Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

GPS/TinyGPS.h@43:9a285515f33a, 2019-01-03 (annotated)

Committer:
shimniok
Date:
Thu Jan 03 19:07:20 2019 +0000
Revision:
43:9a285515f33a
Parent:
42:8d99f64f5898 
implemented tinygps serial, parsing, and callback

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 43:9a285515f33a 1 /*
shimniok 43:9a285515f33a 2 TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
shimniok 43:9a285515f33a 3 Copyright (C) 2008-9 Mikal Hart
shimniok 43:9a285515f33a 4 All rights reserved.
shimniok 43:9a285515f33a 5
shimniok 43:9a285515f33a 6 This library is free software; you can redistribute it and/or
shimniok 43:9a285515f33a 7 modify it under the terms of the GNU Lesser General Public
shimniok 43:9a285515f33a 8 License as published by the Free Software Foundation; either
shimniok 43:9a285515f33a 9 version 2.1 of the License, or (at your option) any later version.
shimniok 43:9a285515f33a 10
shimniok 43:9a285515f33a 11 This library is distributed in the hope that it will be useful,
shimniok 43:9a285515f33a 12 but WITHOUT ANY WARRANTY; without even the implied warranty of
shimniok 43:9a285515f33a 13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
shimniok 43:9a285515f33a 14 Lesser General Public License for more details.
shimniok 43:9a285515f33a 15
shimniok 43:9a285515f33a 16 You should have received a copy of the GNU Lesser General Public
shimniok 43:9a285515f33a 17 License along with this library; if not, write to the Free Software
shimniok 43:9a285515f33a 18 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
shimniok 43:9a285515f33a 19
shimniok 43:9a285515f33a 20 Ported to mbed by Michael Shimniok
shimniok 43:9a285515f33a 21 */
shimniok 43:9a285515f33a 22
shimniok 43:9a285515f33a 23 #include "mbed.h"
shimniok 43:9a285515f33a 24 #include "GPS.h"
shimniok 43:9a285515f33a 25
shimniok 43:9a285515f33a 26 #ifndef TinyGPS_h
shimniok 43:9a285515f33a 27 #define TinyGPS_h
shimniok 43:9a285515f33a 28
shimniok 43:9a285515f33a 29 #define _GPS_VERSION 9 // software version of this library
shimniok 43:9a285515f33a 30 #define _GPS_MPH_PER_KNOT 1.15077945
shimniok 43:9a285515f33a 31 #define _GPS_MPS_PER_KNOT 0.51444444
shimniok 43:9a285515f33a 32 #define _GPS_KMPH_PER_KNOT 1.852
shimniok 43:9a285515f33a 33 #define _GPS_MILES_PER_METER 0.00062137112
shimniok 43:9a285515f33a 34 #define _GPS_KM_PER_METER 0.001
shimniok 43:9a285515f33a 35 //#define _GPS_NO_STATS
shimniok 43:9a285515f33a 36
shimniok 43:9a285515f33a 37 /** TinyGPS - a small GPS library for Arduino providing basic NMEA parsing Copyright (C) 2008-9 Mikal Hart
shimniok 43:9a285515f33a 38 * All rights reserved. Modified by Michael Shimniok
shimniok 43:9a285515f33a 39 */
shimniok 43:9a285515f33a 40
shimniok 43:9a285515f33a 41 class TinyGPS: public GPS {
shimniok 43:9a285515f33a 42 public:
shimniok 43:9a285515f33a 43 typedef uint8_t byte;
shimniok 43:9a285515f33a 44
shimniok 43:9a285515f33a 45 /** Create a new GPS parsing object for parsing NMEA sentences
shimniok 43:9a285515f33a 46 */
shimniok 43:9a285515f33a 47 TinyGPS();
shimniok 43:9a285515f33a 48
shimniok 43:9a285515f33a 49 /** Parse a single character received from GPS
shimniok 43:9a285515f33a 50 *
shimniok 43:9a285515f33a 51 * @param c is the character received from the GPS
shimniok 43:9a285515f33a 52 * @returns 1 when all sentences received
shimniok 43:9a285515f33a 53 */
shimniok 43:9a285515f33a 54 virtual int parse(char c);
shimniok 43:9a285515f33a 55
shimniok 43:9a285515f33a 56 /** Return the date and time from the parsed NMEA sentences
shimniok 43:9a285515f33a 57 *
shimniok 43:9a285515f33a 58 * @returns date as an integer value
shimniok 43:9a285515f33a 59 * @returns time as an integer value
shimniok 43:9a285515f33a 60 * @returns fix_age in milliseconds if available
shimniok 43:9a285515f33a 61 */
shimniok 43:9a285515f33a 62 inline void get_datetime(unsigned long *date, unsigned long *time)
shimniok 43:9a285515f33a 63 {
shimniok 43:9a285515f33a 64 if (date) *date = _date;
shimniok 43:9a285515f33a 65 if (time) *time = _time;
shimniok 43:9a285515f33a 66 }
shimniok 43:9a285515f33a 67
shimniok 43:9a285515f33a 68 /** signed altitude in centimeters (from GPGGA sentence)
shimniok 43:9a285515f33a 69 * @returns altitude in centimeters, integer
shimniok 43:9a285515f33a 70 */
shimniok 43:9a285515f33a 71 inline long altitude() { return _altitude; }
shimniok 43:9a285515f33a 72
shimniok 43:9a285515f33a 73 /** course in last full GPRMC sentence in 100th of a degree
shimniok 43:9a285515f33a 74 * @returns course as an integer, 100ths of a degree
shimniok 43:9a285515f33a 75 */
shimniok 43:9a285515f33a 76 inline unsigned long course() { return _course; }
shimniok 43:9a285515f33a 77
shimniok 43:9a285515f33a 78 /** speed in last full GPRMC sentence in 100ths of a knot
shimniok 43:9a285515f33a 79 * @returns speed in 100ths of a knot
shimniok 43:9a285515f33a 80 */
shimniok 43:9a285515f33a 81 unsigned long speed() { return _speed; }
shimniok 43:9a285515f33a 82
shimniok 43:9a285515f33a 83 /* horizontal dilution of position in last full GPGGA sentence in 100ths
shimniok 43:9a285515f33a 84 * @returns hdop in 100ths
shimniok 43:9a285515f33a 85 */
shimniok 43:9a285515f33a 86 unsigned long hdop() { return _hdop; }
shimniok 43:9a285515f33a 87
shimniok 43:9a285515f33a 88 /** number of satellites tracked in last full GPGGA sentence
shimniok 43:9a285515f33a 89 * @returns number of satellites tracked
shimniok 43:9a285515f33a 90 */
shimniok 43:9a285515f33a 91 unsigned long sat_count() { return _sat_count; }
shimniok 43:9a285515f33a 92
shimniok 43:9a285515f33a 93 #ifndef _GPS_NO_STATS
shimniok 43:9a285515f33a 94 void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
shimniok 43:9a285515f33a 95 #endif
shimniok 43:9a285515f33a 96
shimniok 43:9a285515f33a 97 /** Convert date and time of last parsed sentence to integers
shimniok 43:9a285515f33a 98 *
shimniok 43:9a285515f33a 99 * @returns year
shimniok 43:9a285515f33a 100 * @returns month
shimniok 43:9a285515f33a 101 * @returns day of month
shimniok 43:9a285515f33a 102 * @returns hour
shimniok 43:9a285515f33a 103 * @returns minute
shimniok 43:9a285515f33a 104 * @returns second
shimniok 43:9a285515f33a 105 * @returns hundreths
shimniok 43:9a285515f33a 106 * @returns fix_age in milliseconds if available
shimniok 43:9a285515f33a 107 */
shimniok 43:9a285515f33a 108 inline void crack_datetime(int *year, byte *month, byte *day,
shimniok 43:9a285515f33a 109 byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0)
shimniok 43:9a285515f33a 110 {
shimniok 43:9a285515f33a 111 unsigned long date, time;
shimniok 43:9a285515f33a 112 get_datetime(&date, &time);
shimniok 43:9a285515f33a 113 if (year)
shimniok 43:9a285515f33a 114 {
shimniok 43:9a285515f33a 115 *year = date % 100;
shimniok 43:9a285515f33a 116 *year += *year > 80 ? 1900 : 2000;
shimniok 43:9a285515f33a 117 }
shimniok 43:9a285515f33a 118 if (month) *month = (date / 100) % 100;
shimniok 43:9a285515f33a 119 if (day) *day = date / 10000;
shimniok 43:9a285515f33a 120 if (hour) *hour = time / 1000000;
shimniok 43:9a285515f33a 121 if (minute) *minute = (time / 10000) % 100;
shimniok 43:9a285515f33a 122 if (second) *second = (time / 100) % 100;
shimniok 43:9a285515f33a 123 if (hundredths) *hundredths = time % 100;
shimniok 43:9a285515f33a 124 }
shimniok 43:9a285515f33a 125
shimniok 43:9a285515f33a 126 /** returns altitude as a float
shimniok 43:9a285515f33a 127 */
shimniok 43:9a285515f33a 128 inline double f_altitude() { return altitude() / 100.0; }
shimniok 43:9a285515f33a 129
shimniok 43:9a285515f33a 130 /** returns course as a float
shimniok 43:9a285515f33a 131 */
shimniok 43:9a285515f33a 132 inline double f_course() { return course() / 100.0; }
shimniok 43:9a285515f33a 133
shimniok 43:9a285515f33a 134 /** returns speed in knots as a float
shimniok 43:9a285515f33a 135 */
shimniok 43:9a285515f33a 136 inline double f_speed_knots() { return speed() / 100.0; }
shimniok 43:9a285515f33a 137
shimniok 43:9a285515f33a 138 /** returns speed in mph as a float
shimniok 43:9a285515f33a 139 */
shimniok 43:9a285515f33a 140 inline double f_speed_mph() { return _GPS_MPH_PER_KNOT * f_speed_knots(); }
shimniok 43:9a285515f33a 141
shimniok 43:9a285515f33a 142 /** returns speed in meters per second as a float
shimniok 43:9a285515f33a 143 */
shimniok 43:9a285515f33a 144 inline double f_speed_mps() { return _GPS_MPS_PER_KNOT * f_speed_knots(); }
shimniok 43:9a285515f33a 145
shimniok 43:9a285515f33a 146 /** returns speed in km per hour as a float
shimniok 43:9a285515f33a 147 */
shimniok 43:9a285515f33a 148 inline double f_speed_kmph() { return _GPS_KMPH_PER_KNOT * f_speed_knots(); }
shimniok 43:9a285515f33a 149
shimniok 43:9a285515f33a 150 /** returns hdop as a float
shimniok 43:9a285515f33a 151 */
shimniok 43:9a285515f33a 152 inline double f_hdop() { return hdop() / 100.0; }
shimniok 43:9a285515f33a 153
shimniok 43:9a285515f33a 154 /** @returns library version
shimniok 43:9a285515f33a 155 */
shimniok 43:9a285515f33a 156 static int library_version() { return _GPS_VERSION; }
shimniok 43:9a285515f33a 157
shimniok 43:9a285515f33a 158 /** determine if all sentences parsed
shimniok 43:9a285515f33a 159 *
shimniok 43:9a285515f33a 160 */
shimniok 43:9a285515f33a 161 inline bool ready() { return (_rmc_ready && _gga_ready); }
shimniok 43:9a285515f33a 162
shimniok 43:9a285515f33a 163 /** determine if GSV sentence parsed since last reset_ready()
shimniok 43:9a285515f33a 164 */
shimniok 43:9a285515f33a 165 inline bool gsv_ready() { return _gsv_ready; }
shimniok 43:9a285515f33a 166
shimniok 43:9a285515f33a 167 inline bool gga_ready() { return _gga_ready; }
shimniok 43:9a285515f33a 168
shimniok 43:9a285515f33a 169 inline bool rmc_ready() { return _rmc_ready; }
shimniok 43:9a285515f33a 170
shimniok 43:9a285515f33a 171 /** Reset the ready flags for all the parsed sentences
shimniok 43:9a285515f33a 172 */
shimniok 43:9a285515f33a 173 inline void reset_ready() { _gsv_ready = _rmc_ready = _gga_ready = false; }
shimniok 43:9a285515f33a 174
shimniok 43:9a285515f33a 175 enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,
shimniok 43:9a285515f33a 176 GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF};
shimniok 43:9a285515f33a 177
shimniok 43:9a285515f33a 178 private:
shimniok 43:9a285515f33a 179 enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_GPGSV, _GPS_SENTENCE_OTHER};
shimniok 43:9a285515f33a 180
shimniok 43:9a285515f33a 181 // properties
shimniok 43:9a285515f33a 182 unsigned long _time, _new_time;
shimniok 43:9a285515f33a 183 unsigned long _date, _new_date;
shimniok 43:9a285515f33a 184 long _latitude, _new_latitude;
shimniok 43:9a285515f33a 185 long _longitude, _new_longitude;
shimniok 43:9a285515f33a 186 long _altitude, _new_altitude;
shimniok 43:9a285515f33a 187 unsigned long _speed, _new_speed;
shimniok 43:9a285515f33a 188 unsigned long _course, _new_course;
shimniok 43:9a285515f33a 189 unsigned long _hdop, _new_hdop;
shimniok 43:9a285515f33a 190 unsigned int _sat_count, _new_sat_count;
shimniok 43:9a285515f33a 191 unsigned long _last_time_fix, _new_time_fix;
shimniok 43:9a285515f33a 192 unsigned long _last_position_fix, _new_position_fix;
shimniok 43:9a285515f33a 193
shimniok 43:9a285515f33a 194 // parsing state variables
shimniok 43:9a285515f33a 195 byte _parity;
shimniok 43:9a285515f33a 196 bool _is_checksum_term;
shimniok 43:9a285515f33a 197 char _term[15];
shimniok 43:9a285515f33a 198 byte _sentence_type;
shimniok 43:9a285515f33a 199 byte _term_number;
shimniok 43:9a285515f33a 200 uint8_t _term_offset;
shimniok 43:9a285515f33a 201 bool _gps_data_good;
shimniok 43:9a285515f33a 202 bool _rmc_ready;
shimniok 43:9a285515f33a 203 bool _gga_ready;
shimniok 43:9a285515f33a 204 bool _gsv_ready;
shimniok 43:9a285515f33a 205
shimniok 43:9a285515f33a 206 #ifndef _GPS_NO_STATS
shimniok 43:9a285515f33a 207 // statistics
shimniok 43:9a285515f33a 208 unsigned long _encoded_characters;
shimniok 43:9a285515f33a 209 unsigned short _good_sentences;
shimniok 43:9a285515f33a 210 unsigned short _failed_checksum;
shimniok 43:9a285515f33a 211 unsigned short _passed_checksum;
shimniok 43:9a285515f33a 212 #endif
shimniok 43:9a285515f33a 213
shimniok 43:9a285515f33a 214 // internal utilities
shimniok 43:9a285515f33a 215 int from_hex(char a);
shimniok 43:9a285515f33a 216 int parse_int();
shimniok 43:9a285515f33a 217 long parse_decimal();
shimniok 43:9a285515f33a 218 unsigned long parse_degrees();
shimniok 43:9a285515f33a 219 bool term_complete();
shimniok 43:9a285515f33a 220 bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
shimniok 43:9a285515f33a 221 long gpsatol(const char *str);
shimniok 43:9a285515f33a 222 int gpsstrcmp(const char *str1, const char *str2);
shimniok 43:9a285515f33a 223 };
shimniok 43:9a285515f33a 224
shimniok 43:9a285515f33a 225 // Arduino 0012 workaround
shimniok 43:9a285515f33a 226 #undef int
shimniok 43:9a285515f33a 227 #undef char
shimniok 43:9a285515f33a 228 #undef long
shimniok 43:9a285515f33a 229 #undef byte
shimniok 43:9a285515f33a 230 #undef double
shimniok 43:9a285515f33a 231 #undef abs
shimniok 43:9a285515f33a 232 #undef round
shimniok 43:9a285515f33a 233
shimniok 43:9a285515f33a 234 #endif