A GPS serial interrupt service routine that has an on the fly nmea parser. Works with a STM32F411RE and a Adafruit GPS logger.
Dependents: Bicycl_Computer_NUCLEO-F411RE Bicycl_Computer_NUCLEO-L476RG
Fork of GPS by
main.cpp
#include "mbed.h" #include "GPSISR.h" #define PIN_RX_GPS PA_12 //GPS Shield RX pin #define PIN_TX_GPS PA_11 //GPS Shield TX pin Serial pc(USBTX, USBRX); // Set up serial interrupe service handler for gps characters. GPS MyGPS(PIN_TX_GPS,PIN_RX_GPS, 9600); int main() { while (1) { if (MyGPS.dataready()) { MyGPS.read(); pc.printf("NMEA has valid data"); pc.printf("Sats : %d \n", MyGPS.buffer.satellites); pc.printf("%d-%d-%d\n", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year); pc.printf("%d:%d:%d\n", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds); } else { pc.printf("NMEA has no valid data"); } } }
GPSISR.cpp@6:f0c13bb7d266, 2017-03-01 (annotated)
- Committer:
- trevieze
- Date:
- Wed Mar 01 15:36:05 2017 +0000
- Revision:
- 6:f0c13bb7d266
- Parent:
- 4:7240a18102a6
Math error in GPS speed calculation from Knots to Kilometer. Should be ; 1Kn = 1.85Km
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
trevieze | 1:4b5ffae743c0 | 1 | /* mbed EM-406 GPS Module Library |
trevieze | 1:4b5ffae743c0 | 2 | * Copyright (c) 2008-2010, sford |
trevieze | 1:4b5ffae743c0 | 3 | * |
trevieze | 1:4b5ffae743c0 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
trevieze | 1:4b5ffae743c0 | 5 | * of this software and associated documentation files (the "Software"), to deal |
trevieze | 1:4b5ffae743c0 | 6 | * in the Software without restriction, including without limitation the rights |
trevieze | 1:4b5ffae743c0 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
trevieze | 1:4b5ffae743c0 | 8 | * copies of the Software, and to permit persons to whom the Software is |
trevieze | 1:4b5ffae743c0 | 9 | * furnished to do so, subject to the following conditions: |
trevieze | 1:4b5ffae743c0 | 10 | * |
trevieze | 1:4b5ffae743c0 | 11 | * The above copyright notice and this permission notice shall be included in |
trevieze | 1:4b5ffae743c0 | 12 | * all copies or substantial portions of the Software. |
trevieze | 1:4b5ffae743c0 | 13 | * |
trevieze | 1:4b5ffae743c0 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
trevieze | 1:4b5ffae743c0 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
trevieze | 1:4b5ffae743c0 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
trevieze | 1:4b5ffae743c0 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
trevieze | 1:4b5ffae743c0 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
trevieze | 1:4b5ffae743c0 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
trevieze | 1:4b5ffae743c0 | 20 | * THE SOFTWARE. |
trevieze | 1:4b5ffae743c0 | 21 | */ |
trevieze | 3:e64b8be9ce92 | 22 | |
trevieze | 3:e64b8be9ce92 | 23 | #include <string> |
trevieze | 2:dbc6c0789611 | 24 | #include "nmea.h" |
trevieze | 1:4b5ffae743c0 | 25 | #include "GPSISR.h" |
trevieze | 1:4b5ffae743c0 | 26 | |
trevieze | 2:dbc6c0789611 | 27 | NMEA nmea; //parse GPS Sentence. |
trevieze | 2:dbc6c0789611 | 28 | |
trevieze | 1:4b5ffae743c0 | 29 | GPS::GPS(PinName tx, PinName rx, int Baud) : _gps(tx, rx) { |
trevieze | 1:4b5ffae743c0 | 30 | _gps.baud(Baud); |
trevieze | 1:4b5ffae743c0 | 31 | _gps.attach(this,&GPS::Rx_interrupt, Serial::RxIrq); |
trevieze | 2:dbc6c0789611 | 32 | |
trevieze | 1:4b5ffae743c0 | 33 | printf("Interrupt Attached"); |
trevieze | 1:4b5ffae743c0 | 34 | } |
trevieze | 1:4b5ffae743c0 | 35 | |
trevieze | 1:4b5ffae743c0 | 36 | void GPS::getline() { |
trevieze | 1:4b5ffae743c0 | 37 | while(_gps.getc() != '$'); // wait for the start of a line |
trevieze | 1:4b5ffae743c0 | 38 | for(int i=0; i<256; i++) { |
trevieze | 1:4b5ffae743c0 | 39 | msg[i] = _gps.getc(); |
trevieze | 1:4b5ffae743c0 | 40 | if(msg[i] == '\r') { |
trevieze | 1:4b5ffae743c0 | 41 | msg[i] = 0; |
trevieze | 1:4b5ffae743c0 | 42 | return; |
trevieze | 1:4b5ffae743c0 | 43 | } |
trevieze | 1:4b5ffae743c0 | 44 | } |
trevieze | 1:4b5ffae743c0 | 45 | error("Overflowed message limit"); |
trevieze | 1:4b5ffae743c0 | 46 | return; |
trevieze | 1:4b5ffae743c0 | 47 | } |
trevieze | 1:4b5ffae743c0 | 48 | |
trevieze | 1:4b5ffae743c0 | 49 | // Interupt Routine to read in data from serial port |
trevieze | 1:4b5ffae743c0 | 50 | void GPS::Rx_interrupt(void) { |
trevieze | 1:4b5ffae743c0 | 51 | interrupt = 1; |
trevieze | 1:4b5ffae743c0 | 52 | rx_in = _gps.getc(); |
trevieze | 2:dbc6c0789611 | 53 | nmea.fusedata(rx_in); |
trevieze | 1:4b5ffae743c0 | 54 | interrupt = 0; |
trevieze | 1:4b5ffae743c0 | 55 | return; |
trevieze | 1:4b5ffae743c0 | 56 | } |
trevieze | 3:e64b8be9ce92 | 57 | bool GPS::dataready(void){ |
trevieze | 2:dbc6c0789611 | 58 | return nmea.isdataready(); |
trevieze | 2:dbc6c0789611 | 59 | |
trevieze | 2:dbc6c0789611 | 60 | } |
trevieze | 3:e64b8be9ce92 | 61 | |
trevieze | 3:e64b8be9ce92 | 62 | void GPS::read(void) { |
trevieze | 3:e64b8be9ce92 | 63 | |
trevieze | 4:7240a18102a6 | 64 | buffer.hours = nmea.getHour(); |
trevieze | 3:e64b8be9ce92 | 65 | buffer.minutes = nmea.getMinute(); |
trevieze | 4:7240a18102a6 | 66 | buffer.seconds = nmea.getSecond(); |
trevieze | 3:e64b8be9ce92 | 67 | buffer.day = nmea.getDay(); |
trevieze | 3:e64b8be9ce92 | 68 | buffer.month = nmea.getMonth(); |
trevieze | 3:e64b8be9ce92 | 69 | buffer.year = nmea.getYear(); |
trevieze | 3:e64b8be9ce92 | 70 | buffer.latitude = 0.0; |
trevieze | 3:e64b8be9ce92 | 71 | buffer.longitude = 0.0; |
trevieze | 3:e64b8be9ce92 | 72 | |
trevieze | 3:e64b8be9ce92 | 73 | if (nmea.isdataready()) { |
trevieze | 3:e64b8be9ce92 | 74 | buffer.latitude = nmea.getLatitude(); |
trevieze | 3:e64b8be9ce92 | 75 | buffer.longitude = nmea.getLongitude(); |
trevieze | 3:e64b8be9ce92 | 76 | buffer.speed = nmea.getSpeed(); |
trevieze | 3:e64b8be9ce92 | 77 | buffer.altitude = nmea.getAltitude(); |
trevieze | 3:e64b8be9ce92 | 78 | buffer.bearing = nmea.getBearing(); |
trevieze | 3:e64b8be9ce92 | 79 | buffer.satellites = nmea.getSatellites(); |
trevieze | 3:e64b8be9ce92 | 80 | } |
trevieze | 3:e64b8be9ce92 | 81 | } |