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
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
- Child:
- 2:fbc6e3cf3ed8
File content as of revision 0:a6a169de725f:
/* 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 all sentences parsed * */ inline bool ready() { return (_rmc_ready && _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