Parsing works with RMC & GGA with a nice example as well
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Ladyada
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@ -12,6 +12,8 @@ All text above must be included in any redistribution
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#include <Adafruit_GPS.h>
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// how long are max NMEA lines to parse?
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#define MAXLINELENGTH 120
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// we double buffer: read one line in and leave one for the main program
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volatile char line1[MAXLINELENGTH];
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@ -25,13 +27,27 @@ volatile boolean recvdflag;
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boolean Adafruit_GPS::parse(char *nmea) {
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// do checksum check
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// first look if we even have one
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if (nmea[strlen(nmea)-4] == '*') {
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uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
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sum += parseHex(nmea[strlen(nmea)-2]);
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// check checksum
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for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
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sum ^= nmea[i];
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}
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if (sum != 0) {
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// bad checksum :(
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//return false;
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}
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}
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// look for a few common sentences
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if (strstr(nmea, "$GPGGA")) {
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// found GGA
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char *p = nmea;
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// get time
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p = strchr(p, ',')+1;
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float timef = atof(p);
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@ -41,7 +57,6 @@ boolean Adafruit_GPS::parse(char *nmea) {
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seconds = (time % 100);
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milliseconds = fmod(timef, 1.0) * 1000;
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p = strchr(p, ',')+1;
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// parse out latitude
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p = strchr(p, ',')+1;
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@ -80,7 +95,7 @@ boolean Adafruit_GPS::parse(char *nmea) {
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return true;
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}
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if (strstr(nmea, "$GPRMC")) {
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// found RMC
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// found RMC
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char *p = nmea;
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// get time
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@ -94,6 +109,7 @@ boolean Adafruit_GPS::parse(char *nmea) {
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milliseconds = fmod(timef, 1.0) * 1000;
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p = strchr(p, ',')+1;
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// Serial.println(p);
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if (p[0] == 'A')
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fix = true;
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else if (p[0] == 'V')
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@ -142,13 +158,15 @@ boolean Adafruit_GPS::parse(char *nmea) {
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return false;
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}
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void Adafruit_GPS::read(void) {
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char Adafruit_GPS::read(void) {
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char c = 0;
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if (paused)
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return;
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return c;
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if (gpsSwSerial->available()) {
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char c = gpsSwSerial->read();
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c = gpsSwSerial->read();
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//Serial.print(c);
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@ -166,37 +184,32 @@ void Adafruit_GPS::read(void) {
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currentline = line1;
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lastline = line2;
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}
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/*
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Serial.println("----");
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Serial.println((char *)lastline);
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Serial.println("----");
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*/
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// do checksum check
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// first look if we even have one
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if (lastline[lineidx-4] == '*') {
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uint16_t sum = parseHex(lastline[lineidx-3]) * 16;
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sum += parseHex(lastline[lineidx-2]);
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// check checksum
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for (uint8_t i=1; i < (lineidx-4); i++) {
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sum ^= lastline[i];
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}
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if (sum == 0) {
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recvdflag = true;
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}
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}
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//Serial.println("----");
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//Serial.println((char *)lastline);
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//Serial.println("----");
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lineidx = 0;
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recvdflag = true;
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}
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currentline[lineidx++] = c;
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if (lineidx >= MAXLINELENGTH)
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lineidx = MAXLINELENGTH-1;
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}
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return c;
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}
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Adafruit_GPS::Adafruit_GPS(void) {
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// Constructor when using SoftwareSerial or NewSoftSerial
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#if ARDUINO >= 100
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Adafruit_GPS::Adafruit_GPS(SoftwareSerial *ser) {
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#else
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Adafruit_GPS::Adafruit_GPS(NewSoftSerial *ser) {
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#endif
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common_init(); // Set everything to common state, then...
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gpsSwSerial = ser; // ...override swSerial with value passed.
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recvdflag = false;
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paused = false;
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lineidx = 0;
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@ -211,17 +224,9 @@ Adafruit_GPS::Adafruit_GPS(void) {
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fixquality = satellites = 0;
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}
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// Constructor when using SoftwareSerial or NewSoftSerial
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#if ARDUINO >= 100
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void Adafruit_GPS::begin(SoftwareSerial *ser, uint16_t baud)
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#else
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void Adafruit_GPS::begin(NewSoftSerial *ser, uint16_t baud)
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#endif
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void Adafruit_GPS::begin(uint16_t baud)
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{
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gpsSwSerial = ser; // ...override swSerial with value passed.
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// 9600 NMEA is the default baud rate
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gpsSwSerial->begin(baud);
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}
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@ -40,19 +40,17 @@ All text above must be included in any redistribution
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#include "NewSoftSerial.h"
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#endif
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// how long are max NMEA lines to parse?
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#define MAXLINELENGTH 100
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class Adafruit_GPS {
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public:
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Adafruit_GPS(void); // Constructor when using SoftwareSerial
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void begin(uint16_t baud);
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#if ARDUINO >= 100
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void begin(SoftwareSerial *ser, uint16_t baud); // Constructor when using SoftwareSerial
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Adafruit_GPS(SoftwareSerial *ser); // Constructor when using SoftwareSerial
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#else
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void begin(NewSoftSerial *ser, uint16_t baud); // Constructor when using NewSoftSerial
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Adafruit_GPS(NewSoftSerial *ser); // Constructor when using NewSoftSerial
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#endif
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void begin(HardwareSerial *ser, uint16_t baud); // Constructor when using HardwareSerial
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Adafruit_GPS(HardwareSerial *ser); // Constructor when using HardwareSerial
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char *lastNMEA(void);
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boolean newNMEAreceived();
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@ -63,7 +61,7 @@ class Adafruit_GPS {
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boolean parseNMEA(char *response);
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uint8_t parseHex(char c);
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void read(void);
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char read(void);
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boolean parse(char *);
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void interruptReads(boolean r);
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@ -0,0 +1,150 @@
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// Test code for Adafruit GPS modules using MTK3329/MTK3339 driver
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//
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// This code shows how to listen to the GPS module in an interrupt
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// which allows the program to have more 'freedom' - just parse
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// when a new NMEA sentence is available! Then access data when
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// desired.
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//
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// Tested and works great with the Adafruit Ultimate GPS module
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// using MTK33x9 chipset
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// ------> http://www.adafruit.com/products/746
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// Pick one up today at the Adafruit electronics shop
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// and help support open source hardware & software! -ada
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#include <Adafruit_GPS.h>
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// these are for Arduino 1.0
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#include <SoftwareSerial.h>
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SoftwareSerial mySerial(3, 2);
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// if using Arduino v23 or earlier, uncomment these
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// two lines and comment out the above. You will
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// need to install NewSoftSerial
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// #include <NewSoftSerial.h>
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// NewSoftSerial mySerial(3, 2);
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// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
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// Set to 'true' if you want to debug and listen to the raw GPS sentences
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#define GPSECHO true
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// Connect the GPS Power pin to 5V
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// Connect the GPS Ground pin to ground
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// Connect the GPS TX (transmit) pin to Digital 3
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// Connect the GPS RX (receive) pin to Digital 2
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Adafruit_GPS GPS(&mySerial);
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// this keeps track of whether we're using the interrupt
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// off by default!
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boolean usingInterrupt = false;
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void setup()
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{
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// connect at 115200 so we can read the GPS fast enough and echo without dropping chars
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// also spit it out
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Serial.begin(115200);
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Serial.println("Adafruit GPS library basic test!");
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// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
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GPS.begin(9600);
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// uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
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GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
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// uncomment this line to turn on only the "minimum recommended" data
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//GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
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// For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
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// the parser doesn't care about other sentences at this time
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// Set the update rate
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GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate
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// For the parsing code to work nicely and have time to sort thru the data, and
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// print it out we don't suggest using anything higher than 1 Hz
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// the nice thing about this code is you can have a timer0 interrupt go off
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// every 1 millisecond, and read data from the GPS for you. that makes the
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// loop code a heck of a lot easier!
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useInterrupt(true);
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delay(1000);
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}
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// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
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SIGNAL(TIMER0_COMPA_vect) {
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char c = GPS.read();
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// if you want to debug, this is a good time to do it!
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if (GPSECHO)
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if (c) UDR0 = c;
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// writing direct to UDR0 is much much faster than Serial.print
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// but only one character can be written at a time.
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}
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void useInterrupt(boolean v) {
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if (v) {
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// Timer0 is already used for millis() - we'll just interrupt somewhere
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// in the middle and call the "Compare A" function above
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OCR0A = 0xAF;
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TIMSK0 |= _BV(OCIE0A);
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usingInterrupt = true;
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} else {
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// do not call the interrupt function COMPA anymore
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TIMSK0 &= ~_BV(OCIE0A);
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usingInterrupt = false;
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}
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}
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uint16_t timer = millis();
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void loop() // run over and over again
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{
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// in case you are not using the interrupt above, you'll
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// need to 'hand query' the GPS, not suggested :(
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if (! usingInterrupt) {
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// read data from the GPS in the 'main loop'
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char c = GPS.read();
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// if you want to debug, this is a good time to do it!
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if (GPSECHO)
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if (c) UDR0 = c;
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// writing direct to UDR0 is much much faster than Serial.print
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// but only one character can be written at a time.
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}
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// if a sentence is received, we can check the checksum, parse it...
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if (GPS.newNMEAreceived()) {
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// a tricky thing here is if we print the NMEA sentence, or data
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// we end up not listening and catching other sentences!
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// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
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//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
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if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
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return; // we can fail to parse a sentence in which case we should just wait for another
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}
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// approximately every 2 seconds or so, print out the current stats
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if (millis() - timer > 2000) {
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timer = millis(); // reset the timer
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Serial.print("\nTime: ");
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Serial.print(GPS.hour, DEC); Serial.print(':');
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Serial.print(GPS.minute, DEC); Serial.print(':');
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Serial.print(GPS.seconds, DEC); Serial.print('.');
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Serial.println(GPS.milliseconds);
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Serial.print("Date: ");
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Serial.print(GPS.day, DEC); Serial.print('/');
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Serial.print(GPS.month, DEC); Serial.print("/20");
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Serial.println(GPS.year, DEC);
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Serial.print("Fix: "); Serial.print(GPS.fix);
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Serial.print(" quality: "); Serial.println(GPS.fixquality);
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if (GPS.fix) {
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Serial.print("Location: ");
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Serial.print(GPS.latitude, 4); Serial.print(GPS.lat);
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Serial.print(", ");
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Serial.print(GPS.longitude, 4); Serial.println(GPS.lon);
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Serial.print("Speed (knots): "); Serial.println(GPS.speed);
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Serial.print("Angle: "); Serial.println(GPS.angle);
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Serial.print("Altitude: "); Serial.println(GPS.altitude);
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Serial.print("Satellites: "); Serial.println(GPS.satellites);
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}
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}
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}
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