Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/GPS/TinyGPS/TinyGPS.h@2:fbc6e3cf3ed8, 2013-06-06 (annotated)

Committer:
shimniok
Date:
Thu Jun 06 13:40:23 2013 +0000
Revision:
2:fbc6e3cf3ed8
Parent:
0:a6a169de725f 
Sort-of working version, still some errors with estimation. Added clamp() function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 /*
shimniok 0:a6a169de725f 2 TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
shimniok 0:a6a169de725f 3 Copyright (C) 2008-9 Mikal Hart
shimniok 0:a6a169de725f 4 All rights reserved.
shimniok 0:a6a169de725f 5
shimniok 0:a6a169de725f 6 This library is free software; you can redistribute it and/or
shimniok 0:a6a169de725f 7 modify it under the terms of the GNU Lesser General Public
shimniok 0:a6a169de725f 8 License as published by the Free Software Foundation; either
shimniok 0:a6a169de725f 9 version 2.1 of the License, or (at your option) any later version.
shimniok 0:a6a169de725f 10
shimniok 0:a6a169de725f 11 This library is distributed in the hope that it will be useful,
shimniok 0:a6a169de725f 12 but WITHOUT ANY WARRANTY; without even the implied warranty of
shimniok 0:a6a169de725f 13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
shimniok 0:a6a169de725f 14 Lesser General Public License for more details.
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 You should have received a copy of the GNU Lesser General Public
shimniok 0:a6a169de725f 17 License along with this library; if not, write to the Free Software
shimniok 0:a6a169de725f 18 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 Ported to mbed by Michael Shimniok
shimniok 0:a6a169de725f 21 */
shimniok 0:a6a169de725f 22
shimniok 0:a6a169de725f 23 #include "mbed.h"
shimniok 0:a6a169de725f 24 #include "types.h"
shimniok 0:a6a169de725f 25
shimniok 0:a6a169de725f 26 #ifndef TinyGPS_h
shimniok 0:a6a169de725f 27 #define TinyGPS_h
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 #define _GPS_VERSION 9 // software version of this library
shimniok 0:a6a169de725f 30 #define _GPS_MPH_PER_KNOT 1.15077945
shimniok 0:a6a169de725f 31 #define _GPS_MPS_PER_KNOT 0.51444444
shimniok 0:a6a169de725f 32 #define _GPS_KMPH_PER_KNOT 1.852
shimniok 0:a6a169de725f 33 #define _GPS_MILES_PER_METER 0.00062137112
shimniok 0:a6a169de725f 34 #define _GPS_KM_PER_METER 0.001
shimniok 0:a6a169de725f 35 //#define _GPS_NO_STATS
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 /** TinyGPS - a small GPS library for Arduino providing basic NMEA parsing Copyright (C) 2008-9 Mikal Hart
shimniok 0:a6a169de725f 38 * All rights reserved. Modified by Michael Shimniok
shimniok 0:a6a169de725f 39 */
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 class TinyGPS
shimniok 0:a6a169de725f 42 {
shimniok 0:a6a169de725f 43 public:
shimniok 0:a6a169de725f 44
shimniok 0:a6a169de725f 45 /** Create a new GPS parsing object for parsing NMEA sentences
shimniok 0:a6a169de725f 46 */
shimniok 0:a6a169de725f 47 TinyGPS();
shimniok 0:a6a169de725f 48
shimniok 0:a6a169de725f 49 /** Parse a single character received from GPS
shimniok 0:a6a169de725f 50 *
shimniok 0:a6a169de725f 51 * @param c is the character received from the GPS
shimniok 0:a6a169de725f 52 * @returns true if processing ok
shimniok 0:a6a169de725f 53 */
shimniok 0:a6a169de725f 54 bool encode(char c);
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 /** Shorthand operator for encode()
shimniok 0:a6a169de725f 57 */
shimniok 0:a6a169de725f 58 TinyGPS &operator << (char c) {encode(c); return *this;}
shimniok 0:a6a169de725f 59
shimniok 0:a6a169de725f 60 /** Return lat/long in hundred thousandths of a degree and age of fix in milliseconds
shimniok 0:a6a169de725f 61 * @returns latitude is the latitude of the most recent fix that was parsed
shimniok 0:a6a169de725f 62 * @returns longitude is the longitude of the most recent fix that was parsed
shimniok 0:a6a169de725f 63 * @returns fix_age is the age of the fix (if available from the NMEA sentences being parsed)
shimniok 0:a6a169de725f 64 */
shimniok 0:a6a169de725f 65 inline void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0)
shimniok 0:a6a169de725f 66 {
shimniok 0:a6a169de725f 67 if (latitude) *latitude = _latitude;
shimniok 0:a6a169de725f 68 if (longitude) *longitude = _longitude;
shimniok 0:a6a169de725f 69 if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ?
shimniok 0:a6a169de725f 70 GPS_INVALID_AGE : millis() - _last_position_fix;
shimniok 0:a6a169de725f 71 }
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 /** Return the date and time from the parsed NMEA sentences
shimniok 0:a6a169de725f 74 *
shimniok 0:a6a169de725f 75 * @returns date as an integer value
shimniok 0:a6a169de725f 76 * @returns time as an integer value
shimniok 0:a6a169de725f 77 * @returns fix_age in milliseconds if available
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 inline void get_datetime(unsigned long *date, unsigned long *time, unsigned long *fix_age = 0)
shimniok 0:a6a169de725f 80 {
shimniok 0:a6a169de725f 81 if (date) *date = _date;
shimniok 0:a6a169de725f 82 if (time) *time = _time;
shimniok 0:a6a169de725f 83 if (fix_age) *fix_age = _last_time_fix == GPS_INVALID_FIX_TIME ?
shimniok 0:a6a169de725f 84 GPS_INVALID_AGE : millis() - _last_time_fix;
shimniok 0:a6a169de725f 85 }
shimniok 0:a6a169de725f 86
shimniok 0:a6a169de725f 87 /** signed altitude in centimeters (from GPGGA sentence)
shimniok 0:a6a169de725f 88 * @returns altitude in centimeters, integer
shimniok 0:a6a169de725f 89 */
shimniok 0:a6a169de725f 90 inline long altitude() { return _altitude; }
shimniok 0:a6a169de725f 91
shimniok 0:a6a169de725f 92 /** course in last full GPRMC sentence in 100th of a degree
shimniok 0:a6a169de725f 93 * @returns course as an integer, 100ths of a degree
shimniok 0:a6a169de725f 94 */
shimniok 0:a6a169de725f 95 inline unsigned long course() { return _course; }
shimniok 0:a6a169de725f 96
shimniok 0:a6a169de725f 97 /** speed in last full GPRMC sentence in 100ths of a knot
shimniok 0:a6a169de725f 98 * @returns speed in 100ths of a knot
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 unsigned long speed() { return _speed; }
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 /* horizontal dilution of position in last full GPGGA sentence in 100ths
shimniok 0:a6a169de725f 103 * @returns hdop in 100ths
shimniok 0:a6a169de725f 104 */
shimniok 0:a6a169de725f 105 unsigned long hdop() { return _hdop; }
shimniok 0:a6a169de725f 106
shimniok 0:a6a169de725f 107 /** number of satellites tracked in last full GPGGA sentence
shimniok 0:a6a169de725f 108 * @returns number of satellites tracked
shimniok 0:a6a169de725f 109 */
shimniok 0:a6a169de725f 110 unsigned long sat_count() { return _sat_count; }
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 #ifndef _GPS_NO_STATS
shimniok 0:a6a169de725f 113 void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
shimniok 0:a6a169de725f 114 #endif
shimniok 0:a6a169de725f 115
shimniok 0:a6a169de725f 116 /** returns position as double precision
shimniok 0:a6a169de725f 117 *
shimniok 0:a6a169de725f 118 * @returns latitude as double precision
shimniok 0:a6a169de725f 119 * @returns longitude as double precision
shimniok 0:a6a169de725f 120 * @returns fix age in milliseconds if available
shimniok 0:a6a169de725f 121 */
shimniok 0:a6a169de725f 122 inline void f_get_position(double *latitude, double *longitude, unsigned long *fix_age = 0)
shimniok 0:a6a169de725f 123 {
shimniok 0:a6a169de725f 124 long lat, lon;
shimniok 0:a6a169de725f 125 get_position(&lat, &lon, fix_age);
shimniok 0:a6a169de725f 126 // mes 04/27/12 increased fractional precision to 7 digits, was 5
shimniok 0:a6a169de725f 127 *latitude = lat / 10000000.0;
shimniok 0:a6a169de725f 128 *longitude = lon / 10000000.0;
shimniok 0:a6a169de725f 129 }
shimniok 0:a6a169de725f 130
shimniok 0:a6a169de725f 131 /** Convert date and time of last parsed sentence to integers
shimniok 0:a6a169de725f 132 *
shimniok 0:a6a169de725f 133 * @returns year
shimniok 0:a6a169de725f 134 * @returns month
shimniok 0:a6a169de725f 135 * @returns day of month
shimniok 0:a6a169de725f 136 * @returns hour
shimniok 0:a6a169de725f 137 * @returns minute
shimniok 0:a6a169de725f 138 * @returns second
shimniok 0:a6a169de725f 139 * @returns hundreths
shimniok 0:a6a169de725f 140 * @returns fix_age in milliseconds if available
shimniok 0:a6a169de725f 141 */
shimniok 0:a6a169de725f 142 inline void crack_datetime(int *year, byte *month, byte *day,
shimniok 0:a6a169de725f 143 byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0)
shimniok 0:a6a169de725f 144 {
shimniok 0:a6a169de725f 145 unsigned long date, time;
shimniok 0:a6a169de725f 146 get_datetime(&date, &time, fix_age);
shimniok 0:a6a169de725f 147 if (year)
shimniok 0:a6a169de725f 148 {
shimniok 0:a6a169de725f 149 *year = date % 100;
shimniok 0:a6a169de725f 150 *year += *year > 80 ? 1900 : 2000;
shimniok 0:a6a169de725f 151 }
shimniok 0:a6a169de725f 152 if (month) *month = (date / 100) % 100;
shimniok 0:a6a169de725f 153 if (day) *day = date / 10000;
shimniok 0:a6a169de725f 154 if (hour) *hour = time / 1000000;
shimniok 0:a6a169de725f 155 if (minute) *minute = (time / 10000) % 100;
shimniok 0:a6a169de725f 156 if (second) *second = (time / 100) % 100;
shimniok 0:a6a169de725f 157 if (hundredths) *hundredths = time % 100;
shimniok 0:a6a169de725f 158 }
shimniok 0:a6a169de725f 159
shimniok 0:a6a169de725f 160 /** returns altitude as a float
shimniok 0:a6a169de725f 161 */
shimniok 0:a6a169de725f 162 inline double f_altitude() { return altitude() / 100.0; }
shimniok 0:a6a169de725f 163
shimniok 0:a6a169de725f 164 /** returns course as a float
shimniok 0:a6a169de725f 165 */
shimniok 0:a6a169de725f 166 inline double f_course() { return course() / 100.0; }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 /** returns speed in knots as a float
shimniok 0:a6a169de725f 169 */
shimniok 0:a6a169de725f 170 inline double f_speed_knots() { return speed() / 100.0; }
shimniok 0:a6a169de725f 171
shimniok 0:a6a169de725f 172 /** returns speed in mph as a float
shimniok 0:a6a169de725f 173 */
shimniok 0:a6a169de725f 174 inline double f_speed_mph() { return _GPS_MPH_PER_KNOT * f_speed_knots(); }
shimniok 0:a6a169de725f 175
shimniok 0:a6a169de725f 176 /** returns speed in meters per second as a float
shimniok 0:a6a169de725f 177 */
shimniok 0:a6a169de725f 178 inline double f_speed_mps() { return _GPS_MPS_PER_KNOT * f_speed_knots(); }
shimniok 0:a6a169de725f 179
shimniok 0:a6a169de725f 180 /** returns speed in km per hour as a float
shimniok 0:a6a169de725f 181 */
shimniok 0:a6a169de725f 182 inline double f_speed_kmph() { return _GPS_KMPH_PER_KNOT * f_speed_knots(); }
shimniok 0:a6a169de725f 183
shimniok 0:a6a169de725f 184 /** returns hdop as a float
shimniok 0:a6a169de725f 185 */
shimniok 0:a6a169de725f 186 inline double f_hdop() { return hdop() / 100.0; }
shimniok 0:a6a169de725f 187
shimniok 0:a6a169de725f 188 /** @returns library version
shimniok 0:a6a169de725f 189 */
shimniok 0:a6a169de725f 190 static int library_version() { return _GPS_VERSION; }
shimniok 0:a6a169de725f 191
shimniok 0:a6a169de725f 192 /** determine if all sentences parsed
shimniok 0:a6a169de725f 193 *
shimniok 0:a6a169de725f 194 */
shimniok 0:a6a169de725f 195 inline bool ready() { return (_rmc_ready && _gga_ready); }
shimniok 0:a6a169de725f 196
shimniok 0:a6a169de725f 197 /** determine if GSV sentence parsed since last reset_ready()
shimniok 0:a6a169de725f 198 */
shimniok 0:a6a169de725f 199 inline bool gsv_ready() { return _gsv_ready; }
shimniok 2:fbc6e3cf3ed8 200
shimniok 2:fbc6e3cf3ed8 201 inline bool gga_ready() { return _gga_ready; }
shimniok 0:a6a169de725f 202
shimniok 2:fbc6e3cf3ed8 203 inline bool rmc_ready() { return _rmc_ready; }
shimniok 2:fbc6e3cf3ed8 204
shimniok 0:a6a169de725f 205 /** Reset the ready flags for all the parsed sentences
shimniok 0:a6a169de725f 206 */
shimniok 0:a6a169de725f 207 inline void reset_ready() { _gsv_ready = _rmc_ready = _gga_ready = false; }
shimniok 0:a6a169de725f 208
shimniok 0:a6a169de725f 209 enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,
shimniok 0:a6a169de725f 210 GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF};
shimniok 0:a6a169de725f 211
shimniok 0:a6a169de725f 212 private:
shimniok 0:a6a169de725f 213 enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_GPGSV, _GPS_SENTENCE_OTHER};
shimniok 0:a6a169de725f 214
shimniok 0:a6a169de725f 215 // properties
shimniok 0:a6a169de725f 216 unsigned long _time, _new_time;
shimniok 0:a6a169de725f 217 unsigned long _date, _new_date;
shimniok 0:a6a169de725f 218 long _latitude, _new_latitude;
shimniok 0:a6a169de725f 219 long _longitude, _new_longitude;
shimniok 0:a6a169de725f 220 long _altitude, _new_altitude;
shimniok 0:a6a169de725f 221 unsigned long _speed, _new_speed;
shimniok 0:a6a169de725f 222 unsigned long _course, _new_course;
shimniok 0:a6a169de725f 223 unsigned long _hdop, _new_hdop;
shimniok 0:a6a169de725f 224 unsigned int _sat_count, _new_sat_count;
shimniok 0:a6a169de725f 225 unsigned long _last_time_fix, _new_time_fix;
shimniok 0:a6a169de725f 226 unsigned long _last_position_fix, _new_position_fix;
shimniok 0:a6a169de725f 227
shimniok 0:a6a169de725f 228 // parsing state variables
shimniok 0:a6a169de725f 229 byte _parity;
shimniok 0:a6a169de725f 230 bool _is_checksum_term;
shimniok 0:a6a169de725f 231 char _term[15];
shimniok 0:a6a169de725f 232 byte _sentence_type;
shimniok 0:a6a169de725f 233 byte _term_number;
shimniok 0:a6a169de725f 234 byte _term_offset;
shimniok 0:a6a169de725f 235 bool _gps_data_good;
shimniok 0:a6a169de725f 236 bool _rmc_ready;
shimniok 0:a6a169de725f 237 bool _gga_ready;
shimniok 0:a6a169de725f 238 bool _gsv_ready;
shimniok 0:a6a169de725f 239
shimniok 0:a6a169de725f 240 #ifndef _GPS_NO_STATS
shimniok 0:a6a169de725f 241 // statistics
shimniok 0:a6a169de725f 242 unsigned long _encoded_characters;
shimniok 0:a6a169de725f 243 unsigned short _good_sentences;
shimniok 0:a6a169de725f 244 unsigned short _failed_checksum;
shimniok 0:a6a169de725f 245 unsigned short _passed_checksum;
shimniok 0:a6a169de725f 246 #endif
shimniok 0:a6a169de725f 247
shimniok 0:a6a169de725f 248 // internal utilities
shimniok 0:a6a169de725f 249 int from_hex(char a);
shimniok 0:a6a169de725f 250 int parse_int();
shimniok 0:a6a169de725f 251 unsigned long parse_decimal();
shimniok 0:a6a169de725f 252 unsigned long parse_degrees();
shimniok 0:a6a169de725f 253 bool term_complete();
shimniok 0:a6a169de725f 254 bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
shimniok 0:a6a169de725f 255 long gpsatol(const char *str);
shimniok 0:a6a169de725f 256 int gpsstrcmp(const char *str1, const char *str2);
shimniok 0:a6a169de725f 257 };
shimniok 0:a6a169de725f 258
shimniok 0:a6a169de725f 259 // Arduino 0012 workaround
shimniok 0:a6a169de725f 260 #undef int
shimniok 0:a6a169de725f 261 #undef char
shimniok 0:a6a169de725f 262 #undef long
shimniok 0:a6a169de725f 263 #undef byte
shimniok 0:a6a169de725f 264 #undef double
shimniok 0:a6a169de725f 265 #undef abs
shimniok 0:a6a169de725f 266 #undef round
shimniok 0:a6a169de725f 267
shimniok 0:a6a169de725f 268 #endif