Diff: TinyGPS.h

Revision:

0:8a347288f82c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TinyGPS.h	Wed Apr 27 19:21:28 2011 +0000
@@ -0,0 +1,261 @@
+/*
+  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
+
+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);
+      *latitude = lat / 100000.0;
+      *longitude = lon / 100000.0;
+    }
+
+    /** 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);
+    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