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Dependencies:   mbed

Fork of dgps by Colin Stearns

handle/handleGPS.cpp@15:e3e03a9df89e, 2014-04-10 (annotated)

Committer:
dylanembed123
Date:
Thu Apr 10 05:38:45 2014 +0000
Revision:
15:e3e03a9df89e
Parent:
14:6be57da62283
Child:
16:4f5d20b87dc3
Demo prep - The GPS, camera and XBEE stream with packet work.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dylanembed123 9:da906eeac51e 1 #include "handleGPS.h"
stearnsc 8:28b866df62cf 2
dylanembed123 9:da906eeac51e 3 //Serial gps(p28,p27);
stearnsc 8:28b866df62cf 4
dylanembed123 14:6be57da62283 5 void testVar(){
dylanembed123 14:6be57da62283 6 }
dylanembed123 7:c75d5e5e6bfc 7 void GPSHandle::setup(){
dylanembed123 14:6be57da62283 8 //gpsGPS().getSerial().baud(57600);
stearnsc 8:28b866df62cf 9 sendGpsCommand("PMTK301,1");
dylanembed123 14:6be57da62283 10 //GPS::getSerial().attach(&GPSHandle::handleUpdate,Serial::RxIrq);
dylanembed123 14:6be57da62283 11 GPS::getSerial().attach(this,&GPSHandle::handleUpdate,Serial::RxIrq);
stearnsc 8:28b866df62cf 12 //cs: Send other standard init commands? Not strictly speaking necessary,
stearnsc 8:28b866df62cf 13 // but forces "up to date documentation" in the form of always knowing
stearnsc 8:28b866df62cf 14 // gps config.
dylanembed123 7:c75d5e5e6bfc 15 }
dylanembed123 7:c75d5e5e6bfc 16
dylanembed123 14:6be57da62283 17 static bool reading = false;
dylanembed123 14:6be57da62283 18 //static std::stringstream line;
dylanembed123 14:6be57da62283 19 static char line[MAXREADIN+10];
dylanembed123 14:6be57da62283 20 static int line_i=0;
dylanembed123 14:6be57da62283 21 char* getNext(char*& field){
dylanembed123 14:6be57da62283 22 char* output=new char[MAXREADIN+1];
dylanembed123 14:6be57da62283 23 int i;
dylanembed123 14:6be57da62283 24 for(i=0;i<MAXREADIN;i++){
dylanembed123 14:6be57da62283 25 if(field[i]=='\0'||field[i]==',')break;
dylanembed123 14:6be57da62283 26 }
dylanembed123 14:6be57da62283 27 for(int a=0;a<i;a++){
dylanembed123 14:6be57da62283 28 output[a]=field[a];
dylanembed123 14:6be57da62283 29 }
dylanembed123 14:6be57da62283 30 output[i]='\0';
dylanembed123 14:6be57da62283 31 field=&field[i+1];
dylanembed123 14:6be57da62283 32 return output;
dylanembed123 14:6be57da62283 33 }
dylanembed123 14:6be57da62283 34
stearnsc 8:28b866df62cf 35 void GPSHandle::handleUpdate(){
dylanembed123 14:6be57da62283 36 if(GPS::getSerial().readable()<=0){return;}
dylanembed123 14:6be57da62283 37 char c = GPS::getSerial().getc();
dylanembed123 14:6be57da62283 38 //USB::getSerial().printf("%c",c);
stearnsc 8:28b866df62cf 39 if (reading) {
dylanembed123 14:6be57da62283 40 if(line_i>=MAXREADIN){reading=false;return;}
stearnsc 8:28b866df62cf 41 if (c == '*') { //sentence buffer complete; we're ignoring the checksum
dylanembed123 14:6be57da62283 42 char* field=line;
dylanembed123 14:6be57da62283 43 char* op;
dylanembed123 14:6be57da62283 44 op=getNext(field);delete op; //GPGGA
dylanembed123 14:6be57da62283 45 if(op[0]=='G'||op[1]=='P'||op[2]=='G'||op[3]=='G'||op[4]=='A'){
dylanembed123 14:6be57da62283 46 op=getNext(field);double timeS = atof(op);delete op; //time
dylanembed123 14:6be57da62283 47 op=getNext(field);double latitude = atof(op);delete op; //latitude
dylanembed123 14:6be57da62283 48 op=getNext(field);delete op; //N or S
dylanembed123 14:6be57da62283 49 op=getNext(field);double longitude = atof(op);delete op; //longitude
dylanembed123 14:6be57da62283 50 op=getNext(field);delete op; //E or W
dylanembed123 14:6be57da62283 51 op=getNext(field);delete op; //skip
dylanembed123 14:6be57da62283 52 op=getNext(field);delete op; //skip
dylanembed123 14:6be57da62283 53 op=getNext(field);delete op; //skip
dylanembed123 14:6be57da62283 54 op=getNext(field);delete op; //altitude
dylanembed123 14:6be57da62283 55 double altitude = atof(op);
stearnsc 8:28b866df62cf 56
dylanembed123 15:e3e03a9df89e 57 //USB::getSerial().printf("\nMy GPS data: Lat: %f, Lon: %f, Alt: %f, Time:%f\r\n",latitude,longitude,altitude,timeS);
dylanembed123 15:e3e03a9df89e 58 DH::Locs().add(LHType_locs,DataLocation(latitude,longitude,altitude,timeS));
dylanembed123 15:e3e03a9df89e 59 //USB::getSerial().printf("Current Time:%f\r\n",DH::Locs().getC().getTime());
dylanembed123 15:e3e03a9df89e 60
dylanembed123 14:6be57da62283 61 }
stearnsc 8:28b866df62cf 62 //update whatever needs updating when gps updates
stearnsc 8:28b866df62cf 63 // pc.printf("My GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
stearnsc 8:28b866df62cf 64 // gpsData.latitude, gpsData.longitude, gpsData.altitude, gpsData.time
stearnsc 8:28b866df62cf 65 // );
stearnsc 8:28b866df62cf 66
stearnsc 8:28b866df62cf 67 reading = false;
stearnsc 8:28b866df62cf 68 } else {
dylanembed123 14:6be57da62283 69 line[line_i]=c;
dylanembed123 14:6be57da62283 70 line_i=(line_i+1)%MAXREADIN;
stearnsc 8:28b866df62cf 71 }
stearnsc 8:28b866df62cf 72
stearnsc 8:28b866df62cf 73 } else if (c == '$') {
stearnsc 8:28b866df62cf 74 reading = true;
dylanembed123 14:6be57da62283 75 line_i=0;
stearnsc 8:28b866df62cf 76 }
dylanembed123 14:6be57da62283 77 return;
stearnsc 8:28b866df62cf 78 }
stearnsc 8:28b866df62cf 79
stearnsc 8:28b866df62cf 80 //sends: "$<command>*<checksum>\r\l"
dylanembed123 9:da906eeac51e 81 void GPSHandle::sendGpsCommand(std::string command){
stearnsc 8:28b866df62cf 82 uint8_t checksum = 0;
dylanembed123 9:da906eeac51e 83 //pc.printf("Sending command to gps: ");
dylanembed123 14:6be57da62283 84 GPS::getSerial().putc('$');
dylanembed123 9:da906eeac51e 85 //pc.putc('$');
stearnsc 8:28b866df62cf 86 char c;
stearnsc 8:28b866df62cf 87 for (int i = 0; i < command.length(); i++) {
stearnsc 8:28b866df62cf 88 c = command[i];
stearnsc 8:28b866df62cf 89 checksum ^= c;
dylanembed123 14:6be57da62283 90 GPS::getSerial().putc(c);
dylanembed123 9:da906eeac51e 91 //pc.putc(c);
stearnsc 8:28b866df62cf 92 }
dylanembed123 14:6be57da62283 93 GPS::getSerial().putc('*');
dylanembed123 9:da906eeac51e 94 //pc.putc('*');
stearnsc 8:28b866df62cf 95 string checkSumString;
stearnsc 8:28b866df62cf 96 while (checksum > 0) {
stearnsc 8:28b866df62cf 97 uint8_t checksumChar = checksum & 0x0F;
stearnsc 8:28b866df62cf 98 if (checksumChar >= 10) {
stearnsc 8:28b866df62cf 99 checksumChar -= 10;
stearnsc 8:28b866df62cf 100 checksumChar += 'A';
stearnsc 8:28b866df62cf 101 } else {
stearnsc 8:28b866df62cf 102 checksumChar += '0';
stearnsc 8:28b866df62cf 103 }
stearnsc 8:28b866df62cf 104 checkSumString.push_back((char) checksumChar);
stearnsc 8:28b866df62cf 105 checksum = checksum >> 4;
stearnsc 8:28b866df62cf 106 }
stearnsc 8:28b866df62cf 107
stearnsc 8:28b866df62cf 108 for (int i = checkSumString.length() - 1; i >= 0; i--) {
dylanembed123 14:6be57da62283 109 GPS::getSerial().putc(checkSumString[i]);
dylanembed123 9:da906eeac51e 110 //pc.putc(checkSumString[i]);
stearnsc 8:28b866df62cf 111 }
dylanembed123 14:6be57da62283 112 GPS::getSerial().putc('\r');
dylanembed123 9:da906eeac51e 113 //pc.putc('\r');
dylanembed123 14:6be57da62283 114 GPS::getSerial().putc('\n');
dylanembed123 9:da906eeac51e 115 //pc.putc('\n');
stearnsc 8:28b866df62cf 116 }
stearnsc 8:28b866df62cf 117
stearnsc 8:28b866df62cf 118 int stringToDecimal(string s)
stearnsc 8:28b866df62cf 119 {
stearnsc 8:28b866df62cf 120 int mult = 1;
stearnsc 8:28b866df62cf 121 int result = 0;
stearnsc 8:28b866df62cf 122 for (int i = s.length() - 1; i >=0; i--) {
stearnsc 8:28b866df62cf 123 if (s[i] != '.') {
stearnsc 8:28b866df62cf 124 result += (s[i] - '0') * mult;
stearnsc 8:28b866df62cf 125 mult *= 10;
dylanembed123 7:c75d5e5e6bfc 126 }
dylanembed123 7:c75d5e5e6bfc 127 }
stearnsc 8:28b866df62cf 128 return result;
dylanembed123 7:c75d5e5e6bfc 129 }
dylanembed123 7:c75d5e5e6bfc 130
dylanembed123 7:c75d5e5e6bfc 131 bool GPSHandle::check(){
dylanembed123 7:c75d5e5e6bfc 132 return true;
dylanembed123 14:6be57da62283 133 }
dylanembed123 14:6be57da62283 134 void GPSHandle::run(){
dylanembed123 14:6be57da62283 135 if(!initialized){initialized=true;setup();}
dylanembed123 7:c75d5e5e6bfc 136 }