Kartik Jangam / GPSParser

GPSParser.cpp@1:e143afe9a7ea, 2012-03-28 (annotated)

Committer:
slisgrinder
Date:
Wed Mar 28 21:25:38 2012 +0000
Revision:
1:e143afe9a7ea
Parent:
0:01c9f535e512
Child:
2:6f49c74ab3b9

        

        
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#include <GPSParserCpp.h>





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GPSParser::GPSParser (PinName tx, PinName rx, int baud, int num_sentence, MODSERIAL &pc)





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:





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 GLL (0),





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 RMC (0),





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 VTG (1),





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 GGA (1),





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 GSA (0),





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 GSV (0),





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 GRS (0),





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 GST (0),





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 MALM (0),





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 MEPH (0),





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 MDGP (0),





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 MDBG (0),





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 ZDA (0),





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 MCHN (0),





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 num_sentences (num_sentence),





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 baudrate (baud),





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 ctr (0),





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 gps (tx, rx),





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 pc (pc)





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{





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    pc.printf ("Initializing GPS...\r\n");





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    gps.baud (baudrate);





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    // BEGIN CONFIGURATION OF GPS use http://www.hhhh.org/wiml/proj/nmeaxor.html for checksum calculations...





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    gps.printf ("$PMTK313,1*2E\r\n"); //enable SBAS satellite searching





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    gps.printf ("$PMTK301,2*2E\r\n"); //set DGPS mode to WAAS





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    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





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    // END CONFIGURATION OF GPS





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    wait (0.1);





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    gps.rxBufferFlush ();





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    gps.attach (this, &GPSParser::ready_buffer);





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}





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void GPSParser::process_readings ()





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{





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    char buff [num_sentences][128];





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    //gps.attach (this, &GPSParserCpp::ready_buffer);





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    for (int i = 0; i < num_sentences; i++)





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    {





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        for (int k = 0; k < 128; k++)





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        {





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            buff [i][k] = gps.getc();





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            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.





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            {





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                buff [i][k + 1] = buff [i][k];





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                buff [i][k] = '0';





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                k++;





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            }





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            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.





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            {





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                buff [i][k + 1] = buff [i][k];





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                buff [i][k] = '0';





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                k++;





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            }





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            //pc.putc (buff [i][k]);





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            if (buff [i][k] == '\n')





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            {





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                k++;





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                buff [i][k] = '\0';





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                break;





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            }





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        }





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    }





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    for (int i = 0; i < num_sentences; i++)





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    {





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        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))





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            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);





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        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))





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            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);





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        pc.printf ("%s", buff [i]);





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    }





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    if (readings.ns == 'S')





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        readings.latitude *= -1.0f;





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    if (readings.ew == 'W')





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        readings.longitude *= -1.0f;





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    readings.lat_deg = (int)(readings.latitude / 100);





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    readings.lat_min = readings.latitude - (readings.lat_deg * 100.0f);





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    readings.deg_latitude = readings.lat_deg + readings.lat_min / 60.0f;





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    readings.long_deg = (int)(readings.longitude /100);





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    readings.long_min = readings.longitude - (readings.long_deg * 100.0f);





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    readings.deg_longitude = readings.long_deg + readings.long_min / 60.0f;





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    gps.rxBufferFlush ();





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}





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virtual void GPSParser::ready_buffer(MODSERIAL_IRQ_INFO *q);





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{





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    MODSERIAL *serial = q->serial;





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    if (serial->rxGetLastChar() == '\n')





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        ctr++;





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    if (ctr == num_sentences)





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    {





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        read_gps();





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        ctr = 0;





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    }





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};