Tyler Weaver / HARP3

Generation 3 of the Harp project

Dependencies:   Servo TMP36 GZ buffered-serial1 chan_fatfs_sd nmea_parser watchdog mbed-rtos mbed

Fork of HARP2 by Tyler Weaver

GPS/GPS.h@2:0c9ade531a5b, 2012-02-22 (annotated)

Committer:
tylerjw
Date:
Wed Feb 22 04:37:13 2012 +0000
Revision:
2:0c9ade531a5b
Parent:
1:2ace7946a246
Child:
3:9cba44dd2f2b
VTG parsing - no access

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 0:ce5f06c3895f 1 /* mbed EM-406 GPS Module Library
tylerjw 0:ce5f06c3895f 2 * Copyright (c) 2008-2010, sford
tylerjw 0:ce5f06c3895f 3 *
tylerjw 0:ce5f06c3895f 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
tylerjw 0:ce5f06c3895f 5 * of this software and associated documentation files (the "Software"), to deal
tylerjw 0:ce5f06c3895f 6 * in the Software without restriction, including without limitation the rights
tylerjw 0:ce5f06c3895f 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
tylerjw 0:ce5f06c3895f 8 * copies of the Software, and to permit persons to whom the Software is
tylerjw 0:ce5f06c3895f 9 * furnished to do so, subject to the following conditions:
tylerjw 0:ce5f06c3895f 10 *
tylerjw 0:ce5f06c3895f 11 * The above copyright notice and this permission notice shall be included in
tylerjw 0:ce5f06c3895f 12 * all copies or substantial portions of the Software.
tylerjw 0:ce5f06c3895f 13 *
tylerjw 0:ce5f06c3895f 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
tylerjw 0:ce5f06c3895f 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
tylerjw 0:ce5f06c3895f 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
tylerjw 0:ce5f06c3895f 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
tylerjw 0:ce5f06c3895f 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
tylerjw 0:ce5f06c3895f 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
tylerjw 0:ce5f06c3895f 20 * THE SOFTWARE.
tylerjw 0:ce5f06c3895f 21 */
tylerjw 0:ce5f06c3895f 22
tylerjw 0:ce5f06c3895f 23 #include "mbed.h"
tylerjw 0:ce5f06c3895f 24
tylerjw 0:ce5f06c3895f 25 #ifndef MBED_GPS_H
tylerjw 0:ce5f06c3895f 26 #define MBED_GPS_H
tylerjw 0:ce5f06c3895f 27
tylerjw 1:2ace7946a246 28 #define NO_LOCK 1
tylerjw 1:2ace7946a246 29 #define NOT_PARSED 2
tylerjw 1:2ace7946a246 30 #define PARSED 3
tylerjw 1:2ace7946a246 31
tylerjw 0:ce5f06c3895f 32 /** A GPS interface for reading from a Globalsat EM-406 GPS Module */
tylerjw 0:ce5f06c3895f 33 class GPS {
tylerjw 0:ce5f06c3895f 34 public:
tylerjw 0:ce5f06c3895f 35
tylerjw 0:ce5f06c3895f 36 /** Create the GPS interface, connected to the specified serial port
tylerjw 0:ce5f06c3895f 37 */
tylerjw 0:ce5f06c3895f 38 GPS(PinName tx, PinName rx);
tylerjw 0:ce5f06c3895f 39
tylerjw 0:ce5f06c3895f 40 /** Sample the incoming GPS data, returning whether there is a lock
tylerjw 0:ce5f06c3895f 41 *
tylerjw 0:ce5f06c3895f 42 * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
tylerjw 0:ce5f06c3895f 43 */
tylerjw 0:ce5f06c3895f 44 int sample();
tylerjw 0:ce5f06c3895f 45 float get_nmea_longitude();
tylerjw 0:ce5f06c3895f 46 float get_nmea_latitude();
tylerjw 0:ce5f06c3895f 47 float get_dec_longitude();
tylerjw 0:ce5f06c3895f 48 float get_dec_latitude();
tylerjw 0:ce5f06c3895f 49 float get_msl_altitude();
tylerjw 0:ce5f06c3895f 50 int get_satelites();
tylerjw 0:ce5f06c3895f 51
tylerjw 0:ce5f06c3895f 52
tylerjw 0:ce5f06c3895f 53 private:
tylerjw 0:ce5f06c3895f 54 float nmea_to_dec(float, char);
tylerjw 0:ce5f06c3895f 55 float trunc(float v);
tylerjw 0:ce5f06c3895f 56 void getline();
tylerjw 0:ce5f06c3895f 57
tylerjw 0:ce5f06c3895f 58 Serial _gps;
tylerjw 0:ce5f06c3895f 59 char msg[256];
tylerjw 0:ce5f06c3895f 60
tylerjw 0:ce5f06c3895f 61 // calculated values
tylerjw 0:ce5f06c3895f 62 float dec_longitude;
tylerjw 0:ce5f06c3895f 63 float dec_latitude;
tylerjw 0:ce5f06c3895f 64
tylerjw 0:ce5f06c3895f 65 // GGA - Global Positioning System Fixed Data
tylerjw 0:ce5f06c3895f 66 float nmea_longitude;
tylerjw 0:ce5f06c3895f 67 float nmea_latitude;
tylerjw 0:ce5f06c3895f 68 float utc_time;
tylerjw 0:ce5f06c3895f 69 char ns, ew;
tylerjw 0:ce5f06c3895f 70 int lock;
tylerjw 0:ce5f06c3895f 71 int satelites;
tylerjw 0:ce5f06c3895f 72 float hdop;
tylerjw 0:ce5f06c3895f 73 float msl_altitude;
tylerjw 0:ce5f06c3895f 74 char msl_units;
tylerjw 0:ce5f06c3895f 75
tylerjw 0:ce5f06c3895f 76 // RMC - Recommended Minimmum Specific GNS Data
tylerjw 0:ce5f06c3895f 77 char rmc_status;
tylerjw 2:0c9ade531a5b 78 float speed_k;
tylerjw 2:0c9ade531a5b 79 float course_d;
tylerjw 0:ce5f06c3895f 80 int date;
tylerjw 2:0c9ade531a5b 81
tylerjw 2:0c9ade531a5b 82 // GLL
tylerjw 2:0c9ade531a5b 83 char gll_status;
tylerjw 2:0c9ade531a5b 84
tylerjw 2:0c9ade531a5b 85 // VTG - Course over ground, ground speed
tylerjw 2:0c9ade531a5b 86 float course_t; // ground speed true
tylerjw 2:0c9ade531a5b 87 char course_t_unit;
tylerjw 2:0c9ade531a5b 88 float course_m; // magnetic
tylerjw 2:0c9ade531a5b 89 char course_m_unit;
tylerjw 2:0c9ade531a5b 90 char speed_k_unit;
tylerjw 2:0c9ade531a5b 91 float speed_km; // speek km/hr
tylerjw 2:0c9ade531a5b 92 char speed_km_unit;
tylerjw 0:ce5f06c3895f 93 };
tylerjw 0:ce5f06c3895f 94
tylerjw 0:ce5f06c3895f 95 #endif