Revision 2:8aa059e7d8b1, committed 2011-04-15

Comitter:

AjK

Date:

Fri Apr 15 12:23:52 2011 +0000

Parent:

1:6aec92e77ad2

Child:

3:28a1b60b0f37

Commit message:

1.12 See ChangeLog.c

Changed in this revision

--- a/ChangeLog.c	Sat Nov 20 21:02:06 2010 +0000
+++ b/ChangeLog.c	Fri Apr 15 12:23:52 2011 +0000
@@ -59,5 +59,10 @@
 1.11 - 17/11/2010
 
     * Mbed's systems don't like @mainpage, rolling back
-                           
+
+1.12 - 15/04/2011
+
+    * Added VTG sentence (vectors speed and direction)
+      See example3.cpp
+                                 
 */

--- a/GPS.cpp	Sat Nov 20 21:02:06 2010 +0000
+++ b/GPS.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -97,6 +97,22 @@
     return q;
 }
 
+GPS_VTG *
+GPS::vtg(GPS_VTG *q)
+{
+    GPS_VTG a, b;
+    
+    if (q == NULL) q = new GPS_VTG;
+    
+    do {
+        memcpy(&a, &theVTG, sizeof(GPS_VTG));
+        memcpy(&b, &theVTG, sizeof(GPS_VTG));
+    }
+    while (memcmp(&a, &b, sizeof(GPS_VTG)) != 0);
+    
+    return q;
+}
+
 void
 GPS::ticktock(void)
 {
@@ -115,6 +131,10 @@
             thePlace.nmea_gga(s);            
             cb_gga.call();
         }
+        else if (!strncmp(s, "$GPVTG", 6)) {
+            theVTG.nmea_vtg(s);            
+            cb_vtg.call();
+        }
         process_required = false;
     }
 }
@@ -126,7 +146,7 @@
     theTime++; // Increment the time/date by one second. 
     cb_pps.call();
 }
-    
+
 void 
 GPS::rx_irq(void)
 {
@@ -137,6 +157,7 @@
         iir = (uint32_t)*((char *)_base + GPS_IIR); 
         while((int)(*((char *)_base + GPS_LSR) & 0x1)) {
             c = (char)(*((char *)_base + GPS_RBR) & 0xFF); 
+            // debugging LPC_UART0->RBR = c;
             buffer[active_buffer][rx_buffer_in++] = c;
             rx_buffer_in &= (GPS_BUFFER_LEN - 1);
             if (c == '\n') {

--- a/GPS.h	Sat Nov 20 21:02:06 2010 +0000
+++ b/GPS.h	Fri Apr 15 12:23:52 2011 +0000
@@ -24,6 +24,7 @@
 #define GPS_H
 
 #include "mbed.h"
+#include "GPS_VTG.h"
 #include "GPS_Time.h"
 #include "GPS_Geodetic.h"
 
@@ -258,6 +259,54 @@
      */
     double height(void) { return altitude(); }
     
+    //! Get all vector parameters together.
+    /**
+     * Pass a pointer to a GPS_VTG object and the current
+     * GPS data will be copied into it.
+     *
+     * @code
+     *     // Assuming we have a GPS object previously created...
+     *     GPS gps(NC, p9); 
+     *
+     *     // Then get the data...
+     *     GPS_VTG p;
+     *     gps.vtg(&p);
+     *     printf("Speed (knots)  = %.4f", p.velocity_knots);
+     *     printf("Speed (kps)    = %.4f", p.velocity_kps);
+     *     printf("Track (true)  = %.4f", p.track_true);
+     *     printf("Track (mag)    = %.4f", p.track_mag);
+     *
+     * @endcode
+     *
+     * @ingroup API
+     * @param g A GSP_VTG pointer to an existing GPS_VTG object.
+     * @return GPS_VTG * The pointer passed in.
+     */
+    GPS_VTG *vtg(GPS_VTG *g);
+    
+    //! Get all vector parameters together.
+    /**
+     * Get all the vector data at once. For example:-
+     *
+     * @code
+     *     // Assuming we have a GPS object previously created...
+     *     GPS gps(NC, p9); 
+     *
+     *     // Then get the data...
+     *     GPS_VTG *p = gps.vtg();
+     *     printf("Speed (knots)  = %.4f", p->velocity_knots);
+     *     printf("Speed (kps)    = %.4f", p->velocity_kps);
+     *     printf("Track (true)  = %.4f", p->track_true);
+     *     printf("Track (mag)    = %.4f", p->track_mag);     
+     *     delete(p); // then remember to delete the object to prevent memory leaks.
+     *
+     * @endcode
+     *
+     * @ingroup API
+     * @return GPS_Geodetic * A pointer to the data.
+     */
+    GPS_VTG *vtg(void) { return vtg(NULL); }
+    
     //! Get all three geodetic parameters together.
     /**
      * Pass a pointer to a GPS_Geodetic object and the current
@@ -601,6 +650,52 @@
     //! A callback object for the NMEA GGA message processed signal user API.
     FunctionPointer cb_gga;
 
+
+    //! Attach a user callback function to the NMEA VTG message processed signal.
+    /**
+     * Attach a user callback object/method to call when an NMEA VTG packet has been processed. 
+     *
+     * @code
+     *     class FOO {
+     *     public:
+     *         void myCallback(void);
+     *     };
+     *
+     *     GPS gps(NC, p9); 
+     *     Foo foo;
+     *
+     *     gps.attach_vtg(foo, &FOO::myCallback);
+     * 
+     * @endcode
+     *
+     * @ingroup API 
+     * @param tptr pointer to the object to call the member function on
+     * @param mptr pointer to the member function to be called
+     */
+    template<typename T>
+    void attach_vtg(T* tptr, void (T::*mptr)(void)) { cb_vtg.attach(tptr, mptr); }
+    
+    //! Attach a user callback function to the NMEA VTG message processed signal.
+    /**
+     * Attach a user callback function pointer to call when an NMEA VTG packet has been processed. 
+     *
+     * @code
+     *     void myCallback(void) { ... }
+     *
+     *     GPS gps(NC, p9); 
+     *     Foo foo;
+     *
+     *     gps.attach_vtg(&myCallback);
+     * 
+     * @endcode
+     *
+     * @ingroup API 
+     * @param fptr Callback function pointer.
+     */
+    void attach_vtg(void (*fptr)(void)) { cb_vtg.attach(fptr); } 
+    
+    //! A callback object for the NMEA RMS message processed signal user API.
+    FunctionPointer cb_vtg;
     //! Set the baud rate the GPS module is using.
     /** 
      * Set the baud rate of the serial port
@@ -640,7 +735,10 @@
     GPS_Time     theTime;
     
     //! A GPS_Geodetic object used to hold the last parsed positional data.
-    GPS_Geodetic thePlace;        
+    GPS_Geodetic thePlace;
+    
+    //! A GPS_VTG object used to hold vector data.
+    GPS_VTG      theVTG;       
 };
 
 #endif

--- a/GPS_Time.cpp	Sat Nov 20 21:02:06 2010 +0000
+++ b/GPS_Time.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -33,6 +33,10 @@
     tenths = 0;
     hundreths = 0;
     status = 'V';
+    velocity = 0;
+    track = 0;    
+    magvar_dir = 'W';
+    magvar = 0;
 }
 
 GPS_Time *
@@ -98,6 +102,7 @@
     }
 }
 
+// $GPRMC,112709.735,A,5611.5340,N,00302.0306,W,000.0,307.0,150411,,,A*70
 void 
 GPS_Time::nmea_rmc(char *s)
 {
@@ -106,13 +111,21 @@
     char *time   = (char *)NULL;
     char *date   = (char *)NULL;
     char *stat   = (char *)NULL;
-    
+    char *vel    = (char *)NULL;
+    char *trk    = (char *)NULL;
+    char *magv   = (char *)NULL;
+    char *magd   = (char *)NULL;
+
     token = strtok(s, ",");
     while (token) {
         switch (token_counter) {
-            case 9: date   = token; break;
-            case 1: time   = token; break;
-            case 2: stat   = token; break;
+            case 9:  date   = token; break;
+            case 1:  time   = token; break;
+            case 2:  stat   = token; break;
+            case 7:  vel    = token; break;
+            case 8:  trk    = token; break;
+            case 10: magv   = token; break;
+            case 11: magd   = token; break;
         }
         token = strtok((char *)NULL, ",");
         token_counter++;
@@ -126,7 +139,10 @@
         month      = (char)((date[2] - '0') * 10) + (date[3] - '0');
         year       =  (int)((date[4] - '0') * 10) + (date[5] - '0') + 2000;
         status     = stat[0];
-        
+        velocity   = atof(vel);
+        track      = atof(trk);
+        magvar     = atof(magv);
+        magvar_dir = magd[0];
     }    
 }
 

--- a/GPS_Time.h	Sat Nov 20 21:02:06 2010 +0000
+++ b/GPS_Time.h	Fri Apr 15 12:23:52 2011 +0000
@@ -48,6 +48,14 @@
     int  hundreths; 
     //! Time status.
     char status;    
+    //! The velocity (in knots)
+    double velocity;
+    //! The track (in decimal degrees true)
+    double track;    
+    //! The magnetic variation direction
+    char magvar_dir;
+    //! The magnetic variation value
+    double magvar;
     
     GPS_Time();
     void fractionalReset(void) { tenths = hundreths = 0; }
@@ -56,6 +64,12 @@
     GPS_Time * timeNow(GPS_Time *n);
     GPS_Time * timeNow(void) { return timeNow(NULL); }
     void nmea_rmc(char *s);
+    double velocity_knots(void) { return velocity; }
+    double velocity_kph(void) { return (velocity * 1.852); }
+    double velocity_mps(void) { return velocity_kph() / 3600.0; }
+    double velocity_mph(void) { return velocity_kph() / 0.621371192; }
+    double track_over_ground(void) { return track; }
+    double magnetic_variation(void) { return magvar_dir == 'W' ? (magvar * -1.0) : (magvar); }
     double julian_day_number(GPS_Time *t);
     double julian_date(GPS_Time *t);
     double julian_day_number(void) { return julian_day_number(this); }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_VTG.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -0,0 +1,72 @@
+/*
+    Copyright (c) 2010 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+
+#include "GPS_VTG.h"
+
+GPS_VTG::GPS_VTG() 
+{
+    _velocity_knots = 0;
+    _velocity_kph = 0;
+    _track_true = 0;    
+    _track_mag = 0;    
+}
+
+GPS_VTG *
+GPS_VTG::vtg(GPS_VTG *n)
+{
+    if (n == NULL) n = new GPS_VTG;
+    
+    do {
+        memcpy(n, this, sizeof(GPS_VTG));
+    }
+    while (memcmp(n, this, sizeof(GPS_VTG)));
+    return n;    
+}
+
+void 
+GPS_VTG::nmea_vtg(char *s)
+{
+    char *token;
+    int  token_counter = 0;
+    char *vel_knots = (char *)NULL;
+    char *vel_kph   = (char *)NULL;
+    char *trk_t  = (char *)NULL;
+    char *trk_m  = (char *)NULL;
+    
+    token = strtok(s, ",");
+    while (token) {
+        switch (token_counter) {
+            case 5:  vel_knots = token; break;
+            case 7:  vel_kph   = token; break;
+            case 1:  trk_t     = token; break;
+            case 3:  trk_m     = token; break;            
+        }
+        token = strtok((char *)NULL, ",");
+        token_counter++;
+    }
+    
+    if (vel_knots) { _velocity_knots = atof(vel_knots); }
+    if (vel_kph)   { _velocity_kph   = atof(vel_kph); }
+    if (trk_t)     { _track_true     = atof(trk_t); }
+    if (trk_m)     { _track_mag      = atof(trk_m); }    
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_VTG.h	Fri Apr 15 12:23:52 2011 +0000
@@ -0,0 +1,54 @@
+/*
+    Copyright (c) 2010 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+
+#ifndef GPS_VTG_H
+#define GPS_VTG_H
+
+#include "mbed.h"
+
+/** GPS_Time definition.
+ */
+class GPS_VTG {
+public:
+
+    //! The velocity (in knots)
+    double _velocity_knots;
+    //! The velocity (in kph)
+    double _velocity_kph;
+    //! The track (in decimal degrees true)
+    double _track_true;    
+    //! The track (in decimal degrees magnetic)
+    double _track_mag;    
+    
+    GPS_VTG();
+    GPS_VTG * vtg(GPS_VTG *n);
+    void nmea_vtg(char *s); 
+    
+    double velocity_knots(void) { return _velocity_knots; }
+    double velocity_kph(void)   { return _velocity_kph; }
+    double track_true(void)     { return _track_true;   } 
+    double track_mag(void)      { return _track_mag;    }
+     
+};
+
+#endif
+

--- a/example1.cpp	Sat Nov 20 21:02:06 2010 +0000
+++ b/example1.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -1,4 +1,4 @@
-#ifdef COMPILE_EXAMPLE_CODE_MODGPS
+#ifdef COMPILE_EXAMPLE1_CODE_MODGPS
 
 #include "mbed.h"
 #include "GPS.h"

--- a/example2.cpp	Sat Nov 20 21:02:06 2010 +0000
+++ b/example2.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -1,4 +1,4 @@
-#ifdef COMPILE_EXAMPLE_CODE_MODGPS
+#ifdef COMPILE_EXAMPLE2_CODE_MODGPS
 
 #include "mbed.h"
 #include "GPS.h"

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example3.cpp	Fri Apr 15 12:23:52 2011 +0000
@@ -0,0 +1,113 @@
+#ifdef COMPILE_EXAMPLE3_CODE_MODGPS
+
+// See forum post http://mbed.org/forum/mbed/topic/2151/
+
+#include "mbed.h"
+#include "GPS.h"
+
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+
+// SET THIS.
+// Create an instance of the GPS object. You will need to
+// set p25 to whichever Serial RX pin you have connected
+// your GPS module to.
+GPS gps(NC, GPSRX);
+
+// 0.05 second flash of LED2
+DigitalOut led2(LED2);
+Timeout t2;
+void t2out(void) { led2 = 0; }
+void blip2(void) { led2 = 1; t2.attach(&t2out, 0.05); }
+
+// 0.05 second flash of LED3
+DigitalOut led3(LED3);
+Timeout t3;
+void t3out(void) { led3 = 0; }
+void blip3(void) { led3 = 1; t3.attach(&t3out, 0.05); }
+
+// 0.05 second flash of LED4
+DigitalOut led4(LED4);
+
+Timeout t4;
+void t4out(void) { led4 = 0; }
+void blip4(void) { led4 = 1; t4.attach(&t4out, 0.05); }
+
+int main() {
+    GPS_Time q1;
+    GPS_VTG  v1;
+    
+    // SET THIS.
+    // Ensure you set the baud rate to match your serial
+    // communications to your PC/Max/Linux host so you
+    // can read the messages.
+    pc.baud(PCBAUD);
+    
+    // SET THIS.
+    // Most GPS modules use 9600,8,n,1 so that's what
+    // we default to here. Ensure your GPS module matches
+    // this, otherwise set it to match.
+    gps.baud(GPSBUAD);
+    gps.format(8, GPS::None, 1);
+    
+    // OPTIONAL
+    // If you GPS has a 1 pulse per second output you can
+    // connect it to an Mbed pin. Here you specify what pin
+    // and on what "edge" teh signal is active. If your GPS
+    // module has a rising edge at the one second point then
+    // use GPS::ppsRise
+    #ifdef PPSPIN
+    gps.ppsAttach(PPSPIN, GPS::ppsFall);
+    #endif
+
+    // Sample of a callback to a function when a NMEA GGA message is recieved.
+    // For this example, we flash LED2 for 0.05 second.
+    gps.attach_gga(&blip2);
+    
+    // Sample of a callback to a function when a NMEA RMC message is recieved.
+    // For this example, we flash LED3 for 0.05 second.
+    gps.attach_rmc(&blip3);
+
+    // Sample of a callback to a function when a NMEA VTG message is recieved.
+    // For this example, we flash LED4 for 0.05 second.
+    gps.attach_vtg(&blip4);
+        
+    while(1) {
+        // Every 3 seconds, flip LED1 and print the basic GPS info.
+        wait(3);
+        led1 = 1;
+        
+        // Demonstrate how to find out the GPS location co-ords.
+        pc.printf("Method 1. Lat = %.4f ", gps.latitude());
+        pc.printf("Lon = %.4f ", gps.longitude());
+        pc.printf("Alt = %.4f ", gps.altitude());
+        
+        // Grab a snapshot of the current time.
+        gps.timeNow(&q1);
+        pc.printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n", 
+            q1.status, q1.hour, q1.minute, q1.second, q1.day, q1.month, q1.year);
+        
+        gps.vtg(&v1);
+        pc.printf("Method 1. Vector data, Speed (knots):%lf, Speed(kph):%lf, Track(true):%lf, Track(mag)%lf\r\n", 
+            v1.velocity_knots(), v1.velocity_kph(), v1.track_true(), v1.track_mag());
+            
+        // Alternative method that does the same thing.        
+        pc.printf("Method 2. Lat = %.4f ", gps.latitude());
+        pc.printf("Lon = %.4f ", gps.longitude());
+        pc.printf("Alt = %.4f ", gps.altitude());
+        
+        GPS_Time *q2 = gps.timeNow();
+        pc.printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n", 
+            q2->status, q2->hour, q2->minute, q2->second, q2->day, q2->month, q2->year);
+        delete(q2); 
+        
+        GPS_VTG *v2 = gps.vtg();
+        pc.printf("Method 2. Vector data, Speed (knots):%lf, Speed(kph):%lf, Track(true):%lf, Track(mag):%lf\r\n\n", 
+            v2->velocity_knots(), v2->velocity_kph(), v2->track_true(), v2->track_mag());
+        delete(v2); 
+         
+        led1 = 0;
+    }
+}
+
+#endif