Cansat
/
esp32_Adafruit_GPS
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #115 from sellensr/master 

Bug Fixes
This commit is contained in:
Matt Goodrich 2020-02-10 11:30:35 -05:00 committed by GitHub
parent a57c52f242 fdda5b6e1e
commit 96625de7d3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 53 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/Adafruit_GPS.cpp
View File

@ -349,7 +349,13 @@ size_t Adafruit_GPS::write(uint8_t c) {
/**************************************************************************/
/*!
@brief Read one character from the GPS device
@brief Read one character from the GPS device.
Call very frequently and multiple times per opportunity or the buffer
may overflow if there are frequent NMEA sentences. An 82 character NMEA
sentence 10 times per second will require 820 calls per second, and
once a loop() may not be enough. Check for newNMEAreceived() after at
least every 10 calls, or you may miss some short sentences.
@return The character that we received, or 0 if nothing was available
*/
/**************************************************************************/
@ -379,8 +385,8 @@ char Adafruit_GPS::read(void) {
_buff_idx++;
} else {
// refill the buffer!
if (gpsI2C->requestFrom(0x10, GPS_MAX_I2C_TRANSFER, true) ==
GPS_MAX_I2C_TRANSFER) {
if (gpsI2C->requestFrom((uint8_t)0x10, (uint8_t)GPS_MAX_I2C_TRANSFER,
(uint8_t) true) == GPS_MAX_I2C_TRANSFER) {
// got data!
_buff_max = 0;
char curr_char = 0;

9
src/Adafruit_GPS.h
View File

@ -121,7 +121,7 @@ public:
// NMEA_build.cpp
#ifdef NMEA_EXTENSIONS
char *build(char *nmea, const char *thisSource, const char *thisSentence,
char ref = 'R');
char ref = 'R', bool noCRLF = false);
#endif
void addChecksum(char *buff);
@ -170,11 +170,12 @@ public:
///< 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
#13 for more details:
1/10000000 of a degree. See pull #13 for more details:
https://github.com/adafruit/Adafruit-GPS-Library/pull/13 */
int32_t latitude_fixed; ///< Fixed point latitude in decimal degrees
int32_t latitude_fixed; ///< Fixed point latitude in decimal degrees.
///< Divide by 10000000.0 to get a double.
int32_t longitude_fixed; ///< Fixed point longitude in decimal degrees
///< Divide by 10000000.0 to get a double.
nmea_float_t latitudeDegrees; ///< Latitude in decimal degrees
nmea_float_t longitudeDegrees; ///< Longitude in decimal degrees

7
src/NMEA_build.cpp
View File

@ -71,7 +71,7 @@
*/
/**************************************************************************/
char *Adafruit_GPS::build(char *nmea, const char *thisSource,
const char *thisSentence, char ref) {
const char *thisSentence, char ref, bool noCRLF) {
sprintf(nmea, "%6.2f",
(double)123.45); // fail if sprintf() doesn't handle floats
if (strcmp(nmea, "123.45"))
@ -569,8 +569,9 @@ char *Adafruit_GPS::build(char *nmea, const char *thisSource,
}
addChecksum(nmea); // Successful completion
sprintf(nmea, "%s\r\n",
nmea); // Add Carriage Return and Line Feed to comply with NMEA-183
if (!noCRLF) { // Add Carriage Return and Line Feed to comply with NMEA-183
sprintf(nmea, "%s\r\n", nmea);
}
return nmea; // return pointer to finished product
}

6
src/NMEA_data.cpp
View File

@ -367,7 +367,11 @@ void Adafruit_GPS::initDataValue(nmea_index_t idx, char *label, char *fmt,
/*!
@brief Attempt to add history to a data value table entry. If it fails
to malloc the space, history will not be added. Test the pointer for a
check if needed.
check if needed. Select scale and offset values carefully so that
operations and results will fit inside 16 bit integer limits. For example
a scale of 1.0 and an offset of 100000.0 would be a good choice for
atmospheric pressure in Pa with values ranging ~ +/- 3500, while a scale
of 10.0 would be pushing the integer limits.
@param idx The data index for the value to have history recorded
@param scale Value for scaling the integer history list
@param offset Value for scaling the integer history list

36
src/NMEA_parse.cpp
View File

@ -319,6 +319,21 @@ bool Adafruit_GPS::parse(char *nmea) {
} else if (!strcmp(thisSentence, "RMB")) { //*****************************RMB
// from Actisense NGW-1 from SH CP150C
// RMB Recommended Minimum Navigation Information
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14
// | | | | | | | | | | | | | |
//$--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A*hh
// 1) Status, V = Navigation receiver warning
// 2) Cross Track error - nautical miles
// 3) Direction to Steer, Left or Right
// 4) TO Waypoint ID
// 5) FROM Waypoint ID
// 6) Destination Waypoint Latitude 7) N or S
// 8) Destination Waypoint Longitude 9) E or W
// 10) Range to destination in nautical miles
// 11) Bearing to destination in degrees True
// 12) Destination closing velocity in knots
// 13) Arrival Status, A = Arrival Circle Entered 14) Checksum
p = strchr(p, ',') + 1; // skip status
nmea_float_t xte = 100000.;
char xteDir = 'X';
@ -339,15 +354,14 @@ bool Adafruit_GPS::parse(char *nmea) {
if (!isEmpty(p))
parseStr(fromID, p, NMEA_MAX_WP_ID);
p = strchr(p, ',') + 1;
nmea_float_t latitudeWP =
0; // All the same position data for the next way point
nmea_float_t latitudeWP = 0;
nmea_float_t longitudeWP = 0;
int32_t latitude_fixedWP = 0;
int32_t longitude_fixedWP = 0;
nmea_float_t latitudeDegreesWP = 0;
nmea_float_t longitudeDegreesWP = 0;
char latWP = 'N';
char lonWP = 'W';
char latWP = 'X';
char lonWP = 'X';
// parse out both latitude and direction for WayPoint, then go to next
// field, or fail
@ -371,8 +385,6 @@ bool Adafruit_GPS::parse(char *nmea) {
}
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
if (!isEmpty(p))
newDataValue(NMEA_DISTWP, atof(p));
p = strchr(p, ',') + 1;
@ -545,6 +557,7 @@ bool Adafruit_GPS::parse(char *nmea) {
/**************************************************************************/
boolean Adafruit_GPS::check(char *nmea) {
thisCheck = 0; // new check
*thisSentence = *thisSource = 0;
if (*nmea != '$' && *nmea != '!')
return false; // doesn't start with $ or !
else
@ -588,7 +601,10 @@ boolean Adafruit_GPS::check(char *nmea) {
if (snc) {
strcpy(thisSentence, snc);
thisCheck += NMEA_HAS_SENTENCE;
return false;
return false; // known but not parsed
} else {
parseStr(thisSentence, p, NMEA_MAX_SENTENCE_ID);
return false; // unknown
}
}
return true; // passed all the tests
@ -764,8 +780,12 @@ bool Adafruit_GPS::parseTime(char *p) {
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
p = strchr(p, '.');
char *dec = strchr(p, '.');
char *comstar = min(strchr(p, ','), strchr(p, '*'));
if (dec != NULL && comstar != NULL && dec < comstar)
milliseconds = atof(p) * 1000;
else
milliseconds = 0;
lastTime = sentTime;
return true;
}