Thom Bronez / MTK3339

Revised Embedded Artists' MTK3339 library to save all raw GPS messages and enable optional decoding of RMC message.

Fork of MTK3339 by EmbeddedArtists AB

MTK3339.cpp@4:c9861b0d3219, 2015-12-29 (annotated)

Committer:
tbronez
Date:
Tue Dec 29 16:46:07 2015 +0000
Revision:
4:c9861b0d3219
Parent:
3:124e25586234 
Added additional statements useful for debugging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tbronez 1:3057ad6a5d4b 1 // Original author: Embedded Artists
tbronez 4:c9861b0d3219 2 // Revised by T. Bronez, 2015-12-16
embeddedartists 0:bd0fe2412980 3
embeddedartists 0:bd0fe2412980 4 #include "mbed.h"
embeddedartists 0:bd0fe2412980 5 #include "MTK3339.h"
tbronez 1:3057ad6a5d4b 6 #define min(a,b) a>b?a:b
embeddedartists 0:bd0fe2412980 7
tbronez 3:124e25586234 8 /*
tbronez 3:124e25586234 9 // For DEBUG, can flash LED2 on arrival of RMC message
tbronez 1:3057ad6a5d4b 10 DigitalOut led2(LED2);
tbronez 1:3057ad6a5d4b 11 Timeout timeout2;
tbronez 1:3057ad6a5d4b 12 void led2Off() {
tbronez 1:3057ad6a5d4b 13 led2 = 1;
tbronez 1:3057ad6a5d4b 14 }
tbronez 1:3057ad6a5d4b 15 void flashLED2() {
tbronez 1:3057ad6a5d4b 16 led2 = 0;
tbronez 1:3057ad6a5d4b 17 timeout2.attach(&led2Off, 0.1);
tbronez 1:3057ad6a5d4b 18 }
tbronez 3:124e25586234 19 */
embeddedartists 0:bd0fe2412980 20
embeddedartists 0:bd0fe2412980 21 MTK3339::MTK3339(PinName tx, PinName rx) : _serial(tx, rx) {
embeddedartists 0:bd0fe2412980 22 _serial.baud(9600);
embeddedartists 0:bd0fe2412980 23 _state = StateStart;
embeddedartists 0:bd0fe2412980 24 _sentenceMask = 0;
tbronez 1:3057ad6a5d4b 25 _availDataType = NMEA_NONE;
tbronez 1:3057ad6a5d4b 26 memset(&rmc, 0, sizeof(RmcType));
tbronez 1:3057ad6a5d4b 27
tbronez 2:2391d165df47 28 memset(&ggaMsg, 0, MSG_BUF_SZ+1);
tbronez 2:2391d165df47 29 memset(&gsaMsg, 0, MSG_BUF_SZ+1);
tbronez 2:2391d165df47 30 memset(&gsvMsg, 0, MSG_BUF_SZ+1);
tbronez 2:2391d165df47 31 memset(&rmcMsg, 0, MSG_BUF_SZ+1);
tbronez 2:2391d165df47 32 memset(&vtgMsg, 0, MSG_BUF_SZ+1);
embeddedartists 0:bd0fe2412980 33 }
embeddedartists 0:bd0fe2412980 34
embeddedartists 0:bd0fe2412980 35 void MTK3339::start(void (*fptr)(void), int mask) {
embeddedartists 0:bd0fe2412980 36 if (fptr && mask) {
embeddedartists 0:bd0fe2412980 37 _dataCallback.attach(fptr);
embeddedartists 0:bd0fe2412980 38 _sentenceMask = mask;
embeddedartists 0:bd0fe2412980 39 _serial.attach(this, &MTK3339::uartIrq, Serial::RxIrq);
tbronez 1:3057ad6a5d4b 40 }
tbronez 4:c9861b0d3219 41
tbronez 4:c9861b0d3219 42 // DEBUG: Query antenna status
tbronez 4:c9861b0d3219 43 //_serial.printf("$PGTOP,11,3*6F\r\n");
tbronez 4:c9861b0d3219 44 //_serial.printf("$PGCMD,33,1*6C\r\n");
embeddedartists 0:bd0fe2412980 45 }
embeddedartists 0:bd0fe2412980 46
embeddedartists 0:bd0fe2412980 47 void MTK3339::stop() {
embeddedartists 0:bd0fe2412980 48 _dataCallback.attach(NULL);
embeddedartists 0:bd0fe2412980 49 _sentenceMask = 0;
embeddedartists 0:bd0fe2412980 50 _serial.attach(NULL);
embeddedartists 0:bd0fe2412980 51 }
embeddedartists 0:bd0fe2412980 52
embeddedartists 0:bd0fe2412980 53 MTK3339::NmeaSentence MTK3339::getAvailableDataType() {
embeddedartists 0:bd0fe2412980 54 return _availDataType;
embeddedartists 0:bd0fe2412980 55 }
embeddedartists 0:bd0fe2412980 56
tbronez 1:3057ad6a5d4b 57 void MTK3339::decodeRMC() {
tbronez 1:3057ad6a5d4b 58 // See http://aprs.gids.nl/nmea/#rmc for RMC sentence definition
tbronez 1:3057ad6a5d4b 59 const double sixtieth = 1.0/60.0;
tbronez 1:3057ad6a5d4b 60 int n = 0; // scratch int for conversions
tbronez 1:3057ad6a5d4b 61 double d = 0; // scratch double for conversions
tbronez 1:3057ad6a5d4b 62 char* q = NULL; // scratch pointer for conversions
tbronez 1:3057ad6a5d4b 63
tbronez 1:3057ad6a5d4b 64 memset(&rmc, 0, sizeof(RmcType));
tbronez 1:3057ad6a5d4b 65 char* p = rmcMsg;
tbronez 1:3057ad6a5d4b 66
tbronez 1:3057ad6a5d4b 67 /**
tbronez 1:3057ad6a5d4b 68 * Find and decode field 0, UTC time, as hhmmss.sss
tbronez 1:3057ad6a5d4b 69 */
tbronez 1:3057ad6a5d4b 70 p = strchr(p, ','); // First comma
tbronez 1:3057ad6a5d4b 71 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 72 p++; // Start of field
tbronez 1:3057ad6a5d4b 73
tbronez 1:3057ad6a5d4b 74 q = p;
tbronez 1:3057ad6a5d4b 75 // Decode time hours
tbronez 1:3057ad6a5d4b 76 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 77 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 78 rmc.gps_tm.tm_hour = n;
tbronez 1:3057ad6a5d4b 79 // Decode time minutes
tbronez 1:3057ad6a5d4b 80 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 81 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 82 rmc.gps_tm.tm_min = n;
tbronez 1:3057ad6a5d4b 83 // Decode time seconds
tbronez 1:3057ad6a5d4b 84 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 85 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 86 rmc.gps_tm.tm_sec = n;
tbronez 1:3057ad6a5d4b 87 // Decode time milliseconds
tbronez 1:3057ad6a5d4b 88 q++; // decimal point
tbronez 1:3057ad6a5d4b 89 n = ((*q++) - 48)*100; // hundreds of msec = tenths of second
tbronez 1:3057ad6a5d4b 90 n += ((*q++) - 48)*10; // tens of msec = hundredths of second
tbronez 1:3057ad6a5d4b 91 n += ((*q++) - 48); // ones of msec = thousandths of second
tbronez 1:3057ad6a5d4b 92 rmc.msec = n;
tbronez 1:3057ad6a5d4b 93
tbronez 1:3057ad6a5d4b 94 /**
tbronez 1:3057ad6a5d4b 95 * Find and decode field 1, GPS status, as single
tbronez 1:3057ad6a5d4b 96 * character 'A' for valid or 'V' for invalid
tbronez 1:3057ad6a5d4b 97 */
tbronez 1:3057ad6a5d4b 98 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 99 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 100 p++; // Start of field
tbronez 1:3057ad6a5d4b 101
tbronez 1:3057ad6a5d4b 102 if (*p == 'A' || *p == 'V')
tbronez 1:3057ad6a5d4b 103 rmc.status = *p;
tbronez 1:3057ad6a5d4b 104 else
tbronez 1:3057ad6a5d4b 105 rmc.status = ' ';
tbronez 1:3057ad6a5d4b 106
tbronez 1:3057ad6a5d4b 107 /**
tbronez 1:3057ad6a5d4b 108 * Find and decode field 2, latitude, formatted as ddmm.mmmm
tbronez 1:3057ad6a5d4b 109 */
tbronez 1:3057ad6a5d4b 110 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 111 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 112 p++; // Start of field
tbronez 1:3057ad6a5d4b 113
tbronez 1:3057ad6a5d4b 114 q = p;
tbronez 1:3057ad6a5d4b 115 d = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 116 d += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 117 rmc.lat_dd = d; // whole degrees
embeddedartists 0:bd0fe2412980 118
tbronez 1:3057ad6a5d4b 119 d = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 120 d += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 121 q++; // decimal point
tbronez 1:3057ad6a5d4b 122 d += ((*q++) - 48)*0.1000; // tenths
tbronez 1:3057ad6a5d4b 123 d += ((*q++) - 48)*0.0100; // hundredths
tbronez 1:3057ad6a5d4b 124 d += ((*q++) - 48)*0.0010; // thousandths
tbronez 1:3057ad6a5d4b 125 d += ((*q++) - 48)*0.0001; // ten-thousandths
tbronez 1:3057ad6a5d4b 126 if (*q == ',')
tbronez 1:3057ad6a5d4b 127 rmc.lat_dd += sixtieth*d; // decimal degrees
tbronez 1:3057ad6a5d4b 128 else
tbronez 1:3057ad6a5d4b 129 rmc.lat_dd = NAN; // Unexpected
tbronez 1:3057ad6a5d4b 130
tbronez 1:3057ad6a5d4b 131 /**
tbronez 1:3057ad6a5d4b 132 * Find and decode field 3, latitude sense, as single
tbronez 1:3057ad6a5d4b 133 * character 'N' for north or 'S' for south
tbronez 1:3057ad6a5d4b 134 */
tbronez 1:3057ad6a5d4b 135 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 136 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 137 p++; // Start of field
embeddedartists 0:bd0fe2412980 138
tbronez 1:3057ad6a5d4b 139 if (*p == 'S') rmc.lat_dd = -rmc.lat_dd;
tbronez 1:3057ad6a5d4b 140
tbronez 1:3057ad6a5d4b 141 /**
tbronez 1:3057ad6a5d4b 142 * Find and decode field 4, longitude, formatted as dddmm.mmmm
tbronez 1:3057ad6a5d4b 143 */
tbronez 1:3057ad6a5d4b 144 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 145 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 146 p++; // Start of field
tbronez 1:3057ad6a5d4b 147
tbronez 1:3057ad6a5d4b 148 q = p;
tbronez 1:3057ad6a5d4b 149 d = ((*q++) - 48)*100; // hundreds
tbronez 1:3057ad6a5d4b 150 d += ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 151 d += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 152 rmc.lon_dd = d; // whole degrees
embeddedartists 0:bd0fe2412980 153
tbronez 1:3057ad6a5d4b 154 d = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 155 d += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 156 q++; // decimal point
tbronez 1:3057ad6a5d4b 157 d += ((*q++) - 48)*0.1000; // tenths
tbronez 1:3057ad6a5d4b 158 d += ((*q++) - 48)*0.0100; // hundredths
tbronez 1:3057ad6a5d4b 159 d += ((*q++) - 48)*0.0010; // thousandths
tbronez 1:3057ad6a5d4b 160 d += ((*q++) - 48)*0.0001; // ten-thousandths
tbronez 1:3057ad6a5d4b 161 if (*q == ',')
tbronez 1:3057ad6a5d4b 162 rmc.lon_dd += sixtieth*d; // decimal degrees
tbronez 1:3057ad6a5d4b 163 else
tbronez 1:3057ad6a5d4b 164 rmc.lon_dd = NAN; // Unexpected
tbronez 1:3057ad6a5d4b 165
tbronez 1:3057ad6a5d4b 166 /**
tbronez 1:3057ad6a5d4b 167 * Find and decode field 5, longitude sense, as single
tbronez 1:3057ad6a5d4b 168 * character 'E' for east or 'W' for west
tbronez 1:3057ad6a5d4b 169 */
tbronez 1:3057ad6a5d4b 170 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 171 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 172 p++; // Start of field
tbronez 1:3057ad6a5d4b 173
tbronez 1:3057ad6a5d4b 174 if (*p == 'W') rmc.lon_dd = -rmc.lon_dd;
embeddedartists 0:bd0fe2412980 175
tbronez 1:3057ad6a5d4b 176 /**
tbronez 1:3057ad6a5d4b 177 * Find and skip field 6, speed in knots
tbronez 1:3057ad6a5d4b 178 */
tbronez 1:3057ad6a5d4b 179 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 180 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 181 p++; // Start of field
tbronez 1:3057ad6a5d4b 182
tbronez 1:3057ad6a5d4b 183 /**
tbronez 1:3057ad6a5d4b 184 * Find and skip field 7, course in degrees
tbronez 1:3057ad6a5d4b 185 */
tbronez 1:3057ad6a5d4b 186 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 187 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 188 p++; // Start of field
tbronez 1:3057ad6a5d4b 189
tbronez 1:3057ad6a5d4b 190 /**
tbronez 1:3057ad6a5d4b 191 * Find and decode field 8, UTC date, formatted as ddmmyy
tbronez 1:3057ad6a5d4b 192 * where 1<=dd<=31, 1<=mm<=12, and yy is offset from 2000
tbronez 1:3057ad6a5d4b 193 */
tbronez 1:3057ad6a5d4b 194 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 195 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 196 p++; // Start of field
tbronez 1:3057ad6a5d4b 197
tbronez 1:3057ad6a5d4b 198 q = p;
tbronez 1:3057ad6a5d4b 199 // Decode date day
tbronez 1:3057ad6a5d4b 200 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 201 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 202 rmc.gps_tm.tm_mday = n;
tbronez 1:3057ad6a5d4b 203 // Decode date month
tbronez 1:3057ad6a5d4b 204 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 205 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 206 rmc.gps_tm.tm_mon = n-1; // tm_mon runs 0-11, not 1-12
tbronez 1:3057ad6a5d4b 207 // Decode date year
tbronez 1:3057ad6a5d4b 208 n = ((*q++) - 48)*10; // tens
tbronez 1:3057ad6a5d4b 209 n += ((*q++) - 48); // ones
tbronez 1:3057ad6a5d4b 210 rmc.gps_tm.tm_year = n+100; // tm_year is offset from year 1900, not 2000
tbronez 1:3057ad6a5d4b 211
tbronez 1:3057ad6a5d4b 212 /**
tbronez 1:3057ad6a5d4b 213 * Find and skip field 9, magnetic variation
tbronez 1:3057ad6a5d4b 214 * (not implemented in GPS firmware)
tbronez 1:3057ad6a5d4b 215 */
tbronez 1:3057ad6a5d4b 216 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 217 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 218 p++; // Start of field
tbronez 1:3057ad6a5d4b 219
tbronez 1:3057ad6a5d4b 220 /**
tbronez 1:3057ad6a5d4b 221 * Find and skip field 10, magnetic variation direction
tbronez 1:3057ad6a5d4b 222 * (not implemented in GPS firmware)
tbronez 1:3057ad6a5d4b 223 */
tbronez 1:3057ad6a5d4b 224 p = strchr(p, ','); // Next comma
tbronez 1:3057ad6a5d4b 225 if (p == NULL || *p == 0) return; // Unexpected
tbronez 1:3057ad6a5d4b 226 p++; // Start of field
embeddedartists 0:bd0fe2412980 227 }
embeddedartists 0:bd0fe2412980 228
tbronez 1:3057ad6a5d4b 229 void MTK3339::saveGGA(char* data, int dataLen) {
tbronez 1:3057ad6a5d4b 230 // See http://aprs.gids.nl/nmea/#gga for GGA sentence definition
tbronez 1:3057ad6a5d4b 231 memcpy (ggaMsg, data, min(dataLen, MSG_BUF_SZ));
tbronez 1:3057ad6a5d4b 232 }
tbronez 1:3057ad6a5d4b 233
tbronez 1:3057ad6a5d4b 234 void MTK3339::saveGSA(char* data, int dataLen) {
tbronez 1:3057ad6a5d4b 235 // See http://aprs.gids.nl/nmea/#gsa for GSA sentence definition
tbronez 1:3057ad6a5d4b 236 memcpy (gsaMsg, data, min(dataLen, MSG_BUF_SZ));
embeddedartists 0:bd0fe2412980 237 }
embeddedartists 0:bd0fe2412980 238
tbronez 1:3057ad6a5d4b 239 void MTK3339::saveGSV(char* data, int dataLen) {
tbronez 1:3057ad6a5d4b 240 // See http://aprs.gids.nl/nmea/#gsv for GSV sentence definition
tbronez 1:3057ad6a5d4b 241 memcpy (gsvMsg, data, min(dataLen, MSG_BUF_SZ));
embeddedartists 0:bd0fe2412980 242 }
embeddedartists 0:bd0fe2412980 243
tbronez 1:3057ad6a5d4b 244 void MTK3339::saveRMC(char* data, int dataLen) {
tbronez 1:3057ad6a5d4b 245 // See http://aprs.gids.nl/nmea/#rmc for RMC sentence definition
tbronez 1:3057ad6a5d4b 246 memcpy (rmcMsg, data, min(dataLen, MSG_BUF_SZ));
tbronez 1:3057ad6a5d4b 247 }
embeddedartists 0:bd0fe2412980 248
tbronez 1:3057ad6a5d4b 249 void MTK3339::saveVTG(char* data, int dataLen) {
tbronez 1:3057ad6a5d4b 250 // See http://aprs.gids.nl/nmea/#vtg for VTG sentence definition
tbronez 1:3057ad6a5d4b 251 memcpy (vtgMsg, data, min(dataLen, MSG_BUF_SZ));
tbronez 1:3057ad6a5d4b 252 }
tbronez 1:3057ad6a5d4b 253
tbronez 1:3057ad6a5d4b 254 void MTK3339::saveData(char* data, int len) {
embeddedartists 0:bd0fe2412980 255 do {
tbronez 1:3057ad6a5d4b 256 // Verify checksum
embeddedartists 0:bd0fe2412980 257 if (len < 3 || (len > 3 && data[len-3] != '*')) {
embeddedartists 0:bd0fe2412980 258 // invalid data
embeddedartists 0:bd0fe2412980 259 break;
embeddedartists 0:bd0fe2412980 260 }
embeddedartists 0:bd0fe2412980 261 int sum = strtol(&data[len-2], NULL, 16);
embeddedartists 0:bd0fe2412980 262 for(int i = 1; i < len-3; i++) {
embeddedartists 0:bd0fe2412980 263 sum ^= data[i];
embeddedartists 0:bd0fe2412980 264 }
embeddedartists 0:bd0fe2412980 265 if (sum != 0) {
embeddedartists 0:bd0fe2412980 266 // invalid checksum
embeddedartists 0:bd0fe2412980 267 break;
tbronez 1:3057ad6a5d4b 268 }
tbronez 1:3057ad6a5d4b 269
tbronez 4:c9861b0d3219 270 //printf("msg: %s\n", data); // DEBUG
tbronez 4:c9861b0d3219 271
tbronez 1:3057ad6a5d4b 272 // Save appropriate sentence for later decoding
tbronez 1:3057ad6a5d4b 273 if (strncmp("$GPRMC", data, 6) == 0 && (_sentenceMask & NMEA_RMC) != 0) {
tbronez 3:124e25586234 274 //flashLED2(); // for DEBUG
tbronez 1:3057ad6a5d4b 275 saveRMC(data, len);
tbronez 1:3057ad6a5d4b 276 _availDataType = NMEA_RMC;
embeddedartists 0:bd0fe2412980 277 _dataCallback.call();
tbronez 1:3057ad6a5d4b 278 _availDataType = NMEA_NONE;
tbronez 1:3057ad6a5d4b 279 }
tbronez 1:3057ad6a5d4b 280 else if (strncmp("$GPGGA", data, 6) == 0 && (_sentenceMask & NMEA_GGA) != 0) {
tbronez 1:3057ad6a5d4b 281 saveGGA(data, len);
tbronez 1:3057ad6a5d4b 282 _availDataType = NMEA_GGA;
tbronez 1:3057ad6a5d4b 283 _dataCallback.call();
tbronez 1:3057ad6a5d4b 284 _availDataType = NMEA_NONE;
embeddedartists 0:bd0fe2412980 285 }
tbronez 1:3057ad6a5d4b 286 else if (strncmp("$GPGSA", data, 6) == 0 && (_sentenceMask & NMEA_GSA) != 0) {
tbronez 1:3057ad6a5d4b 287 saveGSA(data, len);
tbronez 1:3057ad6a5d4b 288 _availDataType = NMEA_GSA;
embeddedartists 0:bd0fe2412980 289 _dataCallback.call();
tbronez 1:3057ad6a5d4b 290 _availDataType = NMEA_NONE;
tbronez 1:3057ad6a5d4b 291 }
tbronez 1:3057ad6a5d4b 292 else if (strncmp("$GPGSV", data, 6) == 0 && (_sentenceMask & NMEA_GSV) != 0) {
tbronez 1:3057ad6a5d4b 293 saveGSV(data, len);
tbronez 1:3057ad6a5d4b 294 _availDataType = NMEA_GSV;
tbronez 1:3057ad6a5d4b 295 _dataCallback.call();
tbronez 1:3057ad6a5d4b 296 _availDataType = NMEA_NONE;
tbronez 1:3057ad6a5d4b 297 }
tbronez 1:3057ad6a5d4b 298 else if (strncmp("$GPVTG", data, 6) == 0 && (_sentenceMask & NMEA_VTG) != 0) {
tbronez 1:3057ad6a5d4b 299 saveVTG(data, len);
tbronez 1:3057ad6a5d4b 300 _availDataType = NMEA_VTG;
tbronez 1:3057ad6a5d4b 301 _dataCallback.call();
tbronez 1:3057ad6a5d4b 302 _availDataType = NMEA_NONE;
tbronez 4:c9861b0d3219 303 }
embeddedartists 0:bd0fe2412980 304 } while(0);
embeddedartists 0:bd0fe2412980 305 }
embeddedartists 0:bd0fe2412980 306
embeddedartists 0:bd0fe2412980 307 void MTK3339::uartIrq() {
embeddedartists 0:bd0fe2412980 308 char d = 0;
embeddedartists 0:bd0fe2412980 309 while(_serial.readable()) {
embeddedartists 0:bd0fe2412980 310 d = _serial.getc();
embeddedartists 0:bd0fe2412980 311 switch(_state) {
embeddedartists 0:bd0fe2412980 312 case StateStart:
embeddedartists 0:bd0fe2412980 313 if (d == '$') {
embeddedartists 0:bd0fe2412980 314 _buf[0] = '$';
embeddedartists 0:bd0fe2412980 315 _bufPos = 1;
embeddedartists 0:bd0fe2412980 316 _state = StateData;
embeddedartists 0:bd0fe2412980 317 }
embeddedartists 0:bd0fe2412980 318 break;
embeddedartists 0:bd0fe2412980 319 case StateData:
embeddedartists 0:bd0fe2412980 320 if (_bufPos >= MTK3339_BUF_SZ) {
embeddedartists 0:bd0fe2412980 321 // error
embeddedartists 0:bd0fe2412980 322 _state = StateStart;
embeddedartists 0:bd0fe2412980 323 }
embeddedartists 0:bd0fe2412980 324 else if (d == '\r') {
embeddedartists 0:bd0fe2412980 325 _buf[_bufPos] = 0;
tbronez 1:3057ad6a5d4b 326 saveData(_buf, _bufPos);
embeddedartists 0:bd0fe2412980 327 _state = StateStart;
embeddedartists 0:bd0fe2412980 328 }
embeddedartists 0:bd0fe2412980 329 else {
embeddedartists 0:bd0fe2412980 330 _buf[_bufPos++] = d;
embeddedartists 0:bd0fe2412980 331 }
embeddedartists 0:bd0fe2412980 332 break;
embeddedartists 0:bd0fe2412980 333 }
embeddedartists 0:bd0fe2412980 334 }
embeddedartists 0:bd0fe2412980 335 }
tbronez 1:3057ad6a5d4b 336
tbronez 4:c9861b0d3219 337 /*
tbronez 4:c9861b0d3219 338 From http://forum.trenz-electronic.de/index.php?topic=273.0
tbronez 4:c9861b0d3219 339 (untested), other MTK3339 commands and responses:
tbronez 4:c9861b0d3219 340
tbronez 4:c9861b0d3219 341 To disable antenna status/advisor messages,
tbronez 4:c9861b0d3219 342 $PGCMD,33,0*6D<CR><LF>
tbronez 4:c9861b0d3219 343
tbronez 4:c9861b0d3219 344 MTK3339 should acknowledge with
tbronez 4:c9861b0d3219 345 $PGACK,33,0*6E<CR><LF>
tbronez 2:2391d165df47 346
tbronez 4:c9861b0d3219 347 To enable antenna status/advisor messages,
tbronez 4:c9861b0d3219 348 $PGCMD,33,1*6C<CR><LF>
tbronez 4:c9861b0d3219 349
tbronez 4:c9861b0d3219 350 MTK3339 should acknowledge with
tbronez 4:c9861b0d3219 351 $PGACK,33,1*6F<CR><LF>
tbronez 4:c9861b0d3219 352
tbronez 4:c9861b0d3219 353 To query antenna status,
tbronez 4:c9861b0d3219 354 $PGTOP,11,3*6F<CR><LF>
tbronez 4:c9861b0d3219 355
tbronez 4:c9861b0d3219 356 MTK3339 should respond with one of the following:
tbronez 4:c9861b0d3219 357 $PGTOP,11,1*6D active antenna shorted
tbronez 4:c9861b0d3219 358 $PGTOP,11,2*6E using internal antenna
tbronez 4:c9861b0d3219 359 $PGTOP,11,3*6F using active antenna
tbronez 4:c9861b0d3219 360 */