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
GPSISR.cpp
00001 /* mbed EM-406 GPS Module Library 00002 * Copyright (c) 2008-2010, sford 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #include <string> 00024 #include "nmea.h" 00025 #include "GPSISR.h" 00026 00027 NMEA nmea; //parse GPS Sentence. 00028 00029 GPS::GPS(PinName tx, PinName rx, int Baud) : _gps(tx, rx) { 00030 _gps.baud(Baud); 00031 _gps.attach(this,&GPS::Rx_interrupt, Serial::RxIrq); 00032 00033 printf("Interrupt Attached"); 00034 } 00035 00036 void GPS::getline() { 00037 while(_gps.getc() != '$'); // wait for the start of a line 00038 for(int i=0; i<256; i++) { 00039 msg[i] = _gps.getc(); 00040 if(msg[i] == '\r') { 00041 msg[i] = 0; 00042 return; 00043 } 00044 } 00045 error("Overflowed message limit"); 00046 return; 00047 } 00048 00049 // Interupt Routine to read in data from serial port 00050 void GPS::Rx_interrupt(void) { 00051 interrupt = 1; 00052 rx_in = _gps.getc(); 00053 nmea.fusedata(rx_in); 00054 interrupt = 0; 00055 return; 00056 } 00057 bool GPS::dataready(void){ 00058 return nmea.isdataready(); 00059 00060 } 00061 00062 void GPS::read(void) { 00063 00064 buffer.hours = nmea.getHour(); 00065 buffer.minutes = nmea.getMinute(); 00066 buffer.seconds = nmea.getSecond(); 00067 buffer.day = nmea.getDay(); 00068 buffer.month = nmea.getMonth(); 00069 buffer.year = nmea.getYear(); 00070 buffer.latitude = 0.0; 00071 buffer.longitude = 0.0; 00072 00073 if (nmea.isdataready()) { 00074 buffer.latitude = nmea.getLatitude(); 00075 buffer.longitude = nmea.getLongitude(); 00076 buffer.speed = nmea.getSpeed(); 00077 buffer.altitude = nmea.getAltitude(); 00078 buffer.bearing = nmea.getBearing(); 00079 buffer.satellites = nmea.getSatellites(); 00080 } 00081 }
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