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parse() improvements 

Split out separate functions to parse fragments of sentences for time, lat, lon, fix. No functional changes. Reduces repetition and makes parsing process more readable. Will make adding new sentences less cumbersome. The difference tracking gets a little wonky stretching across function boundaries.

Added timeSinceFix() to return seconds since a valid fix was received. Modified $GPGGA parsing to also set fix = true/false based on quality.

Added more output sentences to Adafruit_GPS.h to facilittate testing with different sentences.
This commit is contained in:
sellensr 2019-04-17 22:37:47 -04:00
parent 5407c85b41
commit 76a0384f71
2 changed files with 146 additions and 157 deletions
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275
Adafruit_GPS.cpp
View File

@ -76,85 +76,36 @@ boolean Adafruit_GPS::parse(char *nmea) {
} else {
return false;
}
int32_t degree;
long minutes;
char degreebuff[10];
// look for a few common sentences
char *p = nmea;
if (strStartsWith(nmea, "$GPGGA")) {
// found GGA
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
parseTime(p);
// parse out latitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 2);
p += 2;
degreebuff[2] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
latitude_fixed = degree + minutes;
latitude = degree / 100000 + minutes * 0.000006F;
latitudeDegrees = (latitude-100*int(latitude/100))/60.0;
latitudeDegrees += int(latitude/100);
}
parseLat(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'S') latitudeDegrees *= -1.0;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
}
if(!parseLatDir(p)) return false;
// parse out longitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 3);
p += 3;
degreebuff[3] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
longitude_fixed = degree + minutes;
longitude = degree / 100000 + minutes * 0.000006F;
longitudeDegrees = (longitude-100*int(longitude/100))/60.0;
longitudeDegrees += int(longitude/100);
}
parseLon(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'W') longitudeDegrees *= -1.0;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
}
if(!parseLonDir(p)) return false;
p = strchr(p, ',')+1;
if (',' != *p)
{
fixquality = atoi(p);
if(fixquality > 0){
fix = true;
lastFix = millis();
} else
fix = false;
}
p = strchr(p, ',')+1;
@ -183,86 +134,29 @@ boolean Adafruit_GPS::parse(char *nmea) {
}
return true;
}
if (strStartsWith(nmea, "$GPRMC")) {
// found RMC
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
parseTime(p);
// fix or no fix
p = strchr(p, ',')+1;
// Serial.println(p);
if (p[0] == 'A')
fix = true;
else if (p[0] == 'V')
fix = false;
else
return false;
if(!parseFix(p)) return false;
// parse out latitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 2);
p += 2;
degreebuff[2] = '\0';
long degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
long minutes = 50 * atol(degreebuff) / 3;
latitude_fixed = degree + minutes;
latitude = degree / 100000 + minutes * 0.000006F;
latitudeDegrees = (latitude-100*int(latitude/100))/60.0;
latitudeDegrees += int(latitude/100);
}
parseLat(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'S') latitudeDegrees *= -1.0;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
}
if(!parseLatDir(p)) return false;
// parse out longitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 3);
p += 3;
degreebuff[3] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
longitude_fixed = degree + minutes;
longitude = degree / 100000 + minutes * 0.000006F;
longitudeDegrees = (longitude-100*int(longitude/100))/60.0;
longitudeDegrees += int(longitude/100);
}
parseLon(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'W') longitudeDegrees *= -1.0;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
}
if(!parseLonDir(p)) return false;
// speed
p = strchr(p, ',')+1;
if (',' != *p)
@ -285,15 +179,65 @@ boolean Adafruit_GPS::parse(char *nmea) {
month = (fulldate % 10000) / 100;
year = (fulldate % 100);
}
// we dont parse the remaining, yet!
return true;
}
if (strStartsWith(nmea, "$GPGLL")) {
// found GLL
char *p = nmea;
// 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;
// get time
p = strchr(p, ',')+1;
parseTime(p);
// fix or no fix
p = strchr(p, ',')+1;
if(!parseFix(p)) return false;
return true;
}
// we dont parse the remaining, yet!
return false;
}
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for time
@param p Pointer to the location of the token in the NMEA string
*/
/**************************************************************************/
void Adafruit_GPS::parseTime(char *p) {
// get time
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
}
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for latitude angle
@param p Pointer to the location of the token in the NMEA string
*/
/**************************************************************************/
void Adafruit_GPS::parseLat(char *p) {
int32_t degree;
long minutes;
char degreebuff[10];
if (',' != *p)
{
strncpy(degreebuff, p, 2);
@ -310,8 +254,16 @@ boolean Adafruit_GPS::parse(char *nmea) {
latitudeDegrees = (latitude-100*int(latitude/100))/60.0;
latitudeDegrees += int(latitude/100);
}
}
p = strchr(p, ',')+1;
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for latitude direction
@param p Pointer to the location of the token in the NMEA string
@return True if we parsed it, false if it has invalid data
*/
/**************************************************************************/
boolean Adafruit_GPS::parseLatDir(char *p) {
if (',' != *p)
{
if (p[0] == 'S') latitudeDegrees *= -1.0;
@ -320,9 +272,19 @@ boolean Adafruit_GPS::parse(char *nmea) {
else if (p[0] == ',') lat = 0;
else return false;
}
return true;
}
// parse out longitude
p = strchr(p, ',')+1;
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for longitude angle
@param p Pointer to the location of the token in the NMEA string
*/
/**************************************************************************/
void Adafruit_GPS::parseLon(char *p) {
int32_t degree;
long minutes;
char degreebuff[10];
if (',' != *p)
{
strncpy(degreebuff, p, 3);
@ -339,8 +301,16 @@ boolean Adafruit_GPS::parse(char *nmea) {
longitudeDegrees = (longitude-100*int(longitude/100))/60.0;
longitudeDegrees += int(longitude/100);
}
}
p = strchr(p, ',')+1;
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for longitude direction
@param p Pointer to the location of the token in the NMEA string
@return True if we parsed it, false if it has invalid data
*/
/**************************************************************************/
boolean Adafruit_GPS::parseLonDir(char *p) {
if (',' != *p)
{
if (p[0] == 'W') longitudeDegrees *= -1.0;
@ -349,30 +319,37 @@ boolean Adafruit_GPS::parse(char *nmea) {
else if (p[0] == ',') lon = 0;
else return false;
}
return true;
}
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
p = strchr(p, ',')+1;
// Serial.println(p);
if (p[0] == 'A')
/**************************************************************************/
/*!
@brief Parse a part of an NMEA string for whether there is a fix
@param p Pointer to the location of the token in the NMEA string
@return True if we parsed it, false if it has invalid data
*/
/**************************************************************************/
boolean Adafruit_GPS::parseFix(char *p) {
if (p[0] == 'A'){
fix = true;
lastFix = millis();
}
else if (p[0] == 'V')
fix = false;
else
return false;
return true;
}
return false;
/**************************************************************************/
/*!
@brief Time in seconds since the last fix was obtained. Will fail by
rolling over to zero after one millis() cycle, about 6-1/2 weeks.
@return float value in seconds since last fix.
*/
/**************************************************************************/
float Adafruit_GPS::timeSinceFix() {
return (millis()-lastFix) / 1000.;
}
/**************************************************************************/

18
Adafruit_GPS.h
View File

@ -55,9 +55,13 @@
#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_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on only the second sentence (GPRMC)
#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$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 GGA
#define PMTK_SET_NMEA_OUTPUT_GGAONLY "$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on just the GGA
#define PMTK_SET_NMEA_OUTPUT_GLLONLY "$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_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
@ -115,6 +119,7 @@ class Adafruit_GPS {
char read(void);
boolean parse(char *);
float timeSinceFix();
boolean wakeup(void);
boolean standby(void);
@ -168,6 +173,13 @@ class Adafruit_GPS {
uint8_t LOCUS_percent; ///< Log life used percentage
private:
void parseTime(char *);
void parseLat(char *);
boolean parseLatDir(char *);
void parseLon(char *);
boolean parseLonDir(char *);
boolean parseFix(char *);
time_t lastFix;
boolean paused;
uint8_t parseResponse(char *response);