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This commit is contained in:
Rick Sellens 2020-01-29 12:57:20 -05:00
parent 7d889e3a9d
commit 8ae6a7b75a
4 changed files with 60 additions and 50 deletions
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46
src/Adafruit_GPS.h
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@ -30,13 +30,13 @@
little memory as possible for GPS functionality only. The ARDUINO_ARCH_AVR
test should leave it out of any compilations for the UNO and similar. */
#ifndef NMEA_EXTRAS // inject on the compile command line to force extensions
#ifndef ARDUINO_ARCH_AVR
#define NMEA_EXTENSIONS ///< if defined will include more NMEA sentences
#endif
#ifndef ARDUINO_ARCH_AVR
#define NMEA_EXTENSIONS ///< if defined will include more NMEA sentences
#endif
#else
#if(NMEA_EXTRAS > 0)
#define NMEA_EXTENSIONS ///< if defined will include more NMEA sentences
#endif
#if(NMEA_EXTRAS > 0)
#define NMEA_EXTENSIONS ///< if defined will include more NMEA sentences
#endif
#endif
#define USE_SW_SERIAL ///< comment this out if you don't want to include
@ -64,8 +64,9 @@
/// type for resulting code from running check()
typedef enum {
NMEA_BAD = 0, ///< passed none of the checks
NMEA_HAS_DOLLAR = 1, ///< has a dollar sign or exclamation mark in the first position
NMEA_BAD = 0, ///< passed none of the checks
NMEA_HAS_DOLLAR =
1, ///< has a dollar sign or exclamation mark in the first position
NMEA_HAS_CHECKSUM = 2, ///< has a valid checksum at the end
NMEA_HAS_NAME = 4, ///< there is a token after the $ followed by a comma
NMEA_HAS_SOURCE = 10, ///< has a recognized source ID
@ -91,7 +92,7 @@ public:
Adafruit_GPS(); // Constructor for no communications, just data storage
void common_init(void);
virtual ~Adafruit_GPS();
size_t available(void);
size_t write(uint8_t);
char read(void);
@ -100,7 +101,7 @@ public:
void pause(bool b);
char *lastNMEA(void);
bool waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE,
bool usingInterrupts = false);
bool usingInterrupts = false);
bool LOCUS_StartLogger(void);
bool LOCUS_StopLogger(void);
bool LOCUS_ReadStatus(void);
@ -110,7 +111,7 @@ public:
nmea_float_t secondsSinceTime();
nmea_float_t secondsSinceDate();
void resetSentTime();
// NMEA_parse.cpp
bool parse(char *);
bool check(char *nmea);
@ -123,7 +124,7 @@ public:
char ref = 'R');
#endif
void addChecksum(char *buff);
// NMEA_data.cpp
void newDataValue(nmea_index_t tag, nmea_float_t v);
#ifdef NMEA_EXTENSIONS
@ -229,10 +230,10 @@ public:
#endif // NMEA_EXTENSIONS
private:
// void parseLat(char *);
// bool parseLatDir(char *);
// void parseLon(char *);
// bool parseLonDir(char *);
// void parseLat(char *);
// bool parseLatDir(char *);
// void parseLon(char *);
// bool parseLonDir(char *);
// NMEA_data.cpp
void data_init();
// NMEA_parse.cpp
@ -246,8 +247,8 @@ private:
bool isEmpty(char *pStart);
// used by check() for validity tests, room for future expansion
const char *sources[6] = {"II", "WI", "GP", "GN",
"P", "ZZZ"}; ///< valid source ids
const char *sources[6] = {"II", "WI", "GP",
"GN", "P", "ZZZ"}; ///< valid source ids
#ifdef NMEA_EXTENSIONS
const char
*sentences_parsed[20] =
@ -260,11 +261,10 @@ private:
"RPM", "RSA", "VDR", "VTG", "ZDA", "ZZZ"}; ///< known, but not parseable
#else // make the lists short to save memory
const char
*sentences_parsed[5] =
{
"GGA", "GLL", "GSA", "RMC", "ZZZ"}; ///< parseable sentence ids
const char *sentences_known[4] = {
"DBT", "HDM", "HDT", "ZZZ"}; ///< known, but not parseable
*sentences_parsed[5] = {"GGA", "GLL", "GSA", "RMC",
"ZZZ"}; ///< parseable sentence ids
const char *sentences_known[4] = {"DBT", "HDM", "HDT",
"ZZZ"}; ///< known, but not parseable
#endif
// Make all of these times far in the past by setting them near the middle of

27
src/NMEA_build.cpp
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@ -44,8 +44,8 @@
extension to building proprietary sentences like $PMTK220,100*2F.
build() will not work properly in an environment that does not support
the %f floating point formatter in sprintf(), and will return NULL.
Floating point arguments to sprintf() are explicitly cast to double to
the %f floating point formatter in sprintf(), and will return NULL.
Floating point arguments to sprintf() are explicitly cast to double to
avoid warnings in some compilers.
build() adds Carriage Return and Line Feed to sentences to conform to
@ -72,7 +72,8 @@
/**************************************************************************/
char *Adafruit_GPS::build(char *nmea, const char *thisSource,
const char *thisSentence, char ref) {
sprintf(nmea, "%6.2f", (double)123.45); // fail if sprintf() doesn't handle floats
sprintf(nmea, "%6.2f",
(double)123.45); // fail if sprintf() doesn't handle floats
if (strcmp(nmea, "123.45"))
return NULL;
*nmea = '$';
@ -112,9 +113,10 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
// 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,,",
(double)hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
(double)latitude, lat, (double)longitude, lon, fixquality, satellites,
(double)HDOP, (double)altitude, (double)geoidheight);
(double)hour * 10000L + minute * 100L + seconds +
milliseconds / 1000.,
(double)latitude, lat, (double)longitude, lon, fixquality,
satellites, (double)HDOP, (double)altitude, (double)geoidheight);
} else if (!strcmp(thisSentence, "GLL")) { //*****************************GLL
// GLL Geographic Position – Latitude/Longitude
@ -129,8 +131,9 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
// 6) Status A - Data Valid, V - Data Invalid
// 7) Checksum
sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", (double)latitude, lat,
(double)longitude, lon, (double)hour * 10000L + minute * 100L +
seconds + milliseconds / 1000.);
(double)longitude, lon,
(double)hour * 10000L + minute * 100L + seconds +
milliseconds / 1000.);
} else if (!strcmp(thisSentence, "GSA")) { //*****************************GSA
// GSA GPS DOP and active satellites
@ -168,9 +171,11 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
// 11) E or W
// 12) Checksum
sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
(double)hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
(double)latitude, lat, (double)longitude, lon, (double)speed,
(double)angle, day * 10000 + month * 100 + year, (double)magvariation, mag);
(double)hour * 10000L + minute * 100L + seconds +
milliseconds / 1000.,
(double)latitude, lat, (double)longitude, lon, (double)speed,
(double)angle, day * 10000 + month * 100 + year,
(double)magvariation, mag);
} else if (!strcmp(thisSentence, "APB")) { //*****************************APB
// APB Autopilot Sentence "B"

17
src/NMEA_data.cpp
View File

@ -58,8 +58,9 @@ void Adafruit_GPS::newDataValue(nmea_index_t idx, nmea_float_t v) {
newDataValue((nmea_index_t)(idx + 2), cos(v / RAD_TO_DEG));
}
// weighting factor for smoothing depends on delta t / tau
nmea_float_t w = min((nmea_float_t)1.0, ((nmea_float_t)millis() - val[idx].lastUpdate) /
val[idx].response);
nmea_float_t w =
min((nmea_float_t)1.0,
((nmea_float_t)millis() - val[idx].lastUpdate) / val[idx].response);
// default smoothing
val[idx].smoothed = (1.0 - w) * val[idx].smoothed + w * v;
// special smoothing for some angle types
@ -437,7 +438,8 @@ void Adafruit_GPS::removeHistory(nmea_index_t idx) {
/**************************************************************************/
void Adafruit_GPS::showDataValue(nmea_index_t idx, int n) {
Serial.print("idx: ");
if(idx < 10) Serial.print(" ");
if(idx < 10)
Serial.print(" ");
Serial.print(idx);
Serial.print(", ");
Serial.print(val[idx].label);
@ -458,8 +460,9 @@ void Adafruit_GPS::showDataValue(nmea_index_t idx, int n) {
Serial.print(val[idx].hist->historyInterval);
Serial.print(" second intervals: ");
Serial.print(val[idx].hist->data[val[idx].hist->n - 1]);
for (unsigned i = val[idx].hist->n - 2; i >= max(val[idx].hist->n - n, (unsigned)0);
i--) { // most recent first
for (unsigned i = val[idx].hist->n - 2;
i >= max(val[idx].hist->n - n, (unsigned)0);
i--) { // most recent first
Serial.print(", ");
Serial.print(val[idx].hist->data[i]);
}
@ -471,7 +474,7 @@ void Adafruit_GPS::showDataValue(nmea_index_t idx, int n) {
Serial.print(", lat: ");
Serial.print(lat);
Serial.print(", latitudeDegrees: ");
Serial.print(latitudeDegrees,8);
Serial.print(latitudeDegrees, 8);
Serial.print(", latitude_fixed: ");
Serial.println(latitude_fixed);
}
@ -481,7 +484,7 @@ void Adafruit_GPS::showDataValue(nmea_index_t idx, int n) {
Serial.print(", lon: ");
Serial.print(lon);
Serial.print(", longitudeDegrees: ");
Serial.print(longitudeDegrees,8);
Serial.print(longitudeDegrees, 8);
Serial.print(", longitude_fixed: ");
Serial.println(longitude_fixed);
}

20
src/NMEA_parse.cpp
View File

@ -41,8 +41,8 @@
build() function and http://fort21.ru/download/NMEAdescription.pdf for
sentence descriptions.
Encapsulated data sentences are supported by NMEA-183, and start with !
instead of $. https://gpsd.gitlab.io/gpsd/AIVDM.html provides details
Encapsulated data sentences are supported by NMEA-183, and start with !
instead of $. https://gpsd.gitlab.io/gpsd/AIVDM.html provides details
about encapsulated data sentences used in AIS.
parse() permits, but does not require Carriage Return and Line Feed at the
@ -641,7 +641,7 @@ bool Adafruit_GPS::onList(char *nmea, const char **list) {
Works for either DDMM.mmmm,N (latitude) or DDDMM.mmmm,W (longitude) format.
Insensitive to number of decimal places present. Only fills the variables
if it succeeds and the variable pointer is not NULL. This allows calling
to fill only the variables of interest. Does rudimentary validation on
to fill only the variables of interest. Does rudimentary validation on
angle range.
Supersedes private functions parseLat(), parseLon(), parseLatDir(),
@ -652,7 +652,7 @@ bool Adafruit_GPS::onList(char *nmea, const char **list) {
@param angle_fixed Pointer to the fix point version latitude in decimal
degrees * 10000000, signed
@param angleDegrees Pointer to the angle to fill with decimal degrees,
signed. As actual double on SAMD, etc. resolution is better than the
signed. As actual double on SAMD, etc. resolution is better than the
fixed point version.
@param dir Pointer to character to fill the direction N/S/E/W
@return true if successful, false if failed or no value
@ -662,7 +662,7 @@ bool Adafruit_GPS::parseCoord(char *pStart, nmea_float_t *angleDegrees,
nmea_float_t *angle, int32_t *angle_fixed,
char *dir) {
char *p = pStart;
if (!isEmpty(p)) {
if (!isEmpty(p)) {
// get the number in DDDMM.mmmm format and break into components
char degreebuff[10];
char *e = strchr(p, '.');
@ -674,7 +674,7 @@ bool Adafruit_GPS::parseCoord(char *pStart, nmea_float_t *angleDegrees,
long minutes = dddmm - degrees * 100; // remove the degrees
p = e; // start from the decimal point
nmea_float_t decminutes = atof(e); // the fraction after the decimal point
p = strchr(p, ',') + 1; // go to the next field
p = strchr(p, ',') + 1; // go to the next field
// get the NSEW direction as a character
char nsew = 'X';
@ -697,11 +697,13 @@ bool Adafruit_GPS::parseCoord(char *pStart, nmea_float_t *angleDegrees,
// reject directions that are not NSEW
if (nsew != 'N' && nsew != 'S' && nsew != 'E' && nsew != 'W')
return false;
// reject angles that are out of range
if (nsew == 'N' || nsew == 'S')
if(abs(deg) > 90) return false;
if(abs(deg) > 180) return false;
if(abs(deg) > 90)
return false;
if(abs(deg) > 180)
return false;
// store in locations passed as args
if (angle != NULL)