Darren Ulrich / GPSISR

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 Simon Ford

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");
	}   
   }  
}

nmea.cpp@6:f0c13bb7d266, 2017-03-01 (annotated)

Committer:
trevieze
Date:
Wed Mar 01 15:36:05 2017 +0000
Revision:
6:f0c13bb7d266
Parent:
5:c5f700c1e1af 
Math error in GPS speed calculation from Knots to Kilometer. Should be ; 1Kn = 1.85Km

Who changed what in which revision?

UserRevisionLine numberNew contents of line
trevieze 1:4b5ffae743c0 1 /*
trevieze 1:4b5ffae743c0 2 File: nmea.cpp
trevieze 1:4b5ffae743c0 3 Version: 0.1.0
trevieze 1:4b5ffae743c0 4 Date: Feb. 23, 2013
trevieze 1:4b5ffae743c0 5 License: GPL v2
trevieze 1:4b5ffae743c0 6
trevieze 1:4b5ffae743c0 7 NMEA GPS content parser
trevieze 1:4b5ffae743c0 8
trevieze 1:4b5ffae743c0 9 ****************************************************************************
trevieze 1:4b5ffae743c0 10 Copyright (C) 2013 Radu Motisan <radu.motisan@gmail.com>
trevieze 1:4b5ffae743c0 11
trevieze 1:4b5ffae743c0 12 http://www.pocketmagic.net
trevieze 1:4b5ffae743c0 13
trevieze 1:4b5ffae743c0 14 This program is free software; you can redistribute it and/or modify
trevieze 1:4b5ffae743c0 15 it under the terms of the GNU General Public License as published by
trevieze 1:4b5ffae743c0 16 the Free Software Foundation; either version 2 of the License, or
trevieze 1:4b5ffae743c0 17 (at your option) any later version.
trevieze 1:4b5ffae743c0 18
trevieze 1:4b5ffae743c0 19 This program is distributed in the hope that it will be useful,
trevieze 1:4b5ffae743c0 20 but WITHOUT ANY WARRANTY; without even the implied warranty of
trevieze 1:4b5ffae743c0 21 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
trevieze 1:4b5ffae743c0 22 GNU General Public License for more details.
trevieze 1:4b5ffae743c0 23
trevieze 1:4b5ffae743c0 24 You should have received a copy of the GNU General Public License
trevieze 1:4b5ffae743c0 25 along with this program; if not, write to the Free Software
trevieze 1:4b5ffae743c0 26 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
trevieze 1:4b5ffae743c0 27 ****************************************************************************
trevieze 1:4b5ffae743c0 28 */
trevieze 1:4b5ffae743c0 29
trevieze 1:4b5ffae743c0 30 #include "nmea.h"
trevieze 1:4b5ffae743c0 31 #include <stdio.h>
trevieze 1:4b5ffae743c0 32 #include <stdlib.h>
trevieze 1:4b5ffae743c0 33
trevieze 1:4b5ffae743c0 34 #include "mbed.h"
trevieze 1:4b5ffae743c0 35 #include <stdint.h>
trevieze 1:4b5ffae743c0 36 #include <math.h>
trevieze 1:4b5ffae743c0 37 #include <ctype.h>
trevieze 1:4b5ffae743c0 38
trevieze 1:4b5ffae743c0 39 //#include "../uart/uart.h"
trevieze 1:4b5ffae743c0 40 //extern UART uart1;
trevieze 1:4b5ffae743c0 41
trevieze 1:4b5ffae743c0 42
trevieze 1:4b5ffae743c0 43 /*
trevieze 1:4b5ffae743c0 44 * The serial data is assembled on the fly, without using any redundant buffers.
trevieze 1:4b5ffae743c0 45 * When a sentence is complete (one that starts with $, ending in EOL), all processing is done on
trevieze 1:4b5ffae743c0 46 * this temporary buffer that we've built: checksum computation, extracting sentence "words" (the CSV values),
trevieze 1:4b5ffae743c0 47 * and so on.
trevieze 1:4b5ffae743c0 48 * When a new sentence is fully assembled using the fusedata function, the code calls parsedata.
trevieze 1:4b5ffae743c0 49 * This function in turn, splits the sentences and interprets the data. Here is part of the parser function,
trevieze 1:4b5ffae743c0 50 * handling both the $GPRMC NMEA sentence:
trevieze 1:4b5ffae743c0 51 */
trevieze 1:4b5ffae743c0 52 int NMEA::fusedata(char c) {
trevieze 1:4b5ffae743c0 53
trevieze 1:4b5ffae743c0 54 if (c == '$') {
trevieze 1:4b5ffae743c0 55 m_bFlagRead = true;
trevieze 1:4b5ffae743c0 56 // init parser vars
trevieze 1:4b5ffae743c0 57 m_bFlagComputedCks = false;
trevieze 1:4b5ffae743c0 58 m_nChecksum = 0;
trevieze 1:4b5ffae743c0 59 // after getting * we start cuttings the received m_nChecksum
trevieze 1:4b5ffae743c0 60 m_bFlagReceivedCks = false;
trevieze 1:4b5ffae743c0 61 index_received_checksum = 0;
trevieze 1:4b5ffae743c0 62 // word cutting variables
trevieze 1:4b5ffae743c0 63 m_nWordIdx = 0; m_nPrevIdx = 0; m_nNowIdx = 0;
trevieze 1:4b5ffae743c0 64 }
trevieze 1:4b5ffae743c0 65
trevieze 1:4b5ffae743c0 66 if (m_bFlagRead) {
trevieze 1:4b5ffae743c0 67 // check ending
trevieze 1:4b5ffae743c0 68 if (c == '\r' || c== '\n') {
trevieze 1:4b5ffae743c0 69 // catch last ending item too
trevieze 1:4b5ffae743c0 70 tmp_words[m_nWordIdx][m_nNowIdx - m_nPrevIdx] = 0;
trevieze 1:4b5ffae743c0 71 m_nWordIdx++;
trevieze 1:4b5ffae743c0 72 // cut received m_nChecksum
trevieze 1:4b5ffae743c0 73 tmp_szChecksum[index_received_checksum] = 0;
trevieze 1:4b5ffae743c0 74 // sentence complete, read done
trevieze 1:4b5ffae743c0 75 m_bFlagRead = false;
trevieze 1:4b5ffae743c0 76 // parse
trevieze 1:4b5ffae743c0 77 parsedata();
trevieze 1:4b5ffae743c0 78 } else {
trevieze 1:4b5ffae743c0 79 // computed m_nChecksum logic: count all chars between $ and * exclusively
trevieze 1:4b5ffae743c0 80 if (m_bFlagComputedCks && c == '*') m_bFlagComputedCks = false;
trevieze 1:4b5ffae743c0 81 if (m_bFlagComputedCks) m_nChecksum ^= c;
trevieze 1:4b5ffae743c0 82 if (c == '$') m_bFlagComputedCks = true;
trevieze 1:4b5ffae743c0 83 // received m_nChecksum
trevieze 1:4b5ffae743c0 84 if (m_bFlagReceivedCks) {
trevieze 1:4b5ffae743c0 85 tmp_szChecksum[index_received_checksum] = c;
trevieze 1:4b5ffae743c0 86 index_received_checksum++;
trevieze 1:4b5ffae743c0 87 }
trevieze 1:4b5ffae743c0 88 if (c == '*') m_bFlagReceivedCks = true;
trevieze 1:4b5ffae743c0 89 // build a word
trevieze 1:4b5ffae743c0 90 tmp_words[m_nWordIdx][m_nNowIdx - m_nPrevIdx] = c;
trevieze 1:4b5ffae743c0 91 if (c == ',') {
trevieze 1:4b5ffae743c0 92 tmp_words[m_nWordIdx][m_nNowIdx - m_nPrevIdx] = 0;
trevieze 1:4b5ffae743c0 93 m_nWordIdx++;
trevieze 1:4b5ffae743c0 94 m_nPrevIdx = m_nNowIdx;
trevieze 1:4b5ffae743c0 95 }
trevieze 1:4b5ffae743c0 96 else m_nNowIdx++;
trevieze 1:4b5ffae743c0 97 }
trevieze 1:4b5ffae743c0 98 }
trevieze 1:4b5ffae743c0 99 return m_nWordIdx;
trevieze 1:4b5ffae743c0 100 }
trevieze 1:4b5ffae743c0 101
trevieze 1:4b5ffae743c0 102
trevieze 1:4b5ffae743c0 103 /*
trevieze 1:4b5ffae743c0 104 * parse internal tmp_ structures, fused by pushdata, and set the data flag when done
trevieze 1:4b5ffae743c0 105 */
trevieze 1:4b5ffae743c0 106 void NMEA::parsedata() {
trevieze 1:4b5ffae743c0 107 int received_cks = 16*digit2dec(tmp_szChecksum[0]) + digit2dec(tmp_szChecksum[1]);
trevieze 1:4b5ffae743c0 108 //uart1.Send("seq: [cc:%X][words:%d][rc:%s:%d]\r\n", m_nChecksum,m_nWordIdx, tmp_szChecksum, received_cks);
trevieze 1:4b5ffae743c0 109 // check checksum, and return if invalid!
trevieze 1:4b5ffae743c0 110 if (m_nChecksum != received_cks) {
trevieze 1:4b5ffae743c0 111 //m_bFlagDataReady = false;
trevieze 1:4b5ffae743c0 112 return;
trevieze 1:4b5ffae743c0 113 }
trevieze 1:4b5ffae743c0 114 /* $GPGGA
trevieze 1:4b5ffae743c0 115 * $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
trevieze 1:4b5ffae743c0 116 * ex: $GPGGA,230600.501,4543.8895,N,02112.7238,E,1,03,3.3,96.7,M,39.0,M,,0000*6A,
trevieze 1:4b5ffae743c0 117 *
trevieze 1:4b5ffae743c0 118 * WORDS:
trevieze 1:4b5ffae743c0 119 * 1 = UTC of Position
trevieze 1:4b5ffae743c0 120 * 2 = Latitude
trevieze 1:4b5ffae743c0 121 * 3 = N or S
trevieze 1:4b5ffae743c0 122 * 4 = Longitude
trevieze 1:4b5ffae743c0 123 * 5 = E or W
trevieze 1:4b5ffae743c0 124 * 6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
trevieze 1:4b5ffae743c0 125 * 7 = Number of satellites in use [not those in view]
trevieze 1:4b5ffae743c0 126 * 8 = Horizontal dilution of position
trevieze 1:4b5ffae743c0 127 * 9 = Antenna altitude above/below mean sea level (geoid)
trevieze 1:4b5ffae743c0 128 * 10 = Meters (Antenna height unit)
trevieze 1:4b5ffae743c0 129 * 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level.
trevieze 1:4b5ffae743c0 130 * -geoid is below WGS-84 ellipsoid)
trevieze 1:4b5ffae743c0 131 * 12 = Meters (Units of geoidal separation)
trevieze 1:4b5ffae743c0 132 * 13 = Age in seconds since last update from diff. reference station
trevieze 1:4b5ffae743c0 133 * 14 = Diff. reference station ID#
trevieze 1:4b5ffae743c0 134 * 15 = Checksum
trevieze 1:4b5ffae743c0 135 */
trevieze 1:4b5ffae743c0 136 if (mstrcmp(tmp_words[0], "$GPGGA") == 0) {
trevieze 1:4b5ffae743c0 137 // Check GPS Fix: 0=no fix, 1=GPS fix, 2=Dif. GPS fix
trevieze 1:4b5ffae743c0 138 if (tmp_words[6][0] == '0') {
trevieze 1:4b5ffae743c0 139 // clear data
trevieze 1:4b5ffae743c0 140 res_fLatitude = 0;
trevieze 1:4b5ffae743c0 141 res_fLongitude = 0;
trevieze 1:4b5ffae743c0 142 m_bFlagDataReady = false;
trevieze 1:4b5ffae743c0 143 return;
trevieze 1:4b5ffae743c0 144 }
trevieze 1:4b5ffae743c0 145 // parse time
trevieze 1:4b5ffae743c0 146 res_nUTCHour = digit2dec(tmp_words[1][0]) * 10 + digit2dec(tmp_words[1][1]);
trevieze 1:4b5ffae743c0 147 res_nUTCMin = digit2dec(tmp_words[1][2]) * 10 + digit2dec(tmp_words[1][3]);
trevieze 1:4b5ffae743c0 148 res_nUTCSec = digit2dec(tmp_words[1][4]) * 10 + digit2dec(tmp_words[1][5]);
trevieze 1:4b5ffae743c0 149 // parse latitude and longitude in NMEA format
trevieze 1:4b5ffae743c0 150 res_fLatitude = string2float(tmp_words[2]);
trevieze 1:4b5ffae743c0 151 res_fLongitude = string2float(tmp_words[4]);
trevieze 1:4b5ffae743c0 152 // get decimal format
trevieze 1:4b5ffae743c0 153 if (tmp_words[3][0] == 'S') res_fLatitude *= -1.0;
trevieze 1:4b5ffae743c0 154 if (tmp_words[5][0] == 'W') res_fLongitude *= -1.0;
trevieze 1:4b5ffae743c0 155 float degrees = trunc(res_fLatitude / 100.0f);
trevieze 1:4b5ffae743c0 156 float minutes = res_fLatitude - (degrees * 100.0f);
trevieze 1:4b5ffae743c0 157 res_fLatitude = degrees + minutes / 60.0f;
trevieze 1:4b5ffae743c0 158 degrees = trunc(res_fLongitude / 100.0f);
trevieze 1:4b5ffae743c0 159 minutes = res_fLongitude - (degrees * 100.0f);
trevieze 1:4b5ffae743c0 160 res_fLongitude = degrees + minutes / 60.0f;
trevieze 1:4b5ffae743c0 161
trevieze 1:4b5ffae743c0 162 // parse number of satellites
trevieze 1:4b5ffae743c0 163 res_nSatellitesUsed = (int)string2float(tmp_words[7]);
trevieze 1:4b5ffae743c0 164
trevieze 1:4b5ffae743c0 165 // parse altitude
trevieze 1:4b5ffae743c0 166 res_fAltitude = string2float(tmp_words[9]);
trevieze 1:4b5ffae743c0 167
trevieze 1:4b5ffae743c0 168 // data ready
trevieze 1:4b5ffae743c0 169 m_bFlagDataReady = true;
trevieze 1:4b5ffae743c0 170 }
trevieze 1:4b5ffae743c0 171
trevieze 1:4b5ffae743c0 172 /* $GPRMC
trevieze 1:4b5ffae743c0 173 * note: a siRF chipset will not support magnetic headers.
trevieze 1:4b5ffae743c0 174 * $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
trevieze 1:4b5ffae743c0 175 * ex: $GPRMC,230558.501,A,4543.8901,N,02112.7219,E,1.50,181.47,230213,,,A*66,
trevieze 1:4b5ffae743c0 176 *
trevieze 1:4b5ffae743c0 177 * WORDS:
trevieze 1:4b5ffae743c0 178 * 1 = UTC of position fix
trevieze 1:4b5ffae743c0 179 * 2 = Data status (V=navigation receiver warning)
trevieze 1:4b5ffae743c0 180 * 3 = Latitude of fix
trevieze 1:4b5ffae743c0 181 * 4 = N or S
trevieze 1:4b5ffae743c0 182 * 5 = Longitude of fix
trevieze 1:4b5ffae743c0 183 * 6 = E or W
trevieze 1:4b5ffae743c0 184 * 7 = Speed over ground in knots
trevieze 1:4b5ffae743c0 185 * 8 = Track made good in degrees True, Bearing This indicates the direction that the device is currently moving in,
trevieze 1:4b5ffae743c0 186 * from 0 to 360, measured in �azimuth�.
trevieze 1:4b5ffae743c0 187 * 9 = UT date
trevieze 1:4b5ffae743c0 188 * 10 = Magnetic variation degrees (Easterly var. subtracts from true course)
trevieze 1:4b5ffae743c0 189 * 11 = E or W
trevieze 1:4b5ffae743c0 190 * 12 = Checksum
trevieze 1:4b5ffae743c0 191 */
trevieze 1:4b5ffae743c0 192 if (mstrcmp(tmp_words[0], "$GPRMC") == 0) {
trevieze 1:4b5ffae743c0 193 // Check data status: A-ok, V-invalid
trevieze 1:4b5ffae743c0 194 if (tmp_words[2][0] == 'V') {
trevieze 1:4b5ffae743c0 195 // clear data
trevieze 1:4b5ffae743c0 196 res_fLatitude = 0;
trevieze 1:4b5ffae743c0 197 res_fLongitude = 0;
trevieze 1:4b5ffae743c0 198 m_bFlagDataReady = false;
trevieze 1:4b5ffae743c0 199 return;
trevieze 1:4b5ffae743c0 200 }
trevieze 1:4b5ffae743c0 201 // parse time
trevieze 1:4b5ffae743c0 202 res_nUTCHour = digit2dec(tmp_words[1][0]) * 10 + digit2dec(tmp_words[1][1]);
trevieze 1:4b5ffae743c0 203 res_nUTCMin = digit2dec(tmp_words[1][2]) * 10 + digit2dec(tmp_words[1][3]);
trevieze 1:4b5ffae743c0 204 res_nUTCSec = digit2dec(tmp_words[1][4]) * 10 + digit2dec(tmp_words[1][5]);
trevieze 1:4b5ffae743c0 205 // parse latitude and longitude in NMEA format
trevieze 1:4b5ffae743c0 206 res_fLatitude = string2float(tmp_words[3]);
trevieze 1:4b5ffae743c0 207 res_fLongitude = string2float(tmp_words[5]);
trevieze 1:4b5ffae743c0 208 // get decimal format
trevieze 1:4b5ffae743c0 209 if (tmp_words[4][0] == 'S') res_fLatitude *= -1.0;
trevieze 5:c5f700c1e1af 210 res_clat = tmp_words[4][0];
trevieze 1:4b5ffae743c0 211 if (tmp_words[6][0] == 'W') res_fLongitude *= -1.0;
trevieze 5:c5f700c1e1af 212 res_clon = tmp_words[6][0];
trevieze 1:4b5ffae743c0 213 float degrees = trunc(res_fLatitude / 100.0f);
trevieze 1:4b5ffae743c0 214 float minutes = res_fLatitude - (degrees * 100.0f);
trevieze 1:4b5ffae743c0 215 res_fLatitude = degrees + minutes / 60.0f;
trevieze 1:4b5ffae743c0 216 degrees = trunc(res_fLongitude / 100.0f);
trevieze 1:4b5ffae743c0 217 minutes = res_fLongitude - (degrees * 100.0f);
trevieze 1:4b5ffae743c0 218 res_fLongitude = degrees + minutes / 60.0f;
trevieze 1:4b5ffae743c0 219 //parse speed
trevieze 1:4b5ffae743c0 220 // The knot (pronounced not) is a unit of speed equal to one nautical mile (1.852 km) per hour
trevieze 1:4b5ffae743c0 221 res_fSpeed = string2float(tmp_words[7]);
trevieze 6:f0c13bb7d266 222 res_fSpeed *= double(1.852); // convert to km/h 1knot = 1.852Km, Was res_fSpeed /= 1.852;
trevieze 1:4b5ffae743c0 223 // parse bearing
trevieze 1:4b5ffae743c0 224 res_fBearing = string2float(tmp_words[8]);
trevieze 1:4b5ffae743c0 225 // parse UTC date
trevieze 1:4b5ffae743c0 226 res_nUTCDay = digit2dec(tmp_words[9][0]) * 10 + digit2dec(tmp_words[9][1]);
trevieze 1:4b5ffae743c0 227 res_nUTCMonth = digit2dec(tmp_words[9][2]) * 10 + digit2dec(tmp_words[9][3]);
trevieze 1:4b5ffae743c0 228 res_nUTCYear = digit2dec(tmp_words[9][4]) * 10 + digit2dec(tmp_words[9][5]);
trevieze 1:4b5ffae743c0 229
trevieze 1:4b5ffae743c0 230 // data ready
trevieze 1:4b5ffae743c0 231 m_bFlagDataReady = true;
trevieze 1:4b5ffae743c0 232 }
trevieze 1:4b5ffae743c0 233 }
trevieze 1:4b5ffae743c0 234 /*
trevieze 1:4b5ffae743c0 235 * returns base-16 value of chars '0'-'9' and 'A'-'F';
trevieze 1:4b5ffae743c0 236 * does not trap invalid chars!
trevieze 1:4b5ffae743c0 237 */
trevieze 1:4b5ffae743c0 238 int NMEA::digit2dec(char digit) {
trevieze 1:4b5ffae743c0 239 if (int(digit) >= 65)
trevieze 1:4b5ffae743c0 240 return int(digit) - 55;
trevieze 1:4b5ffae743c0 241 else
trevieze 1:4b5ffae743c0 242 return int(digit) - 48;
trevieze 1:4b5ffae743c0 243 }
trevieze 1:4b5ffae743c0 244
trevieze 1:4b5ffae743c0 245 /* returns base-10 value of zero-terminated string
trevieze 1:4b5ffae743c0 246 * that contains only chars '+','-','0'-'9','.';
trevieze 1:4b5ffae743c0 247 * does not trap invalid strings!
trevieze 1:4b5ffae743c0 248 */
trevieze 1:4b5ffae743c0 249 float NMEA::string2float(char* s) {
trevieze 1:4b5ffae743c0 250 long integer_part = 0;
trevieze 1:4b5ffae743c0 251 float decimal_part = 0.0;
trevieze 1:4b5ffae743c0 252 float decimal_pivot = 0.1;
trevieze 1:4b5ffae743c0 253 bool isdecimal = false, isnegative = false;
trevieze 1:4b5ffae743c0 254
trevieze 1:4b5ffae743c0 255 char c;
trevieze 1:4b5ffae743c0 256 while ( ( c = *s++) ) {
trevieze 1:4b5ffae743c0 257 // skip special/sign chars
trevieze 1:4b5ffae743c0 258 if (c == '-') { isnegative = true; continue; }
trevieze 1:4b5ffae743c0 259 if (c == '+') continue;
trevieze 1:4b5ffae743c0 260 if (c == '.') { isdecimal = true; continue; }
trevieze 1:4b5ffae743c0 261
trevieze 1:4b5ffae743c0 262 if (!isdecimal) {
trevieze 1:4b5ffae743c0 263 integer_part = (10 * integer_part) + (c - 48);
trevieze 1:4b5ffae743c0 264 }
trevieze 1:4b5ffae743c0 265 else {
trevieze 1:4b5ffae743c0 266 decimal_part += decimal_pivot * (float)(c - 48);
trevieze 1:4b5ffae743c0 267 decimal_pivot /= 10.0;
trevieze 1:4b5ffae743c0 268 }
trevieze 1:4b5ffae743c0 269 }
trevieze 1:4b5ffae743c0 270 // add integer part
trevieze 1:4b5ffae743c0 271 decimal_part += (float)integer_part;
trevieze 1:4b5ffae743c0 272
trevieze 1:4b5ffae743c0 273 // check negative
trevieze 1:4b5ffae743c0 274 if (isnegative) decimal_part = - decimal_part;
trevieze 1:4b5ffae743c0 275
trevieze 1:4b5ffae743c0 276 return decimal_part;
trevieze 1:4b5ffae743c0 277 }
trevieze 1:4b5ffae743c0 278
trevieze 1:4b5ffae743c0 279 int NMEA::mstrcmp(const char *s1, const char *s2)
trevieze 1:4b5ffae743c0 280 {
trevieze 1:4b5ffae743c0 281 while((*s1 && *s2) && (*s1 == *s2))
trevieze 1:4b5ffae743c0 282 s1++,s2++;
trevieze 1:4b5ffae743c0 283 return *s1 - *s2;
trevieze 1:4b5ffae743c0 284 }
trevieze 1:4b5ffae743c0 285
trevieze 1:4b5ffae743c0 286 bool NMEA::isdataready() {
trevieze 1:4b5ffae743c0 287 return m_bFlagDataReady;
trevieze 1:4b5ffae743c0 288 }
trevieze 1:4b5ffae743c0 289
trevieze 1:4b5ffae743c0 290 int NMEA::getHour() {
trevieze 1:4b5ffae743c0 291 return res_nUTCHour;
trevieze 1:4b5ffae743c0 292 }
trevieze 1:4b5ffae743c0 293 int NMEA::getMinute() {
trevieze 1:4b5ffae743c0 294 return res_nUTCMin;
trevieze 1:4b5ffae743c0 295 }
trevieze 1:4b5ffae743c0 296 int NMEA::getSecond() {
trevieze 1:4b5ffae743c0 297 return res_nUTCSec;
trevieze 1:4b5ffae743c0 298 }
trevieze 1:4b5ffae743c0 299 int NMEA::getDay() {
trevieze 1:4b5ffae743c0 300 return res_nUTCDay;
trevieze 1:4b5ffae743c0 301 }
trevieze 1:4b5ffae743c0 302 int NMEA::getMonth() {
trevieze 1:4b5ffae743c0 303 return res_nUTCMonth;
trevieze 1:4b5ffae743c0 304 }
trevieze 1:4b5ffae743c0 305 int NMEA::getYear() {
trevieze 1:4b5ffae743c0 306 return res_nUTCYear;
trevieze 1:4b5ffae743c0 307 }
trevieze 1:4b5ffae743c0 308
trevieze 1:4b5ffae743c0 309 float NMEA::getLatitude() {
trevieze 1:4b5ffae743c0 310 return res_fLatitude;
trevieze 1:4b5ffae743c0 311 }
trevieze 1:4b5ffae743c0 312
trevieze 1:4b5ffae743c0 313 float NMEA::getLongitude() {
trevieze 1:4b5ffae743c0 314 return res_fLongitude;
trevieze 1:4b5ffae743c0 315 }
trevieze 1:4b5ffae743c0 316
trevieze 1:4b5ffae743c0 317 int NMEA::getSatellites() {
trevieze 1:4b5ffae743c0 318 return res_nSatellitesUsed;
trevieze 1:4b5ffae743c0 319 }
trevieze 1:4b5ffae743c0 320
trevieze 1:4b5ffae743c0 321 float NMEA::getAltitude() {
trevieze 1:4b5ffae743c0 322 return res_fAltitude;
trevieze 1:4b5ffae743c0 323 }
trevieze 1:4b5ffae743c0 324
trevieze 1:4b5ffae743c0 325 float NMEA::getSpeed() {
trevieze 1:4b5ffae743c0 326 return res_fSpeed;
trevieze 1:4b5ffae743c0 327 }
trevieze 1:4b5ffae743c0 328
trevieze 1:4b5ffae743c0 329 float NMEA::getBearing() {
trevieze 1:4b5ffae743c0 330 return res_fBearing;
trevieze 1:4b5ffae743c0 331 }
trevieze 1:4b5ffae743c0 332
trevieze 5:c5f700c1e1af 333 char NMEA::getlatc() {
trevieze 5:c5f700c1e1af 334 return res_clat;
trevieze 5:c5f700c1e1af 335 }
trevieze 5:c5f700c1e1af 336
trevieze 5:c5f700c1e1af 337 char NMEA::getlonc() {
trevieze 5:c5f700c1e1af 338 return res_clon;
trevieze 5:c5f700c1e1af 339 }
trevieze 5:c5f700c1e1af 340
trevieze 1:4b5ffae743c0 341 float NMEA::trunc(float v) {
trevieze 1:4b5ffae743c0 342 if(v < 0.0) {
trevieze 1:4b5ffae743c0 343 v*= -1.0;
trevieze 1:4b5ffae743c0 344 v = floor(v);
trevieze 1:4b5ffae743c0 345 v*=-1.0;
trevieze 1:4b5ffae743c0 346 } else {
trevieze 1:4b5ffae743c0 347 v = floor(v);
trevieze 1:4b5ffae743c0 348 }
trevieze 1:4b5ffae743c0 349 return v;
trevieze 1:4b5ffae743c0 350 }