Revision 0:2f5afc4289aa, committed 2019-04-18

Comitter:

fskorup

Date:

Thu Apr 18 07:41:02 2019 +0000

Commit message:

Testing u-blox modules

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RamaGNSS.cpp	Thu Apr 18 07:41:02 2019 +0000
@@ -0,0 +1,207 @@
+/*
+Copyright (c) 2019 Flow design labs, Project RAMA R01
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "mbed.h"
+#include "RamaGNSS.h"
+#include "Other/DebuggerColors.h"
+
+RamaGNSS::RamaGNSS(Serial &gnss/*, Serial &debugger*/) : _gnss(gnss)/*, _debugger(debugger)*/
+{
+    _gnss.baud(9600);
+    //_debugger.baud(9600);
+}
+
+bool RamaGNSS::parseNMEA(char *nmeaSentence)
+{
+    if (NULL != strstr(nmeaSentence, "$GNGGA")) {
+        char *p = nmeaSentence;
+
+        // parse time
+        p = strchr(p, ',')+1;
+        float timef = atof(p);
+        uint32_t time = timef;
+        hour = time / 10000;
+        minute = (time % 10000) / 100;
+        seconds = (time % 100);
+        milliseconds = fmod((double) timef, 1.0) * 1000;
+
+        // parse latitude
+        p = strchr(p, ',')+1;
+        latitude = atof(p);
+        p = strchr(p, ',')+1;
+        if (p[0] == 'N') headingLatitude = 'N';
+        else if (p[0] == 'S') headingLatitude = 'S';
+        else if (p[0] == ',') headingLatitude = 0;
+        else return false;
+
+        // parse longitude
+        p = strchr(p, ',')+1;
+        longitude = atof(p);
+        p = strchr(p, ',')+1;
+        if (p[0] == 'W') headingLongitude = 'W';
+        else if (p[0] == 'E') headingLongitude = 'E';
+        else if (p[0] == ',') headingLongitude = 0;
+        else return false;
+
+        // parse fixquality
+        p = strchr(p, ',')+1;
+        fixquality = atoi(p);
+
+        // parse satellites
+        p = strchr(p, ',')+1;
+        satelliteCount = atoi(p);
+
+        // parse HDOP
+        p = strchr(p, ',')+1;
+        HDOP = atof(p);
+
+        // parse altitude
+        p = strchr(p, ',')+1;
+        altitude = atof(p);
+
+        // parse geoidheight
+        p = strchr(p, ',')+1;
+        p = strchr(p, ',')+1;
+        geoidHeight = atof(p);
+        return true;
+    }
+
+    if (NULL != strstr(nmeaSentence, "$GNRMC")) {
+        char *p = nmeaSentence;
+
+        // parse time
+        p = strchr(p, ',')+1;
+        float timef = atof(p);
+        uint32_t time = timef;
+        hour = time / 10000;
+        minute = (time % 10000) / 100;
+        seconds = (time % 100);
+        milliseconds = fmod((double) timef, 1.0) * 1000;
+
+        p = strchr(p, ',')+1;
+        satelliteFixValue = p[0];
+        if (p[0] == 'A')
+            isFixed = true;
+        else if (p[0] == 'V')
+            isFixed = false;
+        else
+            return false;
+
+        // parse latitude
+        p = strchr(p, ',')+1;
+        latitude = atof(p);
+
+        // parse heading 01
+        p = strchr(p, ',')+1;
+        if (p[0] == 'N') headingLatitude = 'N';
+        else if (p[0] == 'S') headingLatitude = 'S';
+        else if (p[0] == ',') headingLatitude = 0;
+        else return false;
+
+        // parse longitude
+        p = strchr(p, ',')+1;
+        longitude = atof(p);
+
+        // parse heading 02
+        p = strchr(p, ',')+1;
+        if (p[0] == 'W') headingLongitude = 'W';
+        else if (p[0] == 'E') headingLongitude = 'E';
+        else if (p[0] == ',') headingLongitude = 0;
+        else return false;
+
+        // parse speed
+        p = strchr(p, ',')+1;
+        speed = atof(p);
+
+        // parse angle
+        p = strchr(p, ',')+1;
+        angle = atof(p);
+
+        // parse time
+        p = strchr(p, ',')+1;
+        uint32_t fulldate = atof(p);
+        day = fulldate / 10000;
+        month = (fulldate % 10000) / 100;
+        year = (fulldate % 100);
+
+        // we dont parse the remaining, yet!
+        return true;
+    }
+
+    return false;
+}
+
+bool RamaGNSS::newNMEAReceived()
+{
+    return receivedFlag;
+}
+
+char *RamaGNSS::lastNMEA()
+{
+    receivedFlag = false;
+    return (char *)lastLine;
+}
+
+float RamaGNSS::googleReadable(float coordinate)
+{
+    float input = coordinate;
+    int firstTwo = ((int)input)/100.0f;
+    float nextTwo = input - (float)(firstTwo*100.0f);
+    float finalConversion = (float)(firstTwo + nextTwo/60.0f);
+
+    return finalConversion;
+}
+
+char RamaGNSS::readNMEA()
+{
+    char receivedChar = 0;
+
+    if(!_gnss.readable()) return receivedChar;
+    receivedChar = _gnss.getc();
+
+    if (receivedChar == '$') {
+        currentLine[lineIndex] = 0;
+        lineIndex = 0;
+    }
+
+    if (receivedChar == '\n') {
+        currentLine[lineIndex] = 0;
+
+        if (currentLine == line01) {
+            currentLine = line02;
+            lastLine = line01;
+        } else {
+            currentLine = line01;
+            lastLine = line02;
+        }
+
+        lineIndex = 0;
+        receivedFlag = true;
+    }
+
+    currentLine[lineIndex++] = receivedChar;
+
+    if (lineIndex >= MAX_LINE_SIZE)
+        lineIndex = MAX_LINE_SIZE - 1;
+
+    return receivedChar;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RamaGNSS.h	Thu Apr 18 07:41:02 2019 +0000
@@ -0,0 +1,86 @@
+/*
+Copyright (c) 2019 Flow design labs, Project RAMA R01
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "mbed.h"
+#include "Other/DebuggerColors.h"
+
+#ifndef MBED_RamaGNSS_H
+#define MBED_RamaGNSS_H
+
+#define MAX_LINE_SIZE 120
+
+class RamaGNSS
+{
+public:
+    RamaGNSS(Serial &gnss/*, Serial &debugger*/);
+
+    float googleReadable(float coordinate);
+    bool parseNMEA(char *nmeaSentence);
+    bool newNMEAReceived();
+    char readNMEA();
+    char *lastNMEA();
+
+    // time variables
+    uint8_t hour;
+    uint8_t minute;
+    uint8_t seconds;
+    uint8_t year;
+    uint8_t month;
+    uint8_t day;
+    uint16_t milliseconds;
+    
+    // location variables
+    float latitude;
+    float longitude;
+    float geoidHeight;
+    float altitude;
+    float speed;
+    float angle;
+    float HDOP;
+    
+    char headingLatitude;
+    char headingLongitude;
+    char satelliteFixValue;
+    
+    // satellite definitions
+    bool isFixed;    
+    
+    uint8_t fixquality;
+    uint8_t satelliteCount;
+
+private:
+    volatile char line01[MAX_LINE_SIZE];
+    volatile char line02[MAX_LINE_SIZE];
+    volatile char *currentLine;
+    volatile char *lastLine;
+
+    volatile uint16_t lineIndex;
+
+    volatile bool receivedFlag;
+    volatile bool inStandbyMode;
+    bool paused;
+
+    Serial &_gnss;
+    //Serial &_debugger;
+};
+
+#endif
\ No newline at end of file