Darren Ulrich
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");
}
}
}
Diff: nav.h
- Revision:
- 5:c5f700c1e1af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/nav.h Wed Mar 01 03:38:03 2017 +0000
@@ -0,0 +1,66 @@
+/*
+ File: nav.h
+ Version: 0.1.0
+ Date: Feb. 28, 2017
+ License: GPL v2
+
+ Navigation class
+
+ ****************************************************************************
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ ****************************************************************************
+ */
+class NAV {
+ #define PI 3.14159265358979f
+ #define point_proximity_radius 10
+ #define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */
+ #define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */
+ #define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTH_SEMIMAJORAXIS_M / 1000) /**< Earth's semi-major axis in km according WGS 84 */
+
+
+ private:
+ // Convert Degrees to Radians
+ double DegreeToRadian(double angle);
+ // Convert Radians to Degrees
+ double RadianToDegree(double angle);
+
+ public:
+ // Calculate the heading
+ double CalculateDistance (double latitude1, double longitude1, double latitude2, double longitude2);
+ // Calculate bearing
+ double CalculateBearing(double latitude1, double longitude1, double latitude2, double longitude2);
+ /*
+ This function takes as input the next gps coordinate that the boat is suppossed to achieve and calculates the compass
+ heading to the waypoint
+ Jeff Witten - 05/26/14 from Github VT-SailBOT/Navigation sailbot.c
+ */
+ int direction_to_next_point (double latitude, double longitude, double next_latitude, double next_longitude);
+ /*
+ This function takes as input the gps coordinates of the boat and the gps coordinates of a waypoint that the boat desires to approach
+ The function then sets a flag based on whether or not the boat is within a predetermined perimeter of the waypoint
+ Approach:
+ 1.) Latitude and Longitude of San Francisco = 37.7844 N, 122.4167 W
+ 2.) At 40 degrees North: 1 degree latitude = 111.03 km, 1 degree longitude = 85.39 km
+ 3.) 111.03 = 85.39 * (1.30027) - used to correct approximately rectangular lat/lon grid to approximately square
+ 4.) Through unit analysis, 1 meter = 0.0000111509 degrees longitude
+ Jeff Witten - 03/27/14 from Github VT-SailBOT/Navigation sailbot.c
+ */
+ int point_proximity(double boat_latitude, double boat_longitude, double next_latitude, double next_longitude);
+
+ double distance_ellipsoid(double from_lat, double from_lon, double from_azimuth, double to_lat, double to_lon, double to_azimuth);
+
+ int distance;
+
+ };
\ No newline at end of file