![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: Sensors/GPS/TinyGPS/TinyGPS.h
- Revision:
- 0:826c6171fc1b
diff -r 000000000000 -r 826c6171fc1b Sensors/GPS/TinyGPS/TinyGPS.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/GPS/TinyGPS/TinyGPS.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,267 @@ +/* + TinyGPS - a small GPS library for Arduino providing basic NMEA parsing + Copyright (C) 2008-9 Mikal Hart + All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Ported to mbed by Michael Shimniok +*/ + +#include "mbed.h" +#include "types.h" + +#ifndef TinyGPS_h +#define TinyGPS_h + +#define _GPS_VERSION 9 // software version of this library +#define _GPS_MPH_PER_KNOT 1.15077945 +#define _GPS_MPS_PER_KNOT 0.51444444 +#define _GPS_KMPH_PER_KNOT 1.852 +#define _GPS_MILES_PER_METER 0.00062137112 +#define _GPS_KM_PER_METER 0.001 +//#define _GPS_NO_STATS + +/** TinyGPS - a small GPS library for Arduino providing basic NMEA parsing Copyright (C) 2008-9 Mikal Hart + * All rights reserved. Modified by Michael Shimniok + */ + +class TinyGPS +{ + public: + + /** Create a new GPS parsing object for parsing NMEA sentences + */ + TinyGPS(); + + /** Parse a single character received from GPS + * + * @param c is the character received from the GPS + * @returns true if processing ok + */ + bool encode(char c); + + /** Shorthand operator for encode() + */ + TinyGPS &operator << (char c) {encode(c); return *this;} + + /** Return lat/long in hundred thousandths of a degree and age of fix in milliseconds + * @returns latitude is the latitude of the most recent fix that was parsed + * @returns longitude is the longitude of the most recent fix that was parsed + * @returns fix_age is the age of the fix (if available from the NMEA sentences being parsed) + */ + inline void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0) + { + if (latitude) *latitude = _latitude; + if (longitude) *longitude = _longitude; + if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ? + GPS_INVALID_AGE : millis() - _last_position_fix; + } + + /** Return the date and time from the parsed NMEA sentences + * + * @returns date as an integer value + * @returns time as an integer value + * @returns fix_age in milliseconds if available + */ + inline void get_datetime(unsigned long *date, unsigned long *time, unsigned long *fix_age = 0) + { + if (date) *date = _date; + if (time) *time = _time; + if (fix_age) *fix_age = _last_time_fix == GPS_INVALID_FIX_TIME ? + GPS_INVALID_AGE : millis() - _last_time_fix; + } + + /** signed altitude in centimeters (from GPGGA sentence) + * @returns altitude in centimeters, integer + */ + inline long altitude() { return _altitude; } + + /** course in last full GPRMC sentence in 100th of a degree + * @returns course as an integer, 100ths of a degree + */ + inline unsigned long course() { return _course; } + + /** speed in last full GPRMC sentence in 100ths of a knot + * @returns speed in 100ths of a knot + */ + unsigned long speed() { return _speed; } + + /* horizontal dilution of position in last full GPGGA sentence in 100ths + * @returns hdop in 100ths + */ + unsigned long hdop() { return _hdop; } + + /** number of satellites tracked in last full GPGGA sentence + * @returns number of satellites tracked + */ + unsigned long sat_count() { return _sat_count; } + +#ifndef _GPS_NO_STATS + void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs); +#endif + + /** returns position as double precision + * + * @returns latitude as double precision + * @returns longitude as double precision + * @returns fix age in milliseconds if available + */ + inline void f_get_position(double *latitude, double *longitude, unsigned long *fix_age = 0) + { + long lat, lon; + get_position(&lat, &lon, fix_age); + // mes 04/27/12 increased fractional precision to 7 digits, was 5 + *latitude = lat / 10000000.0; + *longitude = lon / 10000000.0; + } + + /** Convert date and time of last parsed sentence to integers + * + * @returns year + * @returns month + * @returns day of month + * @returns hour + * @returns minute + * @returns second + * @returns hundreths + * @returns fix_age in milliseconds if available + */ + inline void crack_datetime(int *year, byte *month, byte *day, + byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0) + { + unsigned long date, time; + get_datetime(&date, &time, fix_age); + if (year) + { + *year = date % 100; + *year += *year > 80 ? 1900 : 2000; + } + if (month) *month = (date / 100) % 100; + if (day) *day = date / 10000; + if (hour) *hour = time / 1000000; + if (minute) *minute = (time / 10000) % 100; + if (second) *second = (time / 100) % 100; + if (hundredths) *hundredths = time % 100; + } + + /** returns altitude as a float + */ + inline double f_altitude() { return altitude() / 100.0; } + + /** returns course as a float + */ + inline double f_course() { return course() / 100.0; } + + /** returns speed in knots as a float + */ + inline double f_speed_knots() { return speed() / 100.0; } + + /** returns speed in mph as a float + */ + inline double f_speed_mph() { return _GPS_MPH_PER_KNOT * f_speed_knots(); } + + /** returns speed in meters per second as a float + */ + inline double f_speed_mps() { return _GPS_MPS_PER_KNOT * f_speed_knots(); } + + /** returns speed in km per hour as a float + */ + inline double f_speed_kmph() { return _GPS_KMPH_PER_KNOT * f_speed_knots(); } + + /** returns hdop as a float + */ + inline double f_hdop() { return hdop() / 100.0; } + + /** @returns library version + */ + static int library_version() { return _GPS_VERSION; } + + /** determine if RMC sentence parsed since last reset_ready() + */ + inline bool rmc_ready() { return _rmc_ready; } + + /** determine if GGA sentence parsed since last reset_ready() + */ + inline bool gga_ready() { return _gga_ready; } + + /** determine if GSV sentence parsed since last reset_ready() + */ + inline bool gsv_ready() { return _gsv_ready; } + + /** Reset the ready flags for all the parsed sentences + */ + inline void reset_ready() { _gsv_ready = _rmc_ready = _gga_ready = false; } + + enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0, + GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF}; + +private: + enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_GPGSV, _GPS_SENTENCE_OTHER}; + + // properties + unsigned long _time, _new_time; + unsigned long _date, _new_date; + long _latitude, _new_latitude; + long _longitude, _new_longitude; + long _altitude, _new_altitude; + unsigned long _speed, _new_speed; + unsigned long _course, _new_course; + unsigned long _hdop, _new_hdop; + unsigned int _sat_count, _new_sat_count; + unsigned long _last_time_fix, _new_time_fix; + unsigned long _last_position_fix, _new_position_fix; + + // parsing state variables + byte _parity; + bool _is_checksum_term; + char _term[15]; + byte _sentence_type; + byte _term_number; + byte _term_offset; + bool _gps_data_good; + bool _rmc_ready; + bool _gga_ready; + bool _gsv_ready; + +#ifndef _GPS_NO_STATS + // statistics + unsigned long _encoded_characters; + unsigned short _good_sentences; + unsigned short _failed_checksum; + unsigned short _passed_checksum; +#endif + + // internal utilities + int from_hex(char a); + int parse_int(); + unsigned long parse_decimal(); + unsigned long parse_degrees(); + bool term_complete(); + bool gpsisdigit(char c) { return c >= '0' && c <= '9'; } + long gpsatol(const char *str); + int gpsstrcmp(const char *str1, const char *str2); +}; + +// Arduino 0012 workaround +#undef int +#undef char +#undef long +#undef byte +#undef double +#undef abs +#undef round + +#endif