BR-355_GPS - Mbed with low-cost serial BR355 GPS using RS232 b…

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Shardul Navare / Mbed 2 deprecated BR-355_GPS

Mbed with low-cost serial BR355 GPS using RS232 breakout and PS/2 breakout for power.

GPS.cpp@0:98ae71628dbf, 2011-02-25 (annotated)

Committer:: snavare3
Date:: Fri Feb 25 20:02:14 2011 +0000
Revision:: 0:98ae71628dbf

Who changed what in which revision?

User	Revision	Line number	New contents of line
snavare3	0:98ae71628dbf	1	/* mbed EM-406 GPS Module Library
snavare3	0:98ae71628dbf	2	* Copyright (c) 2008-2010, sford
snavare3	0:98ae71628dbf	3	*
snavare3	0:98ae71628dbf	4	* Permission is hereby granted, free of charge, to any person obtaining a copy
snavare3	0:98ae71628dbf	5	* of this software and associated documentation files (the "Software"), to deal
snavare3	0:98ae71628dbf	6	* in the Software without restriction, including without limitation the rights
snavare3	0:98ae71628dbf	7	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
snavare3	0:98ae71628dbf	8	* copies of the Software, and to permit persons to whom the Software is
snavare3	0:98ae71628dbf	9	* furnished to do so, subject to the following conditions:
snavare3	0:98ae71628dbf	10	*
snavare3	0:98ae71628dbf	11	* The above copyright notice and this permission notice shall be included in
snavare3	0:98ae71628dbf	12	* all copies or substantial portions of the Software.
snavare3	0:98ae71628dbf	13	*
snavare3	0:98ae71628dbf	14	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
snavare3	0:98ae71628dbf	15	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
snavare3	0:98ae71628dbf	16	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
snavare3	0:98ae71628dbf	17	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
snavare3	0:98ae71628dbf	18	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
snavare3	0:98ae71628dbf	19	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
snavare3	0:98ae71628dbf	20	* THE SOFTWARE.
snavare3	0:98ae71628dbf	21	*/
snavare3	0:98ae71628dbf	22
snavare3	0:98ae71628dbf	23	#include "GPS.h"
snavare3	0:98ae71628dbf	24
snavare3	0:98ae71628dbf	25	GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
snavare3	0:98ae71628dbf	26	_gps.baud(4800);
snavare3	0:98ae71628dbf	27	longitude = 0.0;
snavare3	0:98ae71628dbf	28	latitude = 0.0;
snavare3	0:98ae71628dbf	29	}
snavare3	0:98ae71628dbf	30
snavare3	0:98ae71628dbf	31	int GPS::sample() {
snavare3	0:98ae71628dbf	32	float time;
snavare3	0:98ae71628dbf	33	char ns, ew;
snavare3	0:98ae71628dbf	34	int lock;
snavare3	0:98ae71628dbf	35
snavare3	0:98ae71628dbf	36	//return 1; //testing by Jigar
snavare3	0:98ae71628dbf	37	while (1) {
snavare3	0:98ae71628dbf	38	getline();
snavare3	0:98ae71628dbf	39	//printf("\n\rentered the GPS.sample while loop \n\r %s\n\r", msg);
snavare3	0:98ae71628dbf	40
snavare3	0:98ae71628dbf	41
snavare3	0:98ae71628dbf	42	// Check if it is a GPGGA msg (matches both locked and non-locked msg)
snavare3	0:98ae71628dbf	43	// $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
snavare3	0:98ae71628dbf	44	/*
snavare3	0:98ae71628dbf	45	eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
snavare3	0:98ae71628dbf	46	1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
snavare3	0:98ae71628dbf	47	1 = UTC of Position
snavare3	0:98ae71628dbf	48	2 = Latitude
snavare3	0:98ae71628dbf	49	3 = N or S
snavare3	0:98ae71628dbf	50	4 = Longitude
snavare3	0:98ae71628dbf	51	5 = E or W
snavare3	0:98ae71628dbf	52	6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
snavare3	0:98ae71628dbf	53	7 = Number of satellites in use [not those in view]
snavare3	0:98ae71628dbf	54	8 = Horizontal dilution of position
snavare3	0:98ae71628dbf	55	9 = Antenna altitude above/below mean sea level (geoid)
snavare3	0:98ae71628dbf	56	10 = Meters (Antenna height unit)
snavare3	0:98ae71628dbf	57	11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
snavare3	0:98ae71628dbf	58	mean sea level. -=geoid is below WGS-84 ellipsoid)
snavare3	0:98ae71628dbf	59	12 = Meters (Units of geoidal separation)
snavare3	0:98ae71628dbf	60	13 = Age in seconds since last update from diff. reference station
snavare3	0:98ae71628dbf	61	14 = Diff. reference station ID#
snavare3	0:98ae71628dbf	62	15 = Checksum
snavare3	0:98ae71628dbf	63
snavare3	0:98ae71628dbf	64	*/
snavare3	0:98ae71628dbf	65	// if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d, %f,%f,%f,%f,%f,%f,%d ", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
snavare3	0:98ae71628dbf	66	if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
snavare3	0:98ae71628dbf	67
snavare3	0:98ae71628dbf	68	if (!lock) {
snavare3	0:98ae71628dbf	69	longitude = 0.0;
snavare3	0:98ae71628dbf	70	latitude = 0.0;
snavare3	0:98ae71628dbf	71	return 0;
snavare3	0:98ae71628dbf	72	} else {
snavare3	0:98ae71628dbf	73	if (ns == 'S') {
snavare3	0:98ae71628dbf	74	latitude *= -1.0;
snavare3	0:98ae71628dbf	75	}
snavare3	0:98ae71628dbf	76	if (ew == 'W') {
snavare3	0:98ae71628dbf	77	longitude *= -1.0;
snavare3	0:98ae71628dbf	78	}
snavare3	0:98ae71628dbf	79	float degrees = trunc(latitude / 100.0f);
snavare3	0:98ae71628dbf	80	float minutes = latitude - (degrees * 100.0f);
snavare3	0:98ae71628dbf	81	latitude = degrees + minutes / 60.0f;
snavare3	0:98ae71628dbf	82	degrees = trunc(longitude / 100.0f ); //degrees = trunc(longitude / 100.0f * 0.01f);
snavare3	0:98ae71628dbf	83	minutes = longitude - (degrees * 100.0f);
snavare3	0:98ae71628dbf	84	longitude = degrees + minutes / 60.0f;
snavare3	0:98ae71628dbf	85	return 1;
snavare3	0:98ae71628dbf	86	}
snavare3	0:98ae71628dbf	87	}
snavare3	0:98ae71628dbf	88	}
snavare3	0:98ae71628dbf	89	}
snavare3	0:98ae71628dbf	90
snavare3	0:98ae71628dbf	91	float GPS::trunc(float v) {
snavare3	0:98ae71628dbf	92	if (v < 0.0) {
snavare3	0:98ae71628dbf	93	v*= -1.0;
snavare3	0:98ae71628dbf	94	v = floor(v);
snavare3	0:98ae71628dbf	95	v*=-1.0;
snavare3	0:98ae71628dbf	96	} else {
snavare3	0:98ae71628dbf	97	v = floor(v);
snavare3	0:98ae71628dbf	98	}
snavare3	0:98ae71628dbf	99	return v;
snavare3	0:98ae71628dbf	100	}
snavare3	0:98ae71628dbf	101
snavare3	0:98ae71628dbf	102	void GPS::getline() {
snavare3	0:98ae71628dbf	103
snavare3	0:98ae71628dbf	104	while (_gps.getc() != '$'); // wait for the start of a line
snavare3	0:98ae71628dbf	105	// printf("entered the getline loop\n\r");
snavare3	0:98ae71628dbf	106	for (int i=0; i<256; i++) {
snavare3	0:98ae71628dbf	107	msg[i] = _gps.getc();
snavare3	0:98ae71628dbf	108	if (msg[i] == '\r') {
snavare3	0:98ae71628dbf	109	msg[i] = 0;
snavare3	0:98ae71628dbf	110	return;
snavare3	0:98ae71628dbf	111	}
snavare3	0:98ae71628dbf	112	}
snavare3	0:98ae71628dbf	113	error("Overflowed message limit");
snavare3	0:98ae71628dbf	114	}
snavare3	0:98ae71628dbf	115
snavare3	0:98ae71628dbf	116	/*
snavare3	0:98ae71628dbf	117	$GPRMC,000115.039,V,,,,,,,291006,,*2C
snavare3	0:98ae71628dbf	118	$GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
snavare3	0:98ae71628dbf	119	$GPGSA,A,1,,,,,,,,,,,,,,,*1E
snavare3	0:98ae71628dbf	120	$GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,*7C
snavare3	0:98ae71628dbf	121	$GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76
snavare3	0:98ae71628dbf	122	$GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78
snavare3	0:98ae71628dbf	123	$GPRMC,000116.031,V,,,,,,,291006,,*27
snavare3	0:98ae71628dbf	124	$GPGGA,000117.035,,,,,0,00,,,M,0.0,M,,0000*57
snavare3	0:98ae71628dbf	125	$GPGSA,A,1,,,,,,,,,,,,,,,*1E
snavare3	0:98ae71628dbf	126	$GPRMC,000117.035,V,,,,,,,291006,,*22
snavare3	0:98ae71628dbf	127	$GPGGA,000118.039,,,,,0,00,,,M,0.0,M,,0000*54
snavare3	0:98ae71628dbf	128	$GPGSA,A,1,,,,,,,,,,,,,,,*1E
snavare3	0:98ae71628dbf	129	$GPRMC,000118.039,V,,,,,,,291006,,*21
snavare3	0:98ae71628dbf	130	$GPGGA,000119.035,,,,,0,00,,,M,0.0,M,,0000*59
snavare3	0:98ae71628dbf	131	$GPGSA,A,1,,,,,,,,,,,,,,,*1E
snavare3	0:98ae71628dbf	132	$GPRMC,000119.035,V,,,,,,,291006,,*2C
snavare3	0:98ae71628dbf	133	$GPGGA,000120.037,,,,,0,00,,,M,0.0,M,,0000*51
snavare3	0:98ae71628dbf	134	$GPGSA,A,1,,,,,,,,,,,,,,,*1E
snavare3	0:98ae71628dbf	135	$GPRMC,000120.037,V,,,,,,,291006,,*24
snavare3	0:98ae71628dbf	136
snavare3	0:98ae71628dbf	137	*/

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Feb 2011
Imports:	176
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	2

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BR-355 GPS

GPS.cpp@0:98ae71628dbf, 2011-02-25 (annotated)

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