Revision 6:204487243310, committed 2012-02-24

Comitter:

tylerjw

Date:

Fri Feb 24 21:28:33 2012 +0000

Parent:

5:8444ec4245e7

Child:

7:d8ecabe16c9e

Commit message:

altitude if ft, updated and fixed bugs

Changed in this revision

--- a/GPS/GPS.cpp	Thu Feb 23 05:40:54 2012 +0000
+++ b/GPS/GPS.cpp	Fri Feb 24 21:28:33 2012 +0000
@@ -30,6 +30,8 @@
     speed_k_unit = ' ';
     speed_km = 0.0; // speek km/hr
     speed_km_unit = ' ';
+
+    altitude_ft = 0.0;
 #ifdef OPEN_LOG
     is_logging = false;
 #endif
@@ -63,29 +65,30 @@
 int GPS::sample() {
     int line_parsed = 0;
 
-    while (_gps.readable()) {
+    if (_gps.readable()) {
         getline();
-
+    
 #ifdef OPEN_LOG
         if (is_logging && lock) {
-            _openLog.write(msg);
+            format_for_log();
+            _openLog.write(bfr);
         }
 #endif
 
         // Check if it is a GPGGA msg (matches both locked and non-locked msg)
-        if (sscanf(msg, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
+        if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
             line_parsed = GGA;
         }
         // Check if it is a GPRMC msg
-        else if (sscanf(msg, "$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) {
+        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 = RMC;
         }
         // GLL - Geographic Position-Lat/Lon
-        else if (sscanf(msg, "$GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
+        else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
             line_parsed = GLL;
         }
         // VTG-Course Over Ground and Ground Speed
-        else if (sscanf(msg, "$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) {
+        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 = VTG;
         }
     }
@@ -110,15 +113,29 @@
 }
 
 void GPS::getline() {
-    for(int i=0; i<1022; i++) {
+    while (_gps.getc() != '$');   // wait for the start of a line
+    for (int i=0; i<1022; i++) {
         msg[i] = _gps.getc();
-        if(msg[i] == '\r') {
-            msg[i+1] = '\n';
-            msg[i+2] = 0;
+        if (msg[i] == '\r') {
+            msg[i] = 0;
             return;
         }
     }
-    error("Overflowed message limit");
+    error("Overflow in getline");
+}
+
+void GPS::format_for_log() {
+    bfr[0] = '$';
+    for (int i = 0; i < 1022; i++) {
+        bfr[i+1] = msg[i];
+        if (msg[i] == 0) {
+            bfr[i+1] = '\r';
+            bfr[i+2] = '\n';
+            bfr[i+3] = 0;
+            return;
+        }
+    }
+    error("Overflow in format");
 }
 
 float GPS::get_msl_altitude() {
@@ -191,4 +208,11 @@
         return 0.0;
     else
         return speed_km;
+}
+
+float GPS::get_altitude_ft() {
+    if (!lock)
+        return 0.0;
+    else
+        return 3.280839895*msl_altitude;
 }
\ No newline at end of file

--- a/GPS/GPS.h	Thu Feb 23 05:40:54 2012 +0000
+++ b/GPS/GPS.h	Fri Feb 24 21:28:33 2012 +0000
@@ -34,6 +34,10 @@
     float get_speed_k();
     float get_speed_km();
     int get_satelites();
+    float get_altitude_ft();
+    
+    //float calc_course_to(float, float);
+    //float calc_dist_to(float, float);
     
 #ifdef OPEN_LOG
     void start_log(void);
@@ -45,9 +49,11 @@
     float nmea_to_dec(float, char);
     float trunc(float v);
     void getline();
+    void format_for_log(void);
     
     Serial _gps;
     char msg[1024];
+    char bfr[1030];
     bool is_logging;
 #ifdef OPEN_LOG
     Logger _openLog;
@@ -55,6 +61,7 @@
     // calculated values
     float dec_longitude;
     float dec_latitude;
+    float altitude_ft;
     
     // GGA - Global Positioning System Fixed Data
     float nmea_longitude;

--- a/main.cpp	Thu Feb 23 05:40:54 2012 +0000
+++ b/main.cpp	Fri Feb 24 21:28:33 2012 +0000
@@ -6,6 +6,7 @@
 GPS gps(p9, p10);
 
 int main() {
+    pc.baud(9600);
     int gps_message;
     gps.start_log();
     while (1) {
@@ -14,6 +15,7 @@
             pc.printf("Responding to GGA message.\n");
             pc.printf("I'm at %f, %f\n", gps.get_dec_latitude(), gps.get_dec_longitude());
             pc.printf("%d satelites used\n", gps.get_satelites());
+            pc.printf("altitude = %f ft\n", gps.get_altitude_ft());
             pc.printf("altitude = %f M\n\n", gps.get_msl_altitude());
         } else if (gps_message == VTG) {
             pc.printf("Responding to VTG message.\n");
@@ -29,6 +31,8 @@
             pc.printf("I'm at %f, %f\n", gps.get_dec_latitude(), gps.get_dec_longitude());
             pc.printf("True heading = %f deg\n", gps.get_course_t());
             pc.printf("Speed = %f knots\n\n", gps.get_speed_k());
+        } else if (gps_message == NOT_PARSED) {
+            pc.printf("Message not parsed!\n");
         } else if (gps_message == NO_LOCK) {
             pc.printf("Oh Dear! No lock :(\n");
         }