Diff: GPS.cpp

Revision:

4:6e2d98b5cb86

Parent:

3:465354a08ff8

--- a/GPS.cpp	Fri Dec 07 19:18:35 2012 +0000
+++ b/GPS.cpp	Wed Dec 12 17:22:45 2012 +0000
@@ -1,7 +1,7 @@
 #include "GPS.h"
 
-GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
-    _gps.baud(4800);
+GPS::GPS()
+{
     nmea_longitude = 0.0;
     nmea_latitude = 0.0;
     utc_time = 0;
@@ -34,7 +34,8 @@
     altitude_ft = 0.0;
 }
 
-float GPS::nmea_to_dec(float deg_coord, char nsew) {
+float GPS::nmea_to_dec(float deg_coord, char nsew)
+{
     int degree = (int)(deg_coord/100);
     float minutes = deg_coord - degree*100;
     float dec_deg = minutes / 60;
@@ -45,24 +46,21 @@
     return decimal;
 }
 
-int GPS::sample() {
+int GPS::sample(char *msg)
+{
     int line_parsed = 0;
 
-    if (_gps.readable()) {
-        getline();
+    // Check if it is a GPGGA msg (matches both locked and non-locked msg)
+    if (sscanf(msg, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
+        line_parsed = GGA;
+    }
+    // Check if it is a GPRMC msg
+    else if (sscanf(msg, "$GPRMC,%f,%f,%c,%f,%c,%f,%f,%d", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
+        line_parsed = RMC;
+    }
 
-        // Check if it is a GPGGA msg (matches both locked and non-locked msg)
-        if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
-            line_parsed = GGA;
-        }
-        // Check if it is a GPRMC msg
-        else if (sscanf(msg, "GPRMC,%f,%f,%c,%f,%c,%f,%f,%d", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
-            line_parsed = RMC;
-        }
-        
-        if(satelites == 0) {
-            lock = 0;
-        }
+    if(satelites == 0) {
+        lock = 0;
     }
     if (!lock) {
         return NO_LOCK;
@@ -75,7 +73,8 @@
 
 
 // INTERNAL FUNCTINS ////////////////////////////////////////////////////////////
-float GPS::trunc(float v) {
+float GPS::trunc(float v)
+{
     if (v < 0.0) {
         v*= -1.0;
         v = floor(v);
@@ -86,55 +85,33 @@
     return v;
 }
 
-void GPS::getline() {
-    while (_gps.getc() != '$');   // wait for the start of a line
-    for (int i=0; i<1022; i++) {
-        msg[i] = _gps.getc();
-        if (msg[i] == '\r') {
-            msg[i] = 0;
-            return;
-        }
-    }
-    error("Overflow in getline");
-}
-
-void GPS::format_for_log() {
-    bfr[0] = '$';
-    for (int i = 0; i < 1022; i++) {
-        bfr[i+1] = msg[i];
-        if (msg[i] == 0 || msg[i] =='$') {
-            bfr[i+1] = '\r';
-            bfr[i+2] = '\n';
-            bfr[i+3] = 0;
-            return;
-        }
-    }
-    error("Overflow in format");
-}
-
 // GET FUNCTIONS /////////////////////////////////////////////////////////////////
-float GPS::get_msl_altitude() {
+float GPS::get_msl_altitude()
+{
     if (!lock)
         return 0.0;
     else
         return msl_altitude;
 }
 
-int GPS::get_satelites() {
+int GPS::get_satelites()
+{
     if (!lock)
         return 0;
     else
         return satelites;
 }
 
-float GPS::get_nmea_longitude() {
+float GPS::get_nmea_longitude()
+{
     if (!lock)
         return 0.0;
     else
         return nmea_longitude;
 }
 
-float GPS::get_dec_longitude() {
+float GPS::get_dec_longitude()
+{
     dec_longitude = nmea_to_dec(nmea_longitude, ew);
     if (!lock)
         return 0.0;
@@ -142,14 +119,16 @@
         return dec_longitude;
 }
 
-float GPS::get_nmea_latitude() {
+float GPS::get_nmea_latitude()
+{
     if (!lock)
         return 0.0;
     else
         return nmea_latitude;
 }
 
-float GPS::get_dec_latitude() {
+float GPS::get_dec_latitude()
+{
     dec_latitude = nmea_to_dec(nmea_latitude, ns);
     if (!lock)
         return 0.0;
@@ -157,35 +136,40 @@
         return dec_latitude;
 }
 
-float GPS::get_course_t() {
+float GPS::get_course_t()
+{
     if (!lock)
         return 0.0;
     else
         return course_t;
 }
 
-float GPS::get_course_m() {
+float GPS::get_course_m()
+{
     if (!lock)
         return 0.0;
     else
         return course_m;
 }
 
-float GPS::get_speed_k() {
+float GPS::get_speed_k()
+{
     if (!lock)
         return 0.0;
     else
         return speed_k;
 }
 
-float GPS::get_speed_km() {
+float GPS::get_speed_km()
+{
     if (!lock)
         return 0.0;
     else
         return speed_km;
 }
 
-float GPS::get_altitude_ft() {
+float GPS::get_altitude_ft()
+{
     if (!lock)
         return 0.0;
     else
@@ -193,7 +177,8 @@
 }
 
 // NAVIGATION FUNCTIONS ////////////////////////////////////////////////////////////
-float GPS::calc_course_to(float pointLat, float pontLong) {
+float GPS::calc_course_to(float pointLat, float pontLong)
+{
     const double d2r = PI / 180.0;
     const double r2d = 180.0 / PI;
     double dlat = abs(pointLat - get_dec_latitude()) * d2r;
@@ -201,7 +186,7 @@
     double y = sin(dlong) * cos(pointLat * d2r);
     double x = cos(get_dec_latitude()*d2r)*sin(pointLat*d2r) - sin(get_dec_latitude()*d2r)*cos(pointLat*d2r)*cos(dlong);
     return 360.0-(atan2(y,x)*r2d);
-}    
+}
 
 /*
 var y = Math.sin(dLon) * Math.cos(lat2);
@@ -213,43 +198,46 @@
 /*
             The Haversine formula according to Dr. Math.
             http://mathforum.org/library/drmath/view/51879.html
-                
+
             dlon = lon2 - lon1
             dlat = lat2 - lat1
             a = (sin(dlat/2))^2 + cos(lat1) * cos(lat2) * (sin(dlon/2))^2
-            c = 2 * atan2(sqrt(a), sqrt(1-a)) 
+            c = 2 * atan2(sqrt(a), sqrt(1-a))
             d = R * c
-                
+
             Where
                 * dlon is the change in longitude
                 * dlat is the change in latitude
                 * c is the great circle distance in Radians.
                 * R is the radius of a spherical Earth.
-                * The locations of the two points in 
-                    spherical coordinates (longitude and 
+                * The locations of the two points in
+                    spherical coordinates (longitude and
                     latitude) are lon1,lat1 and lon2, lat2.
 */
-double GPS::calc_dist_to_mi(float pointLat, float pontLong) {
+double GPS::calc_dist_to_mi(float pointLat, float pontLong)
+{
     const double d2r = PI / 180.0;
     double dlat = pointLat - get_dec_latitude();
     double dlong = pontLong - get_dec_longitude();
     double a = pow(sin(dlat/2.0),2.0) + cos(get_dec_latitude()*d2r) * cos(pointLat*d2r) * pow(sin(dlong/2.0),2.0);
     double c = 2.0 * asin(sqrt(abs(a)));
     double d = 63.765 * c;
-    
+
     return d;
 }
 
-double GPS::calc_dist_to_ft(float pointLat, float pontLong) {
+double GPS::calc_dist_to_ft(float pointLat, float pontLong)
+{
     return calc_dist_to_mi(pointLat, pontLong)*5280.0;
 }
 
-double GPS::calc_dist_to_km(float pointLat, float pontLong) {
+double GPS::calc_dist_to_km(float pointLat, float pontLong)
+{
     return calc_dist_to_mi(pointLat, pontLong)*1.609344;
 }
 
-double GPS::calc_dist_to_m(float pointLat, float pontLong) {
+double GPS::calc_dist_to_m(float pointLat, float pontLong)
+{
     return calc_dist_to_mi(pointLat, pontLong)*1609.344;
 }
 
-    
\ No newline at end of file