Shinichiro Nakamura / SerialGPS

SerialGPS.

Dependents:   SerialGPS_TestProgram Nucleo_SerialGPS_to_PC Nucleo_SerialGPS_to_PC SensorInterface ... more

SerialGPS.h@1:a5b887e09aa4, 2010-10-12 (annotated)

Committer:
shintamainjp
Date:
Tue Oct 12 22:22:28 2010 +0000
Revision:
1:a5b887e09aa4
Parent:
0:3d0c5d7e5d0a 
First version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shintamainjp 0:3d0c5d7e5d0a 1 /**
shintamainjp 0:3d0c5d7e5d0a 2 * Serial GPS module interface driver class (Version 0.0.1)
shintamainjp 0:3d0c5d7e5d0a 3 * This interface driver supports NMEA-0183 serial based modules.
shintamainjp 0:3d0c5d7e5d0a 4 *
shintamainjp 0:3d0c5d7e5d0a 5 * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
shintamainjp 0:3d0c5d7e5d0a 6 * http://shinta.main.jp/
shintamainjp 0:3d0c5d7e5d0a 7 */
shintamainjp 0:3d0c5d7e5d0a 8 #include "mbed.h"
shintamainjp 0:3d0c5d7e5d0a 9 #include "SerialBuffered.h"
shintamainjp 0:3d0c5d7e5d0a 10
shintamainjp 0:3d0c5d7e5d0a 11 /**
shintamainjp 0:3d0c5d7e5d0a 12 * Serial GPS module interface driver class (Version 0.0.1)
shintamainjp 0:3d0c5d7e5d0a 13 * This interface driver supports NMEA-0183 serial based modules.
shintamainjp 0:3d0c5d7e5d0a 14 *
shintamainjp 0:3d0c5d7e5d0a 15 * = A list of NMEA-0183 Based GPS modules =
shintamainjp 0:3d0c5d7e5d0a 16 * GT-720F : http://akizukidenshi.com/catalog/g/gM-02711/
shintamainjp 0:3d0c5d7e5d0a 17 *
shintamainjp 0:3d0c5d7e5d0a 18 * = References =
shintamainjp 0:3d0c5d7e5d0a 19 * NMEA Reference Manual (January 2005) - SiRF Technology, Inc.
shintamainjp 0:3d0c5d7e5d0a 20 */
shintamainjp 0:3d0c5d7e5d0a 21 class SerialGPS {
shintamainjp 0:3d0c5d7e5d0a 22 public:
shintamainjp 0:3d0c5d7e5d0a 23
shintamainjp 0:3d0c5d7e5d0a 24 /**
shintamainjp 0:3d0c5d7e5d0a 25 * Create.
shintamainjp 0:3d0c5d7e5d0a 26 *
shintamainjp 0:3d0c5d7e5d0a 27 * @param tx A pin of transmit.
shintamainjp 0:3d0c5d7e5d0a 28 * @param rx A pin of receive.
shintamainjp 0:3d0c5d7e5d0a 29 * @param baud Baud rate. (Default = 9600)
shintamainjp 0:3d0c5d7e5d0a 30 */
shintamainjp 0:3d0c5d7e5d0a 31 SerialGPS(PinName tx, PinName rx, int baud = 9600);
shintamainjp 0:3d0c5d7e5d0a 32
shintamainjp 0:3d0c5d7e5d0a 33 /**
shintamainjp 0:3d0c5d7e5d0a 34 * Destroy.
shintamainjp 0:3d0c5d7e5d0a 35 */
shintamainjp 0:3d0c5d7e5d0a 36 ~SerialGPS();
shintamainjp 0:3d0c5d7e5d0a 37
shintamainjp 0:3d0c5d7e5d0a 38 /**
shintamainjp 0:3d0c5d7e5d0a 39 * GGA - Global Positioning System Fixed Data.
shintamainjp 0:3d0c5d7e5d0a 40 *
shintamainjp 0:3d0c5d7e5d0a 41 * $GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
shintamainjp 0:3d0c5d7e5d0a 42 */
shintamainjp 0:3d0c5d7e5d0a 43 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 44 int hour;
shintamainjp 0:3d0c5d7e5d0a 45 int min;
shintamainjp 0:3d0c5d7e5d0a 46 int sec;
shintamainjp 0:3d0c5d7e5d0a 47 double latitude;
shintamainjp 0:3d0c5d7e5d0a 48 char ns;
shintamainjp 0:3d0c5d7e5d0a 49 double longitude;
shintamainjp 0:3d0c5d7e5d0a 50 char ew;
shintamainjp 0:3d0c5d7e5d0a 51 int position_fix;
shintamainjp 0:3d0c5d7e5d0a 52 int satellites_used;
shintamainjp 0:3d0c5d7e5d0a 53 double hdop;
shintamainjp 0:3d0c5d7e5d0a 54 int altitude;
shintamainjp 0:3d0c5d7e5d0a 55 char altitude_unit;
shintamainjp 0:3d0c5d7e5d0a 56 } gps_gga_t;
shintamainjp 0:3d0c5d7e5d0a 57
shintamainjp 0:3d0c5d7e5d0a 58 /**
shintamainjp 1:a5b887e09aa4 59 * GSA hGNSS DOP and Active Satellites.
shintamainjp 0:3d0c5d7e5d0a 60 *
shintamainjp 0:3d0c5d7e5d0a 61 * $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
shintamainjp 0:3d0c5d7e5d0a 62 */
shintamainjp 0:3d0c5d7e5d0a 63 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 64 char selmode;
shintamainjp 0:3d0c5d7e5d0a 65 int fix;
shintamainjp 0:3d0c5d7e5d0a 66 } gps_gsa_t;
shintamainjp 0:3d0c5d7e5d0a 67
shintamainjp 0:3d0c5d7e5d0a 68 /**
shintamainjp 0:3d0c5d7e5d0a 69 * for RMC:
shintamainjp 0:3d0c5d7e5d0a 70 * Time, date, position, course and speed data.
shintamainjp 0:3d0c5d7e5d0a 71 */
shintamainjp 0:3d0c5d7e5d0a 72 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 73 int hour;
shintamainjp 0:3d0c5d7e5d0a 74 int min;
shintamainjp 0:3d0c5d7e5d0a 75 int sec;
shintamainjp 0:3d0c5d7e5d0a 76 char status;
shintamainjp 0:3d0c5d7e5d0a 77 double nl;
shintamainjp 0:3d0c5d7e5d0a 78 double el;
shintamainjp 0:3d0c5d7e5d0a 79 } gps_rmc_t;
shintamainjp 0:3d0c5d7e5d0a 80
shintamainjp 0:3d0c5d7e5d0a 81 /**
shintamainjp 0:3d0c5d7e5d0a 82 * for GSV:
shintamainjp 0:3d0c5d7e5d0a 83 * The number of GPS satellites in view satellite ID numbers,
shintamainjp 0:3d0c5d7e5d0a 84 * elevation, azimuth, and SNR values.
shintamainjp 0:3d0c5d7e5d0a 85 */
shintamainjp 0:3d0c5d7e5d0a 86 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 87 int num;
shintamainjp 0:3d0c5d7e5d0a 88 int elevation;
shintamainjp 0:3d0c5d7e5d0a 89 int azimuth;
shintamainjp 0:3d0c5d7e5d0a 90 int snr;
shintamainjp 0:3d0c5d7e5d0a 91 } gps_gsv_satellite_t;
shintamainjp 0:3d0c5d7e5d0a 92
shintamainjp 0:3d0c5d7e5d0a 93 /**
shintamainjp 0:3d0c5d7e5d0a 94 * for GSV:
shintamainjp 0:3d0c5d7e5d0a 95 * The number of GPS satellites in view satellite ID numbers,
shintamainjp 0:3d0c5d7e5d0a 96 * elevation, azimuth, and SNR values.
shintamainjp 0:3d0c5d7e5d0a 97 */
shintamainjp 0:3d0c5d7e5d0a 98 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 99 int msgcnt;
shintamainjp 0:3d0c5d7e5d0a 100 int msgnum;
shintamainjp 0:3d0c5d7e5d0a 101 int satcnt;
shintamainjp 0:3d0c5d7e5d0a 102 gps_gsv_satellite_t satellite[4];
shintamainjp 0:3d0c5d7e5d0a 103 } gps_gsv_t;
shintamainjp 0:3d0c5d7e5d0a 104
shintamainjp 0:3d0c5d7e5d0a 105 /**
shintamainjp 0:3d0c5d7e5d0a 106 * Callback function structure.
shintamainjp 0:3d0c5d7e5d0a 107 */
shintamainjp 0:3d0c5d7e5d0a 108 typedef struct {
shintamainjp 0:3d0c5d7e5d0a 109 /**
shintamainjp 0:3d0c5d7e5d0a 110 * A callback function for logging data.
shintamainjp 0:3d0c5d7e5d0a 111 */
shintamainjp 0:3d0c5d7e5d0a 112 void (*cbfunc_log)(char *str);
shintamainjp 0:3d0c5d7e5d0a 113
shintamainjp 0:3d0c5d7e5d0a 114 /**
shintamainjp 0:3d0c5d7e5d0a 115 * A callback function for GGA.
shintamainjp 0:3d0c5d7e5d0a 116 *
shintamainjp 0:3d0c5d7e5d0a 117 * GGA - Global Positioning System Fixed Data.
shintamainjp 0:3d0c5d7e5d0a 118 */
shintamainjp 0:3d0c5d7e5d0a 119 void (*cbfunc_gga)(gps_gga_t *p);
shintamainjp 0:3d0c5d7e5d0a 120
shintamainjp 0:3d0c5d7e5d0a 121 /**
shintamainjp 0:3d0c5d7e5d0a 122 * A callback function for GLL.
shintamainjp 0:3d0c5d7e5d0a 123 *
shintamainjp 0:3d0c5d7e5d0a 124 * GLL - Geographic Position - Latitude/Longitude.
shintamainjp 0:3d0c5d7e5d0a 125 */
shintamainjp 0:3d0c5d7e5d0a 126 // TODO
shintamainjp 0:3d0c5d7e5d0a 127
shintamainjp 0:3d0c5d7e5d0a 128 /**
shintamainjp 0:3d0c5d7e5d0a 129 * A callback function for GSA.
shintamainjp 0:3d0c5d7e5d0a 130 *
shintamainjp 0:3d0c5d7e5d0a 131 * GSA - GNSS DOP and Active Satellites.
shintamainjp 0:3d0c5d7e5d0a 132 */
shintamainjp 0:3d0c5d7e5d0a 133 void (*cbfunc_gsa)(gps_gsa_t *p);
shintamainjp 0:3d0c5d7e5d0a 134
shintamainjp 0:3d0c5d7e5d0a 135 /**
shintamainjp 0:3d0c5d7e5d0a 136 * A callback function for GSV.
shintamainjp 0:3d0c5d7e5d0a 137 *
shintamainjp 0:3d0c5d7e5d0a 138 * GSV - GNSS Satellites in View.
shintamainjp 0:3d0c5d7e5d0a 139 */
shintamainjp 0:3d0c5d7e5d0a 140 void (*cbfunc_gsv)(gps_gsv_t *p);
shintamainjp 0:3d0c5d7e5d0a 141
shintamainjp 0:3d0c5d7e5d0a 142 /**
shintamainjp 0:3d0c5d7e5d0a 143 * A callback function for MSS.
shintamainjp 0:3d0c5d7e5d0a 144 *
shintamainjp 0:3d0c5d7e5d0a 145 * MSS - MSK Receiver Signal.
shintamainjp 0:3d0c5d7e5d0a 146 */
shintamainjp 0:3d0c5d7e5d0a 147 // TODO
shintamainjp 0:3d0c5d7e5d0a 148
shintamainjp 0:3d0c5d7e5d0a 149 /**
shintamainjp 0:3d0c5d7e5d0a 150 * A callback function for RMC.
shintamainjp 0:3d0c5d7e5d0a 151 *
shintamainjp 0:3d0c5d7e5d0a 152 * RMC - Recommended Minimum Specific GNSS Data.
shintamainjp 0:3d0c5d7e5d0a 153 */
shintamainjp 0:3d0c5d7e5d0a 154 void (*cbfunc_rmc)(gps_rmc_t *p);
shintamainjp 0:3d0c5d7e5d0a 155
shintamainjp 0:3d0c5d7e5d0a 156 /**
shintamainjp 0:3d0c5d7e5d0a 157 * A callback function for VTG.
shintamainjp 0:3d0c5d7e5d0a 158 *
shintamainjp 0:3d0c5d7e5d0a 159 * VTG - Course Over Ground and Ground Speed.
shintamainjp 0:3d0c5d7e5d0a 160 */
shintamainjp 0:3d0c5d7e5d0a 161 // TODO
shintamainjp 0:3d0c5d7e5d0a 162
shintamainjp 0:3d0c5d7e5d0a 163 /**
shintamainjp 0:3d0c5d7e5d0a 164 * A callback function for ZDA.
shintamainjp 0:3d0c5d7e5d0a 165 *
shintamainjp 0:3d0c5d7e5d0a 166 * ZDA - SiRF Timing Message.
shintamainjp 0:3d0c5d7e5d0a 167 */
shintamainjp 0:3d0c5d7e5d0a 168 // TODO
shintamainjp 0:3d0c5d7e5d0a 169
shintamainjp 0:3d0c5d7e5d0a 170 } gps_callback_t;
shintamainjp 0:3d0c5d7e5d0a 171
shintamainjp 0:3d0c5d7e5d0a 172 /**
shintamainjp 0:3d0c5d7e5d0a 173 * Processing.
shintamainjp 0:3d0c5d7e5d0a 174 */
shintamainjp 0:3d0c5d7e5d0a 175 bool processing();
shintamainjp 0:3d0c5d7e5d0a 176
shintamainjp 0:3d0c5d7e5d0a 177 /**
shintamainjp 0:3d0c5d7e5d0a 178 * Attach a callback function.
shintamainjp 0:3d0c5d7e5d0a 179 *
shintamainjp 0:3d0c5d7e5d0a 180 * @param cbfuncs A pointer to a call back function structure.
shintamainjp 0:3d0c5d7e5d0a 181 */
shintamainjp 0:3d0c5d7e5d0a 182 void attach(gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 183
shintamainjp 0:3d0c5d7e5d0a 184 /**
shintamainjp 0:3d0c5d7e5d0a 185 * Detach a callback function.
shintamainjp 0:3d0c5d7e5d0a 186 */
shintamainjp 0:3d0c5d7e5d0a 187 void detach(void);
shintamainjp 0:3d0c5d7e5d0a 188
shintamainjp 0:3d0c5d7e5d0a 189 private:
shintamainjp 0:3d0c5d7e5d0a 190 SerialBuffered ser;
shintamainjp 0:3d0c5d7e5d0a 191 gps_callback_t *cbfuncs;
shintamainjp 0:3d0c5d7e5d0a 192 static const int PARAM_TXTMAXLEN = 64;
shintamainjp 0:3d0c5d7e5d0a 193 static const int PARAM_ARRAYSIZE = 64;
shintamainjp 0:3d0c5d7e5d0a 194 static bool exists(char c, char *buf) {
shintamainjp 0:3d0c5d7e5d0a 195 const size_t n = strlen(buf);
shintamainjp 0:3d0c5d7e5d0a 196 for (int i = 0; i < n; i++) {
shintamainjp 0:3d0c5d7e5d0a 197 if (c == buf[i]) {
shintamainjp 0:3d0c5d7e5d0a 198 return true;
shintamainjp 0:3d0c5d7e5d0a 199 }
shintamainjp 0:3d0c5d7e5d0a 200 }
shintamainjp 0:3d0c5d7e5d0a 201 return false;
shintamainjp 0:3d0c5d7e5d0a 202 }
shintamainjp 0:3d0c5d7e5d0a 203 static char *parse(char *src, char *des, size_t siz, char *delim);
shintamainjp 0:3d0c5d7e5d0a 204 static int parseAndCallbackGGA(char *src, gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 205 static int parseAndCallbackGSA(char *src, gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 206 static int parseAndCallbackRMC(char *src, gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 207 static int parseAndCallbackGSV(char *src, gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 208 static int parseAndCallbackUnknown(char *src, gps_callback_t *cbfuncs);
shintamainjp 0:3d0c5d7e5d0a 209 static uint8_t calcCheckSum(char *buf, size_t siz);
shintamainjp 0:3d0c5d7e5d0a 210 };