Tyler Weaver / nmea_parser

nmea gps library - without any serial

Dependents:   HARP2 HARP3 20180621_FT813

Fork of GPS_parser by Tyler Weaver

NMEA GPS Serial Output parser.

Routine taken from NMEA Software Standard (NMEA 0183) http://www.winsystems.com/software/nmea.pdf

Only handles GGA and RMC Messages

nmea_parser.h@10:a6e1707fdec0, 2012-12-17 (annotated)

Committer:
tylerjw
Date:
Mon Dec 17 23:42:13 2012 +0000
Revision:
10:a6e1707fdec0
Parent:
9:9b2351e25a84 
publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 9:9b2351e25a84 1 /*
tylerjw 9:9b2351e25a84 2 * @file nmea_parser.h
tylerjw 9:9b2351e25a84 3 * @author Tyler Weaver
tylerjw 9:9b2351e25a84 4 *
tylerjw 9:9b2351e25a84 5 * @section LICENSE
tylerjw 9:9b2351e25a84 6 *
tylerjw 9:9b2351e25a84 7 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
tylerjw 9:9b2351e25a84 8 * and associated documentation files (the "Software"), to deal in the Software without restriction,
tylerjw 9:9b2351e25a84 9 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
tylerjw 9:9b2351e25a84 10 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
tylerjw 9:9b2351e25a84 11 * furnished to do so, subject to the following conditions:
tylerjw 9:9b2351e25a84 12 *
tylerjw 9:9b2351e25a84 13 * The above copyright notice and this permission notice shall be included in all copies or
tylerjw 9:9b2351e25a84 14 * substantial portions of the Software.
tylerjw 9:9b2351e25a84 15 *
tylerjw 9:9b2351e25a84 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
tylerjw 9:9b2351e25a84 17 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
tylerjw 9:9b2351e25a84 18 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
tylerjw 9:9b2351e25a84 19 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
tylerjw 9:9b2351e25a84 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
tylerjw 9:9b2351e25a84 21 *
tylerjw 9:9b2351e25a84 22 * @section DESCRIPTION
tylerjw 9:9b2351e25a84 23 *
tylerjw 9:9b2351e25a84 24 * NMEA GPS Serial Output parser.
tylerjw 9:9b2351e25a84 25 * Routine taken from NMEA Software Standard (NMEA 0183)
tylerjw 9:9b2351e25a84 26 * http://www.winsystems.com/software/nmea.pdf
tylerjw 9:9b2351e25a84 27 *
tylerjw 9:9b2351e25a84 28 * Only handles GGA and RMC Messages
tylerjw 9:9b2351e25a84 29 */
tylerjw 9:9b2351e25a84 30
tylerjw 5:94daced1e61a 31 #include "mbed.h"
tylerjw 5:94daced1e61a 32
tylerjw 9:9b2351e25a84 33 #ifndef MBED_NMEA_PARSER_H
tylerjw 9:9b2351e25a84 34 #define MBED_NMEA_PARSER_H
tylerjw 5:94daced1e61a 35
tylerjw 5:94daced1e61a 36 #define NO_LOCK 1
tylerjw 5:94daced1e61a 37 #define NOT_PARSED 2
tylerjw 5:94daced1e61a 38 #define GGA 3
tylerjw 5:94daced1e61a 39 #define GLL 4
tylerjw 5:94daced1e61a 40 #define RMC 5
tylerjw 5:94daced1e61a 41 #define VTG 6
tylerjw 5:94daced1e61a 42
tylerjw 5:94daced1e61a 43 #define PI (3.141592653589793)
tylerjw 5:94daced1e61a 44
tylerjw 9:9b2351e25a84 45 /** A NmeaParser interface for parsing NMEA gps serial output */
tylerjw 9:9b2351e25a84 46 class NmeaParser
tylerjw 7:01a8379370e4 47 {
tylerjw 5:94daced1e61a 48 public:
tylerjw 5:94daced1e61a 49
tylerjw 9:9b2351e25a84 50 /**
tylerjw 9:9b2351e25a84 51 * Default Constructor
tylerjw 9:9b2351e25a84 52 * Initalizes variables
tylerjw 9:9b2351e25a84 53 */
tylerjw 9:9b2351e25a84 54 NmeaParser();
tylerjw 7:01a8379370e4 55
tylerjw 7:01a8379370e4 56 /** Parse the incoming GPS data, returning whether there is a lock
tylerjw 7:01a8379370e4 57 *
tylerjw 9:9b2351e25a84 58 * Routine from NMEA Software Standard (NMEA 0183)
tylerjw 9:9b2351e25a84 59 *
tylerjw 7:01a8379370e4 60 * @param line the nmea string to parse, uses tokenizer vs sscanf
tylerjw 5:94daced1e61a 61 * @return 1 if there was a lock when the sample was taken (and therefore .longitude and .latitude are valid), else 0
tylerjw 5:94daced1e61a 62 */
tylerjw 7:01a8379370e4 63 int parse(char *);
tylerjw 9:9b2351e25a84 64
tylerjw 9:9b2351e25a84 65 /**
tylerjw 9:9b2351e25a84 66 * @returns quality of signal (0 = No GPS, 1 = GPS, 2 = DGPS)
tylerjw 9:9b2351e25a84 67 */
tylerjw 9:9b2351e25a84 68 int quality();
tylerjw 9:9b2351e25a84 69 /**
tylerjw 9:9b2351e25a84 70 * From RMC message
tylerjw 9:9b2351e25a84 71 * @returns date in ddmmyy format
tylerjw 9:9b2351e25a84 72 */
tylerjw 9:9b2351e25a84 73 int date();
tylerjw 9:9b2351e25a84 74 /**
tylerjw 9:9b2351e25a84 75 * @returns time in utc format hhmmss.ss format
tylerjw 9:9b2351e25a84 76 */
tylerjw 9:9b2351e25a84 77 float utc_time();
tylerjw 9:9b2351e25a84 78 /**
tylerjw 9:9b2351e25a84 79 * @returns Longitude in NMEA format dddmm.mm
tylerjw 9:9b2351e25a84 80 */
tylerjw 9:9b2351e25a84 81 float longitude();
tylerjw 9:9b2351e25a84 82 /**
tylerjw 9:9b2351e25a84 83 * @returns Latitude in NMEA format dddmm.mm
tylerjw 9:9b2351e25a84 84 */
tylerjw 9:9b2351e25a84 85 float latitude();
tylerjw 9:9b2351e25a84 86 /**
tylerjw 9:9b2351e25a84 87 * @returns Altitude Mean Sea Level (MSL) in Meters
tylerjw 9:9b2351e25a84 88 */
tylerjw 9:9b2351e25a84 89 float msl_altitude();
tylerjw 9:9b2351e25a84 90 /**
tylerjw 9:9b2351e25a84 91 * @returns track (heading) made good in degrees true.
tylerjw 9:9b2351e25a84 92 */
tylerjw 9:9b2351e25a84 93 float track();
tylerjw 9:9b2351e25a84 94 /**
tylerjw 9:9b2351e25a84 95 * @returns speed over ground in knots
tylerjw 9:9b2351e25a84 96 */
tylerjw 9:9b2351e25a84 97 float speed();
tylerjw 9:9b2351e25a84 98 /**
tylerjw 9:9b2351e25a84 99 * @returns number of satellites in use
tylerjw 9:9b2351e25a84 100 */
tylerjw 9:9b2351e25a84 101 int satellite_count();
tylerjw 7:01a8379370e4 102
tylerjw 9:9b2351e25a84 103 /**
tylerjw 9:9b2351e25a84 104 * @returns longitude in decimal form (calculated)
tylerjw 9:9b2351e25a84 105 */
tylerjw 9:9b2351e25a84 106 float calc_dec_longitude();
tylerjw 9:9b2351e25a84 107 /**
tylerjw 9:9b2351e25a84 108 * @returns longitude in decimal form (calculated)
tylerjw 9:9b2351e25a84 109 */
tylerjw 9:9b2351e25a84 110 float calc_dec_latitude();
tylerjw 9:9b2351e25a84 111 /**
tylerjw 9:9b2351e25a84 112 * @returns altitude MSL in feet (calculated)
tylerjw 9:9b2351e25a84 113 */
tylerjw 9:9b2351e25a84 114 float calc_altitude_ft();
tylerjw 9:9b2351e25a84 115 /**
tylerjw 9:9b2351e25a84 116 * Initial bearing is the angle to fly at for the shortest flight between two points on a sphere.
tylerjw 9:9b2351e25a84 117 * Calculations from: http://www.movable-type.co.uk/scripts/latlong.html
tylerjw 9:9b2351e25a84 118 *
tylerjw 9:9b2351e25a84 119 * Uses current position and calculates to the inputed point.
tylerjw 9:9b2351e25a84 120 *
tylerjw 9:9b2351e25a84 121 * @param latitude of target point
tylerjw 9:9b2351e25a84 122 * @param longitude of target point
tylerjw 9:9b2351e25a84 123 * @returns initial bearing for flying to given point
tylerjw 9:9b2351e25a84 124 */
tylerjw 9:9b2351e25a84 125 float calc_initial_bearing(float, float);
tylerjw 9:9b2351e25a84 126 /**
tylerjw 9:9b2351e25a84 127 * Uses the shortest distance across a sphere (haversine formula) to calculate distance
tylerjw 9:9b2351e25a84 128 *
tylerjw 9:9b2351e25a84 129 * Uses current position and calculates to the inputed point.
tylerjw 9:9b2351e25a84 130 *
tylerjw 9:9b2351e25a84 131 * @param latitude of target point
tylerjw 9:9b2351e25a84 132 * @param longitude of target point
tylerjw 9:9b2351e25a84 133 * @returns distance in miles to given point
tylerjw 9:9b2351e25a84 134 */
tylerjw 5:94daced1e61a 135 double calc_dist_to_mi(float, float);
tylerjw 9:9b2351e25a84 136 /**
tylerjw 9:9b2351e25a84 137 * Uses the calc_dist_to_mi then converts to kilometers.
tylerjw 9:9b2351e25a84 138 *
tylerjw 9:9b2351e25a84 139 * @param latitude of target point
tylerjw 9:9b2351e25a84 140 * @param longitude of target point
tylerjw 9:9b2351e25a84 141 * @returns distance in kilometers to given point
tylerjw 9:9b2351e25a84 142 */
tylerjw 5:94daced1e61a 143 double calc_dist_to_km(float, float);
tylerjw 5:94daced1e61a 144 private:
tylerjw 5:94daced1e61a 145 float nmea_to_dec(float, char);
tylerjw 7:01a8379370e4 146 char *my_token(char *,char);
tylerjw 7:01a8379370e4 147
tylerjw 9:9b2351e25a84 148 char stat_string_[128]; // used in my_token
tylerjw 9:9b2351e25a84 149 char *current_;
tylerjw 5:94daced1e61a 150
tylerjw 9:9b2351e25a84 151 char *field_[50]; // used by parse nmea
tylerjw 7:01a8379370e4 152
tylerjw 5:94daced1e61a 153 // calculated values
tylerjw 9:9b2351e25a84 154 volatile float dec_longitude_;
tylerjw 9:9b2351e25a84 155 volatile float dec_latitude_;
tylerjw 7:01a8379370e4 156
tylerjw 5:94daced1e61a 157 // GGA - Global Positioning System Fixed Data
tylerjw 9:9b2351e25a84 158 volatile float utc_time_;
tylerjw 9:9b2351e25a84 159 volatile float latitude_;
tylerjw 9:9b2351e25a84 160 volatile char lat_reference_;
tylerjw 9:9b2351e25a84 161 volatile float longitude_;
tylerjw 9:9b2351e25a84 162 volatile char long_reference_;
tylerjw 9:9b2351e25a84 163 volatile int quality_;
tylerjw 9:9b2351e25a84 164 volatile int satellite_count_;
tylerjw 9:9b2351e25a84 165 volatile float hdop_;
tylerjw 9:9b2351e25a84 166 volatile float msl_altitude_;
tylerjw 9:9b2351e25a84 167 volatile char msl_altitude_unit_;
tylerjw 7:01a8379370e4 168
tylerjw 5:94daced1e61a 169 // RMC - Recommended Minimmum Specific GNS Data
tylerjw 9:9b2351e25a84 170 volatile char rmc_status_;
tylerjw 9:9b2351e25a84 171 volatile float speed_;
tylerjw 9:9b2351e25a84 172 volatile float track_;
tylerjw 9:9b2351e25a84 173 volatile int date_;
tylerjw 5:94daced1e61a 174 };
tylerjw 5:94daced1e61a 175
tylerjw 5:94daced1e61a 176 #endif