Merge pull request #111 from sellensr/master
Moved to src, reorganized files, added typedefs
This commit is contained in:
Matt Goodrich
GitHub
commit
5d28fd9672
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@ -32,206 +32,6 @@
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static boolean strStartsWith(const char *str, const char *prefix);
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/**************************************************************************/
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/*!
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@brief Parse a NMEA string
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@param nmea Pointer to the NMEA string
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@return True if we parsed it, false if it has an invalid checksum or invalid
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data
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*/
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/**************************************************************************/
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boolean Adafruit_GPS::parse(char *nmea) {
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// do checksum check
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if (!check(nmea))
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return false;
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// passed the check, so there's a valid source in thisSource and a valid
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// sentence in thisSentence
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// look for a few common sentences
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char *p = nmea; // Pointer to move through the sentence -- good parsers are
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// non-destructive
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p = strchr(p, ',') +
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1; // Skip to the character after the next comma, then check sentence.
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if (!strcmp(thisSentence, "GGA")) {
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// found GGA
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// get time
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parseTime(p);
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// parse out latitude
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p = strchr(p, ',') + 1;
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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fixquality = atoi(p);
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if (fixquality > 0) {
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fix = true;
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lastFix = sentTime;
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} else
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fix = false;
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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satellites = atoi(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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HDOP = atof(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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altitude = atof(p);
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}
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p = strchr(p, ',') + 1;
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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geoidheight = atof(p);
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}
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}
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else if (!strcmp(thisSentence, "RMC")) {
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// found RMC
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// get time
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parseTime(p);
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// fix or no fix
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p = strchr(p, ',') + 1;
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if (!parseFix(p))
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return false;
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// parse out latitude
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p = strchr(p, ',') + 1;
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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// speed
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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speed = atof(p);
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}
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// angle
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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angle = atof(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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uint32_t fulldate = atof(p);
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day = fulldate / 10000;
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month = (fulldate % 10000) / 100;
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year = (fulldate % 100);
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lastDate = sentTime;
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}
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}
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else if (!strcmp(thisSentence, "GLL")) {
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// found GLL
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// parse out latitude
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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// get time
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p = strchr(p, ',') + 1;
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parseTime(p);
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// fix or no fix
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p = strchr(p, ',') + 1;
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if (!parseFix(p))
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return false;
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}
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else if (!strcmp(thisSentence, "GSA")) {
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// found GSA
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// parse out Auto selection, but ignore them
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// parse out 3d fixquality
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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fixquality_3d = atoi(p);
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}
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// skip 12 Satellite PDNs without interpreting them
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for (int i = 0; i < 12; i++)
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p = strchr(p, ',') + 1;
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// parse out PDOP
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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PDOP = atof(p);
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}
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// parse out HDOP, we also parse this from the GGA sentence. Chipset should
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// report the same for both
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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HDOP = atof(p);
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}
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// parse out VDOP
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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VDOP = atof(p);
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}
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}
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#ifdef NMEA_EXTENSIONS // Sentences not required for basic GPS functionality
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else if (!strcmp(thisSentence, "TXT")) { //*******************************TXT
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if (!isEmpty(p))
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txtTot = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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txtN = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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txtID = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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parseStr(txtTXT, p, 61); // copy the text to NMEA TXT max of 61 characters
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}
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#endif // NMEA_EXTENSIONS
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// we dont parse the remaining, yet!
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else
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return false;
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// Record the successful parsing of where the last data came from and when
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strcpy(lastSource, thisSource);
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strcpy(lastSentence, thisSentence);
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lastUpdate = millis();
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return true;
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}
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/**************************************************************************/
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/*!
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@brief Check an NMEA string for basic format, valid source ID and valid
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@ -520,28 +320,42 @@ boolean Adafruit_GPS::parseFix(char *p) {
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/*!
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@brief Time in seconds since the last position fix was obtained. Will
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fail by rolling over to zero after one millis() cycle, about 6-1/2 weeks.
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@return float value in seconds since last fix.
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@return nmea_float_t value in seconds since last fix.
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*/
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/**************************************************************************/
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float Adafruit_GPS::secondsSinceFix() { return (millis() - lastFix) / 1000.; }
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nmea_float_t Adafruit_GPS::secondsSinceFix() {
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return (millis() - lastFix) / 1000.;
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}
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/**************************************************************************/
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/*!
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@brief Time in seconds since the last GPS time was obtained. Will fail
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by rolling over to zero after one millis() cycle, about 6-1/2 weeks.
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@return float value in seconds since last GPS time.
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@return nmea_float_t value in seconds since last GPS time.
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*/
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/**************************************************************************/
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float Adafruit_GPS::secondsSinceTime() { return (millis() - lastTime) / 1000.; }
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nmea_float_t Adafruit_GPS::secondsSinceTime() {
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return (millis() - lastTime) / 1000.;
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}
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/**************************************************************************/
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/*!
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@brief Time in seconds since the last GPS date was obtained. Will fail
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by rolling over to zero after one millis() cycle, about 6-1/2 weeks.
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@return float value in seconds since last GPS date.
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@return nmea_float_t value in seconds since last GPS date.
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*/
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/**************************************************************************/
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float Adafruit_GPS::secondsSinceDate() { return (millis() - lastDate) / 1000.; }
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nmea_float_t Adafruit_GPS::secondsSinceDate() {
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return (millis() - lastDate) / 1000.;
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}
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/**************************************************************************/
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/*!
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@brief Fakes time of receipt of a sentence. Use between build() and parse()
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to make the timing look like the sentence arrived from the GPS.
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*/
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/**************************************************************************/
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void Adafruit_GPS::resetSentTime() { sentTime = millis(); }
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/**************************************************************************/
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/*!
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@ -790,7 +604,7 @@ void Adafruit_GPS::common_init(void) {
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fix = false; // boolean
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milliseconds = 0; // uint16_t
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latitude = longitude = geoidheight = altitude = speed = angle = magvariation =
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HDOP = VDOP = PDOP = 0.0; // float
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HDOP = VDOP = PDOP = 0.0; // nmea_float_t
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}
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/**************************************************************************/
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@ -1045,176 +859,3 @@ static boolean strStartsWith(const char *str, const char *prefix) {
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}
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return true;
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}
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#ifdef NMEA_EXTENSIONS
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/**************************************************************************/
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/*!
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@brief Fakes time of receipt of a sentence. Use between build() and parse()
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to make the timing look like the sentence arrived from the GPS.
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*/
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/**************************************************************************/
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void Adafruit_GPS::resetSentTime() { sentTime = millis(); }
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/**************************************************************************/
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/*!
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@brief Build an NMEA sentence string based on the relevant variables.
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Sentences start with a $, then a two character source identifier, then
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a three character sentence name that defines the format, then a comma
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and more comma separated fields defined by the sentence name. There are
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many sentences listed that are not yet supported. Most of these sentence
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definitions were found at http://fort21.ru/download/NMEAdescription.pdf
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build() will work with other lengths for source and sentence to allow
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extension to building proprietary sentences like $PMTK220,100*2F.
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build() will not work properly in an environment that does not support
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the %f floating point formatter in sprintf(), and will return NULL.
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build() adds Carriage Return and Line Feed to sentences to conform to
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NMEA-183, so send your output with a print, not a println.
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Some of the data in these test sentences may be arbitrary, e.g. for the
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TXT sentence which has a more complicated protocol for multiple lines
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sent as a message set. Also, the data in the class variables are presumed
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to be valid, so these sentences may contain values that are stale, or
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the result of initialization rather than measurement.
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@param nmea Pointer to the NMEA string buffer. Must be big enough to
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hold the sentence. No guarantee what will be in it if the
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building of the sentence fails.
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@param thisSource Pointer to the source name string (2 upper case)
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@param thisSentence Pointer to the sentence name string (3 upper case)
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@param ref Reference for the sentence, usually relative (R) or true (T)
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@return Pointer to sentence if successful, NULL if fails
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*/
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/**************************************************************************/
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char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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const char *thisSentence, char ref) {
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sprintf(nmea, "%6.2f", 123.45); // fail if sprintf() doesn't handle floats
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if (strcmp(nmea, "123.45"))
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return NULL;
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*nmea = '$';
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char *p = nmea + 1; // Pointer to move through the sentence
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strncpy(p, thisSource, strlen(thisSource));
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p += strlen(thisSource);
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strncpy(p, thisSentence, strlen(thisSentence));
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p += strlen(thisSentence);
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*p = ',';
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p += 1; // Now $XXSSS, and need to add argument fields
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// This may look inefficient, but an M0 will get down the list in about 1 us /
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// strcmp()! Put the GPS sentences from Adafruit_GPS at the top to make
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// pruning excess code easier. Otherwise, keep them alphabetical for ease of
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// reading.
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if (!strcmp(thisSentence,
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"GGA")) { //********************************************GGA
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// GGA Global Positioning System Fix Data. Time, Position and fix related
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// data for a GPS receiver
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// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
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// | | | | | | | | | | | | | | |
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//$--GGA,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
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// 1) Time (UTC)
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// 2) Latitude
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// 3) N or S (North or South)
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// 4) Longitude
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// 5) E or W (East or West)
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// 6) GPS Quality Indicator, 0 - fix not available, 1 - GPS fix, 2 -
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// Differential GPS fix 7) Number of satellites in view, 00 - 12 8)
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// Horizontal Dilution of precision 9) Antenna Altitude above/below
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// mean-sea-level (geoid) 10) Units of antenna altitude, meters 11) Geoidal
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// separation, the difference between the WGS-84 earth
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// ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below
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// ellipsoid
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// 12) Units of geoidal separation, meters
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// 13) Age of differential GPS data, time in seconds since last SC104
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// type 1 or 9 update, null field when DGPS is not used
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// 14) Differential reference station ID, 0000-1023
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// 15) Checksum
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sprintf(p, "%09.2f,%09.4f,%c,%010.4f,%c,%d,%02d,%f,%f,M,%f,M,,",
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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latitude, lat, longitude, lon, fixquality, satellites, HDOP,
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altitude, geoidheight);
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} else if (!strcmp(thisSentence,
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"GLL")) { //********************************************GLL
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// GLL Geographic Position – Latitude/Longitude
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,A*hh
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// 1) Latitude ddmm.mm format
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// 2) N or S (North or South)
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// 3) Longitude dddmm.mm format
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// 4) E or W (East or West)
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// 5) Time (UTC)
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// 6) Status A - Data Valid, V - Data Invalid
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// 7) Checksum
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sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", latitude, lat, longitude, lon,
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.);
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} else if (!strcmp(thisSentence,
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"GSA")) { //********************************************
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// GSA GPS DOP and active satellites
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// 1 2 3 14 15 16 17 18
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// | | | | | | | |
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//$--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh
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// 1) Selection mode
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// 2) Mode
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// 3) ID of 1st satellite used for fix
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// 4) ID of 2nd satellite used for fix
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// ...
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// 14) ID of 12th satellite used for fix
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// 15) PDOP in meters
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// 16) HDOP in meters
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// 17) VDOP in meters
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// 18) Checksum
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return NULL;
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} else if (!strcmp(thisSentence,
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"RMC")) { //********************************************RMC
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// RMC Recommended Minimum Navigation Information
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// 12
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// 1 2 3 4 5 6 7 8 9 10 11 |
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// | | | | | | | | | | | |
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//$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a*hh
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// 1) Time (UTC)
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||||
// 2) Status, V = Navigation receiver warning
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||||
// 3) Latitude
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||||
// 4) N or S
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||||
// 5) Longitude
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||||
// 6) E or W
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||||
// 7) Speed over ground, knots
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// 8) Track made good, degrees true
|
||||
// 9) Date, ddmmyy
|
||||
// 10) Magnetic Variation, degrees
|
||||
// 11) E or W
|
||||
// 12) Checksum
|
||||
sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
|
||||
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
|
||||
latitude, lat, longitude, lon, speed, angle,
|
||||
day * 10000 + month * 100 + year, magvariation, mag);
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||||
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||||
} else if (!strcmp(thisSentence,
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"TXT")) { //********************************************TXT
|
||||
// as mentioned in https://github.com/adafruit/Adafruit_GPS/issues/95
|
||||
// TXT Text Transmission
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||||
// 1 2 3 4 5
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||||
// | | | | |
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||||
//$--TXT,xx,xx,xx,c--c*hh
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||||
// 1) Total Number of Sentences 01-99
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// 2) Sentence Number 01-99
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// 3) Text Identifier 01-99
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||||
// 4) Text String, max 61 characters
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||||
// 5) Checksum
|
||||
sprintf(p, "01,01,23,This is the text of the sample message");
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||||
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||||
} else {
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||||
return NULL; // didn't find a match for the build request
|
||||
}
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||||
|
||||
addChecksum(nmea); // Successful completion
|
||||
sprintf(nmea, "%s\r\n",
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||||
nmea); // Add Carriage Return and Line Feed to comply with NMEA-183
|
||||
return nmea; // return pointer to finished product
|
||||
}
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||||
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||||
#endif // NMEA_EXTENSIONS
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||||
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@ -53,99 +53,11 @@
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|||
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
|
||||
#include <SoftwareSerial.h>
|
||||
#endif
|
||||
#include <Adafruit_PMTK.h>
|
||||
#include <NMEA_data.h>
|
||||
#include <SPI.h>
|
||||
#include <Wire.h>
|
||||
|
||||
/**************************************************************************/
|
||||
/**
|
||||
Different commands to set the update rate from once a second (1 Hz) to 10 times
|
||||
a second (10Hz) Note that these only control the rate at which the position is
|
||||
echoed, to actually speed up the position fix you must also send one of the
|
||||
position fix rate commands below too. */
|
||||
#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ \
|
||||
"$PMTK220,10000*2F" ///< Once every 10 seconds, 100 millihertz.
|
||||
#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ \
|
||||
"$PMTK220,5000*1B" ///< Once every 5 seconds, 200 millihertz.
|
||||
#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F" ///< 1 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_2HZ "$PMTK220,500*2B" ///< 2 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" ///< 5 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F" ///< 10 Hz
|
||||
// Position fix update rate commands.
|
||||
#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ \
|
||||
"$PMTK300,10000,0,0,0,0*2C" ///< Once every 10 seconds, 100 millihertz.
|
||||
#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ \
|
||||
"$PMTK300,5000,0,0,0,0*18" ///< Once every 5 seconds, 200 millihertz.
|
||||
#define PMTK_API_SET_FIX_CTL_1HZ "$PMTK300,1000,0,0,0,0*1C" ///< 1 Hz
|
||||
#define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F" ///< 5 Hz
|
||||
// Can't fix position faster than 5 times a second!
|
||||
|
||||
#define PMTK_SET_BAUD_115200 "$PMTK251,115200*1F" ///< 115200 bps
|
||||
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C" ///< 57600 bps
|
||||
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17" ///< 9600 bps
|
||||
|
||||
#define PMTK_SET_NMEA_OUTPUT_GLLONLY \
|
||||
"$PMTK314,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPGLL sentence
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCONLY \
|
||||
"$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPRMC sentence
|
||||
#define PMTK_SET_NMEA_OUTPUT_VTGONLY \
|
||||
"$PMTK314,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPVTG
|
||||
#define PMTK_SET_NMEA_OUTPUT_GGAONLY \
|
||||
"$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGGA
|
||||
#define PMTK_SET_NMEA_OUTPUT_GSAONLY \
|
||||
"$PMTK314,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGSA
|
||||
#define PMTK_SET_NMEA_OUTPUT_GSVONLY \
|
||||
"$PMTK314,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGSV
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCGGA \
|
||||
"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn on GPRMC and
|
||||
///< GPGGA
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCGGAGSA \
|
||||
"$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on GPRMC, GPGGA
|
||||
///< and GPGSA
|
||||
#define PMTK_SET_NMEA_OUTPUT_ALLDATA \
|
||||
"$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn on ALL THE DATA
|
||||
#define PMTK_SET_NMEA_OUTPUT_OFF \
|
||||
"$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn off output
|
||||
|
||||
// to generate your own sentences, check out the MTK command datasheet and use a
|
||||
// checksum calculator such as the awesome
|
||||
// http://www.hhhh.org/wiml/proj/nmeaxor.html
|
||||
|
||||
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22" ///< Start logging data
|
||||
#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23" ///< Stop logging data
|
||||
#define PMTK_LOCUS_STARTSTOPACK \
|
||||
"$PMTK001,185,3*3C" ///< Acknowledge the start or stop command
|
||||
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38" ///< Query the logging status
|
||||
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22" ///< Erase the log flash data
|
||||
#define LOCUS_OVERLAP \
|
||||
0 ///< If flash is full, log will overwrite old data with new logs
|
||||
#define LOCUS_FULLSTOP 1 ///< If flash is full, logging will stop
|
||||
|
||||
#define PMTK_ENABLE_SBAS \
|
||||
"$PMTK313,1*2E" ///< Enable search for SBAS satellite (only works with 1Hz
|
||||
///< output rate)
|
||||
#define PMTK_ENABLE_WAAS "$PMTK301,2*2E" ///< Use WAAS for DGPS correction data
|
||||
|
||||
#define PMTK_STANDBY \
|
||||
"$PMTK161,0*28" ///< standby command & boot successful message
|
||||
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" ///< Not needed currently
|
||||
#define PMTK_AWAKE "$PMTK010,002*2D" ///< Wake up
|
||||
|
||||
#define PMTK_Q_RELEASE "$PMTK605*31" ///< ask for the release and version
|
||||
|
||||
#define PGCMD_ANTENNA \
|
||||
"$PGCMD,33,1*6C" ///< request for updates on antenna status
|
||||
#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" ///< don't show antenna status messages
|
||||
|
||||
#define MAXWAITSENTENCE \
|
||||
10 ///< how long to wait when we're looking for a response
|
||||
/**************************************************************************/
|
||||
|
||||
/// type for resulting code from running check()
|
||||
typedef enum {
|
||||
NMEA_BAD = 0, ///< passed none of the checks
|
||||
|
|
@ -189,9 +101,10 @@ public:
|
|||
boolean check(char *nmea);
|
||||
boolean parse(char *);
|
||||
void addChecksum(char *buff);
|
||||
float secondsSinceFix();
|
||||
float secondsSinceTime();
|
||||
float secondsSinceDate();
|
||||
nmea_float_t secondsSinceFix();
|
||||
nmea_float_t secondsSinceTime();
|
||||
nmea_float_t secondsSinceDate();
|
||||
void resetSentTime();
|
||||
|
||||
boolean wakeup(void);
|
||||
boolean standby(void);
|
||||
|
|
@ -216,10 +129,10 @@ public:
|
|||
uint8_t month; ///< GMT month
|
||||
uint8_t day; ///< GMT day
|
||||
|
||||
float latitude; ///< Floating point latitude value in degrees/minutes as
|
||||
///< received from the GPS (DDMM.MMMM)
|
||||
float longitude; ///< Floating point longitude value in degrees/minutes as
|
||||
///< received from the GPS (DDDMM.MMMM)
|
||||
nmea_float_t latitude; ///< Floating point latitude value in degrees/minutes
|
||||
///< as received from the GPS (DDMM.MMMM)
|
||||
nmea_float_t longitude; ///< Floating point longitude value in degrees/minutes
|
||||
///< as received from the GPS (DDDMM.MMMM)
|
||||
|
||||
/** Fixed point latitude and longitude value with degrees stored in units of
|
||||
1/100000 degrees, and minutes stored in units of 1/100000 degrees. See pull
|
||||
|
|
@ -228,23 +141,23 @@ public:
|
|||
int32_t latitude_fixed; ///< Fixed point latitude in decimal degrees
|
||||
int32_t longitude_fixed; ///< Fixed point longitude in decimal degrees
|
||||
|
||||
float latitudeDegrees; ///< Latitude in decimal degrees
|
||||
float longitudeDegrees; ///< Longitude in decimal degrees
|
||||
float geoidheight; ///< Diff between geoid height and WGS84 height
|
||||
float altitude; ///< Altitude in meters above MSL
|
||||
float speed; ///< Current speed over ground in knots
|
||||
float angle; ///< Course in degrees from true north
|
||||
float magvariation; ///< Magnetic variation in degrees (vs. true north)
|
||||
float HDOP; ///< Horizontal Dilution of Precision - relative accuracy of
|
||||
///< horizontal position
|
||||
float VDOP; ///< Vertical Dilution of Precision - relative accuracy of
|
||||
///< vertical position
|
||||
float PDOP; ///< Position Dilution of Precision - Complex maths derives a
|
||||
///< simple, single number for each kind of DOP
|
||||
char lat = 'X'; ///< N/S
|
||||
char lon = 'X'; ///< E/W
|
||||
char mag = 'X'; ///< Magnetic variation direction
|
||||
boolean fix; ///< Have a fix?
|
||||
nmea_float_t latitudeDegrees; ///< Latitude in decimal degrees
|
||||
nmea_float_t longitudeDegrees; ///< Longitude in decimal degrees
|
||||
nmea_float_t geoidheight; ///< Diff between geoid height and WGS84 height
|
||||
nmea_float_t altitude; ///< Altitude in meters above MSL
|
||||
nmea_float_t speed; ///< Current speed over ground in knots
|
||||
nmea_float_t angle; ///< Course in degrees from true north
|
||||
nmea_float_t magvariation; ///< Magnetic variation in degrees (vs. true north)
|
||||
nmea_float_t HDOP; ///< Horizontal Dilution of Precision - relative accuracy
|
||||
///< of horizontal position
|
||||
nmea_float_t VDOP; ///< Vertical Dilution of Precision - relative accuracy
|
||||
///< of vertical position
|
||||
nmea_float_t PDOP; ///< Position Dilution of Precision - Complex maths derives
|
||||
///< a simple, single number for each kind of DOP
|
||||
char lat = 'X'; ///< N/S
|
||||
char lon = 'X'; ///< E/W
|
||||
char mag = 'X'; ///< Magnetic variation direction
|
||||
boolean fix; ///< Have a fix?
|
||||
uint8_t fixquality; ///< Fix quality (0, 1, 2 = Invalid, GPS, DGPS)
|
||||
uint8_t fixquality_3d; ///< 3D fix quality (1, 3, 3 = Nofix, 2D fix, 3D fix)
|
||||
uint8_t satellites; ///< Number of satellites in use
|
||||
|
|
@ -270,7 +183,6 @@ public:
|
|||
// NMEA additional public functions
|
||||
char *build(char *nmea, const char *thisSource, const char *thisSentence,
|
||||
char ref = 'R');
|
||||
void resetSentTime();
|
||||
|
||||
// NMEA additional public variables
|
||||
char txtTXT[63] = {0}; ///< text content from most recent TXT sentence
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
/**************************************************************************/
|
||||
/*!
|
||||
@file Adafruit_PMTK.h
|
||||
|
||||
This is the Adafruit GPS library - the ultimate GPS library
|
||||
for the ultimate GPS module!
|
||||
|
||||
Tested and works great with the Adafruit Ultimate GPS module
|
||||
using MTK33x9 chipset
|
||||
------> http://www.adafruit.com/products/746
|
||||
Pick one up today at the Adafruit electronics shop
|
||||
and help support open source hardware & software! -ada
|
||||
|
||||
Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit and open-source hardware by purchasing
|
||||
products from Adafruit!
|
||||
|
||||
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||
BSD license, check license.txt for more information
|
||||
All text above must be included in any redistribution
|
||||
*/
|
||||
/**************************************************************************/
|
||||
|
||||
#ifndef _ADAFRUIT_PMTK_H
|
||||
#define _ADAFRUIT_PMTK_H
|
||||
|
||||
/**************************************************************************/
|
||||
/**
|
||||
Different commands to set the update rate from once a second (1 Hz) to 10 times
|
||||
a second (10Hz) Note that these only control the rate at which the position is
|
||||
echoed, to actually speed up the position fix you must also send one of the
|
||||
position fix rate commands below too. */
|
||||
#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ \
|
||||
"$PMTK220,10000*2F" ///< Once every 10 seconds, 100 millihertz.
|
||||
#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ \
|
||||
"$PMTK220,5000*1B" ///< Once every 5 seconds, 200 millihertz.
|
||||
#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F" ///< 1 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_2HZ "$PMTK220,500*2B" ///< 2 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" ///< 5 Hz
|
||||
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F" ///< 10 Hz
|
||||
// Position fix update rate commands.
|
||||
#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ \
|
||||
"$PMTK300,10000,0,0,0,0*2C" ///< Once every 10 seconds, 100 millihertz.
|
||||
#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ \
|
||||
"$PMTK300,5000,0,0,0,0*18" ///< Once every 5 seconds, 200 millihertz.
|
||||
#define PMTK_API_SET_FIX_CTL_1HZ "$PMTK300,1000,0,0,0,0*1C" ///< 1 Hz
|
||||
#define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F" ///< 5 Hz
|
||||
// Can't fix position faster than 5 times a second!
|
||||
|
||||
#define PMTK_SET_BAUD_115200 "$PMTK251,115200*1F" ///< 115200 bps
|
||||
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C" ///< 57600 bps
|
||||
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17" ///< 9600 bps
|
||||
|
||||
#define PMTK_SET_NMEA_OUTPUT_GLLONLY \
|
||||
"$PMTK314,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPGLL sentence
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCONLY \
|
||||
"$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPRMC sentence
|
||||
#define PMTK_SET_NMEA_OUTPUT_VTGONLY \
|
||||
"$PMTK314,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the
|
||||
///< GPVTG
|
||||
#define PMTK_SET_NMEA_OUTPUT_GGAONLY \
|
||||
"$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGGA
|
||||
#define PMTK_SET_NMEA_OUTPUT_GSAONLY \
|
||||
"$PMTK314,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGSA
|
||||
#define PMTK_SET_NMEA_OUTPUT_GSVONLY \
|
||||
"$PMTK314,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the
|
||||
///< GPGSV
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCGGA \
|
||||
"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn on GPRMC and
|
||||
///< GPGGA
|
||||
#define PMTK_SET_NMEA_OUTPUT_RMCGGAGSA \
|
||||
"$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on GPRMC, GPGGA
|
||||
///< and GPGSA
|
||||
#define PMTK_SET_NMEA_OUTPUT_ALLDATA \
|
||||
"$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn on ALL THE DATA
|
||||
#define PMTK_SET_NMEA_OUTPUT_OFF \
|
||||
"$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn off output
|
||||
|
||||
// to generate your own sentences, check out the MTK command datasheet and use a
|
||||
// checksum calculator such as the awesome
|
||||
// http://www.hhhh.org/wiml/proj/nmeaxor.html
|
||||
|
||||
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22" ///< Start logging data
|
||||
#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23" ///< Stop logging data
|
||||
#define PMTK_LOCUS_STARTSTOPACK \
|
||||
"$PMTK001,185,3*3C" ///< Acknowledge the start or stop command
|
||||
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38" ///< Query the logging status
|
||||
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22" ///< Erase the log flash data
|
||||
#define LOCUS_OVERLAP \
|
||||
0 ///< If flash is full, log will overwrite old data with new logs
|
||||
#define LOCUS_FULLSTOP 1 ///< If flash is full, logging will stop
|
||||
|
||||
#define PMTK_ENABLE_SBAS \
|
||||
"$PMTK313,1*2E" ///< Enable search for SBAS satellite (only works with 1Hz
|
||||
///< output rate)
|
||||
#define PMTK_ENABLE_WAAS "$PMTK301,2*2E" ///< Use WAAS for DGPS correction data
|
||||
|
||||
#define PMTK_STANDBY \
|
||||
"$PMTK161,0*28" ///< standby command & boot successful message
|
||||
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" ///< Not needed currently
|
||||
#define PMTK_AWAKE "$PMTK010,002*2D" ///< Wake up
|
||||
|
||||
#define PMTK_Q_RELEASE "$PMTK605*31" ///< ask for the release and version
|
||||
|
||||
#define PGCMD_ANTENNA \
|
||||
"$PGCMD,33,1*6C" ///< request for updates on antenna status
|
||||
#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" ///< don't show antenna status messages
|
||||
|
||||
#define MAXWAITSENTENCE \
|
||||
10 ///< how long to wait when we're looking for a response
|
||||
/**************************************************************************/
|
||||
#endif
|
||||
|
|
@ -0,0 +1,196 @@
|
|||
/**************************************************************************/
|
||||
/*!
|
||||
@file NMEA_build.cpp
|
||||
|
||||
@mainpage Adafruit Ultimate GPS Breakout
|
||||
|
||||
@section intro Introduction
|
||||
|
||||
This is the Adafruit GPS library - the ultimate GPS library
|
||||
for the ultimate GPS module!
|
||||
|
||||
Tested and works great with the Adafruit Ultimate GPS module
|
||||
using MTK33x9 chipset
|
||||
------> http://www.adafruit.com/products/746
|
||||
|
||||
Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit and open-source hardware by purchasing
|
||||
products from Adafruit!
|
||||
|
||||
@section author Author
|
||||
|
||||
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||
|
||||
@section license License
|
||||
|
||||
BSD license, check license.txt for more information
|
||||
All text above must be included in any redistribution
|
||||
*/
|
||||
/**************************************************************************/
|
||||
|
||||
#include <Adafruit_GPS.h>
|
||||
|
||||
#ifdef NMEA_EXTENSIONS
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Build an NMEA sentence string based on the relevant variables.
|
||||
Sentences start with a $, then a two character source identifier, then
|
||||
a three character sentence name that defines the format, then a comma
|
||||
and more comma separated fields defined by the sentence name. There are
|
||||
many sentences listed that are not yet supported. Most of these sentence
|
||||
definitions were found at http://fort21.ru/download/NMEAdescription.pdf
|
||||
|
||||
build() will work with other lengths for source and sentence to allow
|
||||
extension to building proprietary sentences like $PMTK220,100*2F.
|
||||
|
||||
build() will not work properly in an environment that does not support
|
||||
the %f floating point formatter in sprintf(), and will return NULL.
|
||||
|
||||
build() adds Carriage Return and Line Feed to sentences to conform to
|
||||
NMEA-183, so send your output with a print, not a println.
|
||||
|
||||
Some of the data in these test sentences may be arbitrary, e.g. for the
|
||||
TXT sentence which has a more complicated protocol for multiple lines
|
||||
sent as a message set. Also, the data in the class variables are presumed
|
||||
to be valid, so these sentences may contain values that are stale, or
|
||||
the result of initialization rather than measurement.
|
||||
|
||||
@param nmea Pointer to the NMEA string buffer. Must be big enough to
|
||||
hold the sentence. No guarantee what will be in it if the
|
||||
building of the sentence fails.
|
||||
@param thisSource Pointer to the source name string (2 upper case)
|
||||
@param thisSentence Pointer to the sentence name string (3 upper case)
|
||||
@param ref Reference for the sentence, usually relative (R) or true (T)
|
||||
@return Pointer to sentence if successful, NULL if fails
|
||||
*/
|
||||
/**************************************************************************/
|
||||
char *Adafruit_GPS::build(char *nmea, const char *thisSource,
|
||||
const char *thisSentence, char ref) {
|
||||
sprintf(nmea, "%6.2f", 123.45); // fail if sprintf() doesn't handle floats
|
||||
if (strcmp(nmea, "123.45"))
|
||||
return NULL;
|
||||
*nmea = '$';
|
||||
char *p = nmea + 1; // Pointer to move through the sentence
|
||||
strncpy(p, thisSource, strlen(thisSource));
|
||||
p += strlen(thisSource);
|
||||
strncpy(p, thisSentence, strlen(thisSentence));
|
||||
p += strlen(thisSentence);
|
||||
*p = ',';
|
||||
p += 1; // Now $XXSSS, and need to add argument fields
|
||||
// This may look inefficient, but an M0 will get down the list in about 1 us /
|
||||
// strcmp()! Put the GPS sentences from Adafruit_GPS at the top to make
|
||||
// pruning excess code easier. Otherwise, keep them alphabetical for ease of
|
||||
// reading.
|
||||
|
||||
if (!strcmp(thisSentence,
|
||||
"GGA")) { //********************************************GGA
|
||||
// GGA Global Positioning System Fix Data. Time, Position and fix related
|
||||
// data for a GPS receiver
|
||||
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
|
||||
// | | | | | | | | | | | | | | |
|
||||
//$--GGA,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
|
||||
// 1) Time (UTC)
|
||||
// 2) Latitude
|
||||
// 3) N or S (North or South)
|
||||
// 4) Longitude
|
||||
// 5) E or W (East or West)
|
||||
// 6) GPS Quality Indicator, 0 - fix not available, 1 - GPS fix, 2 -
|
||||
// Differential GPS fix 7) Number of satellites in view, 00 - 12 8)
|
||||
// Horizontal Dilution of precision 9) Antenna Altitude above/below
|
||||
// mean-sea-level (geoid) 10) Units of antenna altitude, meters 11) Geoidal
|
||||
// separation, the difference between the WGS-84 earth
|
||||
// ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below
|
||||
// ellipsoid
|
||||
// 12) Units of geoidal separation, meters
|
||||
// 13) Age of differential GPS data, time in seconds since last SC104
|
||||
// type 1 or 9 update, null field when DGPS is not used
|
||||
// 14) Differential reference station ID, 0000-1023
|
||||
// 15) Checksum
|
||||
sprintf(p, "%09.2f,%09.4f,%c,%010.4f,%c,%d,%02d,%f,%f,M,%f,M,,",
|
||||
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
|
||||
latitude, lat, longitude, lon, fixquality, satellites, HDOP,
|
||||
altitude, geoidheight);
|
||||
|
||||
} else if (!strcmp(thisSentence,
|
||||
"GLL")) { //********************************************GLL
|
||||
// GLL Geographic Position – Latitude/Longitude
|
||||
// 1 2 3 4 5 6 7
|
||||
// | | | | | | |
|
||||
//$--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,A*hh
|
||||
// 1) Latitude ddmm.mm format
|
||||
// 2) N or S (North or South)
|
||||
// 3) Longitude dddmm.mm format
|
||||
// 4) E or W (East or West)
|
||||
// 5) Time (UTC)
|
||||
// 6) Status A - Data Valid, V - Data Invalid
|
||||
// 7) Checksum
|
||||
sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", latitude, lat, longitude, lon,
|
||||
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.);
|
||||
|
||||
} else if (!strcmp(thisSentence,
|
||||
"GSA")) { //********************************************
|
||||
// GSA GPS DOP and active satellites
|
||||
// 1 2 3 14 15 16 17 18
|
||||
// | | | | | | | |
|
||||
//$--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh
|
||||
// 1) Selection mode
|
||||
// 2) Mode
|
||||
// 3) ID of 1st satellite used for fix
|
||||
// 4) ID of 2nd satellite used for fix
|
||||
// ...
|
||||
// 14) ID of 12th satellite used for fix
|
||||
// 15) PDOP in meters
|
||||
// 16) HDOP in meters
|
||||
// 17) VDOP in meters
|
||||
// 18) Checksum
|
||||
return NULL;
|
||||
|
||||
} else if (!strcmp(thisSentence,
|
||||
"RMC")) { //********************************************RMC
|
||||
// RMC Recommended Minimum Navigation Information
|
||||
// 12
|
||||
// 1 2 3 4 5 6 7 8 9 10 11 |
|
||||
// | | | | | | | | | | | |
|
||||
//$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a*hh
|
||||
// 1) Time (UTC)
|
||||
// 2) Status, V = Navigation receiver warning
|
||||
// 3) Latitude
|
||||
// 4) N or S
|
||||
// 5) Longitude
|
||||
// 6) E or W
|
||||
// 7) Speed over ground, knots
|
||||
// 8) Track made good, degrees true
|
||||
// 9) Date, ddmmyy
|
||||
// 10) Magnetic Variation, degrees
|
||||
// 11) E or W
|
||||
// 12) Checksum
|
||||
sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
|
||||
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
|
||||
latitude, lat, longitude, lon, speed, angle,
|
||||
day * 10000 + month * 100 + year, magvariation, mag);
|
||||
|
||||
} else if (!strcmp(thisSentence,
|
||||
"TXT")) { //********************************************TXT
|
||||
// as mentioned in https://github.com/adafruit/Adafruit_GPS/issues/95
|
||||
// TXT Text Transmission
|
||||
// 1 2 3 4 5
|
||||
// | | | | |
|
||||
//$--TXT,xx,xx,xx,c--c*hh
|
||||
// 1) Total Number of Sentences 01-99
|
||||
// 2) Sentence Number 01-99
|
||||
// 3) Text Identifier 01-99
|
||||
// 4) Text String, max 61 characters
|
||||
// 5) Checksum
|
||||
sprintf(p, "01,01,23,This is the text of the sample message");
|
||||
|
||||
} else {
|
||||
return NULL; // didn't find a match for the build request
|
||||
}
|
||||
|
||||
addChecksum(nmea); // Successful completion
|
||||
sprintf(nmea, "%s\r\n",
|
||||
nmea); // Add Carriage Return and Line Feed to comply with NMEA-183
|
||||
return nmea; // return pointer to finished product
|
||||
}
|
||||
|
||||
#endif // NMEA_EXTENSIONS
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
/**************************************************************************/
|
||||
/*!
|
||||
@file NMEA_data.h
|
||||
*/
|
||||
/**************************************************************************/
|
||||
#ifndef _NMEA_DATA_H
|
||||
#define _NMEA__DATA_H
|
||||
#include "Arduino.h"
|
||||
|
||||
#define NMEA_MAX_WP_ID \
|
||||
20 ///< maximum length of a waypoint ID name, including terminating 0
|
||||
#define NMEA_MAX_SENTENCE_ID \
|
||||
20 ///< maximum length of a sentence ID name, including terminating 0
|
||||
#define NMEA_MAX_SOURCE_ID \
|
||||
3 ///< maximum length of a source ID name, including terminating 0
|
||||
|
||||
/*************************************************************************
|
||||
doubles and floats are identical on AVR processors like the UNO where space
|
||||
is tight. doubles avoid the roundoff errors that led to the fixed point mods
|
||||
in https://github.com/adafruit/Adafruit-GPS-Library/pull/13, provided the
|
||||
processor supports actual doubles like the SAMD series with more storage. The
|
||||
total penalty for going all double is under a few hundred bytes / instance or
|
||||
0 bytes / instance on an UNO. This typedef allows a switch to lower precision
|
||||
to save some storage if needed. A float carries 23 bits of fractional
|
||||
resolution, giving a resolution of at least 9 significant digits, thus 6
|
||||
significant digits in the decimal place of an angular value like latitude, and
|
||||
thus a resolution on earth of at least 110 mm. That's closer than GPS will
|
||||
hit, and closer than needed for navigation, so floats can be used to save a
|
||||
little storage.
|
||||
**************************************************************************/
|
||||
#ifndef NMEA_FLOAT_T
|
||||
#define NMEA_FLOAT_T float ///< let float be overidden on command line
|
||||
#endif
|
||||
typedef NMEA_FLOAT_T
|
||||
nmea_float_t; ///< the type of variables to use for floating point
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
Struct to contain all the details associated with the history of an NMEA
|
||||
data value as an optional extension to the data value struct. The history
|
||||
is stored as scaled integers to save space while caputuring a reasonable
|
||||
level of resolution. The integer is set equal to scale * (X - offset) and
|
||||
can be converted back to an approximate float value with
|
||||
X = I / scale + offset
|
||||
|
||||
Only some tags have history in order to save memory. Most of the memory
|
||||
cost is directly in the array.
|
||||
|
||||
192 history values taken every 20 seconds covers just over an hour.
|
||||
**************************************************************************/
|
||||
typedef struct {
|
||||
int16_t *data = NULL; ///< array of ints, oldest first
|
||||
unsigned n = 0; ///< number of history array elements
|
||||
uint32_t lastHistory = 0; ///< millis() when history was last updated
|
||||
uint16_t historyInterval = 20; ///< seconds between history updates
|
||||
nmea_float_t scale = 1.0; ///< history = (smoothed - offset) * scale
|
||||
nmea_float_t offset = 0.0; ///< value = (float) history / scale + offset
|
||||
} nmea_history_t;
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
Type to characterize the type of value stored in a data value struct.
|
||||
The sine and cosine components of some angles allow
|
||||
for smoothing of those angles by averaging of sine and cosine values
|
||||
that are continuous, rather than angles that are discontinuous at
|
||||
-180/180 or 359/0 transitions. Types 10-19 must have three contiguous
|
||||
data value entries set up in the matrix to accommodate the extra sin
|
||||
and cos values.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
typedef enum {
|
||||
NMEA_SIMPLE_FLOAT = 0, ///< A simple floating point number
|
||||
NMEA_COMPASS_ANGLE = 1, ///< A compass style angle from 0 to 360 degrees
|
||||
NMEA_BOAT_ANGLE = 2, ///< An angle relative to the boat orientation
|
||||
///< from -180 (port) to 180 degrees
|
||||
NMEA_COMPASS_ANGLE_SIN =
|
||||
11, ///< A compass style angle from 0 to 360 degrees, with sin and cos
|
||||
///< elements stored for averaging, etc.
|
||||
NMEA_BOAT_ANGLE_SIN =
|
||||
12, ///< An angle relative to the boat orientation from -180 (port) to 180
|
||||
///< degrees, with sin and cos elements stored for averaging, etc.
|
||||
NMEA_DDMM = 20, ///< A latitude or longitude angle stored in DDMM.mmmm format
|
||||
///< like it comes in from the GPS
|
||||
NMEA_HHMMSS =
|
||||
30 ///< A time stored in HHMMSS format like it comes in from the GPS
|
||||
} nmea_value_type_t;
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
Struct to contain all the details associated with an NMEA data value that
|
||||
can be tracked through time to see how it changes, carries a label, units,
|
||||
and a format string to determine how it is displayed. Memory footprint
|
||||
of about 32 bytes per data value, so not tenable in small memory spaces.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
typedef struct {
|
||||
nmea_float_t latest = 0.0; ///< the most recently obtained value
|
||||
nmea_float_t smoothed =
|
||||
0.0; ///< smoothed value based on weight of dt/response
|
||||
uint32_t lastUpdate = 0; ///< millis() when latest was last set
|
||||
uint16_t response = 1000; ///< time constant in millis for smoothing
|
||||
nmea_value_type_t type =
|
||||
NMEA_SIMPLE_FLOAT; ///< type of float data value represented
|
||||
byte ockam = 0; ///< the corresponding Ockam Instruments tag number, 0-128
|
||||
nmea_history_t *hist = NULL; ///< pointer to history, if any
|
||||
char *label = NULL; ///< pointer to quantity label, if any
|
||||
char *unit = NULL; ///< pointer to units label, if any
|
||||
char *fmt = NULL; ///< pointer to format string, if any
|
||||
} nmea_datavalue_t;
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
Type to provide an index into the array of data values for different
|
||||
NMEA quantities. The sine and cosine components of some angles allow
|
||||
for smoothing of those angles by averaging of sine and cosine values
|
||||
that are continuous, rather than angles that are discontinuous at
|
||||
-180/180 or 359/0 transitions. Note that the enumerations are arranged
|
||||
so that NMEA_XXX_SIN = NMEA_XXX + 1, and NMEA_XXX_COS = NMEA_XXX + 2.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
typedef enum {
|
||||
NMEA_HDOP = 0, ///< Horizontal Dilution of Position
|
||||
NMEA_LAT, ///< Latitude in signed decimal degrees -90 to 90
|
||||
NMEA_LON, ///< Longitude in signed decimal degrees -180 to 180
|
||||
NMEA_LATWP, ///< Waypoint Latitude in signed decimal degrees -90 to 90
|
||||
NMEA_LONWP, ///< Waypoint Longitude in signed decimal degrees -180 to 180
|
||||
NMEA_SOG, ///< Speed over Ground in knots
|
||||
NMEA_COG, ///< Course over ground, 0 to 360 degrees true
|
||||
NMEA_COG_SIN, ///< sine of Course over ground
|
||||
NMEA_COG_COS, ///< cosine of Course over ground
|
||||
NMEA_COGWP, ///< Course over ground to the waypoint, 0 to 360 degrees true
|
||||
NMEA_XTE, ///< Cross track error for the current segment to the waypoint,
|
||||
///< Nautical Miles -ve to the left
|
||||
NMEA_DISTWP, ///< Distance to the waypoint in nautical miles
|
||||
NMEA_AWA, ///< apparent wind angle relative to the boat -180 to 180 degrees
|
||||
NMEA_AWA_SIN, ///< sine of apparent wind angle relative to the boat
|
||||
NMEA_AWA_COS, ///< cosine of apparent wind angle relative to the boat
|
||||
NMEA_AWS, ///< apparent wind speed, will be coerced to knots
|
||||
NMEA_TWA, ///< true wind angle relative to the boat -180 to 180 degrees
|
||||
NMEA_TWA_SIN, ///< sine of true wind angle relative to the boat
|
||||
NMEA_TWA_COS, ///< cosine of true wind angle relative to the boat
|
||||
NMEA_TWD, ///< true wind compass direction, magnetic 0 to 360 degrees magnetic
|
||||
NMEA_TWD_SIN, ///< sine of true wind compass direction, magnetic
|
||||
NMEA_TWD_COS, ///< cosine of true wind compass direction, magnetic
|
||||
NMEA_TWS, ///< true wind speed in knots TWS
|
||||
NMEA_VMG, ///< velocity made good relative to the wind -ve means downwind,
|
||||
///< knots
|
||||
NMEA_VMGWP, ///< velocity made good relative to the waypoint, knots
|
||||
NMEA_HEEL, ///< boat heel angle, -180 to 180 degrees to starboard
|
||||
NMEA_PITCH, ///< boat pitch angle, -180 to 180 degrees bow up
|
||||
NMEA_HDG, ///< magnetic heading, 0 to 360 degrees magnetic
|
||||
NMEA_HDG_SIN, ///< sine of magnetic heading
|
||||
NMEA_HDG_COS, ///< cosine of magnetic heading
|
||||
NMEA_HDT, ///< true heading, 0 to 360 degrees true
|
||||
NMEA_HDT_SIN, ///< sine of true heading
|
||||
NMEA_HDT_COS, ///< cosine of true heading
|
||||
NMEA_VTW, ///< Boat speed through the water in knots
|
||||
NMEA_LOG, ///< Distance logged through the water in nautical miles
|
||||
NMEA_LOGR, ///< Distance logged through the water in nautical miles since
|
||||
///< reset
|
||||
NMEA_DEPTH, ///< depth of water below the surface in metres
|
||||
NMEA_RPM_M1, ///< rpm of motor 1
|
||||
NMEA_TEMPERATURE_M1, ///< temperature of motor 1 in C
|
||||
NMEA_PRESSURE_M1, ///< pressure of motor 1 in kPa
|
||||
NMEA_VOLTAGE_M1, ///< voltage of motor 1 in Volts
|
||||
NMEA_CURRENT_M1, ///< current of motor 1 in Amps
|
||||
NMEA_RPM_M2, ///< rpm of motor 2
|
||||
NMEA_TEMPERATURE_M2, ///< temperature of motor 2 in C
|
||||
NMEA_PRESSURE_M2, ///< pressure of motor 2 in kPa
|
||||
NMEA_VOLTAGE_M2, ///< voltage of motor 2 in Volts
|
||||
NMEA_CURRENT_M2, ///< current of motor 2 in Amps
|
||||
NMEA_TEMPERATURE_AIR, ///< outside temperature in C
|
||||
NMEA_TEMPERATURE_WATER, ///< sea water temperature in C
|
||||
NMEA_HUMIDITY, ///< outside relative humidity in %
|
||||
NMEA_BAROMETER, ///< barometric pressure in Pa absolute -- not altitude
|
||||
///< corrected
|
||||
NMEA_USR_00, ///< spaces for a user sketch to inject its own data
|
||||
NMEA_USR_01, ///< spaces for a user sketch to inject its own data
|
||||
NMEA_USR_02, ///< spaces for a user sketch to inject its own data
|
||||
NMEA_USR_03,
|
||||
NMEA_USR_04,
|
||||
NMEA_USR_05,
|
||||
NMEA_USR_06,
|
||||
NMEA_USR_07,
|
||||
NMEA_USR_08,
|
||||
NMEA_USR_09,
|
||||
NMEA_USR_10,
|
||||
NMEA_USR_11,
|
||||
NMEA_USR_12,
|
||||
NMEA_MAX_INDEX ///< the largest number in the enum type -- not for data,
|
||||
///< but does define size of data value array required.
|
||||
} nmea_index_t; ///< Indices for data values expected to change often with time
|
||||
|
||||
#endif // _NMEA_DATA_H
|
||||
|
|
@ -0,0 +1,231 @@
|
|||
/**************************************************************************/
|
||||
/*!
|
||||
@file NMEA_parse.cpp
|
||||
|
||||
@mainpage Adafruit Ultimate GPS Breakout
|
||||
|
||||
@section intro Introduction
|
||||
|
||||
This is the Adafruit GPS library - the ultimate GPS library
|
||||
for the ultimate GPS module!
|
||||
|
||||
Tested and works great with the Adafruit Ultimate GPS module
|
||||
using MTK33x9 chipset
|
||||
------> http://www.adafruit.com/products/746
|
||||
|
||||
Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit and open-source hardware by purchasing
|
||||
products from Adafruit!
|
||||
|
||||
@section author Author
|
||||
|
||||
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||
|
||||
@section license License
|
||||
|
||||
BSD license, check license.txt for more information
|
||||
All text above must be included in any redistribution
|
||||
*/
|
||||
/**************************************************************************/
|
||||
|
||||
#include <Adafruit_GPS.h>
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Parse a NMEA string
|
||||
@param nmea Pointer to the NMEA string
|
||||
@return True if we parsed it, false if it has an invalid checksum or invalid
|
||||
data
|
||||
*/
|
||||
/**************************************************************************/
|
||||
boolean Adafruit_GPS::parse(char *nmea) {
|
||||
// do checksum check
|
||||
if (!check(nmea))
|
||||
return false;
|
||||
// passed the check, so there's a valid source in thisSource and a valid
|
||||
// sentence in thisSentence
|
||||
|
||||
// look for a few common sentences
|
||||
char *p = nmea; // Pointer to move through the sentence -- good parsers are
|
||||
// non-destructive
|
||||
p = strchr(p, ',') +
|
||||
1; // Skip to the character after the next comma, then check sentence.
|
||||
|
||||
if (!strcmp(thisSentence, "GGA")) {
|
||||
// found GGA
|
||||
// get time
|
||||
parseTime(p);
|
||||
|
||||
// parse out latitude
|
||||
p = strchr(p, ',') + 1;
|
||||
parseLat(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLatDir(p))
|
||||
return false;
|
||||
|
||||
// parse out longitude
|
||||
p = strchr(p, ',') + 1;
|
||||
parseLon(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLonDir(p))
|
||||
return false;
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
fixquality = atoi(p);
|
||||
if (fixquality > 0) {
|
||||
fix = true;
|
||||
lastFix = sentTime;
|
||||
} else
|
||||
fix = false;
|
||||
}
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
satellites = atoi(p);
|
||||
}
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
HDOP = atof(p);
|
||||
}
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
altitude = atof(p);
|
||||
}
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
geoidheight = atof(p);
|
||||
}
|
||||
}
|
||||
|
||||
else if (!strcmp(thisSentence, "RMC")) {
|
||||
// found RMC
|
||||
// get time
|
||||
parseTime(p);
|
||||
|
||||
// fix or no fix
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseFix(p))
|
||||
return false;
|
||||
|
||||
// parse out latitude
|
||||
p = strchr(p, ',') + 1;
|
||||
parseLat(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLatDir(p))
|
||||
return false;
|
||||
|
||||
// parse out longitude
|
||||
p = strchr(p, ',') + 1;
|
||||
parseLon(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLonDir(p))
|
||||
return false;
|
||||
|
||||
// speed
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
speed = atof(p);
|
||||
}
|
||||
|
||||
// angle
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
angle = atof(p);
|
||||
}
|
||||
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
uint32_t fulldate = atof(p);
|
||||
day = fulldate / 10000;
|
||||
month = (fulldate % 10000) / 100;
|
||||
year = (fulldate % 100);
|
||||
lastDate = sentTime;
|
||||
}
|
||||
}
|
||||
|
||||
else if (!strcmp(thisSentence, "GLL")) {
|
||||
// found GLL
|
||||
// parse out latitude
|
||||
parseLat(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLatDir(p))
|
||||
return false;
|
||||
|
||||
// parse out longitude
|
||||
p = strchr(p, ',') + 1;
|
||||
parseLon(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseLonDir(p))
|
||||
return false;
|
||||
|
||||
// get time
|
||||
p = strchr(p, ',') + 1;
|
||||
parseTime(p);
|
||||
|
||||
// fix or no fix
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!parseFix(p))
|
||||
return false;
|
||||
}
|
||||
|
||||
else if (!strcmp(thisSentence, "GSA")) {
|
||||
// found GSA
|
||||
// parse out Auto selection, but ignore them
|
||||
// parse out 3d fixquality
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
fixquality_3d = atoi(p);
|
||||
}
|
||||
// skip 12 Satellite PDNs without interpreting them
|
||||
for (int i = 0; i < 12; i++)
|
||||
p = strchr(p, ',') + 1;
|
||||
|
||||
// parse out PDOP
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
PDOP = atof(p);
|
||||
}
|
||||
// parse out HDOP, we also parse this from the GGA sentence. Chipset should
|
||||
// report the same for both
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
HDOP = atof(p);
|
||||
}
|
||||
// parse out VDOP
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p)) {
|
||||
VDOP = atof(p);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef NMEA_EXTENSIONS // Sentences not required for basic GPS functionality
|
||||
else if (!strcmp(thisSentence, "TXT")) { //*******************************TXT
|
||||
if (!isEmpty(p))
|
||||
txtTot = atoi(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p))
|
||||
txtN = atoi(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p))
|
||||
txtID = atoi(p);
|
||||
p = strchr(p, ',') + 1;
|
||||
if (!isEmpty(p))
|
||||
parseStr(txtTXT, p, 61); // copy the text to NMEA TXT max of 61 characters
|
||||
}
|
||||
#endif // NMEA_EXTENSIONS
|
||||
|
||||
// we dont parse the remaining, yet!
|
||||
else
|
||||
return false;
|
||||
|
||||
// Record the successful parsing of where the last data came from and when
|
||||
strcpy(lastSource, thisSource);
|
||||
strcpy(lastSentence, thisSentence);
|
||||
lastUpdate = millis();
|
||||
return true;
|
||||
}
|
||||
Loading…
Reference in New Issue