 0:826c6171fc1b | 88 | _sentence_type = _GPS_SENTENCE_OTHER; |
shimniok | 0:826c6171fc1b | 89 | _is_checksum_term = false; |
shimniok | 0:826c6171fc1b | 90 | _gps_data_good = false; |
shimniok | 0:826c6171fc1b | 91 | return valid_sentence; |
shimniok | 0:826c6171fc1b | 92 | } |
shimniok | 0:826c6171fc1b | 93 | |
shimniok | 0:826c6171fc1b | 94 | // ordinary characters |
shimniok | 0:826c6171fc1b | 95 | if (_term_offset < sizeof(_term) - 1) |
shimniok | 0:826c6171fc1b | 96 | _term[_term_offset++] = c; |
shimniok | 0:826c6171fc1b | 97 | if (!_is_checksum_term) |
shimniok | 0:826c6171fc1b | 98 | _parity ^= c; |
shimniok | 0:826c6171fc1b | 99 | |
shimniok | 0:826c6171fc1b | 100 | return valid_sentence; |
shimniok | 0:826c6171fc1b | 101 | } |
shimniok | 0:826c6171fc1b | 102 | |
shimniok | 0:826c6171fc1b | 103 | #ifndef _GPS_NO_STATS |
shimniok | 0:826c6171fc1b | 104 | void TinyGPS::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs) |
shimniok | 0:826c6171fc1b | 105 | { |
shimniok | 0:826c6171fc1b | 106 | if (chars) *chars = _encoded_characters; |
shimniok | 0:826c6171fc1b | 107 | if (sentences) *sentences = _good_sentences; |
shimniok | 0:826c6171fc1b | 108 | if (failed_cs) *failed_cs = _failed_checksum; |
shimniok | 0:826c6171fc1b | 109 | } |
shimniok | 0:826c6171fc1b | 110 | #endif |
shimniok | 0:826c6171fc1b | 111 | |
shimniok | 0:826c6171fc1b | 112 | // |
shimniok | 0:826c6171fc1b | 113 | // internal utilities |
shimniok | 0:826c6171fc1b | 114 | // |
shimniok | 0:826c6171fc1b | 115 | int TinyGPS::from_hex(char a) |
shimniok | 0:826c6171fc1b | 116 | { |
shimniok | 0:826c6171fc1b | 117 | if (a >= 'A' && a <= 'F') |
shimniok | 0:826c6171fc1b | 118 | return a - 'A' + 10; |
shimniok | 0:826c6171fc1b | 119 | else if (a >= 'a' && a <= 'f') |
shimniok | 0:826c6171fc1b | 120 | return a - 'a' + 10; |
shimniok | 0:826c6171fc1b | 121 | else |
shimniok | 0:826c6171fc1b | 122 | return a - '0'; |
shimniok | 0:826c6171fc1b | 123 | } |
shimniok | 0:826c6171fc1b | 124 | |
shimniok | 0:826c6171fc1b | 125 | int TinyGPS::parse_int() |
shimniok | 0:826c6171fc1b | 126 | { |
shimniok | 0:826c6171fc1b | 127 | char *p = _term; |
shimniok | 0:826c6171fc1b | 128 | bool isneg = *p == '-'; |
shimniok | 0:826c6171fc1b | 129 | if (isneg) ++p; |
shimniok | 0:826c6171fc1b | 130 | while (*p == '0') ++p; |
shimniok | 0:826c6171fc1b | 131 | int ret = gpsatol(p); |
shimniok | 0:826c6171fc1b | 132 | return isneg ? -ret : ret; |
shimniok | 0:826c6171fc1b | 133 | } |
shimniok | 0:826c6171fc1b | 134 | |
shimniok | 0:826c6171fc1b | 135 | unsigned long TinyGPS::parse_decimal() |
shimniok | 0:826c6171fc1b | 136 | { |
shimniok | 0:826c6171fc1b | 137 | char *p = _term; |
shimniok | 0:826c6171fc1b | 138 | bool isneg = *p == '-'; |
shimniok | 0:826c6171fc1b | 139 | if (isneg) ++p; |
shimniok | 0:826c6171fc1b | 140 | unsigned long ret = 100UL * gpsatol(p); |
shimniok | 0:826c6171fc1b | 141 | while (gpsisdigit(*p)) ++p; |
shimniok | 0:826c6171fc1b | 142 | if (*p == '.') |
shimniok | 0:826c6171fc1b | 143 | { |
shimniok | 0:826c6171fc1b | 144 | if (gpsisdigit(p[1])) |
shimniok | 0:826c6171fc1b | 145 | { |
shimniok | 0:826c6171fc1b | 146 | ret += 10 * (p[1] - '0'); |
shimniok | 0:826c6171fc1b | 147 | if (gpsisdigit(p[2])) |
shimniok | 0:826c6171fc1b | 148 | ret += p[2] - '0'; |
shimniok | 0:826c6171fc1b | 149 | } |
shimniok | 0:826c6171fc1b | 150 | } |
shimniok | 0:826c6171fc1b | 151 | return isneg ? -ret : ret; // TODO: can't return - when we're returning an unsigned! |
shimniok | 0:826c6171fc1b | 152 | } |
shimniok | 0:826c6171fc1b | 153 | |
shimniok | 0:826c6171fc1b | 154 | // mes 04/27/12 increased fractional precision to 7 digits, was 5 |
shimniok | 0:826c6171fc1b | 155 | unsigned long TinyGPS::parse_degrees() |
shimniok | 0:826c6171fc1b | 156 | { |
shimniok | 0:826c6171fc1b | 157 | char *p; |
shimniok | 0:826c6171fc1b | 158 | unsigned long left = gpsatol(_term); |
shimniok | 0:826c6171fc1b | 159 | unsigned long tenk_minutes = (left % 100UL) * 1000000UL; |
shimniok | 0:826c6171fc1b | 160 | for (p=_term; gpsisdigit(*p); ++p); |
shimniok | 0:826c6171fc1b | 161 | if (*p == '.') |
shimniok | 0:826c6171fc1b | 162 | { |
shimniok | 0:826c6171fc1b | 163 | unsigned long mult = 100000; |
shimniok | 0:826c6171fc1b | 164 | while (gpsisdigit(*++p)) |
shimniok | 0:826c6171fc1b | 165 | { |
shimniok | 0:826c6171fc1b | 166 | tenk_minutes += mult * (*p - '0'); |
shimniok | 0:826c6171fc1b | 167 | mult /= 10; |
shimniok | 0:826c6171fc1b | 168 | } |
shimniok | 0:826c6171fc1b | 169 | } |
shimniok | 0:826c6171fc1b | 170 | return (left / 100) * 10000000 + tenk_minutes / 6; |
shimniok | 0:826c6171fc1b | 171 | } |
shimniok | 0:826c6171fc1b | 172 | |
shimniok | 0:826c6171fc1b | 173 | // Processes a just-completed term |
shimniok | 0:826c6171fc1b | 174 | // Returns true if new sentence has just passed checksum test and is validated |
shimniok | 0:826c6171fc1b | 175 | bool TinyGPS::term_complete() |
shimniok | 0:826c6171fc1b | 176 | { |
shimniok | 0:826c6171fc1b | 177 | if (_is_checksum_term) { |
shimniok | 0:826c6171fc1b | 178 | |
shimniok | 0:826c6171fc1b | 179 | byte checksum = 16 * from_hex(_term[0]) + from_hex(_term[1]); |
shimniok | 0:826c6171fc1b | 180 | if (checksum == _parity) { |
shimniok | 0:826c6171fc1b | 181 | |
shimniok | 0:826c6171fc1b | 182 | if (_gps_data_good) { |
shimniok | 0:826c6171fc1b | 183 | |
shimniok | 0:826c6171fc1b | 184 | #ifndef _GPS_NO_STATS |
shimniok | 0:826c6171fc1b | 185 | ++_good_sentences; |
shimniok | 0:826c6171fc1b | 186 | #endif |
shimniok | 0:826c6171fc1b | 187 | _last_time_fix = _new_time_fix; |
shimniok | 0:826c6171fc1b | 188 | _last_position_fix = _new_position_fix; |
shimniok | 0:826c6171fc1b | 189 | |
shimniok | 0:826c6171fc1b | 190 | switch(_sentence_type) { |
shimniok | 0:826c6171fc1b | 191 | case _GPS_SENTENCE_GPRMC: |
shimniok | 0:826c6171fc1b | 192 | _time = _new_time; |
shimniok | 0:826c6171fc1b | 193 | _date = _new_date; |
shimniok | 0:826c6171fc1b | 194 | _latitude = _new_latitude; |
shimniok | 0:826c6171fc1b | 195 | _longitude = _new_longitude; |
shimniok | 0:826c6171fc1b | 196 | _speed = _new_speed; |
shimniok | 0:826c6171fc1b | 197 | _course = _new_course; |
shimniok | 0:826c6171fc1b | 198 | _rmc_ready = true; |
shimniok | 0:826c6171fc1b | 199 | break; |
shimniok | 0:826c6171fc1b | 200 | case _GPS_SENTENCE_GPGGA: |
shimniok | 0:826c6171fc1b | 201 | _altitude = _new_altitude; |
shimniok | 0:826c6171fc1b | 202 | _time = _new_time; |
shimniok | 0:826c6171fc1b | 203 | _latitude = _new_latitude; |
shimniok | 0:826c6171fc1b | 204 | _longitude = _new_longitude; |
shimniok | 0:826c6171fc1b | 205 | _gga_ready = true; |
shimniok | 0:826c6171fc1b | 206 | _hdop = _new_hdop; |
shimniok | 0:826c6171fc1b | 207 | _sat_count = _new_sat_count; |
shimniok | 0:826c6171fc1b | 208 | case _GPS_SENTENCE_GPGSV: |
shimniok | 0:826c6171fc1b | 209 | _gsv_ready = true; |
shimniok | 0:826c6171fc1b | 210 | break; |
shimniok | 0:826c6171fc1b | 211 | } |
shimniok | 0:826c6171fc1b | 212 | |
shimniok | 0:826c6171fc1b | 213 | return true; |
shimniok | 0:826c6171fc1b | 214 | } |
shimniok | 0:826c6171fc1b | 215 | } |
shimniok | 0:826c6171fc1b | 216 | |
shimniok | 0:826c6171fc1b | 217 | #ifndef _GPS_NO_STATS |
shimniok | 0:826c6171fc1b | 218 | else |
shimniok | 0:826c6171fc1b | 219 | ++_failed_checksum; |
shimniok | 0:826c6171fc1b | 220 | #endif |
shimniok | 0:826c6171fc1b | 221 | return false; |
shimniok | 0:826c6171fc1b | 222 | } |
shimniok | 0:826c6171fc1b | 223 | |
shimniok | 0:826c6171fc1b | 224 | // the first term determines the sentence type |
shimniok | 0:826c6171fc1b | 225 | if (_term_number == 0) { |
shimniok | 0:826c6171fc1b | 226 | if (!gpsstrcmp(_term, _GPRMC_TERM)) |
shimniok | 0:826c6171fc1b | 227 | _sentence_type = _GPS_SENTENCE_GPRMC; |
shimniok | 0:826c6171fc1b | 228 | else if (!gpsstrcmp(_term, _GPGGA_TERM)) |
shimniok | 0:826c6171fc1b | 229 | _sentence_type = _GPS_SENTENCE_GPGGA; |
shimniok | 0:826c6171fc1b | 230 | else if (!gpsstrcmp(_term, _GPGSV_TERM)) |
shimniok | 0:826c6171fc1b | 231 | _sentence_type = _GPS_SENTENCE_GPGSV; |
shimniok | 0:826c6171fc1b | 232 | else |
shimniok | 0:826c6171fc1b | 233 | _sentence_type = _GPS_SENTENCE_OTHER; |
shimniok | 0:826c6171fc1b | 234 | return false; |
shimniok | 0:826c6171fc1b | 235 | } |
shimniok | 0:826c6171fc1b | 236 | |
shimniok | 0:826c6171fc1b | 237 | if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0]) |
shimniok | 0:826c6171fc1b | 238 | /* |
shimniok | 0:826c6171fc1b | 239 | if (_sentence_type == _GPS_SENTENCE_GPGSV) { |
shimniok | 0:826c6171fc1b | 240 | // $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF> |
shimniok | 0:826c6171fc1b | 241 | // TODO: need to maintain a list of 12 structs with sat info and update it each time |
shimniok | 0:826c6171fc1b | 242 | switch (_term_number) { |
shimniok | 0:826c6171fc1b | 243 | case 0 : // number of messages |
shimniok | 0:826c6171fc1b | 244 | break; |
shimniok | 0:826c6171fc1b | 245 | case 1 : // sequence number |
shimniok | 0:826c6171fc1b | 246 | break; |
shimniok | 0:826c6171fc1b | 247 | case 2 : // satellites in view |
shimniok | 0:826c6171fc1b | 248 | break; |
shimniok | 0:826c6171fc1b | 249 | case 3 : // sat ID |
shimniok | 0:826c6171fc1b | 250 | case 8 : |
shimniok | 0:826c6171fc1b | 251 | case 12 : |
shimniok | 0:826c6171fc1b | 252 | case 16 : |
shimniok | 0:826c6171fc1b | 253 | break; |
shimniok | 0:826c6171fc1b | 254 | case 4 : // elevation |
shimniok | 0:826c6171fc1b | 255 | case 9 : |
shimniok | 0:826c6171fc1b | 256 | case 13 : |
shimniok | 0:826c6171fc1b | 257 | case 17 : |
shimniok | 0:826c6171fc1b | 258 | break; |
shimniok | 0:826c6171fc1b | 259 | case 5 : // azimuth |
shimniok | 0:826c6171fc1b | 260 | case 10 : |
shimniok | 0:826c6171fc1b | 261 | case 14 : |
shimniok | 0:826c6171fc1b | 262 | case 18 : |
shimniok | 0:826c6171fc1b | 263 | break; |
shimniok | 0:826c6171fc1b | 264 | case 6 : // SNR |
shimniok | 0:826c6171fc1b | 265 | case 11 : |
shimniok | 0:826c6171fc1b | 266 | case 15 : |
shimniok | 0:826c6171fc1b | 267 | case 19 : |
shimniok | 0:826c6171fc1b | 268 | break; |
shimniok | 0:826c6171fc1b | 269 | } |
shimniok | 0:826c6171fc1b | 270 | } else {*/ |
shimniok | 0:826c6171fc1b | 271 | switch (((_sentence_type == _GPS_SENTENCE_GPGGA) ? 200 : 100) + _term_number) { |
shimniok | 0:826c6171fc1b | 272 | case 101: // Time in both sentences |
shimniok | 0:826c6171fc1b | 273 | case 201: |
shimniok | 0:826c6171fc1b | 274 | _new_time = parse_decimal(); |
shimniok | 0:826c6171fc1b | 275 | _new_time_fix = millis(); |
shimniok | 0:826c6171fc1b | 276 | break; |
shimniok | 0:826c6171fc1b | 277 | case 102: // GPRMC validity |
shimniok | 0:826c6171fc1b | 278 | _gps_data_good = _term[0] == 'A'; |
shimniok | 0:826c6171fc1b | 279 | break; |
shimniok | 0:826c6171fc1b | 280 | case 103: // Latitude |
shimniok | 0:826c6171fc1b | 281 | case 202: |
shimniok | 0:826c6171fc1b | 282 | _new_latitude = parse_degrees(); |
shimniok | 0:826c6171fc1b | 283 | _new_position_fix = millis(); |
shimniok | 0:826c6171fc1b | 284 | break; |
shimniok | 0:826c6171fc1b | 285 | case 104: // N/S |
shimniok | 0:826c6171fc1b | 286 | case 203: |
shimniok | 0:826c6171fc1b | 287 | if (_term[0] == 'S') |
shimniok | 0:826c6171fc1b | 288 | _new_latitude = -_new_latitude; |
shimniok | 0:826c6171fc1b | 289 | break; |
shimniok | 0:826c6171fc1b | 290 | case 105: // Longitude |
shimniok | 0:826c6171fc1b | 291 | case 204: |
shimniok | 0:826c6171fc1b | 292 | _new_longitude = parse_degrees(); |
shimniok | 0:826c6171fc1b | 293 | break; |
shimniok | 0:826c6171fc1b | 294 | case 106: // E/W |
shimniok | 0:826c6171fc1b | 295 | case 205: |
shimniok | 0:826c6171fc1b | 296 | if (_term[0] == 'W') |
shimniok | 0:826c6171fc1b | 297 | _new_longitude = -_new_longitude; |
shimniok | 0:826c6171fc1b | 298 | break; |
shimniok | 0:826c6171fc1b | 299 | case 107: // Speed (GPRMC) |
shimniok | 0:826c6171fc1b | 300 | _new_speed = parse_decimal(); |
shimniok | 0:826c6171fc1b | 301 | break; |
shimniok | 0:826c6171fc1b | 302 | case 108: // Course (GPRMC) |
shimniok | 0:826c6171fc1b | 303 | _new_course = parse_decimal(); |
shimniok | 0:826c6171fc1b | 304 | break; |
shimniok | 0:826c6171fc1b | 305 | case 109: // Date (GPRMC) |
shimniok | 0:826c6171fc1b | 306 | _new_date = gpsatol(_term); |
shimniok | 0:826c6171fc1b | 307 | break; |
shimniok | 0:826c6171fc1b | 308 | case 206: // Fix data (GPGGA) |
shimniok | 0:826c6171fc1b | 309 | _gps_data_good = _term[0] > '0'; |
shimniok | 0:826c6171fc1b | 310 | break; |
shimniok | 0:826c6171fc1b | 311 | case 207: // Number of satelites tracked (GPGGA) |
shimniok | 0:826c6171fc1b | 312 | _new_sat_count = parse_int(); |
shimniok | 0:826c6171fc1b | 313 | break; |
shimniok | 0:826c6171fc1b | 314 | case 208: // Horizontal Dilution of Position (GPGGA) |
shimniok | 0:826c6171fc1b | 315 | _new_hdop = parse_decimal(); |
shimniok | 0:826c6171fc1b | 316 | break; |
shimniok | 0:826c6171fc1b | 317 | case 209: // Altitude (GPGGA) |
shimniok | 0:826c6171fc1b | 318 | _new_altitude = parse_decimal(); |
shimniok | 0:826c6171fc1b | 319 | break; |
shimniok | 0:826c6171fc1b | 320 | default : |
shimniok | 0:826c6171fc1b | 321 | break; |
shimniok | 0:826c6171fc1b | 322 | } /* switch */ |
shimniok | 0:826c6171fc1b | 323 | //} |
shimniok | 0:826c6171fc1b | 324 | |
shimniok | 0:826c6171fc1b | 325 | return false; |
shimniok | 0:826c6171fc1b | 326 | } |
shimniok | 0:826c6171fc1b | 327 | |
shimniok | 0:826c6171fc1b | 328 | long TinyGPS::gpsatol(const char *str) |
shimniok | 0:826c6171fc1b | 329 | { |
shimniok | 0:826c6171fc1b | 330 | long ret = 0; |
shimniok | 0:826c6171fc1b | 331 | while (gpsisdigit(*str)) |
shimniok | 0:826c6171fc1b | 332 | ret = 10 * ret + *str++ - '0'; |
shimniok | 0:826c6171fc1b | 333 | return ret; |
shimniok | 0:826c6171fc1b | 334 | } |
shimniok | 0:826c6171fc1b | 335 | |
shimniok | 0:826c6171fc1b | 336 | int TinyGPS::gpsstrcmp(const char *str1, const char *str2) |
shimniok | 0:826c6171fc1b | 337 | { |
shimniok | 0:826c6171fc1b | 338 | while (*str1 && *str1 == *str2) |
shimniok | 0:826c6171fc1b | 339 | ++str1, ++str2; |
shimniok | 0:826c6171fc1b | 340 | return *str1; |
shimniok | 0:826c6171fc1b | 341 | } |