Allows for a GPS module to be connected to a serial port and exposes an easy to use API to get the GPS data.
Fork of MODGPS by
GPS.h@7:049436bc2225, 2018-09-29 (annotated)
- Committer:
- xanter
- Date:
- Sat Sep 29 20:31:31 2018 +0000
- Revision:
- 7:049436bc2225
- Parent:
- 6:64771e31464e
Fixed compiler errors/warnings; Removed hardcode for LPC17xx
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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AjK | 0:db98027c0bbb | 1 | /* |
AjK | 0:db98027c0bbb | 2 | Copyright (c) 2010 Andy Kirkham |
xanter | 7:049436bc2225 | 3 | |
AjK | 0:db98027c0bbb | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
AjK | 0:db98027c0bbb | 5 | of this software and associated documentation files (the "Software"), to deal |
AjK | 0:db98027c0bbb | 6 | in the Software without restriction, including without limitation the rights |
AjK | 0:db98027c0bbb | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
AjK | 0:db98027c0bbb | 8 | copies of the Software, and to permit persons to whom the Software is |
AjK | 0:db98027c0bbb | 9 | furnished to do so, subject to the following conditions: |
xanter | 7:049436bc2225 | 10 | |
AjK | 0:db98027c0bbb | 11 | The above copyright notice and this permission notice shall be included in |
AjK | 0:db98027c0bbb | 12 | all copies or substantial portions of the Software. |
xanter | 7:049436bc2225 | 13 | |
AjK | 0:db98027c0bbb | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
AjK | 0:db98027c0bbb | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
AjK | 0:db98027c0bbb | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
AjK | 0:db98027c0bbb | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
AjK | 0:db98027c0bbb | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
AjK | 0:db98027c0bbb | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
AjK | 0:db98027c0bbb | 20 | THE SOFTWARE. |
AjK | 0:db98027c0bbb | 21 | */ |
AjK | 0:db98027c0bbb | 22 | |
AjK | 0:db98027c0bbb | 23 | #ifndef GPS_H |
AjK | 0:db98027c0bbb | 24 | #define GPS_H |
AjK | 0:db98027c0bbb | 25 | |
AjK | 0:db98027c0bbb | 26 | #include "mbed.h" |
AjK | 2:8aa059e7d8b1 | 27 | #include "GPS_VTG.h" |
AjK | 0:db98027c0bbb | 28 | #include "GPS_Time.h" |
AjK | 0:db98027c0bbb | 29 | #include "GPS_Geodetic.h" |
AjK | 0:db98027c0bbb | 30 | |
AjK | 0:db98027c0bbb | 31 | #define GPS_RBR 0x00 |
AjK | 0:db98027c0bbb | 32 | #define GPS_THR 0x00 |
AjK | 0:db98027c0bbb | 33 | #define GPS_DLL 0x00 |
AjK | 0:db98027c0bbb | 34 | #define GPS_IER 0x04 |
AjK | 0:db98027c0bbb | 35 | #define GPS_DML 0x04 |
AjK | 0:db98027c0bbb | 36 | #define GPS_IIR 0x08 |
AjK | 0:db98027c0bbb | 37 | #define GPS_FCR 0x08 |
AjK | 0:db98027c0bbb | 38 | #define GPS_LCR 0x0C |
AjK | 0:db98027c0bbb | 39 | #define GPS_LSR 0x14 |
AjK | 0:db98027c0bbb | 40 | #define GPS_SCR 0x1C |
AjK | 0:db98027c0bbb | 41 | #define GPS_ACR 0x20 |
AjK | 0:db98027c0bbb | 42 | #define GPS_ICR 0x24 |
AjK | 0:db98027c0bbb | 43 | #define GPS_FDR 0x28 |
AjK | 0:db98027c0bbb | 44 | #define GPS_TER 0x30 |
AjK | 0:db98027c0bbb | 45 | |
AjK | 0:db98027c0bbb | 46 | #define GPS_BUFFER_LEN 128 |
AjK | 0:db98027c0bbb | 47 | #define GPS_TICKTOCK 10000 |
AjK | 0:db98027c0bbb | 48 | |
AjK | 1:6aec92e77ad2 | 49 | /** @defgroup API The MODGPS API */ |
AjK | 0:db98027c0bbb | 50 | |
AjK | 0:db98027c0bbb | 51 | /** GPS module |
AjK | 1:6aec92e77ad2 | 52 | * @author Andy Kirkham |
AjK | 0:db98027c0bbb | 53 | * @see http://mbed.org/cookbook/MODGPS |
AjK | 0:db98027c0bbb | 54 | * @see example1.cpp |
AjK | 0:db98027c0bbb | 55 | * @see example2.cpp |
xanter | 7:049436bc2225 | 56 | * @see API |
AjK | 1:6aec92e77ad2 | 57 | * |
AjK | 1:6aec92e77ad2 | 58 | * @image html /media/uploads/AjK/gps_interfaces.png "Wiring up the GPS module" |
AjK | 0:db98027c0bbb | 59 | * |
AjK | 0:db98027c0bbb | 60 | * Example: |
AjK | 0:db98027c0bbb | 61 | * @code |
AjK | 0:db98027c0bbb | 62 | * #include "mbed.h" |
AjK | 0:db98027c0bbb | 63 | * #include "GPS.h" |
AjK | 0:db98027c0bbb | 64 | * |
AjK | 0:db98027c0bbb | 65 | * DigitalOut led1(LED1); |
AjK | 0:db98027c0bbb | 66 | * Serial pc(USBTX, USBRX); |
xanter | 7:049436bc2225 | 67 | * GPS gps(NC, p10); |
AjK | 0:db98027c0bbb | 68 | * |
AjK | 0:db98027c0bbb | 69 | * int main() { |
AjK | 0:db98027c0bbb | 70 | * GPS_Time t; |
AjK | 0:db98027c0bbb | 71 | * |
AjK | 0:db98027c0bbb | 72 | * // Wait for the GPS NMEA data to become valid. |
AjK | 0:db98027c0bbb | 73 | * while (!gps.isTimeValid()) { |
AjK | 0:db98027c0bbb | 74 | * led1 = !led1; |
AjK | 0:db98027c0bbb | 75 | * wait(1); |
AjK | 0:db98027c0bbb | 76 | * } |
AjK | 0:db98027c0bbb | 77 | * |
AjK | 0:db98027c0bbb | 78 | * gps.timeNow(&t); |
AjK | 0:db98027c0bbb | 79 | * |
AjK | 0:db98027c0bbb | 80 | * pc.printf("The time/date is %02d:%02d:%02d %02d/%02d/%04d\r\n", |
AjK | 0:db98027c0bbb | 81 | * t.hour, t.minute, t.second, t.day, t.month, t.year); |
AjK | 0:db98027c0bbb | 82 | * |
AjK | 0:db98027c0bbb | 83 | * // Wait until at least four satellites produce a position fix and a valid quality. |
AjK | 0:db98027c0bbb | 84 | * while (gps.numOfSats() < 4 && gps.getGPSquality != 0) { |
AjK | 0:db98027c0bbb | 85 | * led1 = !led1; |
AjK | 0:db98027c0bbb | 86 | * wait(1); |
AjK | 0:db98027c0bbb | 87 | * } |
AjK | 0:db98027c0bbb | 88 | * |
xanter | 7:049436bc2225 | 89 | * pc.printf("Lat = %.4f Lon = %.4f Alt = %.1fkm\r\n", |
AjK | 0:db98027c0bbb | 90 | * gps.latitude(), gps.longitude, gps.altitude()); |
AjK | 0:db98027c0bbb | 91 | * |
AjK | 0:db98027c0bbb | 92 | * // Make the LED go steady to indicate we have finished. |
AjK | 0:db98027c0bbb | 93 | * led1 = 1; |
xanter | 7:049436bc2225 | 94 | * |
AjK | 0:db98027c0bbb | 95 | * while(1) {} |
AjK | 0:db98027c0bbb | 96 | * } |
AjK | 0:db98027c0bbb | 97 | * @endcode |
AjK | 0:db98027c0bbb | 98 | */ |
AjK | 0:db98027c0bbb | 99 | |
xanter | 7:049436bc2225 | 100 | class GPS : RawSerial |
xanter | 7:049436bc2225 | 101 | { |
AjK | 0:db98027c0bbb | 102 | public: |
xanter | 7:049436bc2225 | 103 | |
AjK | 0:db98027c0bbb | 104 | //! The PPS edge type to interrupt on. |
xanter | 7:049436bc2225 | 105 | enum ppsEdgeType { |
AjK | 0:db98027c0bbb | 106 | ppsRise = 0, /*!< Use the rising edge (default). */ |
AjK | 0:db98027c0bbb | 107 | ppsFall /*!< Use the falling edge. */ |
AjK | 0:db98027c0bbb | 108 | }; |
xanter | 7:049436bc2225 | 109 | |
AjK | 0:db98027c0bbb | 110 | //! GPS constructor. |
AjK | 0:db98027c0bbb | 111 | /** |
AjK | 0:db98027c0bbb | 112 | * The GPS constructor is used to initialise the GPS object. |
AjK | 0:db98027c0bbb | 113 | * |
AjK | 0:db98027c0bbb | 114 | * @param tx Usually unused and set to NC |
AjK | 0:db98027c0bbb | 115 | * @param rx The RX pin the GPS is connected to, p10, p14( OR p25), p27. |
AjK | 0:db98027c0bbb | 116 | * @param name An option name for RPC usage. |
AjK | 0:db98027c0bbb | 117 | */ |
AjK | 0:db98027c0bbb | 118 | GPS(PinName tx, PinName rx, const char *name = NULL); |
AjK | 0:db98027c0bbb | 119 | |
AjK | 0:db98027c0bbb | 120 | //! Is the time reported by the GPS valid. |
AjK | 0:db98027c0bbb | 121 | /** |
AjK | 0:db98027c0bbb | 122 | * Method used to check the validity of the time the GPS module is reporting. |
AjK | 0:db98027c0bbb | 123 | * |
AjK | 0:db98027c0bbb | 124 | * @code |
AjK | 0:db98027c0bbb | 125 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 126 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 127 | * |
AjK | 0:db98027c0bbb | 128 | * if (gps.isTimeValid()) { |
AjK | 0:db98027c0bbb | 129 | * // Time is valid :) |
AjK | 0:db98027c0bbb | 130 | * } |
AjK | 0:db98027c0bbb | 131 | * else { |
AjK | 0:db98027c0bbb | 132 | * // Doh, time is not valid :( |
AjK | 0:db98027c0bbb | 133 | * ) |
xanter | 7:049436bc2225 | 134 | * |
AjK | 0:db98027c0bbb | 135 | * @endcode |
AjK | 0:db98027c0bbb | 136 | * |
AjK | 0:db98027c0bbb | 137 | * @ingroup API |
AjK | 0:db98027c0bbb | 138 | * @return bool true if valid, false otherwise |
AjK | 0:db98027c0bbb | 139 | */ |
xanter | 7:049436bc2225 | 140 | bool isTimeValid(void) { |
xanter | 7:049436bc2225 | 141 | return theTime.status == 'V' ? false : true; |
xanter | 7:049436bc2225 | 142 | } |
xanter | 7:049436bc2225 | 143 | |
AjK | 0:db98027c0bbb | 144 | //! Is the positional fix reported by the GPS valid. |
AjK | 0:db98027c0bbb | 145 | /** |
AjK | 0:db98027c0bbb | 146 | * Method used to check the validity of the positional data. This method |
xanter | 7:049436bc2225 | 147 | * returns the GGA field, 0 is "bad, 1 is "ok", etc. See the NMEA GGA |
AjK | 1:6aec92e77ad2 | 148 | * description for more details. |
AjK | 1:6aec92e77ad2 | 149 | * |
AjK | 1:6aec92e77ad2 | 150 | * @code |
AjK | 1:6aec92e77ad2 | 151 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 152 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 153 | * |
AjK | 1:6aec92e77ad2 | 154 | * if (gps.getGPSquality() == 0) { |
AjK | 1:6aec92e77ad2 | 155 | * // The location fix is no good/not accurate :( |
AjK | 1:6aec92e77ad2 | 156 | * } |
AjK | 1:6aec92e77ad2 | 157 | * else { |
AjK | 1:6aec92e77ad2 | 158 | * // All good, can use last fix data. |
AjK | 1:6aec92e77ad2 | 159 | * ) |
xanter | 7:049436bc2225 | 160 | * |
AjK | 1:6aec92e77ad2 | 161 | * @endcode |
AjK | 1:6aec92e77ad2 | 162 | * |
AjK | 1:6aec92e77ad2 | 163 | * @ingroup API |
AjK | 0:db98027c0bbb | 164 | * @return int 0 on no fix, 1... (see NMEA GGA for more details). |
AjK | 0:db98027c0bbb | 165 | */ |
xanter | 7:049436bc2225 | 166 | int getGPSquality(void) { |
xanter | 7:049436bc2225 | 167 | return thePlace.getGPSquality(); |
xanter | 7:049436bc2225 | 168 | } |
xanter | 7:049436bc2225 | 169 | |
AjK | 0:db98027c0bbb | 170 | //! How many satellites were used in the last fix. |
AjK | 0:db98027c0bbb | 171 | /** |
AjK | 0:db98027c0bbb | 172 | * Method returns the number of GPS satellites used on the last fix. |
AjK | 0:db98027c0bbb | 173 | * |
AjK | 0:db98027c0bbb | 174 | * @code |
AjK | 0:db98027c0bbb | 175 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 176 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 177 | * |
AjK | 0:db98027c0bbb | 178 | * int sats = gps.numOfSats(); |
xanter | 7:049436bc2225 | 179 | * |
AjK | 0:db98027c0bbb | 180 | * @endcode |
AjK | 0:db98027c0bbb | 181 | * |
AjK | 0:db98027c0bbb | 182 | * @ingroup API |
AjK | 0:db98027c0bbb | 183 | * @return int The number of satellites. |
AjK | 0:db98027c0bbb | 184 | */ |
xanter | 7:049436bc2225 | 185 | int numOfSats(void) { |
xanter | 7:049436bc2225 | 186 | return thePlace.numOfSats(); |
xanter | 7:049436bc2225 | 187 | } |
xanter | 7:049436bc2225 | 188 | |
AjK | 0:db98027c0bbb | 189 | //! What was the last reported latitude (in degrees) |
AjK | 0:db98027c0bbb | 190 | /** |
AjK | 0:db98027c0bbb | 191 | * Method returns a double in degrees, positive being North, negative being South. |
AjK | 0:db98027c0bbb | 192 | * |
AjK | 0:db98027c0bbb | 193 | * @code |
AjK | 0:db98027c0bbb | 194 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 195 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 196 | * |
AjK | 0:db98027c0bbb | 197 | * double latitude = gps.latitude(); |
xanter | 7:049436bc2225 | 198 | * |
AjK | 0:db98027c0bbb | 199 | * @endcode |
AjK | 0:db98027c0bbb | 200 | * |
AjK | 0:db98027c0bbb | 201 | * @ingroup API |
AjK | 0:db98027c0bbb | 202 | * @return double Degrees |
AjK | 0:db98027c0bbb | 203 | */ |
AjK | 0:db98027c0bbb | 204 | double latitude(void); |
xanter | 7:049436bc2225 | 205 | |
AjK | 0:db98027c0bbb | 206 | //! What was the last reported longitude (in degrees) |
AjK | 0:db98027c0bbb | 207 | /** |
AjK | 0:db98027c0bbb | 208 | * Method returns a double in degrees, positive being East, negative being West. |
AjK | 0:db98027c0bbb | 209 | * |
AjK | 0:db98027c0bbb | 210 | * @code |
AjK | 0:db98027c0bbb | 211 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 212 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 213 | * |
AjK | 0:db98027c0bbb | 214 | * double logitude = gps.logitude(); |
xanter | 7:049436bc2225 | 215 | * |
AjK | 0:db98027c0bbb | 216 | * @endcode |
AjK | 0:db98027c0bbb | 217 | * |
AjK | 0:db98027c0bbb | 218 | * @ingroup API |
AjK | 0:db98027c0bbb | 219 | * @return double Degrees |
AjK | 0:db98027c0bbb | 220 | */ |
AjK | 0:db98027c0bbb | 221 | double longitude(void); |
xanter | 7:049436bc2225 | 222 | |
AjK | 0:db98027c0bbb | 223 | //! What was the last reported altitude (in kilometers) |
AjK | 0:db98027c0bbb | 224 | /** |
AjK | 0:db98027c0bbb | 225 | * Method returns a double in kilometers. |
AjK | 0:db98027c0bbb | 226 | * |
AjK | 0:db98027c0bbb | 227 | * @code |
AjK | 0:db98027c0bbb | 228 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 229 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 230 | * |
AjK | 0:db98027c0bbb | 231 | * double altitude = gps.altitude(); |
xanter | 7:049436bc2225 | 232 | * |
AjK | 0:db98027c0bbb | 233 | * @endcode |
AjK | 0:db98027c0bbb | 234 | * |
AjK | 0:db98027c0bbb | 235 | * @ingroup API |
AjK | 0:db98027c0bbb | 236 | * @return double Kilometers |
AjK | 0:db98027c0bbb | 237 | */ |
AjK | 0:db98027c0bbb | 238 | double altitude(void); |
xanter | 7:049436bc2225 | 239 | |
AjK | 0:db98027c0bbb | 240 | //! What was the last reported altitude/height (in kilometers) |
AjK | 0:db98027c0bbb | 241 | /** |
AjK | 0:db98027c0bbb | 242 | * @see altitude() |
AjK | 0:db98027c0bbb | 243 | * |
AjK | 0:db98027c0bbb | 244 | * @code |
AjK | 0:db98027c0bbb | 245 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 246 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 247 | * |
AjK | 0:db98027c0bbb | 248 | * double height = gps.height(); |
xanter | 7:049436bc2225 | 249 | * |
AjK | 0:db98027c0bbb | 250 | * @endcode |
AjK | 0:db98027c0bbb | 251 | * |
AjK | 0:db98027c0bbb | 252 | * Note, this is identical to altitude() |
AjK | 0:db98027c0bbb | 253 | * @see altitude() |
AjK | 0:db98027c0bbb | 254 | * |
AjK | 0:db98027c0bbb | 255 | * @ingroup API |
AjK | 0:db98027c0bbb | 256 | * @return double Kilometers |
AjK | 0:db98027c0bbb | 257 | */ |
xanter | 7:049436bc2225 | 258 | double height(void) { |
xanter | 7:049436bc2225 | 259 | return altitude(); |
xanter | 7:049436bc2225 | 260 | } |
xanter | 7:049436bc2225 | 261 | |
AjK | 2:8aa059e7d8b1 | 262 | //! Get all vector parameters together. |
AjK | 2:8aa059e7d8b1 | 263 | /** |
AjK | 2:8aa059e7d8b1 | 264 | * Pass a pointer to a GPS_VTG object and the current |
AjK | 2:8aa059e7d8b1 | 265 | * GPS data will be copied into it. |
AjK | 2:8aa059e7d8b1 | 266 | * |
AjK | 2:8aa059e7d8b1 | 267 | * @code |
AjK | 2:8aa059e7d8b1 | 268 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 269 | * GPS gps(NC, p9); |
AjK | 2:8aa059e7d8b1 | 270 | * |
AjK | 2:8aa059e7d8b1 | 271 | * // Then get the data... |
AjK | 2:8aa059e7d8b1 | 272 | * GPS_VTG p; |
AjK | 2:8aa059e7d8b1 | 273 | * gps.vtg(&p); |
AjK | 2:8aa059e7d8b1 | 274 | * printf("Speed (knots) = %.4f", p.velocity_knots); |
AjK | 2:8aa059e7d8b1 | 275 | * printf("Speed (kps) = %.4f", p.velocity_kps); |
AjK | 2:8aa059e7d8b1 | 276 | * printf("Track (true) = %.4f", p.track_true); |
AjK | 2:8aa059e7d8b1 | 277 | * printf("Track (mag) = %.4f", p.track_mag); |
AjK | 2:8aa059e7d8b1 | 278 | * |
AjK | 2:8aa059e7d8b1 | 279 | * @endcode |
AjK | 2:8aa059e7d8b1 | 280 | * |
AjK | 2:8aa059e7d8b1 | 281 | * @ingroup API |
AjK | 2:8aa059e7d8b1 | 282 | * @param g A GSP_VTG pointer to an existing GPS_VTG object. |
AjK | 2:8aa059e7d8b1 | 283 | * @return GPS_VTG * The pointer passed in. |
AjK | 2:8aa059e7d8b1 | 284 | */ |
AjK | 2:8aa059e7d8b1 | 285 | GPS_VTG *vtg(GPS_VTG *g); |
xanter | 7:049436bc2225 | 286 | |
AjK | 2:8aa059e7d8b1 | 287 | //! Get all vector parameters together. |
AjK | 2:8aa059e7d8b1 | 288 | /** |
AjK | 2:8aa059e7d8b1 | 289 | * Get all the vector data at once. For example:- |
AjK | 2:8aa059e7d8b1 | 290 | * |
AjK | 2:8aa059e7d8b1 | 291 | * @code |
AjK | 2:8aa059e7d8b1 | 292 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 293 | * GPS gps(NC, p9); |
AjK | 2:8aa059e7d8b1 | 294 | * |
AjK | 2:8aa059e7d8b1 | 295 | * // Then get the data... |
AjK | 2:8aa059e7d8b1 | 296 | * GPS_VTG *p = gps.vtg(); |
AjK | 2:8aa059e7d8b1 | 297 | * printf("Speed (knots) = %.4f", p->velocity_knots); |
AjK | 2:8aa059e7d8b1 | 298 | * printf("Speed (kps) = %.4f", p->velocity_kps); |
AjK | 2:8aa059e7d8b1 | 299 | * printf("Track (true) = %.4f", p->track_true); |
xanter | 7:049436bc2225 | 300 | * printf("Track (mag) = %.4f", p->track_mag); |
AjK | 2:8aa059e7d8b1 | 301 | * delete(p); // then remember to delete the object to prevent memory leaks. |
AjK | 2:8aa059e7d8b1 | 302 | * |
AjK | 2:8aa059e7d8b1 | 303 | * @endcode |
AjK | 2:8aa059e7d8b1 | 304 | * |
AjK | 2:8aa059e7d8b1 | 305 | * @ingroup API |
AjK | 2:8aa059e7d8b1 | 306 | * @return GPS_Geodetic * A pointer to the data. |
AjK | 2:8aa059e7d8b1 | 307 | */ |
xanter | 7:049436bc2225 | 308 | GPS_VTG *vtg(void) { |
xanter | 7:049436bc2225 | 309 | return vtg(NULL); |
xanter | 7:049436bc2225 | 310 | } |
xanter | 7:049436bc2225 | 311 | |
AjK | 0:db98027c0bbb | 312 | //! Get all three geodetic parameters together. |
AjK | 0:db98027c0bbb | 313 | /** |
AjK | 0:db98027c0bbb | 314 | * Pass a pointer to a GPS_Geodetic object and the current |
AjK | 0:db98027c0bbb | 315 | * GPS data will be copied into it. |
AjK | 0:db98027c0bbb | 316 | * |
AjK | 0:db98027c0bbb | 317 | * @code |
AjK | 0:db98027c0bbb | 318 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 319 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 320 | * |
AjK | 0:db98027c0bbb | 321 | * // Then get the data... |
AjK | 0:db98027c0bbb | 322 | * GPS_Geodetic p; |
AjK | 0:db98027c0bbb | 323 | * gps.geodetic(&p); |
AjK | 0:db98027c0bbb | 324 | * printf("Latitude = %.4f", p.lat); |
AjK | 0:db98027c0bbb | 325 | * printf("Longitude = %.4f", p.lon); |
AjK | 0:db98027c0bbb | 326 | * printf("Altitude = %.4f", p.alt); |
AjK | 0:db98027c0bbb | 327 | * |
AjK | 0:db98027c0bbb | 328 | * @endcode |
AjK | 0:db98027c0bbb | 329 | * |
AjK | 0:db98027c0bbb | 330 | * @ingroup API |
AjK | 0:db98027c0bbb | 331 | * @param g A GSP_Geodetic pointer to an existing GPS_Geodetic object. |
AjK | 0:db98027c0bbb | 332 | * @return GPS_Geodetic * The pointer passed in. |
AjK | 0:db98027c0bbb | 333 | */ |
AjK | 0:db98027c0bbb | 334 | GPS_Geodetic *geodetic(GPS_Geodetic *g); |
xanter | 7:049436bc2225 | 335 | |
AjK | 0:db98027c0bbb | 336 | //! Get all three geodetic parameters together. |
AjK | 0:db98027c0bbb | 337 | /** |
AjK | 0:db98027c0bbb | 338 | * Get all the geodetic data at once. For example:- |
AjK | 0:db98027c0bbb | 339 | * |
AjK | 0:db98027c0bbb | 340 | * @code |
AjK | 0:db98027c0bbb | 341 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 342 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 343 | * |
AjK | 0:db98027c0bbb | 344 | * // Then get the data... |
AjK | 0:db98027c0bbb | 345 | * GPS_Geodetic *p = gps.geodetic(); |
AjK | 0:db98027c0bbb | 346 | * printf("Latitude = %.4f", p->lat); |
AjK | 0:db98027c0bbb | 347 | * delete(p); // then remember to delete the object to prevent memory leaks. |
AjK | 0:db98027c0bbb | 348 | * |
AjK | 0:db98027c0bbb | 349 | * @endcode |
AjK | 0:db98027c0bbb | 350 | * |
AjK | 0:db98027c0bbb | 351 | * @ingroup API |
AjK | 0:db98027c0bbb | 352 | * @return GPS_Geodetic * A pointer to the data. |
AjK | 0:db98027c0bbb | 353 | */ |
xanter | 7:049436bc2225 | 354 | GPS_Geodetic *geodetic(void) { |
xanter | 7:049436bc2225 | 355 | return geodetic(NULL); |
xanter | 7:049436bc2225 | 356 | } |
xanter | 7:049436bc2225 | 357 | |
AjK | 0:db98027c0bbb | 358 | //! Take a snap shot of the current time. |
AjK | 0:db98027c0bbb | 359 | /** |
AjK | 0:db98027c0bbb | 360 | * Pass a pointer to a GPS_Time object to get a copy of the current |
AjK | 0:db98027c0bbb | 361 | * time and date as reported by the GPS. |
AjK | 0:db98027c0bbb | 362 | * |
AjK | 0:db98027c0bbb | 363 | * @code |
AjK | 0:db98027c0bbb | 364 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 365 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 366 | * |
AjK | 0:db98027c0bbb | 367 | * // Then get the data... |
AjK | 0:db98027c0bbb | 368 | * GPS_Time t; |
AjK | 0:db98027c0bbb | 369 | * gps.timeNow(&t); |
AjK | 0:db98027c0bbb | 370 | * printf("Year = %d", t.year); |
AjK | 0:db98027c0bbb | 371 | * |
AjK | 0:db98027c0bbb | 372 | * @endcode |
AjK | 0:db98027c0bbb | 373 | * |
AjK | 0:db98027c0bbb | 374 | * @ingroup API |
AjK | 0:db98027c0bbb | 375 | * @param n A GPS_Time * pointer to an existing GPS_Time object. |
AjK | 0:db98027c0bbb | 376 | * @return GPS_Time * The pointer passed in. |
AjK | 0:db98027c0bbb | 377 | */ |
xanter | 7:049436bc2225 | 378 | GPS_Time * timeNow(GPS_Time *n) { |
xanter | 7:049436bc2225 | 379 | return theTime.timeNow(n); |
xanter | 7:049436bc2225 | 380 | } |
xanter | 7:049436bc2225 | 381 | |
AjK | 0:db98027c0bbb | 382 | //! Take a snap shot of the current time. |
AjK | 0:db98027c0bbb | 383 | /** |
AjK | 0:db98027c0bbb | 384 | * Pass a pointer to a GPS_Time object to get a copy of the current |
AjK | 0:db98027c0bbb | 385 | * time and date as reported by the GPS. |
AjK | 0:db98027c0bbb | 386 | * |
AjK | 0:db98027c0bbb | 387 | * @code |
AjK | 0:db98027c0bbb | 388 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 389 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 390 | * |
AjK | 0:db98027c0bbb | 391 | * // Then get the data... |
AjK | 0:db98027c0bbb | 392 | * GPS_Time *t = gps.timeNow(); |
AjK | 0:db98027c0bbb | 393 | * printf("Year = %d", t->year); |
AjK | 0:db98027c0bbb | 394 | * delete(t); // Avoid memory leaks. |
AjK | 0:db98027c0bbb | 395 | * |
AjK | 0:db98027c0bbb | 396 | * @endcode |
AjK | 0:db98027c0bbb | 397 | * |
AjK | 0:db98027c0bbb | 398 | * @ingroup API |
AjK | 0:db98027c0bbb | 399 | * @return GPS_Time * The pointer passed in. |
AjK | 0:db98027c0bbb | 400 | */ |
xanter | 7:049436bc2225 | 401 | GPS_Time * timeNow(void) { |
xanter | 7:049436bc2225 | 402 | GPS_Time *n = new GPS_Time; |
xanter | 7:049436bc2225 | 403 | return theTime.timeNow(n); |
xanter | 7:049436bc2225 | 404 | } |
xanter | 7:049436bc2225 | 405 | |
AjK | 0:db98027c0bbb | 406 | //! Return the curent day. |
AjK | 0:db98027c0bbb | 407 | /** |
AjK | 0:db98027c0bbb | 408 | * @code |
AjK | 0:db98027c0bbb | 409 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 410 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 411 | * |
AjK | 0:db98027c0bbb | 412 | * // Then get the Julain Day Number. |
AjK | 0:db98027c0bbb | 413 | * double julianDayNumber = gps.julianDayNumber(); |
AjK | 0:db98027c0bbb | 414 | * |
AjK | 0:db98027c0bbb | 415 | * @endcode |
AjK | 0:db98027c0bbb | 416 | * |
AjK | 0:db98027c0bbb | 417 | * @ingroup API |
AjK | 0:db98027c0bbb | 418 | * @return double The Julian Date as a double. |
AjK | 0:db98027c0bbb | 419 | */ |
xanter | 7:049436bc2225 | 420 | double julianDayNumber(void) { |
xanter | 7:049436bc2225 | 421 | return theTime.julian_day_number(); |
xanter | 7:049436bc2225 | 422 | } |
xanter | 7:049436bc2225 | 423 | |
AjK | 0:db98027c0bbb | 424 | //! Return the curent date/time as a Julian date |
AjK | 0:db98027c0bbb | 425 | /** |
AjK | 0:db98027c0bbb | 426 | * @code |
AjK | 0:db98027c0bbb | 427 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 428 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 429 | * |
AjK | 0:db98027c0bbb | 430 | * // Then get the Julian Date. |
AjK | 0:db98027c0bbb | 431 | * double julianDate = gps.julianDate(); |
AjK | 0:db98027c0bbb | 432 | * |
AjK | 0:db98027c0bbb | 433 | * @endcode |
AjK | 0:db98027c0bbb | 434 | * |
AjK | 0:db98027c0bbb | 435 | * @ingroup API |
AjK | 0:db98027c0bbb | 436 | * @return double The Julian Date as a double. |
AjK | 0:db98027c0bbb | 437 | */ |
xanter | 7:049436bc2225 | 438 | double julianDate(void) { |
xanter | 7:049436bc2225 | 439 | return theTime.julian_date(); |
xanter | 7:049436bc2225 | 440 | } |
AjK | 0:db98027c0bbb | 441 | |
AjK | 0:db98027c0bbb | 442 | //! Get the current sidereal degree angle. |
AjK | 0:db98027c0bbb | 443 | /** |
AjK | 0:db98027c0bbb | 444 | * @code |
AjK | 0:db98027c0bbb | 445 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 446 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 447 | * double sidereal = gps.siderealDegrees(); |
AjK | 0:db98027c0bbb | 448 | * |
AjK | 0:db98027c0bbb | 449 | * @endcode |
AjK | 0:db98027c0bbb | 450 | * |
AjK | 0:db98027c0bbb | 451 | * @ingroup API |
AjK | 0:db98027c0bbb | 452 | * @return double Sidereal degree angle.. |
AjK | 0:db98027c0bbb | 453 | */ |
xanter | 7:049436bc2225 | 454 | double siderealDegrees(void) { |
xanter | 7:049436bc2225 | 455 | return theTime.siderealDegrees(&theTime, longitude()); |
xanter | 7:049436bc2225 | 456 | } |
xanter | 7:049436bc2225 | 457 | |
AjK | 0:db98027c0bbb | 458 | //! Get the current sidereal hour angle. |
AjK | 0:db98027c0bbb | 459 | /** |
AjK | 0:db98027c0bbb | 460 | * @code |
AjK | 0:db98027c0bbb | 461 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 462 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 463 | * double sidereal = gps.siderealHA(); |
AjK | 0:db98027c0bbb | 464 | * |
AjK | 0:db98027c0bbb | 465 | * @endcode |
AjK | 0:db98027c0bbb | 466 | * |
AjK | 0:db98027c0bbb | 467 | * @ingroup API |
AjK | 0:db98027c0bbb | 468 | * @return double Sidereal degree angle.. |
AjK | 0:db98027c0bbb | 469 | */ |
xanter | 7:049436bc2225 | 470 | double siderealHA(void) { |
xanter | 7:049436bc2225 | 471 | return theTime.siderealHA(&theTime, longitude()); |
xanter | 7:049436bc2225 | 472 | } |
xanter | 7:049436bc2225 | 473 | |
AjK | 0:db98027c0bbb | 474 | //! Optionally, connect a 1PPS single to an Mbed pin. |
AjK | 0:db98027c0bbb | 475 | /** |
AjK | 0:db98027c0bbb | 476 | * Optional: If the GPS unit has a 1PPS output, use this to |
AjK | 0:db98027c0bbb | 477 | * connect that to our internal ISR. Using the 1PPS increases |
AjK | 0:db98027c0bbb | 478 | * the GPS_Time time accuracy from +/-0.25s to +/-0.001s |
AjK | 0:db98027c0bbb | 479 | * |
AjK | 0:db98027c0bbb | 480 | * @code |
AjK | 0:db98027c0bbb | 481 | * // Assuming we have a GPS object previously created... |
xanter | 7:049436bc2225 | 482 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 483 | * |
xanter | 7:049436bc2225 | 484 | * gps.ppsAttach(p29); // default to GPS::ppsRise, rising edge. |
AjK | 0:db98027c0bbb | 485 | * |
AjK | 0:db98027c0bbb | 486 | * // Or... |
AjK | 0:db98027c0bbb | 487 | * gps.ppsAttach(p29, GPS::ppsRise); // The default. |
AjK | 0:db98027c0bbb | 488 | * |
AjK | 0:db98027c0bbb | 489 | * // Or... |
AjK | 0:db98027c0bbb | 490 | * gps.ppsAttach(p29, GPS::ppsFall); // If a falling edge. |
AjK | 0:db98027c0bbb | 491 | * |
AjK | 0:db98027c0bbb | 492 | * @endcode |
AjK | 0:db98027c0bbb | 493 | * |
AjK | 0:db98027c0bbb | 494 | * <b>Note</b>, before using this function you should attach an actual |
AjK | 0:db98027c0bbb | 495 | * callback function using attach_pps() |
AjK | 0:db98027c0bbb | 496 | * |
AjK | 0:db98027c0bbb | 497 | * @see attach_pps() |
AjK | 0:db98027c0bbb | 498 | * |
AjK | 0:db98027c0bbb | 499 | * @ingroup API |
AjK | 0:db98027c0bbb | 500 | * @param irq A PinName to attach |
AjK | 0:db98027c0bbb | 501 | * @param type The type of edge, MAX7456::ppsRise OR MAX7456::ppsFall |
AjK | 0:db98027c0bbb | 502 | */ |
AjK | 0:db98027c0bbb | 503 | void ppsAttach(PinName irq, ppsEdgeType type = ppsRise); |
xanter | 7:049436bc2225 | 504 | |
AjK | 0:db98027c0bbb | 505 | //! Remove any 1PPS signal previously attached. |
AjK | 0:db98027c0bbb | 506 | void ppsUnattach(void); |
xanter | 7:049436bc2225 | 507 | |
AjK | 0:db98027c0bbb | 508 | //! GPS serial receive interrupt handler. |
xanter | 7:049436bc2225 | 509 | void rx_irq(void); |
xanter | 7:049436bc2225 | 510 | |
AjK | 0:db98027c0bbb | 511 | //! GPS pps interrupt handler. |
AjK | 0:db98027c0bbb | 512 | void pps_irq(void); |
xanter | 7:049436bc2225 | 513 | |
AjK | 0:db98027c0bbb | 514 | //! The RX serial buffer. |
AjK | 0:db98027c0bbb | 515 | char buffer[2][GPS_BUFFER_LEN]; |
xanter | 7:049436bc2225 | 516 | |
AjK | 0:db98027c0bbb | 517 | //! The current "active" buffer, i.e. the buffer the ISR is writing to. |
AjK | 0:db98027c0bbb | 518 | int active_buffer; |
xanter | 7:049436bc2225 | 519 | |
AjK | 0:db98027c0bbb | 520 | //! The active buffer "in" pointer. |
AjK | 0:db98027c0bbb | 521 | int rx_buffer_in; |
xanter | 7:049436bc2225 | 522 | |
AjK | 0:db98027c0bbb | 523 | //! Boolean flag set when the "passive" buffer is full and needs processing. |
AjK | 0:db98027c0bbb | 524 | bool process_required; |
xanter | 7:049436bc2225 | 525 | |
AjK | 0:db98027c0bbb | 526 | //! 10ms Ticker callback. |
AjK | 0:db98027c0bbb | 527 | void ticktock(void); |
xanter | 7:049436bc2225 | 528 | |
AjK | 0:db98027c0bbb | 529 | //! Attach a user object/method callback function to the PPS signal |
AjK | 0:db98027c0bbb | 530 | /** |
xanter | 7:049436bc2225 | 531 | * Attach a user callback object/method to call when the 1PPS signal activates. |
AjK | 0:db98027c0bbb | 532 | * |
AjK | 0:db98027c0bbb | 533 | * @code |
AjK | 0:db98027c0bbb | 534 | * class FOO { |
AjK | 0:db98027c0bbb | 535 | * public: |
AjK | 0:db98027c0bbb | 536 | * void myCallback(void); |
AjK | 0:db98027c0bbb | 537 | * }; |
AjK | 0:db98027c0bbb | 538 | * |
xanter | 7:049436bc2225 | 539 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 540 | * Foo foo; |
AjK | 0:db98027c0bbb | 541 | * |
AjK | 0:db98027c0bbb | 542 | * gps.attach_pps(foo, &FOO::myCallback); |
xanter | 7:049436bc2225 | 543 | * |
AjK | 0:db98027c0bbb | 544 | * @endcode |
AjK | 0:db98027c0bbb | 545 | * |
AjK | 0:db98027c0bbb | 546 | * @ingroup API |
AjK | 0:db98027c0bbb | 547 | * @param tptr pointer to the object to call the member function on |
AjK | 0:db98027c0bbb | 548 | * @param mptr pointer to the member function to be called |
AjK | 0:db98027c0bbb | 549 | */ |
AjK | 0:db98027c0bbb | 550 | template<typename T> |
xanter | 7:049436bc2225 | 551 | void attach_pps(T* tptr, void (T::*mptr)(void)) { |
xanter | 7:049436bc2225 | 552 | cb_pps.attach(tptr, mptr); |
xanter | 7:049436bc2225 | 553 | } |
xanter | 7:049436bc2225 | 554 | |
AjK | 0:db98027c0bbb | 555 | //! Attach a user callback function to the PPS signal |
AjK | 0:db98027c0bbb | 556 | /** |
xanter | 7:049436bc2225 | 557 | * Attach a user callback function pointer to call when the 1PPS signal activates. |
AjK | 0:db98027c0bbb | 558 | * |
AjK | 0:db98027c0bbb | 559 | * @code |
AjK | 0:db98027c0bbb | 560 | * void myCallback(void) { ... } |
AjK | 0:db98027c0bbb | 561 | * |
xanter | 7:049436bc2225 | 562 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 563 | * Foo foo; |
AjK | 0:db98027c0bbb | 564 | * |
AjK | 0:db98027c0bbb | 565 | * gps.attach_pps(&myCallback); |
xanter | 7:049436bc2225 | 566 | * |
AjK | 0:db98027c0bbb | 567 | * @endcode |
AjK | 0:db98027c0bbb | 568 | * |
AjK | 0:db98027c0bbb | 569 | * @ingroup API |
AjK | 0:db98027c0bbb | 570 | * @param fptr Callback function pointer |
AjK | 0:db98027c0bbb | 571 | */ |
xanter | 7:049436bc2225 | 572 | void attach_pps(const Callback<void()> & func) { |
xanter | 7:049436bc2225 | 573 | cb_pps = func; |
xanter | 7:049436bc2225 | 574 | } |
xanter | 7:049436bc2225 | 575 | |
AjK | 0:db98027c0bbb | 576 | //! A callback object for the 1PPS user API. |
xanter | 7:049436bc2225 | 577 | Callback<void()> cb_pps; |
xanter | 7:049436bc2225 | 578 | |
AjK | 0:db98027c0bbb | 579 | //! Attach a user callback function to the NMEA RMC message processed signal. |
AjK | 0:db98027c0bbb | 580 | /** |
xanter | 7:049436bc2225 | 581 | * Attach a user callback object/method to call when an NMEA RMC packet has been processed. |
AjK | 0:db98027c0bbb | 582 | * |
AjK | 0:db98027c0bbb | 583 | * @code |
AjK | 0:db98027c0bbb | 584 | * class FOO { |
AjK | 0:db98027c0bbb | 585 | * public: |
AjK | 0:db98027c0bbb | 586 | * void myCallback(void); |
AjK | 0:db98027c0bbb | 587 | * }; |
AjK | 0:db98027c0bbb | 588 | * |
xanter | 7:049436bc2225 | 589 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 590 | * Foo foo; |
AjK | 0:db98027c0bbb | 591 | * |
AjK | 0:db98027c0bbb | 592 | * gps.attach_rmc(foo, &FOO::myCallback); |
xanter | 7:049436bc2225 | 593 | * |
AjK | 0:db98027c0bbb | 594 | * @endcode |
AjK | 0:db98027c0bbb | 595 | * |
xanter | 7:049436bc2225 | 596 | * @ingroup API |
AjK | 0:db98027c0bbb | 597 | * @param tptr pointer to the object to call the member function on |
AjK | 0:db98027c0bbb | 598 | * @param mptr pointer to the member function to be called |
AjK | 0:db98027c0bbb | 599 | */ |
AjK | 0:db98027c0bbb | 600 | template<typename T> |
xanter | 7:049436bc2225 | 601 | void attach_rmc(T* tptr, void (T::*mptr)(void)) { |
xanter | 7:049436bc2225 | 602 | cb_rmc.attach(tptr, mptr); |
xanter | 7:049436bc2225 | 603 | } |
xanter | 7:049436bc2225 | 604 | |
AjK | 0:db98027c0bbb | 605 | //! Attach a user callback function to the NMEA RMC message processed signal. |
AjK | 0:db98027c0bbb | 606 | /** |
xanter | 7:049436bc2225 | 607 | * Attach a user callback function pointer to call when an NMEA RMC packet has been processed. |
AjK | 0:db98027c0bbb | 608 | * |
AjK | 0:db98027c0bbb | 609 | * @code |
AjK | 0:db98027c0bbb | 610 | * void myCallback(void) { ... } |
AjK | 0:db98027c0bbb | 611 | * |
xanter | 7:049436bc2225 | 612 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 613 | * Foo foo; |
AjK | 0:db98027c0bbb | 614 | * |
AjK | 0:db98027c0bbb | 615 | * gps.attach_rmc(&myCallback); |
xanter | 7:049436bc2225 | 616 | * |
AjK | 0:db98027c0bbb | 617 | * @endcode |
AjK | 0:db98027c0bbb | 618 | * |
xanter | 7:049436bc2225 | 619 | * @ingroup API |
AjK | 0:db98027c0bbb | 620 | * @param fptr Callback function pointer. |
AjK | 0:db98027c0bbb | 621 | */ |
xanter | 7:049436bc2225 | 622 | void attach_rmc(const Callback<void()> & func) { |
xanter | 7:049436bc2225 | 623 | cb_rmc = func; |
xanter | 7:049436bc2225 | 624 | } |
xanter | 7:049436bc2225 | 625 | |
AjK | 0:db98027c0bbb | 626 | //! A callback object for the NMEA RMS message processed signal user API. |
xanter | 7:049436bc2225 | 627 | Callback<void()> cb_rmc; |
xanter | 7:049436bc2225 | 628 | |
AjK | 0:db98027c0bbb | 629 | //! Attach a user callback function to the NMEA GGA message processed signal. |
AjK | 0:db98027c0bbb | 630 | /** |
xanter | 7:049436bc2225 | 631 | * Attach a user callback object/method to call when an NMEA GGA packet has been processed. |
AjK | 0:db98027c0bbb | 632 | * |
AjK | 0:db98027c0bbb | 633 | * @code |
AjK | 0:db98027c0bbb | 634 | * class FOO { |
AjK | 0:db98027c0bbb | 635 | * public: |
AjK | 0:db98027c0bbb | 636 | * void myCallback(void); |
AjK | 0:db98027c0bbb | 637 | * }; |
AjK | 0:db98027c0bbb | 638 | * |
xanter | 7:049436bc2225 | 639 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 640 | * Foo foo; |
AjK | 0:db98027c0bbb | 641 | * |
AjK | 0:db98027c0bbb | 642 | * gps.attach_gga(foo, &FOO::myCallback); |
xanter | 7:049436bc2225 | 643 | * |
AjK | 0:db98027c0bbb | 644 | * @endcode |
AjK | 0:db98027c0bbb | 645 | * |
xanter | 7:049436bc2225 | 646 | * @ingroup API |
AjK | 0:db98027c0bbb | 647 | * @param tptr pointer to the object to call the member function on |
AjK | 0:db98027c0bbb | 648 | * @param mptr pointer to the member function to be called |
AjK | 0:db98027c0bbb | 649 | */ |
AjK | 0:db98027c0bbb | 650 | template<typename T> |
xanter | 7:049436bc2225 | 651 | void attach_gga(T* tptr, void (T::*mptr)(void)) { |
xanter | 7:049436bc2225 | 652 | cb_gga.attach(tptr, mptr); |
xanter | 7:049436bc2225 | 653 | } |
xanter | 7:049436bc2225 | 654 | |
AjK | 0:db98027c0bbb | 655 | //! Attach a user callback function to the NMEA GGA message processed signal. |
AjK | 0:db98027c0bbb | 656 | /** |
xanter | 7:049436bc2225 | 657 | * Attach a user callback function pointer to call when an NMEA GGA packet has been processed. |
AjK | 0:db98027c0bbb | 658 | * |
AjK | 0:db98027c0bbb | 659 | * @code |
AjK | 0:db98027c0bbb | 660 | * void myCallback(void) { ... } |
AjK | 0:db98027c0bbb | 661 | * |
xanter | 7:049436bc2225 | 662 | * GPS gps(NC, p9); |
AjK | 0:db98027c0bbb | 663 | * Foo foo; |
AjK | 0:db98027c0bbb | 664 | * |
AjK | 0:db98027c0bbb | 665 | * gps.attach_gga(&myCallback); |
xanter | 7:049436bc2225 | 666 | * |
AjK | 0:db98027c0bbb | 667 | * @endcode |
AjK | 0:db98027c0bbb | 668 | * |
xanter | 7:049436bc2225 | 669 | * @ingroup API |
AjK | 0:db98027c0bbb | 670 | * @param fptr Callback function pointer. |
AjK | 0:db98027c0bbb | 671 | */ |
xanter | 7:049436bc2225 | 672 | void attach_gga(const Callback<void()> & func) { |
xanter | 7:049436bc2225 | 673 | cb_gga = func; |
xanter | 7:049436bc2225 | 674 | } |
xanter | 7:049436bc2225 | 675 | |
AjK | 0:db98027c0bbb | 676 | //! A callback object for the NMEA GGA message processed signal user API. |
xanter | 7:049436bc2225 | 677 | Callback<void()> cb_gga; |
AjK | 0:db98027c0bbb | 678 | |
AjK | 2:8aa059e7d8b1 | 679 | |
AjK | 2:8aa059e7d8b1 | 680 | //! Attach a user callback function to the NMEA VTG message processed signal. |
AjK | 2:8aa059e7d8b1 | 681 | /** |
xanter | 7:049436bc2225 | 682 | * Attach a user callback object/method to call when an NMEA VTG packet has been processed. |
AjK | 2:8aa059e7d8b1 | 683 | * |
AjK | 2:8aa059e7d8b1 | 684 | * @code |
AjK | 2:8aa059e7d8b1 | 685 | * class FOO { |
AjK | 2:8aa059e7d8b1 | 686 | * public: |
AjK | 2:8aa059e7d8b1 | 687 | * void myCallback(void); |
AjK | 2:8aa059e7d8b1 | 688 | * }; |
AjK | 2:8aa059e7d8b1 | 689 | * |
xanter | 7:049436bc2225 | 690 | * GPS gps(NC, p9); |
AjK | 2:8aa059e7d8b1 | 691 | * Foo foo; |
AjK | 2:8aa059e7d8b1 | 692 | * |
AjK | 2:8aa059e7d8b1 | 693 | * gps.attach_vtg(foo, &FOO::myCallback); |
xanter | 7:049436bc2225 | 694 | * |
AjK | 2:8aa059e7d8b1 | 695 | * @endcode |
AjK | 2:8aa059e7d8b1 | 696 | * |
xanter | 7:049436bc2225 | 697 | * @ingroup API |
AjK | 2:8aa059e7d8b1 | 698 | * @param tptr pointer to the object to call the member function on |
AjK | 2:8aa059e7d8b1 | 699 | * @param mptr pointer to the member function to be called |
AjK | 2:8aa059e7d8b1 | 700 | */ |
AjK | 2:8aa059e7d8b1 | 701 | template<typename T> |
xanter | 7:049436bc2225 | 702 | void attach_vtg(T* tptr, void (T::*mptr)(void)) { |
xanter | 7:049436bc2225 | 703 | cb_vtg.attach(tptr, mptr); |
xanter | 7:049436bc2225 | 704 | } |
xanter | 7:049436bc2225 | 705 | |
AjK | 2:8aa059e7d8b1 | 706 | //! Attach a user callback function to the NMEA VTG message processed signal. |
AjK | 2:8aa059e7d8b1 | 707 | /** |
xanter | 7:049436bc2225 | 708 | * Attach a user callback function pointer to call when an NMEA VTG packet has been processed. |
AjK | 2:8aa059e7d8b1 | 709 | * |
AjK | 2:8aa059e7d8b1 | 710 | * @code |
AjK | 2:8aa059e7d8b1 | 711 | * void myCallback(void) { ... } |
AjK | 2:8aa059e7d8b1 | 712 | * |
xanter | 7:049436bc2225 | 713 | * GPS gps(NC, p9); |
AjK | 2:8aa059e7d8b1 | 714 | * Foo foo; |
AjK | 2:8aa059e7d8b1 | 715 | * |
AjK | 2:8aa059e7d8b1 | 716 | * gps.attach_vtg(&myCallback); |
xanter | 7:049436bc2225 | 717 | * |
AjK | 2:8aa059e7d8b1 | 718 | * @endcode |
AjK | 2:8aa059e7d8b1 | 719 | * |
xanter | 7:049436bc2225 | 720 | * @ingroup API |
AjK | 2:8aa059e7d8b1 | 721 | * @param fptr Callback function pointer. |
AjK | 2:8aa059e7d8b1 | 722 | */ |
xanter | 7:049436bc2225 | 723 | void attach_vtg(const Callback<void()> & func) { |
xanter | 7:049436bc2225 | 724 | cb_vtg = func; |
xanter | 7:049436bc2225 | 725 | } |
xanter | 7:049436bc2225 | 726 | |
AjK | 2:8aa059e7d8b1 | 727 | //! A callback object for the NMEA RMS message processed signal user API. |
xanter | 7:049436bc2225 | 728 | Callback<void()> cb_vtg; |
xanter | 7:049436bc2225 | 729 | |
AjK | 6:64771e31464e | 730 | //! Attach a user callback function to the unknown NMEA message. |
AjK | 6:64771e31464e | 731 | /** |
xanter | 7:049436bc2225 | 732 | * Attach a user callback object/method to call when an unknown NMEA packet. |
AjK | 6:64771e31464e | 733 | * |
AjK | 6:64771e31464e | 734 | * @code |
AjK | 6:64771e31464e | 735 | * class FOO { |
AjK | 6:64771e31464e | 736 | * public: |
AjK | 6:64771e31464e | 737 | * void myCallback(void); |
AjK | 6:64771e31464e | 738 | * }; |
AjK | 6:64771e31464e | 739 | * |
xanter | 7:049436bc2225 | 740 | * GPS gps(NC, p9); |
AjK | 6:64771e31464e | 741 | * Foo foo; |
AjK | 6:64771e31464e | 742 | * |
AjK | 6:64771e31464e | 743 | * gps.attach_ukn(foo, &FOO::myCallback); |
xanter | 7:049436bc2225 | 744 | * |
AjK | 6:64771e31464e | 745 | * @endcode |
AjK | 6:64771e31464e | 746 | * |
xanter | 7:049436bc2225 | 747 | * @ingroup API |
AjK | 6:64771e31464e | 748 | * @param tptr pointer to the object to call the member function on |
AjK | 6:64771e31464e | 749 | * @param mptr pointer to the member function to be called |
AjK | 6:64771e31464e | 750 | */ |
AjK | 6:64771e31464e | 751 | template<typename T> |
xanter | 7:049436bc2225 | 752 | void attach_ukn(T* tptr, void (T::*mptr)(void)) { |
xanter | 7:049436bc2225 | 753 | cb_ukn.attach(tptr, mptr); |
xanter | 7:049436bc2225 | 754 | } |
xanter | 7:049436bc2225 | 755 | |
AjK | 6:64771e31464e | 756 | //! Attach a user callback function to the unknown NMEA message. |
AjK | 6:64771e31464e | 757 | /** |
xanter | 7:049436bc2225 | 758 | * Attach a user callback function pointer to call when an unknown NMEA. |
AjK | 6:64771e31464e | 759 | * |
AjK | 6:64771e31464e | 760 | * @code |
AjK | 6:64771e31464e | 761 | * void myCallback(void) { ... } |
AjK | 6:64771e31464e | 762 | * |
xanter | 7:049436bc2225 | 763 | * GPS gps(NC, p9); |
AjK | 6:64771e31464e | 764 | * Foo foo; |
AjK | 6:64771e31464e | 765 | * |
AjK | 6:64771e31464e | 766 | * gps.attach_ukn(&myCallback); |
xanter | 7:049436bc2225 | 767 | * |
AjK | 6:64771e31464e | 768 | * @endcode |
AjK | 6:64771e31464e | 769 | * |
xanter | 7:049436bc2225 | 770 | * @ingroup API |
AjK | 6:64771e31464e | 771 | * @param fptr Callback function pointer. |
AjK | 6:64771e31464e | 772 | */ |
xanter | 7:049436bc2225 | 773 | void attach_ukn(const Callback<void()> & func) { |
xanter | 7:049436bc2225 | 774 | cb_ukn = func; |
xanter | 7:049436bc2225 | 775 | } |
xanter | 7:049436bc2225 | 776 | |
AjK | 6:64771e31464e | 777 | //! A callback object for the NMEA RMS message processed signal user API. |
xanter | 7:049436bc2225 | 778 | Callback<void()> cb_ukn; |
xanter | 7:049436bc2225 | 779 | |
AjK | 6:64771e31464e | 780 | /** |
AjK | 6:64771e31464e | 781 | * Set's the GGA string memory pointer. |
AjK | 6:64771e31464e | 782 | * @param s char pointer ti string. |
AjK | 6:64771e31464e | 783 | * @return char s passed in. |
AjK | 6:64771e31464e | 784 | */ |
xanter | 7:049436bc2225 | 785 | char * setGga(char *s) { |
xanter | 7:049436bc2225 | 786 | _gga = s; |
xanter | 7:049436bc2225 | 787 | return s; |
xanter | 7:049436bc2225 | 788 | } |
xanter | 7:049436bc2225 | 789 | |
AjK | 6:64771e31464e | 790 | /** |
AjK | 6:64771e31464e | 791 | * Set's the RMC string memory pointer. |
AjK | 6:64771e31464e | 792 | * @param s char pointer ti string. |
AjK | 6:64771e31464e | 793 | * @return char s passed in. |
AjK | 6:64771e31464e | 794 | */ |
xanter | 7:049436bc2225 | 795 | char * setRmc(char *s) { |
xanter | 7:049436bc2225 | 796 | _rmc = s; |
xanter | 7:049436bc2225 | 797 | return s; |
xanter | 7:049436bc2225 | 798 | }; |
xanter | 7:049436bc2225 | 799 | |
AjK | 6:64771e31464e | 800 | /** |
AjK | 6:64771e31464e | 801 | * Set's the VTG string memory pointer. |
AjK | 6:64771e31464e | 802 | * @param s char pointer ti string. |
AjK | 6:64771e31464e | 803 | * @return char s passed in. |
AjK | 6:64771e31464e | 804 | */ |
xanter | 7:049436bc2225 | 805 | char * setVtg(char *s) { |
xanter | 7:049436bc2225 | 806 | _vtg = s; |
xanter | 7:049436bc2225 | 807 | return s; |
xanter | 7:049436bc2225 | 808 | }; |
xanter | 7:049436bc2225 | 809 | |
AjK | 6:64771e31464e | 810 | /** |
AjK | 6:64771e31464e | 811 | * Set's the UKN string memory pointer. |
AjK | 6:64771e31464e | 812 | * @param s char pointer ti string. |
AjK | 6:64771e31464e | 813 | * @return char s passed in. |
AjK | 6:64771e31464e | 814 | */ |
xanter | 7:049436bc2225 | 815 | char * setUkn(char *s) { |
xanter | 7:049436bc2225 | 816 | _ukn = s; |
xanter | 7:049436bc2225 | 817 | return s; |
xanter | 7:049436bc2225 | 818 | }; |
xanter | 7:049436bc2225 | 819 | |
AjK | 0:db98027c0bbb | 820 | //! Set the baud rate the GPS module is using. |
xanter | 7:049436bc2225 | 821 | /** |
AjK | 0:db98027c0bbb | 822 | * Set the baud rate of the serial port |
xanter | 7:049436bc2225 | 823 | * |
AjK | 0:db98027c0bbb | 824 | * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.baud |
AjK | 0:db98027c0bbb | 825 | * |
xanter | 7:049436bc2225 | 826 | * @ingroup API |
AjK | 0:db98027c0bbb | 827 | * @param baudrate The baudrate to set. |
AjK | 0:db98027c0bbb | 828 | */ |
xanter | 7:049436bc2225 | 829 | void baud(int baudrate) { |
xanter | 7:049436bc2225 | 830 | RawSerial::baud(baudrate); |
xanter | 7:049436bc2225 | 831 | } |
xanter | 7:049436bc2225 | 832 | |
xanter | 7:049436bc2225 | 833 | //! Set the serial port format the GPS module is using. |
xanter | 7:049436bc2225 | 834 | /** |
xanter | 7:049436bc2225 | 835 | * Set the transmission format used by the Serial port |
xanter | 7:049436bc2225 | 836 | * |
xanter | 7:049436bc2225 | 837 | * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format |
xanter | 7:049436bc2225 | 838 | * |
xanter | 7:049436bc2225 | 839 | * @ingroup API |
xanter | 7:049436bc2225 | 840 | * @param bits - The number of bits in a word (5-8; default = 8) |
xanter | 7:049436bc2225 | 841 | * @param parity - The parity used (GPS::None, GPS::Odd, GPS::Even, GPS::Forced1, GPS::Forced0; default = GPS::None) |
xanter | 7:049436bc2225 | 842 | * @param stop_bits - The number of stop bits (1 or 2; default = 1) |
xanter | 7:049436bc2225 | 843 | */ |
xanter | 7:049436bc2225 | 844 | void format(int bits, Parity parity, int stop_bits) { |
xanter | 7:049436bc2225 | 845 | RawSerial::format(bits, parity, stop_bits); |
xanter | 7:049436bc2225 | 846 | } |
xanter | 7:049436bc2225 | 847 | |
xanter | 7:049436bc2225 | 848 | //! Send incoming GPS bytes to Uart0 |
xanter | 7:049436bc2225 | 849 | /** |
xanter | 7:049436bc2225 | 850 | * Send incoming GPS bytes to Uart0 |
xanter | 7:049436bc2225 | 851 | * |
xanter | 7:049436bc2225 | 852 | * This can be useful for printing out the bytes from the GPS onto |
xanter | 7:049436bc2225 | 853 | * a the common debug port Uart0. Note, Uart0 should have been setup |
xanter | 7:049436bc2225 | 854 | * and initialised before switching this on. Also, realistically, |
xanter | 7:049436bc2225 | 855 | * you should ensure Uart0 has a higher baud rate than that being |
xanter | 7:049436bc2225 | 856 | * used by the GPS. Sending of bytes to Uart0 is "raw" and should |
xanter | 7:049436bc2225 | 857 | * only be used to initially gather data and should NOT be used as |
xanter | 7:049436bc2225 | 858 | * part of the application design. If you need to forward on the |
xanter | 7:049436bc2225 | 859 | * data you should come up with a proper strategy. |
xanter | 7:049436bc2225 | 860 | * |
xanter | 7:049436bc2225 | 861 | * @ingroup API |
xanter | 7:049436bc2225 | 862 | * @param b - True to send to Uart0, false otherwise |
xanter | 7:049436bc2225 | 863 | */ |
xanter | 7:049436bc2225 | 864 | void NmeaOnUart0(bool b) { |
xanter | 7:049436bc2225 | 865 | _nmeaOnUart0 = b; |
xanter | 7:049436bc2225 | 866 | } |
xanter | 7:049436bc2225 | 867 | |
AjK | 0:db98027c0bbb | 868 | protected: |
AjK | 0:db98027c0bbb | 869 | |
AjK | 0:db98027c0bbb | 870 | //! Flag set true when a GPS PPS has been attached to a pin. |
xanter | 7:049436bc2225 | 871 | bool _ppsInUse; |
xanter | 7:049436bc2225 | 872 | |
AjK | 0:db98027c0bbb | 873 | //! An InterruptIn object to "trigger" on the PPS edge. |
xanter | 7:049436bc2225 | 874 | InterruptIn * _pps; |
xanter | 7:049436bc2225 | 875 | |
AjK | 0:db98027c0bbb | 876 | //! A Ticker object called every 10ms. |
xanter | 7:049436bc2225 | 877 | Ticker * _second100; |
xanter | 7:049436bc2225 | 878 | |
AjK | 0:db98027c0bbb | 879 | //! A GPS_Time object used to hold the last parsed time/date data. |
xanter | 7:049436bc2225 | 880 | GPS_Time theTime; |
xanter | 7:049436bc2225 | 881 | |
AjK | 0:db98027c0bbb | 882 | //! A GPS_Geodetic object used to hold the last parsed positional data. |
AjK | 2:8aa059e7d8b1 | 883 | GPS_Geodetic thePlace; |
xanter | 7:049436bc2225 | 884 | |
AjK | 2:8aa059e7d8b1 | 885 | //! A GPS_VTG object used to hold vector data. |
xanter | 7:049436bc2225 | 886 | GPS_VTG theVTG; |
xanter | 7:049436bc2225 | 887 | |
AjK | 3:28a1b60b0f37 | 888 | //! Used to record the previous byte received. |
AjK | 3:28a1b60b0f37 | 889 | char _lastByte; |
xanter | 7:049436bc2225 | 890 | |
xanter | 7:049436bc2225 | 891 | char * _gga; |
xanter | 7:049436bc2225 | 892 | char * _rmc; |
xanter | 7:049436bc2225 | 893 | char * _vtg; |
xanter | 7:049436bc2225 | 894 | char * _ukn; |
xanter | 7:049436bc2225 | 895 | |
AjK | 3:28a1b60b0f37 | 896 | //! Used for debugging. |
xanter | 7:049436bc2225 | 897 | bool _nmeaOnUart0; |
AjK | 0:db98027c0bbb | 898 | }; |
AjK | 0:db98027c0bbb | 899 | |
AjK | 0:db98027c0bbb | 900 | #endif |
AjK | 0:db98027c0bbb | 901 |