Diff: main.cpp

Revision:

44:0d72a8a1288a

Parent:

43:9a285515f33a

--- a/main.cpp	Thu Jan 03 19:07:20 2019 +0000
+++ b/main.cpp	Mon Jan 07 16:47:33 2019 +0000
@@ -15,7 +15,7 @@
 #include "Config.h"
 #include "Updater.h"
 //#include "Ublox6.h"
-#include "TinyGPS.h"
+#include "NMEA.h"
 #include "Logger.h"
 #include "SystemState.h"
 #include "Display.h"
@@ -129,16 +129,23 @@
 ///////////////////////////////////////////////////////////////////////////////
 // GPS
 //Ublox6 ublox;
-TinyGPS gps;
+NMEA nmea;
 EventQueue gpsQueue(8 * EVENTS_EVENT_SIZE);
 
 // Callback for gps parse data ready
 void gps_callback() {
+    GPS::gps_data_t data;
     GpsData d;
     
     led2 = !led2;
     //ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);   
-    gps.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);
+    data = nmea.read();
+    d.latitude = data.lat;
+    d.longitude = data.lon;
+    d.course = data.course;
+    d.speed = data.speed;
+    d.hdop = data.hdop;
+    d.svcount = data.svcount;
     d.timestamp = Kernel::get_ms_count();
     logQueue.call(&logger, &Logger::log_gps, d);
     lcdQueue.call(&display, &Display::gps, d);
@@ -149,7 +156,7 @@
     while (s.readable()) {
         char c = s.getc();
         //gpsQueue.call(&ublox, &Ublox6::parse, c);
-        gpsQueue.call(&gps, &TinyGPS::parse, c);
+        gpsQueue.call(&nmea, &NMEA::parse, c);
     }
 }
 
@@ -178,17 +185,12 @@
 
 void read_gps(int argc, char **argv)
 {
-    double lat=0;
-    double lon=0;
-    float course=0;
-    float speed=0;
-    float hdop=0.0;
-    int svcount=0;
+    GPS::gps_data_t d;
     
-    gps.read(lat, lon, course, speed, hdop, svcount);
-    printf("%3.7f %3.7f\n", lat, lon);
-    printf("hdg=%03.1f deg spd=%3.1f m/s\n", course, speed);
-    printf("%d %f\n", svcount, hdop);
+    d = nmea.read();
+    printf("%3.7f %3.7f\n", d.lat, d.lon);
+    printf("hdg=%03.1f deg spd=%3.1f m/s\n", d.course, d.speed);
+    printf("%d %f\n", d.svcount, d.hdop);
 }
 
 void read_imu(int argc, char **argv) 
@@ -334,7 +336,7 @@
     display.status("Starting gps");
     Thread gpsThread(osPriorityHigh, 2048, 0, "gps");
     gpsThread.start(callback(&gpsQueue, &EventQueue::dispatch_forever));
-    gps.subscribe(gps_callback);
+    nmea.subscribe(gps_callback);
     s.attach(gps_handler);
     
     printf("Starting logging...\n");