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.cpp@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 |
---|---|---|---|
AjK | 0:db98027c0bbb | 1 | /* |
AjK | 0:db98027c0bbb | 2 | Copyright (c) 2010 Andy Kirkham |
AjK | 0:db98027c0bbb | 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: |
AjK | 0:db98027c0bbb | 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. |
AjK | 0:db98027c0bbb | 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 | #include "GPS.h" |
AjK | 0:db98027c0bbb | 24 | |
xanter | 7:049436bc2225 | 25 | GPS::GPS(PinName tx, PinName rx, const char *name) |
xanter | 7:049436bc2225 | 26 | : RawSerial(tx, rx) |
xanter | 7:049436bc2225 | 27 | , _ppsInUse(false) |
xanter | 7:049436bc2225 | 28 | , _pps(NULL) |
xanter | 7:049436bc2225 | 29 | , _second100(new Ticker) |
xanter | 7:049436bc2225 | 30 | , _lastByte(0) |
xanter | 7:049436bc2225 | 31 | , _gga(NULL) |
xanter | 7:049436bc2225 | 32 | , _rmc(NULL) |
xanter | 7:049436bc2225 | 33 | , _vtg(NULL) |
xanter | 7:049436bc2225 | 34 | , _ukn(NULL) |
xanter | 7:049436bc2225 | 35 | , _nmeaOnUart0(false) |
AjK | 0:db98027c0bbb | 36 | { |
xanter | 7:049436bc2225 | 37 | attach(callback(this, &GPS::rx_irq)); |
xanter | 7:049436bc2225 | 38 | _second100->attach_us(callback(this, &GPS::ticktock), GPS_TICKTOCK); |
AjK | 0:db98027c0bbb | 39 | } |
AjK | 0:db98027c0bbb | 40 | |
xanter | 7:049436bc2225 | 41 | void GPS::ppsAttach(PinName irq, ppsEdgeType type) { |
xanter | 7:049436bc2225 | 42 | if (_pps != NULL) |
xanter | 7:049436bc2225 | 43 | delete _pps; |
AjK | 0:db98027c0bbb | 44 | _pps = new InterruptIn(irq); |
xanter | 7:049436bc2225 | 45 | if (type == ppsRise) |
xanter | 7:049436bc2225 | 46 | _pps->rise(callback(this, &GPS::pps_irq)); |
xanter | 7:049436bc2225 | 47 | else |
xanter | 7:049436bc2225 | 48 | _pps->fall(callback(this, &GPS::pps_irq)); |
AjK | 0:db98027c0bbb | 49 | _ppsInUse = true; |
AjK | 0:db98027c0bbb | 50 | } |
AjK | 0:db98027c0bbb | 51 | |
xanter | 7:049436bc2225 | 52 | void GPS::ppsUnattach() { |
xanter | 7:049436bc2225 | 53 | if (_pps != NULL) |
xanter | 7:049436bc2225 | 54 | delete _pps; |
AjK | 0:db98027c0bbb | 55 | _ppsInUse = false; |
AjK | 0:db98027c0bbb | 56 | } |
AjK | 0:db98027c0bbb | 57 | |
xanter | 7:049436bc2225 | 58 | double GPS::latitude() { |
AjK | 0:db98027c0bbb | 59 | double a, b; |
xanter | 7:049436bc2225 | 60 | do { |
xanter | 7:049436bc2225 | 61 | a = thePlace.lat; b = thePlace.lat; |
xanter | 7:049436bc2225 | 62 | } while (a != b); |
AjK | 0:db98027c0bbb | 63 | return a; |
AjK | 0:db98027c0bbb | 64 | } |
AjK | 0:db98027c0bbb | 65 | |
xanter | 7:049436bc2225 | 66 | double GPS::longitude() { |
AjK | 0:db98027c0bbb | 67 | double a, b; |
xanter | 7:049436bc2225 | 68 | do { |
xanter | 7:049436bc2225 | 69 | a = thePlace.lon; b = thePlace.lon; |
xanter | 7:049436bc2225 | 70 | } while (a != b); |
AjK | 0:db98027c0bbb | 71 | return a; |
AjK | 0:db98027c0bbb | 72 | } |
AjK | 0:db98027c0bbb | 73 | |
xanter | 7:049436bc2225 | 74 | double GPS::altitude() { |
AjK | 0:db98027c0bbb | 75 | double a, b; |
xanter | 7:049436bc2225 | 76 | do { |
xanter | 7:049436bc2225 | 77 | a = thePlace.alt; b = thePlace.alt; |
xanter | 7:049436bc2225 | 78 | } while (a != b); |
AjK | 0:db98027c0bbb | 79 | return a; |
AjK | 0:db98027c0bbb | 80 | } |
AjK | 0:db98027c0bbb | 81 | |
xanter | 7:049436bc2225 | 82 | GPS_Geodetic * GPS::geodetic(GPS_Geodetic *q) { |
AjK | 3:28a1b60b0f37 | 83 | GPS_Geodetic a; |
AjK | 0:db98027c0bbb | 84 | |
xanter | 7:049436bc2225 | 85 | if (q == NULL) |
xanter | 7:049436bc2225 | 86 | q = new GPS_Geodetic; |
AjK | 0:db98027c0bbb | 87 | |
AjK | 0:db98027c0bbb | 88 | do { |
AjK | 0:db98027c0bbb | 89 | memcpy(&a, &thePlace, sizeof(GPS_Geodetic)); |
AjK | 3:28a1b60b0f37 | 90 | memcpy(q, &thePlace, sizeof(GPS_Geodetic)); |
AjK | 0:db98027c0bbb | 91 | } |
AjK | 3:28a1b60b0f37 | 92 | while (memcmp(&a, q, sizeof(GPS_Geodetic)) != 0); |
AjK | 0:db98027c0bbb | 93 | |
AjK | 0:db98027c0bbb | 94 | return q; |
AjK | 0:db98027c0bbb | 95 | } |
AjK | 0:db98027c0bbb | 96 | |
xanter | 7:049436bc2225 | 97 | GPS_VTG * GPS::vtg(GPS_VTG *q) { |
AjK | 3:28a1b60b0f37 | 98 | GPS_VTG a; |
AjK | 2:8aa059e7d8b1 | 99 | |
xanter | 7:049436bc2225 | 100 | if (q == NULL) |
xanter | 7:049436bc2225 | 101 | q = new GPS_VTG; |
AjK | 2:8aa059e7d8b1 | 102 | |
AjK | 2:8aa059e7d8b1 | 103 | do { |
AjK | 2:8aa059e7d8b1 | 104 | memcpy(&a, &theVTG, sizeof(GPS_VTG)); |
AjK | 3:28a1b60b0f37 | 105 | memcpy(q, &theVTG, sizeof(GPS_VTG)); |
AjK | 2:8aa059e7d8b1 | 106 | } |
AjK | 3:28a1b60b0f37 | 107 | while (memcmp(&a, q, sizeof(GPS_VTG)) != 0); |
AjK | 2:8aa059e7d8b1 | 108 | |
AjK | 2:8aa059e7d8b1 | 109 | return q; |
AjK | 2:8aa059e7d8b1 | 110 | } |
AjK | 2:8aa059e7d8b1 | 111 | |
xanter | 7:049436bc2225 | 112 | void GPS::ticktock() { |
AjK | 0:db98027c0bbb | 113 | // Increment the time structure by 1/100th of a second. |
AjK | 0:db98027c0bbb | 114 | ++theTime; |
AjK | 0:db98027c0bbb | 115 | |
AjK | 0:db98027c0bbb | 116 | // Test the serial queue. |
AjK | 0:db98027c0bbb | 117 | if (process_required) { |
AjK | 0:db98027c0bbb | 118 | char *s = buffer[active_buffer == 0 ? 1 : 0]; |
AjK | 0:db98027c0bbb | 119 | if (!strncmp(s, "$GPRMC", 6)) { |
AjK | 6:64771e31464e | 120 | if (_rmc) { |
xanter | 7:049436bc2225 | 121 | int i; |
xanter | 7:049436bc2225 | 122 | for(i = 0; s[i] != '\n'; i++) |
AjK | 6:64771e31464e | 123 | _rmc[i] = s[i]; |
AjK | 6:64771e31464e | 124 | _rmc[i++] = '\n'; _rmc[i] = '\0'; |
AjK | 6:64771e31464e | 125 | } |
AjK | 0:db98027c0bbb | 126 | theTime.nmea_rmc(s); |
xanter | 7:049436bc2225 | 127 | if (cb_rmc) |
xanter | 7:049436bc2225 | 128 | cb_rmc.call(); |
xanter | 7:049436bc2225 | 129 | if (!_ppsInUse) |
xanter | 7:049436bc2225 | 130 | theTime.fractionalReset(); |
AjK | 0:db98027c0bbb | 131 | } |
AjK | 0:db98027c0bbb | 132 | else if (!strncmp(s, "$GPGGA", 6)) { |
AjK | 6:64771e31464e | 133 | if (_gga) { |
xanter | 7:049436bc2225 | 134 | int i; |
xanter | 7:049436bc2225 | 135 | for(i = 0; s[i] != '\n'; i++) |
AjK | 6:64771e31464e | 136 | _gga[i] = s[i]; |
AjK | 6:64771e31464e | 137 | _gga[i++] = '\n'; _gga[i] = '\0'; |
AjK | 6:64771e31464e | 138 | } |
xanter | 7:049436bc2225 | 139 | thePlace.nmea_gga(s); |
xanter | 7:049436bc2225 | 140 | if (cb_gga) |
xanter | 7:049436bc2225 | 141 | cb_gga.call(); |
AjK | 0:db98027c0bbb | 142 | } |
AjK | 2:8aa059e7d8b1 | 143 | else if (!strncmp(s, "$GPVTG", 6)) { |
AjK | 6:64771e31464e | 144 | if (_vtg) { |
xanter | 7:049436bc2225 | 145 | int i; |
xanter | 7:049436bc2225 | 146 | for(i = 0; s[i] != '\n'; i++) |
AjK | 6:64771e31464e | 147 | _vtg[i] = s[i]; |
AjK | 6:64771e31464e | 148 | _vtg[i++] = '\n'; _vtg[i] = '\0'; |
AjK | 6:64771e31464e | 149 | } |
xanter | 7:049436bc2225 | 150 | theVTG.nmea_vtg(s); |
xanter | 7:049436bc2225 | 151 | if (cb_vtg) |
xanter | 7:049436bc2225 | 152 | cb_vtg.call(); |
AjK | 2:8aa059e7d8b1 | 153 | } |
AjK | 6:64771e31464e | 154 | else { |
AjK | 6:64771e31464e | 155 | if (_ukn) { |
xanter | 7:049436bc2225 | 156 | int i; |
xanter | 7:049436bc2225 | 157 | for(i = 0; s[i] != '\n'; i++) |
AjK | 6:64771e31464e | 158 | _ukn[i] = s[i]; |
AjK | 6:64771e31464e | 159 | _ukn[i++] = '\n'; _ukn[i] = '\0'; |
xanter | 7:049436bc2225 | 160 | if (cb_ukn) |
xanter | 7:049436bc2225 | 161 | cb_ukn.call(); |
AjK | 6:64771e31464e | 162 | } |
AjK | 6:64771e31464e | 163 | } |
AjK | 0:db98027c0bbb | 164 | process_required = false; |
AjK | 0:db98027c0bbb | 165 | } |
AjK | 5:7f130f85d5a4 | 166 | |
AjK | 5:7f130f85d5a4 | 167 | // If we have a valid GPS time then, once per minute, set the RTC. |
AjK | 5:7f130f85d5a4 | 168 | if (theTime.status == 'A' && theTime.second == 0 && theTime.tenths == 0 && theTime.hundreths == 0) { |
AjK | 5:7f130f85d5a4 | 169 | // set_time() is defined in rtc_time.h |
AjK | 5:7f130f85d5a4 | 170 | // http://mbed.org/projects/libraries/svn/mbed/trunk/rtc_time.h |
AjK | 5:7f130f85d5a4 | 171 | set_time(theTime.to_C_tm()); |
AjK | 5:7f130f85d5a4 | 172 | } |
AjK | 5:7f130f85d5a4 | 173 | |
AjK | 0:db98027c0bbb | 174 | } |
AjK | 0:db98027c0bbb | 175 | |
xanter | 7:049436bc2225 | 176 | void GPS::pps_irq() { |
AjK | 0:db98027c0bbb | 177 | theTime.fractionalReset(); |
AjK | 0:db98027c0bbb | 178 | theTime++; // Increment the time/date by one second. |
xanter | 7:049436bc2225 | 179 | if (cb_pps) |
xanter | 7:049436bc2225 | 180 | cb_pps.call(); |
AjK | 0:db98027c0bbb | 181 | } |
AjK | 2:8aa059e7d8b1 | 182 | |
xanter | 7:049436bc2225 | 183 | void GPS::rx_irq() { |
AjK | 0:db98027c0bbb | 184 | char c; |
xanter | 7:049436bc2225 | 185 | while(readable()) { |
xanter | 7:049436bc2225 | 186 | c = static_cast<char>(getc()); |
xanter | 7:049436bc2225 | 187 | |
xanter | 7:049436bc2225 | 188 | // strtok workaround. |
xanter | 7:049436bc2225 | 189 | // Found that ,, together (which some NMEA sentences |
xanter | 7:049436bc2225 | 190 | // contain for a null/empty field) confuses strtok() |
xanter | 7:049436bc2225 | 191 | // function. Solution:- Push a "zero" into the string |
xanter | 7:049436bc2225 | 192 | // for missing/empty fields. |
xanter | 7:049436bc2225 | 193 | if (c == ',' && _lastByte == ',') { |
xanter | 7:049436bc2225 | 194 | buffer[active_buffer][rx_buffer_in] = '0'; |
AjK | 3:28a1b60b0f37 | 195 | if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0; |
AjK | 0:db98027c0bbb | 196 | } |
xanter | 7:049436bc2225 | 197 | |
xanter | 7:049436bc2225 | 198 | // Debugging/dumping data. |
xanter | 7:049436bc2225 | 199 | // if (_nmeaOnUart0) LPC_UART0->RBR = c; |
xanter | 7:049436bc2225 | 200 | |
xanter | 7:049436bc2225 | 201 | // Put the byte into the string. |
xanter | 7:049436bc2225 | 202 | buffer[active_buffer][rx_buffer_in] = c; |
xanter | 7:049436bc2225 | 203 | if (++rx_buffer_in >= GPS_BUFFER_LEN) rx_buffer_in = 0; |
xanter | 7:049436bc2225 | 204 | |
xanter | 7:049436bc2225 | 205 | // Save for next time an irq occurs. See strtok() above. |
xanter | 7:049436bc2225 | 206 | _lastByte = c; |
xanter | 7:049436bc2225 | 207 | |
xanter | 7:049436bc2225 | 208 | // If end of NMEA sentence flag for processing. |
xanter | 7:049436bc2225 | 209 | if (c == '\n') { |
xanter | 7:049436bc2225 | 210 | active_buffer = active_buffer == 0 ? 1 : 0; |
xanter | 7:049436bc2225 | 211 | process_required = true; |
xanter | 7:049436bc2225 | 212 | rx_buffer_in = 0; |
xanter | 7:049436bc2225 | 213 | } |
AjK | 0:db98027c0bbb | 214 | } |
AjK | 0:db98027c0bbb | 215 | } |