Tyler Weaver
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
Revision 2:0c9ade531a5b, committed 2012-02-22
- Comitter:
- tylerjw
- Date:
- Wed Feb 22 04:37:13 2012 +0000
- Parent:
- 1:2ace7946a246
- Child:
- 3:9cba44dd2f2b
- Commit message:
- VTG parsing - no access
Changed in this revision
--- a/GPS/GPS.cpp Wed Feb 22 04:15:52 2012 +0000
+++ b/GPS/GPS.cpp Wed Feb 22 04:37:13 2012 +0000
@@ -1,127 +1,143 @@
-#include "GPS.h"
-
-GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
- _gps.baud(4800);
- nmea_longitude = 0.0;
- nmea_latitude = 0.0;
- utc_time = 0;
- ns = ' ';
- ew = ' ';
- lock = 0;
- satelites = 0;
- hdop = 0.0;
- msl_altitude = 0.0;
- msl_units = ' ';
-
- rmc_status = ' ';
- ground_speed_k = 0.0;
- ground_course_d = 0.0;
- date = 0;
-
- dec_longitude = 0.0;
- dec_latitude = 0.0;
-}
-
-float GPS::nmea_to_dec(float deg_coord, char nsew) {
- int degree = (int)(deg_coord/100);
- float minutes = deg_coord - degree*100;
- float dec_deg = minutes / 60;
- float decimal = degree + dec_deg;
- if (nsew == 'S' || nsew == 'W') { // return negative
- decimal *= -1;
- }
- return decimal;
-}
-
-int GPS::sample() {
- int line_parsed = 0;
-
- if (_gps.readable()) {
- getline();
-
- // Check if it is a GPGGA msg (matches both locked and non-locked msg)
- if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
- line_parsed = 1;
- }
- // Check if it is a GPRMC msg
- else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%c,%f,%f,%d", &utc_time, &rmc_status, &nmea_latitude, &ns, &nmea_longitude, &ew, &ground_speed_k, &ground_course_d, &date) >= 1) {
- line_parsed = 1;
- }
- if (!lock) {
- return NO_LOCK;
- } else if (line_parsed) {
- return PARSED;
- } else {
- return NOT_PARSED;
- }
- } else {
- return NO_MSG;
- }
-}
-
-float GPS::trunc(float v) {
- if (v < 0.0) {
- v*= -1.0;
- v = floor(v);
- v*=-1.0;
- } else {
- v = floor(v);
- }
- return v;
-}
-
-void GPS::getline() {
- while (_gps.getc() != '$'); // wait for the start of a line
- for (int i=0; i<256; i++) {
- msg[i] = _gps.getc();
- if (msg[i] == '\r') {
- msg[i] = 0;
- return;
- }
- }
- error("Overflowed message limit");
-}
-
-float GPS::get_msl_altitude() {
- if (!lock)
- return 0.0;
- else
- return msl_altitude;
-}
-
-int GPS::get_satelites() {
- if (!lock)
- return 0;
- else
- return satelites;
-}
-
-float GPS::get_nmea_longitude() {
- if (!lock)
- return 0.0;
- else
- return nmea_longitude;
-}
-
-float GPS::get_dec_longitude() {
- dec_longitude = nmea_to_dec(nmea_longitude, ew);
- if (!lock)
- return 0.0;
- else
- return dec_longitude;
-}
-
-float GPS::get_nmea_latitude() {
- if (!lock)
- return 0.0;
- else
- return nmea_latitude;
-}
-
-float GPS::get_dec_latitude() {
- dec_latitude = nmea_to_dec(nmea_latitude, ns);
- if (!lock)
- return 0.0;
- else
- return nmea_latitude;
-}
+#include "GPS.h"
+
+GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
+ _gps.baud(4800);
+ nmea_longitude = 0.0;
+ nmea_latitude = 0.0;
+ utc_time = 0;
+ ns = ' ';
+ ew = ' ';
+ lock = 0;
+ satelites = 0;
+ hdop = 0.0;
+ msl_altitude = 0.0;
+ msl_units = ' ';
+
+ rmc_status = ' ';
+ speed_k = 0.0;
+ course_d = 0.0;
+ date = 0;
+
+ dec_longitude = 0.0;
+ dec_latitude = 0.0;
+
+ gll_status = ' ';
+
+ course_t = 0.0; // ground speed true
+ course_t_unit = ' ';
+ course_m = 0.0; // magnetic
+ course_m_unit = ' ';
+ speed_k_unit = ' ';
+ speed_km = 0.0; // speek km/hr
+ speed_km_unit = ' ';
+}
+
+float GPS::nmea_to_dec(float deg_coord, char nsew) {
+ int degree = (int)(deg_coord/100);
+ float minutes = deg_coord - degree*100;
+ float dec_deg = minutes / 60;
+ float decimal = degree + dec_deg;
+ if (nsew == 'S' || nsew == 'W') { // return negative
+ decimal *= -1;
+ }
+ return decimal;
+}
+
+int GPS::sample() {
+ int line_parsed = 0;
+
+ while (_gps.readable()) {
+ getline();
+
+ // Check if it is a GPGGA msg (matches both locked and non-locked msg)
+ if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
+ line_parsed = 1;
+ }
+ // Check if it is a GPRMC msg
+ else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%c,%f,%f,%d", &utc_time, &rmc_status, &nmea_latitude, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
+ line_parsed = 1;
+ }
+ // GLL - Geographic Position-Lat/Lon
+ else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
+ line_parsed = 1;
+ }
+ // VTG-Course Over Ground and Ground Speed
+ else if (sscanf(msg, "GPVTG,%f,%c,%f,%c,%f,%c,%f,%c", &course_t, &course_t_unit, &course_m, &course_m_unit, &speed_k, &speed_k_unit, &speed_km, &speed_km_unit) >= 1) {
+ line_parsed = 1;
+ }
+ }
+ if (!lock) {
+ return NO_LOCK;
+ } else if (line_parsed) {
+ return PARSED;
+ } else {
+ return NOT_PARSED;
+ }
+}
+
+float GPS::trunc(float v) {
+ if (v < 0.0) {
+ v*= -1.0;
+ v = floor(v);
+ v*=-1.0;
+ } else {
+ v = floor(v);
+ }
+ return v;
+}
+
+void GPS::getline() {
+ while (_gps.getc() != '$'); // wait for the start of a line
+ for (int i=0; i<256; i++) {
+ msg[i] = _gps.getc();
+ if (msg[i] == '\r') {
+ msg[i] = 0;
+ return;
+ }
+ }
+ error("Overflowed message limit");
+}
+
+float GPS::get_msl_altitude() {
+ if (!lock)
+ return 0.0;
+ else
+ return msl_altitude;
+}
+
+int GPS::get_satelites() {
+ if (!lock)
+ return 0;
+ else
+ return satelites;
+}
+
+float GPS::get_nmea_longitude() {
+ if (!lock)
+ return 0.0;
+ else
+ return nmea_longitude;
+}
+
+float GPS::get_dec_longitude() {
+ dec_longitude = nmea_to_dec(nmea_longitude, ew);
+ if (!lock)
+ return 0.0;
+ else
+ return dec_longitude;
+}
+
+float GPS::get_nmea_latitude() {
+ if (!lock)
+ return 0.0;
+ else
+ return nmea_latitude;
+}
+
+float GPS::get_dec_latitude() {
+ dec_latitude = nmea_to_dec(nmea_latitude, ns);
+ if (!lock)
+ return 0.0;
+ else
+ return nmea_latitude;
+}
--- a/GPS/GPS.h Wed Feb 22 04:15:52 2012 +0000
+++ b/GPS/GPS.h Wed Feb 22 04:37:13 2012 +0000
@@ -25,7 +25,6 @@
#ifndef MBED_GPS_H
#define MBED_GPS_H
-#define NO_MSG 0
#define NO_LOCK 1
#define NOT_PARSED 2
#define PARSED 3
@@ -76,9 +75,21 @@
// RMC - Recommended Minimmum Specific GNS Data
char rmc_status;
- float ground_speed_k;
- float ground_course_d;
+ float speed_k;
+ float course_d;
int date;
+
+ // GLL
+ char gll_status;
+
+ // VTG - Course over ground, ground speed
+ float course_t; // ground speed true
+ char course_t_unit;
+ float course_m; // magnetic
+ char course_m_unit;
+ char speed_k_unit;
+ float speed_km; // speek km/hr
+ char speed_km_unit;
};
#endif
--- a/main.cpp Wed Feb 22 04:15:52 2012 +0000
+++ b/main.cpp Wed Feb 22 04:37:13 2012 +0000
@@ -8,16 +8,12 @@
int gps_message;
while (1) {
gps_message = gps.sample();
- if (gps_message != NO_MSG) { // 0 is no message
- if (gps_message == PARSED) {
- pc.printf("I'm at %f, %f\n", gps.get_dec_longitude(), gps.get_dec_latitude());
- pc.printf("%d satelites used\n", gps.get_satelites());
- pc.printf("altitude = %f M\n\n", gps.get_msl_altitude());
- } else if (gps_message == NO_LOCK) {
- pc.printf("Oh Dear! No lock :(\n");
- } else if (gps_message == NOT_PARSED) {
- pc.printf("\n\n -- Message not Parsed --\n\n");
- }
+ if (gps_message == PARSED) {
+ pc.printf("I'm at %f, %f\n", gps.get_dec_longitude(), gps.get_dec_latitude());
+ pc.printf("%d satelites used\n", gps.get_satelites());
+ pc.printf("altitude = %f M\n\n", gps.get_msl_altitude());
+ } else if (gps_message == NO_LOCK) {
+ pc.printf("Oh Dear! No lock :(\n");
}
}
}
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