Revision 0:98ae71628dbf, committed 2011-02-25
- Comitter:
- snavare3
- Date:
- Fri Feb 25 20:02:14 2011 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 98ae71628dbf GPS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.cpp Fri Feb 25 20:02:14 2011 +0000
@@ -0,0 +1,137 @@
+/* mbed EM-406 GPS Module Library
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "GPS.h"
+
+GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
+ _gps.baud(4800);
+ longitude = 0.0;
+ latitude = 0.0;
+}
+
+int GPS::sample() {
+ float time;
+ char ns, ew;
+ int lock;
+
+ //return 1; //testing by Jigar
+ while (1) {
+ getline();
+ //printf("\n\rentered the GPS.sample while loop \n\r %s\n\r", msg);
+
+
+ // Check if it is a GPGGA msg (matches both locked and non-locked msg)
+ // $GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
+ /*
+ eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
+ 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
+ 1 = UTC of Position
+ 2 = Latitude
+ 3 = N or S
+ 4 = Longitude
+ 5 = E or W
+ 6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
+ 7 = Number of satellites in use [not those in view]
+ 8 = Horizontal dilution of position
+ 9 = Antenna altitude above/below mean sea level (geoid)
+ 10 = Meters (Antenna height unit)
+ 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
+ mean sea level. -=geoid is below WGS-84 ellipsoid)
+ 12 = Meters (Units of geoidal separation)
+ 13 = Age in seconds since last update from diff. reference station
+ 14 = Diff. reference station ID#
+ 15 = Checksum
+
+ */
+ // if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%*d,%*d, %*f,%*f,%*f,%*f,%*f,%*f,%d ", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
+ if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d", &time, &latitude, &ns, &longitude, &ew, &lock) >= 1) {
+
+ if (!lock) {
+ longitude = 0.0;
+ latitude = 0.0;
+ return 0;
+ } else {
+ if (ns == 'S') {
+ latitude *= -1.0;
+ }
+ if (ew == 'W') {
+ longitude *= -1.0;
+ }
+ float degrees = trunc(latitude / 100.0f);
+ float minutes = latitude - (degrees * 100.0f);
+ latitude = degrees + minutes / 60.0f;
+ degrees = trunc(longitude / 100.0f ); //degrees = trunc(longitude / 100.0f * 0.01f);
+ minutes = longitude - (degrees * 100.0f);
+ longitude = degrees + minutes / 60.0f;
+ return 1;
+ }
+ }
+ }
+}
+
+float GPS::trunc(float v) {
+ if (v < 0.0) {
+ v*= -1.0;
+ v = floor(v);
+ v*=-1.0;
+ } else {
+ v = floor(v);
+ }
+ return v;
+}
+
+void GPS::getline() {
+
+ while (_gps.getc() != '$'); // wait for the start of a line
+ // printf("entered the getline loop\n\r");
+ for (int i=0; i<256; i++) {
+ msg[i] = _gps.getc();
+ if (msg[i] == '\r') {
+ msg[i] = 0;
+ return;
+ }
+ }
+ error("Overflowed message limit");
+}
+
+/*
+$GPRMC,000115.039,V,,,,,,,291006,,*2C
+$GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,*7C
+$GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76
+$GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78
+$GPRMC,000116.031,V,,,,,,,291006,,*27
+$GPGGA,000117.035,,,,,0,00,,,M,0.0,M,,0000*57
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000117.035,V,,,,,,,291006,,*22
+$GPGGA,000118.039,,,,,0,00,,,M,0.0,M,,0000*54
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000118.039,V,,,,,,,291006,,*21
+$GPGGA,000119.035,,,,,0,00,,,M,0.0,M,,0000*59
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000119.035,V,,,,,,,291006,,*2C
+$GPGGA,000120.037,,,,,0,00,,,M,0.0,M,,0000*51
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000120.037,V,,,,,,,291006,,*24
+
+*/
\ No newline at end of file
diff -r 000000000000 -r 98ae71628dbf GPS.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS.h Fri Feb 25 20:02:14 2011 +0000
@@ -0,0 +1,57 @@
+/* mbed EM-406 GPS Module Library
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "mbed.h"
+
+#ifndef MBED_GPS_H
+#define MBED_GPS_H
+
+/** A GPS interface for reading from a Globalsat EM-406 GPS Module */
+class GPS {
+public:
+
+ /** Create the GPS interface, connected to the specified serial port
+ */
+ GPS(PinName tx, PinName rx);
+
+ /** Sample the incoming GPS data, returning whether there is a lock
+ *
+ * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
+ */
+ int sample();
+
+ /** The longitude (call sample() to set) */
+ float longitude;
+
+ /** The latitude (call sample() to set) */
+ float latitude;
+
+private:
+ float trunc(float v);
+ void getline();
+
+ Serial _gps;
+ char msg[256];
+
+};
+
+#endif
diff -r 000000000000 -r 98ae71628dbf main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Feb 25 20:02:14 2011 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "GPS.h"
+
+Serial pc(USBTX, USBRX);
+GPS gps(p9, p10);
+
+int main() {
+ while(1) {
+ //wait(0.1);
+ //pc.printf("\nHello world\n\r");
+ //printf ("\n\r the value of GPS sample is : %d\n\r", gps.sample());
+ if(gps.sample()) {
+ pc.printf("I'm at %f, %f\n\r", gps.longitude, gps.latitude);
+ } else {
+ pc.printf("Oh Dear! No lock :(\n\r");
+ }
+ }
+}
+
+
+/*
+$GPRMC,000115.039,V,,,,,,,291006,,*2C
+$GPGGA,000116.031,,,,,0,00,,,M,0.0,M,,0000*52
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPGSV,3,1,12,20,00,000,,10,00,000,,31,00,000,,27,00,000,*7C
+$GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76
+$GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78
+$GPRMC,000116.031,V,,,,,,,291006,,*27
+$GPGGA,000117.035,,,,,0,00,,,M,0.0,M,,0000*57
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000117.035,V,,,,,,,291006,,*22
+$GPGGA,000118.039,,,,,0,00,,,M,0.0,M,,0000*54
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000118.039,V,,,,,,,291006,,*21
+$GPGGA,000119.035,,,,,0,00,,,M,0.0,M,,0000*59
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000119.035,V,,,,,,,291006,,*2C
+$GPGGA,000120.037,,,,,0,00,,,M,0.0,M,,0000*51
+$GPGSA,A,1,,,,,,,,,,,,,,,*1E
+$GPRMC,000120.037,V,,,,,,,291006,,*24
+*/
\ No newline at end of file
diff -r 000000000000 -r 98ae71628dbf mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Fri Feb 25 20:02:14 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/029aa53d7323
Shardul Navare
BR-355 GPS