.from: http://mbed.org/users/shimniok/libraries/TinyGPS/lqbxxm
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx TinyGPS.cpp XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Copyright (C) 2008-9 Mikal Hart
All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Ported to mbed by Michael Shimniok http://www.bot-thoughts.com/
*/
#include "TinyGPS.h"
#define _GPRMC_TERM "GPRMC"
#define _GPGGA_TERM "GPGGA"
#define _GPGSV_TERM "GPGSV"
TinyGPS::TinyGPS()
: _time(GPS_INVALID_TIME)
, _date(GPS_INVALID_DATE)
, _latitude(GPS_INVALID_ANGLE)
, _longitude(GPS_INVALID_ANGLE)
, _altitude(GPS_INVALID_ALTITUDE)
, _speed(GPS_INVALID_SPEED)
, _course(GPS_INVALID_ANGLE)
, _hdop(0)
, _sat_count(0)
, _last_time_fix(GPS_INVALID_FIX_TIME)
, _last_position_fix(GPS_INVALID_FIX_TIME)
, _parity(0)
, _is_checksum_term(false)
, _sentence_type(_GPS_SENTENCE_OTHER)
, _term_number(0)
, _term_offset(0)
, _gps_data_good(false)
, _rmc_ready(false)
, _gga_ready(false)
, _gsv_ready(false)
#ifndef _GPS_NO_STATS
, _encoded_characters(0)
, _good_sentences(0)
, _failed_checksum(0)
#endif
{
_term[0] = '\0';
}
//
// public methods
//
bool TinyGPS::encode(char c)
{
bool valid_sentence = false;
++_encoded_characters;
switch(c)
{
case ',': // term terminators
_parity ^= c;
case '\r':
case '\n':
case '*':
if (_term_offset < sizeof(_term))
{
_term[_term_offset] = 0;
valid_sentence = term_complete();
}
++_term_number;
_term_offset = 0;
_is_checksum_term = c == '*';
return valid_sentence;
case '$': // sentence begin
_term_number = _term_offset = 0;
_parity = 0;
_sentence_type = _GPS_SENTENCE_OTHER;
_is_checksum_term = false;
_gps_data_good = false;
return valid_sentence;
}
// ordinary characters
if (_term_offset < sizeof(_term) - 1)
_term[_term_offset++] = c;
if (!_is_checksum_term)
_parity ^= c;
return valid_sentence;
}
#ifndef _GPS_NO_STATS
void TinyGPS::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
{
if (chars) *chars = _encoded_characters;
if (sentences) *sentences = _good_sentences;
if (failed_cs) *failed_cs = _failed_checksum;
}
#endif
//
// internal utilities
//
int TinyGPS::from_hex(char a)
{
if (a >= 'A' && a <= 'F')
return a - 'A' + 10;
else if (a >= 'a' && a <= 'f')
return a - 'a' + 10;
else
return a - '0';
}
unsigned long TinyGPS::parse_decimal()
{
char *p = _term;
bool isneg = *p == '-';
if (isneg) ++p;
unsigned long ret = 100UL * gpsatol(p);
while (gpsisdigit(*p)) ++p;
if (*p == '.')
{
if (gpsisdigit(p[1]))
{
ret += 10 * (p[1] - '0');
if (gpsisdigit(p[2]))
ret += p[2] - '0';
}
}
return isneg ? -ret : ret;
}
unsigned long TinyGPS::parse_degrees()
{
char *p;
unsigned long left = gpsatol(_term);
unsigned long tenk_minutes = (left % 100UL) * 10000UL;
for (p=_term; gpsisdigit(*p); ++p);
if (*p == '.')
{
unsigned long mult = 1000;
while (gpsisdigit(*++p))
{
tenk_minutes += mult * (*p - '0');
mult /= 10;
}
}
return (left / 100) * 100000 + tenk_minutes / 6;
}
// Processes a just-completed term
// Returns true if new sentence has just passed checksum test and is validated
bool TinyGPS::term_complete()
{
if (_is_checksum_term)
{
byte checksum = 16 * from_hex(_term[0]) + from_hex(_term[1]);
if (checksum == _parity)
{
if (_gps_data_good)
{
#ifndef _GPS_NO_STATS
++_good_sentences;
#endif
_last_time_fix = _new_time_fix;
_last_position_fix = _new_position_fix;
switch(_sentence_type)
{
case _GPS_SENTENCE_GPRMC:
_time = _new_time;
_date = _new_date;
_latitude = _new_latitude;
_longitude = _new_longitude;
_speed = _new_speed;
_course = _new_course;
_rmc_ready = true;
break;
case _GPS_SENTENCE_GPGGA:
_altitude = _new_altitude;
_time = _new_time;
_latitude = _new_latitude;
_longitude = _new_longitude;
_gga_ready = true;
_hdop = _new_hdop;
_sat_count = _new_sat_count;
case _GPS_SENTENCE_GPGSV:
_gsv_ready = true;
break;
}
return true;
}
}
#ifndef _GPS_NO_STATS
else
++_failed_checksum;
#endif
return false;
}
// the first term determines the sentence type
if (_term_number == 0)
{
if (!gpsstrcmp(_term, _GPRMC_TERM))
_sentence_type = _GPS_SENTENCE_GPRMC;
else if (!gpsstrcmp(_term, _GPGGA_TERM))
_sentence_type = _GPS_SENTENCE_GPGGA;
else if (!gpsstrcmp(_term, _GPGSV_TERM))
_sentence_type = _GPS_SENTENCE_GPGSV;
else
_sentence_type = _GPS_SENTENCE_OTHER;
return false;
}
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
switch((_sentence_type == _GPS_SENTENCE_GPGGA ? 200 : 100) + _term_number)
{
case 101: // Time in both sentences
case 201:
_new_time = parse_decimal();
_new_time_fix = millis();
break;
case 102: // GPRMC validity
_gps_data_good = _term[0] == 'A';
break;
case 103: // Latitude
case 202:
_new_latitude = parse_degrees();
_new_position_fix = millis();
break;
case 104: // N/S
case 203:
if (_term[0] == 'S')
_new_latitude = -_new_latitude;
break;
case 105: // Longitude
case 204:
_new_longitude = parse_degrees();
break;
case 106: // E/W
case 205:
if (_term[0] == 'W')
_new_longitude = -_new_longitude;
break;
case 107: // Speed (GPRMC)
_new_speed = parse_decimal();
break;
case 108: // Course (GPRMC)
_new_course = parse_decimal();
break;
case 109: // Date (GPRMC)
_new_date = gpsatol(_term);
break;
case 206: // Fix data (GPGGA)
_gps_data_good = _term[0] > '0';
break;
case 207: // Number of satelites tracked (GPGGA)
_new_sat_count = parse_decimal();
break;
case 208: // Horizontal Dilution of Position (GPGGA)
_new_hdop = parse_decimal();
break;
case 209: // Altitude (GPGGA)
_new_altitude = parse_decimal();
break;
} /* switch */
return false;
}
long TinyGPS::gpsatol(const char *str)
{
long ret = 0;
while (gpsisdigit(*str))
ret = 10 * ret + *str++ - '0';
return ret;
}
int TinyGPS::gpsstrcmp(const char *str1, const char *str2)
{
while (*str1 && *str1 == *str2)
++str1, ++str2;
return *str1;
}
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx TinyGPS.h XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Copyright (C) 2008-9 Mikal Hart
All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Ported to mbed by Michael Shimniok
*/
#include "mbed.h"
#include "types.h"
#ifndef TinyGPS_h
#define TinyGPS_h
#define _GPS_VERSION 9 // software version of this library
#define _GPS_MPH_PER_KNOT 1.15077945
#define _GPS_MPS_PER_KNOT 0.51444444
#define _GPS_KMPH_PER_KNOT 1.852
#define _GPS_MILES_PER_METER 0.00062137112
#define _GPS_KM_PER_METER 0.001
//#define _GPS_NO_STATS
class TinyGPS
{
public:
/** Create a new GPS parsing object for parsing NMEA sentences
*/
TinyGPS();
/** Parse a single character received from GPS
*
* @param c is the character received from the GPS
* @returns true if processing ok
*/
bool encode(char c);
/** Shorthand operator for encode()
*/
TinyGPS &operator << (char c) {encode(c); return *this;}
/** Return lat/long in hundred thousandths of a degree and age of fix in milliseconds
* @returns latitude is the latitude of the most recent fix that was parsed
* @returns longitude is the longitude of the most recent fix that was parsed
* @returns fix_age is the age of the fix (if available from the NMEA sentences being parsed)
*/
inline void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0)
{
if (latitude) *latitude = _latitude;
if (longitude) *longitude = _longitude;
if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ?
GPS_INVALID_AGE : millis() - _last_position_fix;
}
/** Return the date and time from the parsed NMEA sentences
*
* @returns date as an integer value
* @returns time as an integer value
* @returns fix_age in milliseconds if available
*/
inline void get_datetime(unsigned long *date, unsigned long *time, unsigned long *fix_age = 0)
{
if (date) *date = _date;
if (time) *time = _time;
if (fix_age) *fix_age = _last_time_fix == GPS_INVALID_FIX_TIME ?
GPS_INVALID_AGE : millis() - _last_time_fix;
}
/** signed altitude in centimeters (from GPGGA sentence)
* @returns altitude in centimeters, integer
*/
inline long altitude() { return _altitude; }
/** course in last full GPRMC sentence in 100th of a degree
* @returns course as an integer, 100ths of a degree
*/
inline unsigned long course() { return _course; }
/** speed in last full GPRMC sentence in 100ths of a knot
* @returns speed in 100ths of a knot
*/
unsigned long speed() { return _speed; }
/* horizontal dilution of position in last full GPGGA sentence in 100ths
* @returns hdop in 100ths
*/
unsigned long hdop() { return _hdop; }
/** number of satellites tracked in last full GPGGA sentence
* @returns number of satellites tracked
*/
unsigned long sat_count() { return _sat_count; }
#ifndef _GPS_NO_STATS
void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
#endif
/** returns position as double precision
*
* @returns latitude as double precision
* @returns longitude as double precision
* @returns fix age in milliseconds if available
*/
inline void f_get_position(double *latitude, double *longitude, unsigned long *fix_age = 0)
{
long lat, lon;
get_position(&lat, &lon, fix_age);
*latitude = lat / 100000.0;
*longitude = lon / 100000.0;
}
/** Convert date and time of last parsed sentence to integers
*
* @returns year
* @returns month
* @returns day of month
* @returns hour
* @returns minute
* @returns second
* @returns hundreths
* @returns fix_age in milliseconds if available
*/
inline void crack_datetime(int *year, byte *month, byte *day,
byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0)
{
unsigned long date, time;
get_datetime(&date, &time, fix_age);
if (year)
{
*year = date % 100;
*year += *year > 80 ? 1900 : 2000;
}
if (month) *month = (date / 100) % 100;
if (day) *day = date / 10000;
if (hour) *hour = time / 1000000;
if (minute) *minute = (time / 10000) % 100;
if (second) *second = (time / 100) % 100;
if (hundredths) *hundredths = time % 100;
}
/** returns altitude as a float
*/
inline double f_altitude() { return altitude() / 100.0; }
/** returns course as a float
*/
inline double f_course() { return course() / 100.0; }
/** returns speed in knots as a float
*/
inline double f_speed_knots() { return speed() / 100.0; }
/** returns speed in mph as a float
*/
inline double f_speed_mph() { return _GPS_MPH_PER_KNOT * f_speed_knots(); }
/** returns speed in meters per second as a float
*/
inline double f_speed_mps() { return _GPS_MPS_PER_KNOT * f_speed_knots(); }
/** returns speed in km per hour as a float
*/
inline double f_speed_kmph() { return _GPS_KMPH_PER_KNOT * f_speed_knots(); }
/** returns hdop as a float
*/
inline double f_hdop() { return hdop() / 100.0; }
/** @returns library version
*/
static int library_version() { return _GPS_VERSION; }
/** determine if RMC sentence parsed since last reset_ready()
*/
inline bool rmc_ready() { return _rmc_ready; }
/** determine if GGA sentence parsed since last reset_ready()
*/
inline bool gga_ready() { return _gga_ready; }
/** determine if GSV sentence parsed since last reset_ready()
*/
inline bool gsv_ready() { return _gsv_ready; }
/** Reset the ready flags for all the parsed sentences
*/
inline void reset_ready() { _gsv_ready = _rmc_ready = _gga_ready = false; }
enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,
GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF};
private:
enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_GPGSV, _GPS_SENTENCE_OTHER};
// properties
unsigned long _time, _new_time;
unsigned long _date, _new_date;
long _latitude, _new_latitude;
long _longitude, _new_longitude;
long _altitude, _new_altitude;
unsigned long _speed, _new_speed;
unsigned long _course, _new_course;
unsigned long _hdop, _new_hdop;
unsigned int _sat_count, _new_sat_count;
unsigned long _last_time_fix, _new_time_fix;
unsigned long _last_position_fix, _new_position_fix;
// parsing state variables
byte _parity;
bool _is_checksum_term;
char _term[15];
byte _sentence_type;
byte _term_number;
byte _term_offset;
bool _gps_data_good;
bool _rmc_ready;
bool _gga_ready;
bool _gsv_ready;
#ifndef _GPS_NO_STATS
// statistics
unsigned long _encoded_characters;
unsigned short _good_sentences;
unsigned short _failed_checksum;
unsigned short _passed_checksum;
#endif
// internal utilities
int from_hex(char a);
unsigned long parse_decimal();
unsigned long parse_degrees();
bool term_complete();
bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
long gpsatol(const char *str);
int gpsstrcmp(const char *str1, const char *str2);
};
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef double
#undef abs
#undef round
#endif
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx types.h XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
#ifndef __TYPES_H
#define __TYPES_H
typedef char byte;
typedef int millis;
#endif
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx EOF XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
