SerialGPS.h

00001 /**
00002  * Serial GPS module interface driver class (Version 0.0.1)
00003  * This interface driver supports NMEA-0183 serial based modules.
00004  *
00005  * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
00006  * http://shinta.main.jp/
00007  */
00008 #include "mbed.h"
00009 #include "SerialBuffered.h"
00010 
00011 /**
00012  * Serial GPS module interface driver class (Version 0.0.1)
00013  * This interface driver supports NMEA-0183 serial based modules.
00014  *
00015  * = A list of NMEA-0183 Based GPS modules =
00016  *   GT-720F : http://akizukidenshi.com/catalog/g/gM-02711/
00017  *
00018  * = References =
00019  *   NMEA Reference Manual (January 2005) - SiRF Technology, Inc.
00020  */
00021 class SerialGPS {
00022 public:
00023 
00024     /**
00025      * Create.
00026      *
00027      * @param tx A pin of transmit.
00028      * @param rx A pin of receive.
00029      * @param baud Baud rate. (Default = 9600)
00030      */
00031     SerialGPS(PinName tx, PinName rx, int baud = 9600);
00032 
00033     /**
00034      * Destroy.
00035      */
00036     ~SerialGPS();
00037 
00038     /**
00039      * GGA - Global Positioning System Fixed Data.
00040      *
00041      * $GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
00042      */
00043     typedef struct {
00044         int hour;
00045         int min;
00046         int sec;
00047         double latitude;
00048         char ns;
00049         double longitude;
00050         char ew;
00051         int position_fix;
00052         int satellites_used;
00053         double hdop;
00054         int altitude;
00055         char altitude_unit;
00056     } gps_gga_t;
00057 
00058     /**
00059      * GSA hGNSS DOP and Active Satellites.
00060      *
00061      * $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
00062      */
00063     typedef struct {
00064         char selmode;
00065         int fix;
00066     } gps_gsa_t;
00067 
00068     /**
00069      * for RMC:
00070      *  Time, date, position, course and speed data.
00071      */
00072     typedef struct {
00073         int hour;
00074         int min;
00075         int sec;
00076         char status;
00077         double nl;
00078         double el;
00079     } gps_rmc_t;
00080 
00081     /**
00082      * for GSV:
00083      *  The number of GPS satellites in view satellite ID numbers,
00084      *  elevation, azimuth, and SNR values.
00085      */
00086     typedef struct {
00087         int num;
00088         int elevation;
00089         int azimuth;
00090         int snr;
00091     } gps_gsv_satellite_t;
00092 
00093     /**
00094      * for GSV:
00095      *  The number of GPS satellites in view satellite ID numbers,
00096      *  elevation, azimuth, and SNR values.
00097      */
00098     typedef struct {
00099         int msgcnt;
00100         int msgnum;
00101         int satcnt;
00102         gps_gsv_satellite_t satellite[4];
00103     } gps_gsv_t;
00104 
00105     /**
00106      * Callback function structure.
00107      */
00108     typedef struct {
00109         /**
00110          * A callback function for logging data.
00111          */
00112         void (*cbfunc_log)(char *str);
00113 
00114         /**
00115          * A callback function for GGA.
00116          *
00117          * GGA - Global Positioning System Fixed Data.
00118          */
00119         void (*cbfunc_gga)(gps_gga_t *p);
00120 
00121         /**
00122          * A callback function for GLL.
00123          *
00124          * GLL - Geographic Position - Latitude/Longitude.
00125          */
00126         // TODO
00127 
00128         /**
00129          * A callback function for GSA.
00130          *
00131          * GSA - GNSS DOP and Active Satellites.
00132          */
00133         void (*cbfunc_gsa)(gps_gsa_t *p);
00134 
00135         /**
00136          * A callback function for GSV.
00137          *
00138          * GSV - GNSS Satellites in View.
00139          */
00140         void (*cbfunc_gsv)(gps_gsv_t *p);
00141 
00142         /**
00143          * A callback function for MSS.
00144          *
00145          * MSS - MSK Receiver Signal.
00146          */
00147         // TODO
00148 
00149         /**
00150          * A callback function for RMC.
00151          *
00152          * RMC - Recommended Minimum Specific GNSS Data.
00153          */
00154         void (*cbfunc_rmc)(gps_rmc_t *p);
00155 
00156         /**
00157          * A callback function for VTG.
00158          *
00159          * VTG - Course Over Ground and Ground Speed.
00160          */
00161         // TODO
00162 
00163         /**
00164          * A callback function for ZDA.
00165          *
00166          * ZDA - SiRF Timing Message.
00167          */
00168         // TODO
00169 
00170     } gps_callback_t;
00171 
00172     /**
00173      * Processing.
00174      */
00175     bool processing();
00176 
00177     /**
00178      * Attach a callback function.
00179      *
00180      * @param cbfuncs A pointer to a call back function structure.
00181      */
00182     void attach(gps_callback_t *cbfuncs);
00183 
00184     /**
00185      * Detach a callback function.
00186      */
00187     void detach(void);
00188 
00189 private:
00190     SerialBuffered ser;
00191     gps_callback_t *cbfuncs;
00192     static const int PARAM_TXTMAXLEN = 64;
00193     static const int PARAM_ARRAYSIZE = 64;
00194     static bool exists(char c, char *buf) {
00195         const size_t n = strlen(buf);
00196         for (int i = 0; i < n; i++) {
00197             if (c == buf[i]) {
00198                 return true;
00199             }
00200         }
00201         return false;
00202     }
00203     static char *parse(char *src, char *des, size_t siz, char *delim);
00204     static int parseAndCallbackGGA(char *src, gps_callback_t *cbfuncs);
00205     static int parseAndCallbackGSA(char *src, gps_callback_t *cbfuncs);
00206     static int parseAndCallbackRMC(char *src, gps_callback_t *cbfuncs);
00207     static int parseAndCallbackGSV(char *src, gps_callback_t *cbfuncs);
00208     static int parseAndCallbackUnknown(char *src, gps_callback_t *cbfuncs);
00209     static uint8_t calcCheckSum(char *buf, size_t siz);
00210 };