Norimasa Okamoto / Mbed 2 deprecated KL46Z-USBHostGPS_HelloWorld

Simple USBHost GPS Dongle Receiver for FRDM-KL46Z test program

Dependencies:   KL46Z-USBHost mbed SLCD

FRDM-KL46ZをUSBホストにしてUSBタイプのGPSレシーバを読み取るテストプログラムです。
/media/uploads/va009039/frdm-kl46z-usbhost-gps.jpg

USBHostGPS/decodeNMEA.cpp@1:2d8275968aaf, 2014-02-05 (annotated)

Committer:
va009039
Date:
Wed Feb 05 13:40:35 2014 +0000
Revision:
1:2d8275968aaf
add NMEA decode. update KL46Z-USBHost library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
va009039 1:2d8275968aaf 1 // decodeNMEA.cpp 2012/12/13
va009039 1:2d8275968aaf 2 #include "mbed.h"
va009039 1:2d8275968aaf 3 #include "decodeNMEA.h"
va009039 1:2d8275968aaf 4
va009039 1:2d8275968aaf 5 #define SEQ_INIT 0
va009039 1:2d8275968aaf 6 #define SEQ_DATA 1
va009039 1:2d8275968aaf 7 #define SEQ_SUM0 2
va009039 1:2d8275968aaf 8 #define SEQ_SUM1 3
va009039 1:2d8275968aaf 9
va009039 1:2d8275968aaf 10 #define GPGGA 1
va009039 1:2d8275968aaf 11 #define GPGLL 2
va009039 1:2d8275968aaf 12 #define GPGSV 3
va009039 1:2d8275968aaf 13 #define GPRMC 4
va009039 1:2d8275968aaf 14 #define GPVTG 5
va009039 1:2d8275968aaf 15 #define GPZDA 6
va009039 1:2d8275968aaf 16
va009039 1:2d8275968aaf 17 decodeNMEA::decodeNMEA():m_seq(0) {
va009039 1:2d8275968aaf 18 gprmc_t = 0;
va009039 1:2d8275968aaf 19 update_t = 0;
va009039 1:2d8275968aaf 20 m_status = false;
va009039 1:2d8275968aaf 21 }
va009039 1:2d8275968aaf 22
va009039 1:2d8275968aaf 23 void decodeNMEA::inputNMEA(char* buf, int len) {
va009039 1:2d8275968aaf 24 for(int i = 0; i < len; i++) {
va009039 1:2d8275968aaf 25 inputNMEA(buf[i]);
va009039 1:2d8275968aaf 26 }
va009039 1:2d8275968aaf 27 }
va009039 1:2d8275968aaf 28
va009039 1:2d8275968aaf 29 static int ctoh(char c) {
va009039 1:2d8275968aaf 30 if (c >= '0' && c <= '9') {
va009039 1:2d8275968aaf 31 return c-'0';
va009039 1:2d8275968aaf 32 }
va009039 1:2d8275968aaf 33 return c-'A'+10;
va009039 1:2d8275968aaf 34 }
va009039 1:2d8275968aaf 35
va009039 1:2d8275968aaf 36 void decodeNMEA::inputNMEA(char c) {
va009039 1:2d8275968aaf 37 switch(m_seq) {
va009039 1:2d8275968aaf 38 case SEQ_INIT:
va009039 1:2d8275968aaf 39 if (c == '$') {
va009039 1:2d8275968aaf 40 m_type = 0;
va009039 1:2d8275968aaf 41 m_row = 0;
va009039 1:2d8275968aaf 42 m_buf_pos = 0;
va009039 1:2d8275968aaf 43 m_sum = 0x00;
va009039 1:2d8275968aaf 44 m_seq = SEQ_DATA;
va009039 1:2d8275968aaf 45 }
va009039 1:2d8275968aaf 46 break;
va009039 1:2d8275968aaf 47 case SEQ_DATA:
va009039 1:2d8275968aaf 48 m_sum ^= c;
va009039 1:2d8275968aaf 49 if (c == ',' || c == '*') {
va009039 1:2d8275968aaf 50 m_buf[m_buf_pos] = '\0';
va009039 1:2d8275968aaf 51 parse(m_type, m_row, m_buf);
va009039 1:2d8275968aaf 52 m_row++;
va009039 1:2d8275968aaf 53 m_buf_pos =0;
va009039 1:2d8275968aaf 54 if (c == '*') { // check sum ?
va009039 1:2d8275968aaf 55 m_sum ^= c;
va009039 1:2d8275968aaf 56 m_seq = SEQ_SUM0;
va009039 1:2d8275968aaf 57 }
va009039 1:2d8275968aaf 58 } else {
va009039 1:2d8275968aaf 59 if (m_buf_pos < sizeof(m_buf)-1) {
va009039 1:2d8275968aaf 60 m_buf[m_buf_pos++] = c;
va009039 1:2d8275968aaf 61 }
va009039 1:2d8275968aaf 62 }
va009039 1:2d8275968aaf 63 break;
va009039 1:2d8275968aaf 64 case SEQ_SUM0:
va009039 1:2d8275968aaf 65 if (ctoh(c) == (m_sum>>4)) {
va009039 1:2d8275968aaf 66 m_seq = SEQ_SUM1;
va009039 1:2d8275968aaf 67 } else {
va009039 1:2d8275968aaf 68 m_seq = SEQ_INIT;
va009039 1:2d8275968aaf 69 }
va009039 1:2d8275968aaf 70 break;
va009039 1:2d8275968aaf 71 case SEQ_SUM1:
va009039 1:2d8275968aaf 72 if (ctoh(c) == (m_sum&0x0f)) {
va009039 1:2d8275968aaf 73 update(m_type, m_row);
va009039 1:2d8275968aaf 74 } else {
va009039 1:2d8275968aaf 75
va009039 1:2d8275968aaf 76 m_seq = SEQ_INIT;
va009039 1:2d8275968aaf 77 }
va009039 1:2d8275968aaf 78 break;
va009039 1:2d8275968aaf 79 default:
va009039 1:2d8275968aaf 80 m_seq = SEQ_INIT;
va009039 1:2d8275968aaf 81 break;
va009039 1:2d8275968aaf 82 }
va009039 1:2d8275968aaf 83 }
va009039 1:2d8275968aaf 84
va009039 1:2d8275968aaf 85 float DMMtoDegree(const char *s)
va009039 1:2d8275968aaf 86 {
va009039 1:2d8275968aaf 87 char *p = strchr(const_cast<char*>(s), '.');
va009039 1:2d8275968aaf 88 if (p == NULL) {
va009039 1:2d8275968aaf 89 return 0.0;
va009039 1:2d8275968aaf 90 }
va009039 1:2d8275968aaf 91 const uint32_t k[] = {10000,1000,100,10,1};
va009039 1:2d8275968aaf 92 uint32_t i3 = atoi(p+1) * k[strlen(p+1)];
va009039 1:2d8275968aaf 93 uint32_t i2 = atoi(p-2);
va009039 1:2d8275968aaf 94 uint32_t i1 = atoi(s) / 100;
va009039 1:2d8275968aaf 95
va009039 1:2d8275968aaf 96 uint32_t i = i1*10000*60 + (i2*10000 + i3);
va009039 1:2d8275968aaf 97 return i / 10000.0 / 60.0;
va009039 1:2d8275968aaf 98 }
va009039 1:2d8275968aaf 99
va009039 1:2d8275968aaf 100 void decodeNMEA::parse(int type, int row, char* buf) {
va009039 1:2d8275968aaf 101 if (row == 0) {
va009039 1:2d8275968aaf 102 if (strcmp(buf, "GPRMC") == 0) {
va009039 1:2d8275968aaf 103 m_type = GPRMC;
va009039 1:2d8275968aaf 104 m_status = false;
va009039 1:2d8275968aaf 105 } else {
va009039 1:2d8275968aaf 106 m_type = 0;
va009039 1:2d8275968aaf 107 }
va009039 1:2d8275968aaf 108 return;
va009039 1:2d8275968aaf 109 }
va009039 1:2d8275968aaf 110 if (type == GPRMC) {
va009039 1:2d8275968aaf 111 switch(row) {
va009039 1:2d8275968aaf 112 case 1:
va009039 1:2d8275968aaf 113 tmp_timeinfo.tm_sec = atoi(buf+4);
va009039 1:2d8275968aaf 114 buf[4] = '\0';
va009039 1:2d8275968aaf 115 tmp_timeinfo.tm_min = atoi(buf+2);
va009039 1:2d8275968aaf 116 buf[2] = '\0';
va009039 1:2d8275968aaf 117 tmp_timeinfo.tm_hour = atoi(buf);
va009039 1:2d8275968aaf 118 break;
va009039 1:2d8275968aaf 119 case 2:
va009039 1:2d8275968aaf 120 if (buf[0] == 'A') {
va009039 1:2d8275968aaf 121 m_status = true;
va009039 1:2d8275968aaf 122 }
va009039 1:2d8275968aaf 123 break;
va009039 1:2d8275968aaf 124 case 3:
va009039 1:2d8275968aaf 125 tmp_lat = DMMtoDegree(buf);
va009039 1:2d8275968aaf 126 break;
va009039 1:2d8275968aaf 127 case 4:
va009039 1:2d8275968aaf 128 if (buf[0] == 'S') {
va009039 1:2d8275968aaf 129 tmp_lat *= -1;
va009039 1:2d8275968aaf 130 }
va009039 1:2d8275968aaf 131 break;
va009039 1:2d8275968aaf 132 case 5:
va009039 1:2d8275968aaf 133 tmp_lon = DMMtoDegree(buf);
va009039 1:2d8275968aaf 134 break;
va009039 1:2d8275968aaf 135 case 6:
va009039 1:2d8275968aaf 136 if (buf[0] == 'W') {
va009039 1:2d8275968aaf 137 tmp_lon *= -1;
va009039 1:2d8275968aaf 138 }
va009039 1:2d8275968aaf 139 break;
va009039 1:2d8275968aaf 140 case 9:
va009039 1:2d8275968aaf 141 tmp_timeinfo.tm_year = 2000 - 1900 + atoi(buf+4);
va009039 1:2d8275968aaf 142 buf[4] = '\0';
va009039 1:2d8275968aaf 143 tmp_timeinfo.tm_mon = atoi(buf+2) - 1;
va009039 1:2d8275968aaf 144 buf[2] = '\0';
va009039 1:2d8275968aaf 145 tmp_timeinfo.tm_mday = atoi(buf);
va009039 1:2d8275968aaf 146 break;
va009039 1:2d8275968aaf 147 }
va009039 1:2d8275968aaf 148 }
va009039 1:2d8275968aaf 149 }
va009039 1:2d8275968aaf 150
va009039 1:2d8275968aaf 151 void decodeNMEA::update(int type, int row) {
va009039 1:2d8275968aaf 152 if (type == GPRMC && m_status) {
va009039 1:2d8275968aaf 153 lat = tmp_lat;
va009039 1:2d8275968aaf 154 lon = tmp_lon;
va009039 1:2d8275968aaf 155 gprmc_t = mktime(&tmp_timeinfo);
va009039 1:2d8275968aaf 156 update_t = gprmc_t;
va009039 1:2d8275968aaf 157 }
va009039 1:2d8275968aaf 158 }
va009039 1:2d8275968aaf 159