GPSParser -

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GPSParser.cpp@3:d01d7593384d, 2012-03-28 (annotated)

Committer:: slisgrinder
Date:: Wed Mar 28 23:29:35 2012 +0000
Revision:: 3:d01d7593384d
Parent:: 2:6f49c74ab3b9

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User	Revision	Line number	New contents of line
slisgrinder	2:6f49c74ab3b9	1	#include "GPSParser.h"
slisgrinder	1:e143afe9a7ea	2
slisgrinder	3:d01d7593384d	3	GPSParser::GPSParser (PinName tx, PinName rx, int baud, int num_sentence, MODSERIAL &pc, PwmOut &indicator)
slisgrinder	1:e143afe9a7ea	4	:
slisgrinder	1:e143afe9a7ea	5	GLL (0),
slisgrinder	1:e143afe9a7ea	6	RMC (0),
slisgrinder	1:e143afe9a7ea	7	VTG (1),
slisgrinder	1:e143afe9a7ea	8	GGA (1),
slisgrinder	1:e143afe9a7ea	9	GSA (0),
slisgrinder	1:e143afe9a7ea	10	GSV (0),
slisgrinder	1:e143afe9a7ea	11	GRS (0),
slisgrinder	1:e143afe9a7ea	12	GST (0),
slisgrinder	1:e143afe9a7ea	13	MALM (0),
slisgrinder	1:e143afe9a7ea	14	MEPH (0),
slisgrinder	1:e143afe9a7ea	15	MDGP (0),
slisgrinder	1:e143afe9a7ea	16	MDBG (0),
slisgrinder	1:e143afe9a7ea	17	ZDA (0),
slisgrinder	1:e143afe9a7ea	18	MCHN (0),
slisgrinder	1:e143afe9a7ea	19	num_sentences (num_sentence),
slisgrinder	1:e143afe9a7ea	20	baudrate (baud),
slisgrinder	1:e143afe9a7ea	21	ctr (0),
slisgrinder	1:e143afe9a7ea	22	gps (tx, rx),
slisgrinder	3:d01d7593384d	23	pc (pc),
slisgrinder	3:d01d7593384d	24	indicator (indicator)
slisgrinder	1:e143afe9a7ea	25	{
slisgrinder	1:e143afe9a7ea	26	pc.printf ("Initializing GPS...\r\n");
slisgrinder	1:e143afe9a7ea	27	gps.baud (baudrate);
slisgrinder	1:e143afe9a7ea	28
slisgrinder	1:e143afe9a7ea	29	// BEGIN CONFIGURATION OF GPS use http://www.hhhh.org/wiml/proj/nmeaxor.html for checksum calculations...
slisgrinder	1:e143afe9a7ea	30	gps.printf ("$PMTK313,1*2E\r\n"); //enable SBAS satellite searching
slisgrinder	1:e143afe9a7ea	31	gps.printf ("$PMTK301,2*2E\r\n"); //set DGPS mode to WAAS
slisgrinder	1:e143afe9a7ea	32	gps.printf ("$PMTK314,%d,%d,%d,%d,%d,%d,%d,%d,0,0,0,0,0,%d,%d,%d,%d,%d,%d*28\r\n", GLL, RMC, VTG, GGA, GSA, GSV, GRS, GST, MALM, MEPH, MDGP, MDBG, ZDA, MCHN); //enable NMEA output sentences and frequencies
slisgrinder	1:e143afe9a7ea	33	// END CONFIGURATION OF GPS
slisgrinder	1:e143afe9a7ea	34	wait (0.1);
slisgrinder	1:e143afe9a7ea	35	gps.rxBufferFlush ();
slisgrinder	1:e143afe9a7ea	36	gps.attach (this, &GPSParser::ready_buffer);
slisgrinder	1:e143afe9a7ea	37	}
slisgrinder	1:e143afe9a7ea	38
slisgrinder	1:e143afe9a7ea	39	void GPSParser::process_readings ()
slisgrinder	1:e143afe9a7ea	40	{
slisgrinder	1:e143afe9a7ea	41	char buff [num_sentences][128];
slisgrinder	1:e143afe9a7ea	42	//gps.attach (this, &GPSParserCpp::ready_buffer);
slisgrinder	1:e143afe9a7ea	43
slisgrinder	1:e143afe9a7ea	44	for (int i = 0; i < num_sentences; i++)
slisgrinder	1:e143afe9a7ea	45	{
slisgrinder	1:e143afe9a7ea	46	for (int k = 0; k < 128; k++)
slisgrinder	1:e143afe9a7ea	47	{
slisgrinder	1:e143afe9a7ea	48	buff [i][k] = gps.getc();
slisgrinder	1:e143afe9a7ea	49	if (buff [i][k] == ',' && buff [i][k - 1] == ',') // if the current and last character read were both ',' then assign the next buff position ',' and the current buff position a '0' and increment k by one.
slisgrinder	1:e143afe9a7ea	50	{
slisgrinder	1:e143afe9a7ea	51	buff [i][k + 1] = buff [i][k];
slisgrinder	1:e143afe9a7ea	52	buff [i][k] = '0';
slisgrinder	1:e143afe9a7ea	53	k++;
slisgrinder	1:e143afe9a7ea	54	}
slisgrinder	1:e143afe9a7ea	55	if (buff [i][k] == '' && buff [i][k - 1] == ',') // if the current character is '' and last character read were both ',' then assign the next buff position '*' and the current buff position a '0' and increment k by one.
slisgrinder	1:e143afe9a7ea	56	{
slisgrinder	1:e143afe9a7ea	57	buff [i][k + 1] = buff [i][k];
slisgrinder	1:e143afe9a7ea	58	buff [i][k] = '0';
slisgrinder	1:e143afe9a7ea	59	k++;
slisgrinder	1:e143afe9a7ea	60	}
slisgrinder	1:e143afe9a7ea	61	//pc.putc (buff [i][k]);
slisgrinder	1:e143afe9a7ea	62	if (buff [i][k] == '\n')
slisgrinder	1:e143afe9a7ea	63	{
slisgrinder	1:e143afe9a7ea	64	k++;
slisgrinder	1:e143afe9a7ea	65	buff [i][k] = '\0';
slisgrinder	1:e143afe9a7ea	66	break;
slisgrinder	1:e143afe9a7ea	67	}
slisgrinder	1:e143afe9a7ea	68	}
slisgrinder	1:e143afe9a7ea	69	}
slisgrinder	1:e143afe9a7ea	70
slisgrinder	1:e143afe9a7ea	71	for (int i = 0; i < num_sentences; i++)
slisgrinder	1:e143afe9a7ea	72	{
slisgrinder	1:e143afe9a7ea	73	if (!sscanf (buff [i], "$GPGGA,%2d%2d%2d.%3d,%f,%c,%f,%c,%d,%d,%f,%f,M,%f,M,%f,%X*%hX\r\n", &readings.hours, &readings.minutes, &readings.seconds, &readings.m_seconds, &readings.latitude, &readings.ns, &readings.longitude, &readings.ew, &readings.fix, &readings.sats_used, &readings.HDOP, &readings.altitude, &readings.geoidal_sep, &readings.AODC, &readings.DGPS_ID, &readings.checksum_gga))
slisgrinder	1:e143afe9a7ea	74	sscanf (buff [i + 1], "$GPGGA,%2d%2d%2d.%3d,%f,%c,%f,%c,%d,%d,%f,%f,M,%f,M,%f,%X*%hX\r\n", &readings.hours, &readings.minutes, &readings.seconds, &readings.m_seconds, &readings.latitude, &readings.ns, &readings.longitude, &readings.ew, &readings.fix, &readings.sats_used, &readings.HDOP, &readings.altitude, &readings.geoidal_sep, &readings.AODC, &readings.DGPS_ID, &readings.checksum_gga);
slisgrinder	1:e143afe9a7ea	75
slisgrinder	1:e143afe9a7ea	76	if(!sscanf (buff [i], "$GPVTG,%f,T,%f,M,%f,N,%f,K,%c*%hX\r\n", &readings.heading, &readings.mag_heading, &readings.speed_knots, &readings.speed_kph, &readings.mode, &readings.checksum_vtg))
slisgrinder	1:e143afe9a7ea	77	sscanf (buff [i + 1], "$GPVTG,%f,T,%f,M,%f,N,%f,K,%c*%hX\r\n", &readings.heading, &readings.mag_heading, &readings.speed_knots, &readings.speed_kph, &readings.mode, &readings.checksum_vtg);
slisgrinder	1:e143afe9a7ea	78
slisgrinder	1:e143afe9a7ea	79	pc.printf ("%s", buff [i]);
slisgrinder	1:e143afe9a7ea	80	}
slisgrinder	1:e143afe9a7ea	81	if (readings.ns == 'S')
slisgrinder	1:e143afe9a7ea	82	readings.latitude *= -1.0f;
slisgrinder	1:e143afe9a7ea	83
slisgrinder	1:e143afe9a7ea	84	if (readings.ew == 'W')
slisgrinder	1:e143afe9a7ea	85	readings.longitude *= -1.0f;
slisgrinder	1:e143afe9a7ea	86
slisgrinder	1:e143afe9a7ea	87	readings.lat_deg = (int)(readings.latitude / 100);
slisgrinder	1:e143afe9a7ea	88	readings.lat_min = readings.latitude - (readings.lat_deg * 100.0f);
slisgrinder	1:e143afe9a7ea	89	readings.deg_latitude = readings.lat_deg + readings.lat_min / 60.0f;
slisgrinder	1:e143afe9a7ea	90	readings.long_deg = (int)(readings.longitude /100);
slisgrinder	1:e143afe9a7ea	91	readings.long_min = readings.longitude - (readings.long_deg * 100.0f);
slisgrinder	1:e143afe9a7ea	92	readings.deg_longitude = readings.long_deg + readings.long_min / 60.0f;
slisgrinder	1:e143afe9a7ea	93
slisgrinder	1:e143afe9a7ea	94	gps.rxBufferFlush ();
slisgrinder	1:e143afe9a7ea	95	}
slisgrinder	1:e143afe9a7ea	96
slisgrinder	2:6f49c74ab3b9	97	void GPSParser::ready_buffer(MODSERIAL_IRQ_INFO *q)
slisgrinder	1:e143afe9a7ea	98	{
slisgrinder	3:d01d7593384d	99	indicator = 1;
slisgrinder	1:e143afe9a7ea	100	MODSERIAL *serial = q->serial;
slisgrinder	1:e143afe9a7ea	101
slisgrinder	1:e143afe9a7ea	102	if (serial->rxGetLastChar() == '\n')
slisgrinder	1:e143afe9a7ea	103	ctr++;
slisgrinder	1:e143afe9a7ea	104
slisgrinder	1:e143afe9a7ea	105	if (ctr == num_sentences)
slisgrinder	1:e143afe9a7ea	106	{
slisgrinder	2:6f49c74ab3b9	107	process_readings ();
slisgrinder	1:e143afe9a7ea	108	ctr = 0;
slisgrinder	1:e143afe9a7ea	109	}
slisgrinder	3:d01d7593384d	110	indicator = 0;
slisgrinder	2:6f49c74ab3b9	111	}

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Type:	Library
Created:	27 Mar 2012
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Commits:	4
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GPSParser.cpp@3:d01d7593384d, 2012-03-28 (annotated)

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