SerialGPS.
Dependents: SerialGPS_TestProgram Nucleo_SerialGPS_to_PC Nucleo_SerialGPS_to_PC SensorInterface ... more
SerialGPS.cpp@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?
User | Revision | Line number | New 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 "SerialGPS.h" |
shintamainjp | 0:3d0c5d7e5d0a | 9 | |
shintamainjp | 0:3d0c5d7e5d0a | 10 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 11 | * Create. |
shintamainjp | 0:3d0c5d7e5d0a | 12 | * |
shintamainjp | 0:3d0c5d7e5d0a | 13 | * @param tx A pin of transmit. |
shintamainjp | 0:3d0c5d7e5d0a | 14 | * @param rx A pin of receive. |
shintamainjp | 0:3d0c5d7e5d0a | 15 | * @param baud Baud rate. (Default = 9600) |
shintamainjp | 0:3d0c5d7e5d0a | 16 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 17 | SerialGPS::SerialGPS(PinName tx, PinName rx, int baud) : ser(tx, rx), cbfuncs(NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 18 | ser.baud(baud); |
shintamainjp | 0:3d0c5d7e5d0a | 19 | ser.setTimeout(50); |
shintamainjp | 0:3d0c5d7e5d0a | 20 | } |
shintamainjp | 0:3d0c5d7e5d0a | 21 | |
shintamainjp | 0:3d0c5d7e5d0a | 22 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 23 | * Destroy. |
shintamainjp | 0:3d0c5d7e5d0a | 24 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 25 | SerialGPS::~SerialGPS() { |
shintamainjp | 0:3d0c5d7e5d0a | 26 | } |
shintamainjp | 0:3d0c5d7e5d0a | 27 | |
shintamainjp | 0:3d0c5d7e5d0a | 28 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 29 | * Processing. |
shintamainjp | 0:3d0c5d7e5d0a | 30 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 31 | bool SerialGPS::processing() { |
shintamainjp | 0:3d0c5d7e5d0a | 32 | /* |
shintamainjp | 0:3d0c5d7e5d0a | 33 | * Read from a serial buffer. |
shintamainjp | 0:3d0c5d7e5d0a | 34 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 35 | static const int DATABUFSIZ = 128; |
shintamainjp | 0:3d0c5d7e5d0a | 36 | char src[DATABUFSIZ]; |
shintamainjp | 0:3d0c5d7e5d0a | 37 | int cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 38 | do { |
shintamainjp | 0:3d0c5d7e5d0a | 39 | cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 40 | bool done = false; |
shintamainjp | 0:3d0c5d7e5d0a | 41 | do { |
shintamainjp | 0:3d0c5d7e5d0a | 42 | int c = ser.getc(); |
shintamainjp | 0:3d0c5d7e5d0a | 43 | if (c < 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 44 | return false; |
shintamainjp | 0:3d0c5d7e5d0a | 45 | } |
shintamainjp | 0:3d0c5d7e5d0a | 46 | if ((c == '\r') || (c == '\n')) { |
shintamainjp | 0:3d0c5d7e5d0a | 47 | done = true; |
shintamainjp | 0:3d0c5d7e5d0a | 48 | c = '\0'; |
shintamainjp | 0:3d0c5d7e5d0a | 49 | } |
shintamainjp | 0:3d0c5d7e5d0a | 50 | src[cnt++] = c & 0xff; |
shintamainjp | 0:3d0c5d7e5d0a | 51 | } while (!done); |
shintamainjp | 0:3d0c5d7e5d0a | 52 | } while (cnt <= 1); |
shintamainjp | 1:a5b887e09aa4 | 53 | |
shintamainjp | 0:3d0c5d7e5d0a | 54 | /* |
shintamainjp | 0:3d0c5d7e5d0a | 55 | * Return if the callback function does not exists. |
shintamainjp | 0:3d0c5d7e5d0a | 56 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 57 | if (cbfuncs == NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 58 | return true; |
shintamainjp | 0:3d0c5d7e5d0a | 59 | } |
shintamainjp | 0:3d0c5d7e5d0a | 60 | |
shintamainjp | 0:3d0c5d7e5d0a | 61 | /* |
shintamainjp | 0:3d0c5d7e5d0a | 62 | * Call a function for logging data. |
shintamainjp | 0:3d0c5d7e5d0a | 63 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 64 | if (cbfuncs->cbfunc_log != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 65 | cbfuncs->cbfunc_log(src); |
shintamainjp | 0:3d0c5d7e5d0a | 66 | } |
shintamainjp | 0:3d0c5d7e5d0a | 67 | |
shintamainjp | 0:3d0c5d7e5d0a | 68 | /* |
shintamainjp | 0:3d0c5d7e5d0a | 69 | * Check a check sum for the data. The data format is '$[DATA]*CS'. |
shintamainjp | 0:3d0c5d7e5d0a | 70 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 71 | const size_t srclen = strlen(src); |
shintamainjp | 0:3d0c5d7e5d0a | 72 | if ((src[0] == '$') && (src[srclen - 3] == '*')) { |
shintamainjp | 0:3d0c5d7e5d0a | 73 | int cs_src; |
shintamainjp | 0:3d0c5d7e5d0a | 74 | if (sscanf(src + srclen - 2, "%X", &cs_src) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 75 | printf("Invalid check sum data found.(%s)\n", src); |
shintamainjp | 0:3d0c5d7e5d0a | 76 | return false; |
shintamainjp | 0:3d0c5d7e5d0a | 77 | } |
shintamainjp | 0:3d0c5d7e5d0a | 78 | uint8_t cs_cal = calcCheckSum(src + 1, srclen - 4); |
shintamainjp | 0:3d0c5d7e5d0a | 79 | if ((uint8_t)cs_src != cs_cal) { |
shintamainjp | 0:3d0c5d7e5d0a | 80 | printf("Illegal data found.(%s)\n", src); |
shintamainjp | 0:3d0c5d7e5d0a | 81 | return false; |
shintamainjp | 0:3d0c5d7e5d0a | 82 | } |
shintamainjp | 0:3d0c5d7e5d0a | 83 | } else { |
shintamainjp | 0:3d0c5d7e5d0a | 84 | printf("Invalid data format found.(%s)\n", src); |
shintamainjp | 0:3d0c5d7e5d0a | 85 | return false; |
shintamainjp | 0:3d0c5d7e5d0a | 86 | } |
shintamainjp | 0:3d0c5d7e5d0a | 87 | |
shintamainjp | 0:3d0c5d7e5d0a | 88 | /* |
shintamainjp | 0:3d0c5d7e5d0a | 89 | * Parse a data. |
shintamainjp | 0:3d0c5d7e5d0a | 90 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 91 | int res = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 92 | char *p = src; |
shintamainjp | 0:3d0c5d7e5d0a | 93 | char des[DATABUFSIZ]; |
shintamainjp | 0:3d0c5d7e5d0a | 94 | if ((p = parse(p, des, sizeof(des), ",*")) != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 95 | if (strcmp(des, "$GPGGA") == 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 96 | res = parseAndCallbackGGA(src, cbfuncs); |
shintamainjp | 0:3d0c5d7e5d0a | 97 | } else if (strcmp(des, "$GPGSA") == 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 98 | res = parseAndCallbackGSA(src, cbfuncs); |
shintamainjp | 0:3d0c5d7e5d0a | 99 | } else if (strcmp(des, "$GPRMC") == 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 100 | res = parseAndCallbackRMC(src, cbfuncs); |
shintamainjp | 0:3d0c5d7e5d0a | 101 | } else if (strcmp(des, "$GPGSV") == 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 102 | res = parseAndCallbackGSV(src, cbfuncs); |
shintamainjp | 0:3d0c5d7e5d0a | 103 | } else { |
shintamainjp | 0:3d0c5d7e5d0a | 104 | res = parseAndCallbackUnknown(src, cbfuncs); |
shintamainjp | 0:3d0c5d7e5d0a | 105 | } |
shintamainjp | 0:3d0c5d7e5d0a | 106 | } |
shintamainjp | 0:3d0c5d7e5d0a | 107 | return (res == 0) ? true : false; |
shintamainjp | 0:3d0c5d7e5d0a | 108 | } |
shintamainjp | 0:3d0c5d7e5d0a | 109 | |
shintamainjp | 0:3d0c5d7e5d0a | 110 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 111 | * Attach a callback function. |
shintamainjp | 0:3d0c5d7e5d0a | 112 | * |
shintamainjp | 0:3d0c5d7e5d0a | 113 | * @param cbfuncs A pointer to a callback function structure. |
shintamainjp | 0:3d0c5d7e5d0a | 114 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 115 | void SerialGPS::attach(gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 116 | SerialGPS::cbfuncs = cbfuncs; |
shintamainjp | 0:3d0c5d7e5d0a | 117 | } |
shintamainjp | 0:3d0c5d7e5d0a | 118 | |
shintamainjp | 0:3d0c5d7e5d0a | 119 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 120 | * Detach a callback function. |
shintamainjp | 0:3d0c5d7e5d0a | 121 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 122 | void SerialGPS::detach(void) { |
shintamainjp | 0:3d0c5d7e5d0a | 123 | SerialGPS::cbfuncs = NULL; |
shintamainjp | 0:3d0c5d7e5d0a | 124 | } |
shintamainjp | 0:3d0c5d7e5d0a | 125 | |
shintamainjp | 0:3d0c5d7e5d0a | 126 | /** |
shintamainjp | 0:3d0c5d7e5d0a | 127 | * Parse a text string. |
shintamainjp | 0:3d0c5d7e5d0a | 128 | */ |
shintamainjp | 0:3d0c5d7e5d0a | 129 | char * SerialGPS::parse(char *src, char *des, size_t dessiz, char *delim) { |
shintamainjp | 0:3d0c5d7e5d0a | 130 | for (int i = 0; i < dessiz; i++, src++, des++) { |
shintamainjp | 0:3d0c5d7e5d0a | 131 | if ((*src == '\0') || (*src == '\r') || (*src == '\n')) { |
shintamainjp | 0:3d0c5d7e5d0a | 132 | *des = '\0'; |
shintamainjp | 0:3d0c5d7e5d0a | 133 | return NULL; |
shintamainjp | 0:3d0c5d7e5d0a | 134 | } |
shintamainjp | 0:3d0c5d7e5d0a | 135 | if (exists(*src, delim)) { |
shintamainjp | 0:3d0c5d7e5d0a | 136 | *des = '\0'; |
shintamainjp | 0:3d0c5d7e5d0a | 137 | return ++src; |
shintamainjp | 0:3d0c5d7e5d0a | 138 | } |
shintamainjp | 0:3d0c5d7e5d0a | 139 | *des = *src; |
shintamainjp | 0:3d0c5d7e5d0a | 140 | } |
shintamainjp | 0:3d0c5d7e5d0a | 141 | des = '\0'; |
shintamainjp | 0:3d0c5d7e5d0a | 142 | return NULL; |
shintamainjp | 0:3d0c5d7e5d0a | 143 | } |
shintamainjp | 0:3d0c5d7e5d0a | 144 | |
shintamainjp | 0:3d0c5d7e5d0a | 145 | int SerialGPS::parseAndCallbackGGA(char *src, gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 146 | |
shintamainjp | 0:3d0c5d7e5d0a | 147 | if (cbfuncs->cbfunc_gga == NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 148 | return -1; |
shintamainjp | 0:3d0c5d7e5d0a | 149 | } |
shintamainjp | 0:3d0c5d7e5d0a | 150 | |
shintamainjp | 0:3d0c5d7e5d0a | 151 | char plist[PARAM_ARRAYSIZE][PARAM_TXTMAXLEN]; |
shintamainjp | 0:3d0c5d7e5d0a | 152 | char *p = src; |
shintamainjp | 0:3d0c5d7e5d0a | 153 | int cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 154 | while ((p = parse(p, plist[cnt], PARAM_TXTMAXLEN, ",*")) != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 155 | cnt++; |
shintamainjp | 0:3d0c5d7e5d0a | 156 | } |
shintamainjp | 0:3d0c5d7e5d0a | 157 | |
shintamainjp | 0:3d0c5d7e5d0a | 158 | if (cnt == 15) { |
shintamainjp | 0:3d0c5d7e5d0a | 159 | gps_gga_t data; |
shintamainjp | 0:3d0c5d7e5d0a | 160 | data.hour = (plist[1][0] - '0') * 10 + (plist[1][1] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 161 | data.min = (plist[1][2] - '0') * 10 + (plist[1][3] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 162 | data.sec = (plist[1][4] - '0') * 10 + (plist[1][5] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 163 | |
shintamainjp | 0:3d0c5d7e5d0a | 164 | if (sscanf(plist[2], "%lf", &data.latitude) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 165 | return -2; |
shintamainjp | 0:3d0c5d7e5d0a | 166 | } |
shintamainjp | 0:3d0c5d7e5d0a | 167 | if (sscanf(plist[3], "%c", &data.ns) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 168 | return -3; |
shintamainjp | 0:3d0c5d7e5d0a | 169 | } |
shintamainjp | 0:3d0c5d7e5d0a | 170 | const char ns = data.ns; |
shintamainjp | 0:3d0c5d7e5d0a | 171 | if ((ns != 'N') && (ns != 'S')) { |
shintamainjp | 0:3d0c5d7e5d0a | 172 | return -4; |
shintamainjp | 0:3d0c5d7e5d0a | 173 | } |
shintamainjp | 0:3d0c5d7e5d0a | 174 | if (sscanf(plist[4], "%lf", &data.longitude) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 175 | return -5; |
shintamainjp | 0:3d0c5d7e5d0a | 176 | } |
shintamainjp | 0:3d0c5d7e5d0a | 177 | if (sscanf(plist[5], "%c", &data.ew) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 178 | return -6; |
shintamainjp | 0:3d0c5d7e5d0a | 179 | } |
shintamainjp | 0:3d0c5d7e5d0a | 180 | const char ew = data.ew; |
shintamainjp | 0:3d0c5d7e5d0a | 181 | if ((ew != 'E') && (ew != 'W')) { |
shintamainjp | 0:3d0c5d7e5d0a | 182 | return -7; |
shintamainjp | 0:3d0c5d7e5d0a | 183 | } |
shintamainjp | 0:3d0c5d7e5d0a | 184 | |
shintamainjp | 0:3d0c5d7e5d0a | 185 | data.position_fix = atoi(plist[6]); |
shintamainjp | 0:3d0c5d7e5d0a | 186 | data.satellites_used = atoi(plist[7]); |
shintamainjp | 0:3d0c5d7e5d0a | 187 | |
shintamainjp | 0:3d0c5d7e5d0a | 188 | if (sscanf(plist[8], "%lf", &data.hdop) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 189 | return -8; |
shintamainjp | 0:3d0c5d7e5d0a | 190 | } |
shintamainjp | 0:3d0c5d7e5d0a | 191 | |
shintamainjp | 0:3d0c5d7e5d0a | 192 | data.altitude = atoi(plist[9]); |
shintamainjp | 0:3d0c5d7e5d0a | 193 | if (strcmp(plist[10], "M") != 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 194 | return -9; |
shintamainjp | 0:3d0c5d7e5d0a | 195 | } |
shintamainjp | 0:3d0c5d7e5d0a | 196 | |
shintamainjp | 0:3d0c5d7e5d0a | 197 | data.altitude = atoi(plist[11]); |
shintamainjp | 0:3d0c5d7e5d0a | 198 | if (sscanf(plist[12], "%c", &data.altitude_unit) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 199 | return -10; |
shintamainjp | 0:3d0c5d7e5d0a | 200 | } |
shintamainjp | 0:3d0c5d7e5d0a | 201 | |
shintamainjp | 0:3d0c5d7e5d0a | 202 | cbfuncs->cbfunc_gga(&data); |
shintamainjp | 0:3d0c5d7e5d0a | 203 | return 0; |
shintamainjp | 0:3d0c5d7e5d0a | 204 | } |
shintamainjp | 0:3d0c5d7e5d0a | 205 | return -11; |
shintamainjp | 0:3d0c5d7e5d0a | 206 | } |
shintamainjp | 0:3d0c5d7e5d0a | 207 | |
shintamainjp | 0:3d0c5d7e5d0a | 208 | int SerialGPS::parseAndCallbackGSA(char *src, gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 209 | |
shintamainjp | 0:3d0c5d7e5d0a | 210 | if (cbfuncs->cbfunc_gsa == NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 211 | return -1; |
shintamainjp | 0:3d0c5d7e5d0a | 212 | } |
shintamainjp | 0:3d0c5d7e5d0a | 213 | |
shintamainjp | 0:3d0c5d7e5d0a | 214 | char plist[PARAM_ARRAYSIZE][PARAM_TXTMAXLEN]; |
shintamainjp | 0:3d0c5d7e5d0a | 215 | char *p = src; |
shintamainjp | 0:3d0c5d7e5d0a | 216 | int cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 217 | while ((p = parse(p, plist[cnt], PARAM_TXTMAXLEN, ",*")) != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 218 | cnt++; |
shintamainjp | 0:3d0c5d7e5d0a | 219 | } |
shintamainjp | 0:3d0c5d7e5d0a | 220 | |
shintamainjp | 0:3d0c5d7e5d0a | 221 | if (cnt == 18) { |
shintamainjp | 0:3d0c5d7e5d0a | 222 | gps_gsa_t data; |
shintamainjp | 0:3d0c5d7e5d0a | 223 | data.selmode = plist[1][0]; |
shintamainjp | 0:3d0c5d7e5d0a | 224 | if ((data.selmode != 'A') && (data.selmode != 'M')) { |
shintamainjp | 0:3d0c5d7e5d0a | 225 | return -2; |
shintamainjp | 0:3d0c5d7e5d0a | 226 | } |
shintamainjp | 0:3d0c5d7e5d0a | 227 | |
shintamainjp | 0:3d0c5d7e5d0a | 228 | data.fix = atoi(plist[2]); |
shintamainjp | 0:3d0c5d7e5d0a | 229 | if ((data.fix != 1) && (data.fix != 2) && (data.fix != 3)) { |
shintamainjp | 0:3d0c5d7e5d0a | 230 | return -3; |
shintamainjp | 0:3d0c5d7e5d0a | 231 | } |
shintamainjp | 0:3d0c5d7e5d0a | 232 | |
shintamainjp | 0:3d0c5d7e5d0a | 233 | cbfuncs->cbfunc_gsa(&data); |
shintamainjp | 0:3d0c5d7e5d0a | 234 | return 0; |
shintamainjp | 0:3d0c5d7e5d0a | 235 | } |
shintamainjp | 0:3d0c5d7e5d0a | 236 | return -4; |
shintamainjp | 0:3d0c5d7e5d0a | 237 | } |
shintamainjp | 0:3d0c5d7e5d0a | 238 | |
shintamainjp | 0:3d0c5d7e5d0a | 239 | int SerialGPS::parseAndCallbackRMC(char *src, gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 240 | |
shintamainjp | 0:3d0c5d7e5d0a | 241 | if (cbfuncs->cbfunc_rmc == NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 242 | return -1; |
shintamainjp | 0:3d0c5d7e5d0a | 243 | } |
shintamainjp | 0:3d0c5d7e5d0a | 244 | |
shintamainjp | 0:3d0c5d7e5d0a | 245 | char plist[PARAM_ARRAYSIZE][PARAM_TXTMAXLEN]; |
shintamainjp | 0:3d0c5d7e5d0a | 246 | char *p = src; |
shintamainjp | 0:3d0c5d7e5d0a | 247 | int cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 248 | while ((p = parse(p, plist[cnt], PARAM_TXTMAXLEN, ",*")) != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 249 | cnt++; |
shintamainjp | 0:3d0c5d7e5d0a | 250 | } |
shintamainjp | 0:3d0c5d7e5d0a | 251 | |
shintamainjp | 0:3d0c5d7e5d0a | 252 | if (cnt == 13) { |
shintamainjp | 0:3d0c5d7e5d0a | 253 | gps_rmc_t data; |
shintamainjp | 0:3d0c5d7e5d0a | 254 | data.hour = (plist[1][0] - '0') * 10 + (plist[1][1] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 255 | data.min = (plist[1][2] - '0') * 10 + (plist[1][3] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 256 | data.sec = (plist[1][4] - '0') * 10 + (plist[1][5] - '0') * 1; |
shintamainjp | 0:3d0c5d7e5d0a | 257 | |
shintamainjp | 0:3d0c5d7e5d0a | 258 | data.status = plist[2][0]; |
shintamainjp | 0:3d0c5d7e5d0a | 259 | |
shintamainjp | 0:3d0c5d7e5d0a | 260 | if (sscanf(plist[3], "%lf", &data.nl) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 261 | return -2; |
shintamainjp | 0:3d0c5d7e5d0a | 262 | } |
shintamainjp | 0:3d0c5d7e5d0a | 263 | if (strcmp(plist[4], "N") != 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 264 | return -3; |
shintamainjp | 0:3d0c5d7e5d0a | 265 | } |
shintamainjp | 0:3d0c5d7e5d0a | 266 | |
shintamainjp | 0:3d0c5d7e5d0a | 267 | if (sscanf(plist[5], "%lf", &data.el) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 268 | return -4; |
shintamainjp | 0:3d0c5d7e5d0a | 269 | } |
shintamainjp | 0:3d0c5d7e5d0a | 270 | if (strcmp(plist[6], "E") != 0) { |
shintamainjp | 0:3d0c5d7e5d0a | 271 | return -5; |
shintamainjp | 0:3d0c5d7e5d0a | 272 | } |
shintamainjp | 0:3d0c5d7e5d0a | 273 | |
shintamainjp | 0:3d0c5d7e5d0a | 274 | cbfuncs->cbfunc_rmc(&data); |
shintamainjp | 0:3d0c5d7e5d0a | 275 | return 0; |
shintamainjp | 0:3d0c5d7e5d0a | 276 | } |
shintamainjp | 0:3d0c5d7e5d0a | 277 | return -4; |
shintamainjp | 0:3d0c5d7e5d0a | 278 | } |
shintamainjp | 0:3d0c5d7e5d0a | 279 | |
shintamainjp | 0:3d0c5d7e5d0a | 280 | int SerialGPS::parseAndCallbackGSV(char *src, gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 281 | |
shintamainjp | 0:3d0c5d7e5d0a | 282 | if (cbfuncs->cbfunc_gsv == NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 283 | return -1; |
shintamainjp | 0:3d0c5d7e5d0a | 284 | } |
shintamainjp | 0:3d0c5d7e5d0a | 285 | |
shintamainjp | 0:3d0c5d7e5d0a | 286 | char plist[PARAM_ARRAYSIZE][PARAM_TXTMAXLEN]; |
shintamainjp | 0:3d0c5d7e5d0a | 287 | char *p = src; |
shintamainjp | 0:3d0c5d7e5d0a | 288 | int cnt = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 289 | while ((p = parse(p, plist[cnt], PARAM_TXTMAXLEN, ",*")) != NULL) { |
shintamainjp | 0:3d0c5d7e5d0a | 290 | cnt++; |
shintamainjp | 0:3d0c5d7e5d0a | 291 | } |
shintamainjp | 0:3d0c5d7e5d0a | 292 | |
shintamainjp | 0:3d0c5d7e5d0a | 293 | if (cnt == 20) { |
shintamainjp | 0:3d0c5d7e5d0a | 294 | gps_gsv_t data; |
shintamainjp | 0:3d0c5d7e5d0a | 295 | data.msgcnt = atoi(plist[1]); |
shintamainjp | 0:3d0c5d7e5d0a | 296 | |
shintamainjp | 0:3d0c5d7e5d0a | 297 | data.msgnum = atoi(plist[2]); |
shintamainjp | 0:3d0c5d7e5d0a | 298 | |
shintamainjp | 0:3d0c5d7e5d0a | 299 | data.satcnt = atoi(plist[3]); |
shintamainjp | 0:3d0c5d7e5d0a | 300 | |
shintamainjp | 0:3d0c5d7e5d0a | 301 | static const int SATINFOFS = 4; |
shintamainjp | 0:3d0c5d7e5d0a | 302 | for (int i = 0; i < 4; i++) { |
shintamainjp | 0:3d0c5d7e5d0a | 303 | data.satellite[i].num = atoi(plist[SATINFOFS + 0 * (i * 4)]); |
shintamainjp | 0:3d0c5d7e5d0a | 304 | data.satellite[i].elevation = atoi(plist[SATINFOFS + 1 * (i * 4)]); |
shintamainjp | 0:3d0c5d7e5d0a | 305 | data.satellite[i].azimuth = atoi(plist[SATINFOFS + 2 * (i * 4)]); |
shintamainjp | 0:3d0c5d7e5d0a | 306 | data.satellite[i].snr = atoi(plist[SATINFOFS + 3 *(i * 4)]); |
shintamainjp | 0:3d0c5d7e5d0a | 307 | } |
shintamainjp | 0:3d0c5d7e5d0a | 308 | |
shintamainjp | 0:3d0c5d7e5d0a | 309 | int chksum; |
shintamainjp | 0:3d0c5d7e5d0a | 310 | if (sscanf(plist[20], "%x", &chksum) != 1) { |
shintamainjp | 0:3d0c5d7e5d0a | 311 | return -2; |
shintamainjp | 0:3d0c5d7e5d0a | 312 | } |
shintamainjp | 0:3d0c5d7e5d0a | 313 | |
shintamainjp | 0:3d0c5d7e5d0a | 314 | cbfuncs->cbfunc_gsv(&data); |
shintamainjp | 0:3d0c5d7e5d0a | 315 | return 0; |
shintamainjp | 0:3d0c5d7e5d0a | 316 | } |
shintamainjp | 0:3d0c5d7e5d0a | 317 | return -3; |
shintamainjp | 0:3d0c5d7e5d0a | 318 | } |
shintamainjp | 0:3d0c5d7e5d0a | 319 | |
shintamainjp | 0:3d0c5d7e5d0a | 320 | int SerialGPS::parseAndCallbackUnknown(char *src, gps_callback_t *cbfuncs) { |
shintamainjp | 0:3d0c5d7e5d0a | 321 | return 0; |
shintamainjp | 0:3d0c5d7e5d0a | 322 | } |
shintamainjp | 0:3d0c5d7e5d0a | 323 | |
shintamainjp | 0:3d0c5d7e5d0a | 324 | uint8_t SerialGPS::calcCheckSum(char *buf, size_t siz) { |
shintamainjp | 0:3d0c5d7e5d0a | 325 | uint8_t cs = 0; |
shintamainjp | 0:3d0c5d7e5d0a | 326 | for (int i = 0; i < siz; i++) { |
shintamainjp | 0:3d0c5d7e5d0a | 327 | cs ^= buf[i]; |
shintamainjp | 0:3d0c5d7e5d0a | 328 | } |
shintamainjp | 0:3d0c5d7e5d0a | 329 | return cs; |
shintamainjp | 0:3d0c5d7e5d0a | 330 | } |