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Merge pull request #90 from sellensr/master 

Split parsing and track time received
This commit is contained in:
Matt Goodrich 2019-04-26 12:03:44 -04:00 committed by GitHub
parent 3b01dff4c8 5934857f24
commit c68499182d
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 314 additions and 157 deletions
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308
Adafruit_GPS.cpp
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@ -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, "$GPGGA")) {
// found GGA
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
parseTime(p);
// parse out latitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 2);
p += 2;
degreebuff[2] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
latitude_fixed = degree + minutes;
latitude = degree / 100000 + minutes * 0.000006F;
latitudeDegrees = (latitude-100*int(latitude/100))/60.0;
latitudeDegrees += int(latitude/100);
}
parseLat(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'S') latitudeDegrees *= -1.0;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
}
if(!parseLatDir(p)) return false;
// parse out longitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 3);
p += 3;
degreebuff[3] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
longitude_fixed = degree + minutes;
longitude = degree / 100000 + minutes * 0.000006F;
longitudeDegrees = (longitude-100*int(longitude/100))/60.0;
longitudeDegrees += int(longitude/100);
}
parseLon(p);
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'W') longitudeDegrees *= -1.0;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
}
if(!parseLonDir(p)) return false;
p = strchr(p, ',')+1;
if (',' != *p)
{
fixquality = atoi(p);
if(fixquality > 0){
fix = true;
lastFix = recvdTime;
} else
fix = false;
}
p = strchr(p, ',')+1;
@ -183,86 +134,29 @@ boolean Adafruit_GPS::parse(char *nmea) {
}
return true;
}
if (strStartsWith(nmea, "$GPRMC")) {
// found RMC
char *p = nmea;
// found RMC
// 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)
@ -284,16 +178,68 @@ boolean Adafruit_GPS::parse(char *nmea) {
day = fulldate / 10000;
month = (fulldate % 10000) / 100;
year = (fulldate % 100);
lastDate = recvdTime;
}
// we dont parse the remaining, yet!
return true;
}
if (strStartsWith(nmea, "$GPGLL")) {
// found GLL
char *p = nmea;
// found GLL
// 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;
lastTime = recvdTime;
}
/**************************************************************************/
/*!
@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 +256,16 @@ 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 +274,19 @@ 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 +303,16 @@ 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 +321,59 @@ 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 = recvdTime;
}
else if (p[0] == 'V')
fix = false;
else
return false;
return true;
}
}
return false;
/**************************************************************************/
/*!
@brief Time in seconds since the last position 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::secondsSinceFix() {
return (millis()-lastFix) / 1000.;
}
/**************************************************************************/
/*!
@brief Time in seconds since the last GPS time 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 GPS time.
*/
/**************************************************************************/
float Adafruit_GPS::secondsSinceTime() {
return (millis()-lastTime) / 1000.;
}
/**************************************************************************/
/*!
@brief Time in seconds since the last GPS date 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 GPS date.
*/
/**************************************************************************/
float Adafruit_GPS::secondsSinceDate() {
return (millis()-lastDate) / 1000.;
}
/**************************************************************************/
@ -423,6 +424,7 @@ char Adafruit_GPS::read(void) {
//Serial.println("----");
lineidx = 0;
recvdflag = true;
recvdTime = millis(); // time we got the end of the string
}
return c;

27
Adafruit_GPS.h Executable file → Normal file
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@ -55,11 +55,15 @@
#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
#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
@ -115,6 +119,9 @@ class Adafruit_GPS {
char read(void);
boolean parse(char *);
float secondsSinceFix();
float secondsSinceTime();
float secondsSinceDate();
boolean wakeup(void);
boolean standby(void);
@ -168,6 +175,18 @@ 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 *);
// Make all of these times far in the past by setting them near the middle of the
// millis() range. Timing assumes that sentences are parsed promptly.
uint32_t lastFix = 2000000000L; // millis() when last fix received
uint32_t lastTime = 2000000000L; // millis() when last time received
uint32_t lastDate = 2000000000L; // millis() when last date received
uint32_t recvdTime = 2000000000L; // millis() when last full sentence received
boolean paused;
uint8_t parseResponse(char *response);

0
examples/GPS_HardwareSerial_Timing/.uno.test.skip Normal file
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136
examples/GPS_HardwareSerial_Timing/GPS_HardwareSerial_Timing.ino Normal file
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@ -0,0 +1,136 @@
// Test code for Ultimate GPS Using Hardware Serial (e.g. GPS Flora or FeatherWing)
//
// This code is similar to GPS_HardwareSerial_Parsing, except for the additional
// elements to keep track of how long it has been since time and fix data have been
// received. This approach lets you keep an up to date clock based on GPS time at
// any time in between GPS fixes.
//
// This code shows how to listen to the GPS module via polling. Best used with
// Feathers or Flora where you have hardware Serial and no interrupt
//
// Tested and works great with the Adafruit GPS FeatherWing
// ------> https://www.adafruit.com/products/3133
// or Flora GPS
// ------> https://www.adafruit.com/products/1059
// but also works with the shield, breakout
// ------> https://www.adafruit.com/products/1272
// ------> https://www.adafruit.com/products/746
//
// Pick one up today at the Adafruit electronics shop
// and help support open source hardware & software! -ada
#include <Adafruit_GPS.h>
// what's the name of the hardware serial port?
#define GPSSerial Serial1
// Connect to the GPS on the hardware port
Adafruit_GPS GPS(&GPSSerial);
// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
// Set to 'true' if you want to debug and listen to the raw GPS sentences
#define GPSECHO true
uint32_t timer = millis();
void setup()
{
//while (!Serial); // uncomment to have the sketch wait until Serial is ready
// connect at 115200 so we can read the GPS fast enough and echo without dropping chars
// also spit it out
Serial.begin(115200);
Serial.println("Adafruit GPS library basic test!");
// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
GPS.begin(9600);
// uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
// uncomment this line to turn on only the "minimum recommended" data
//GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
// For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
// the parser doesn't care about other sentences at this time
// Set the update rate (uncomment the one you want.)
//GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate
//GPS.sendCommand(PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ); // 5 second update time
GPS.sendCommand(PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ); // 10 second update time
// For the parsing code to work nicely and have time to sort thru the data, and
// print it out we don't suggest using anything higher than 1 Hz
// Request updates on antenna status, comment out to keep quiet
GPS.sendCommand(PGCMD_ANTENNA);
delay(1000);
// Ask for firmware version
GPSSerial.println(PMTK_Q_RELEASE);
}
void loop() // run over and over again
{
// read data from the GPS in the 'main loop'
char c = GPS.read();
// if you want to debug, this is a good time to do it!
if (GPSECHO)
if (c) Serial.print(c);
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
return; // we can fail to parse a sentence in which case we should just wait for another
}
// if millis() or timer wraps around, we'll just reset it
if (timer > millis()) timer = millis();
// approximately every 2 seconds or so, random intervals, print out the current stats
static unsigned nextInterval = 2000;
if (millis() - timer > nextInterval) {
timer = millis(); // reset the timer
nextInterval = 1500 + random(1000);
// Time in seconds keeps increasing after we get the NMEA sentence.
// This estimate will lag real time due to transmission and parsing delays,
// but the lag should be small and should also be consistent.
float s = GPS.seconds + GPS.milliseconds/1000. + GPS.secondsSinceTime();
int m = GPS.minute;
int h = GPS.hour;
int d = GPS.day;
// Adjust time and day forward to account for elapsed time.
// This will break at month boundaries!!! Humans will have to cope with April 31,32 etc.
while(s > 60){ s -= 60; m++; }
while(m > 60){ m -= 60; h++; }
while(h > 24){ h -= 24; d++; }
// ISO Standard Date Format, with leading zeros https://xkcd.com/1179/
Serial.print("\nDate: ");
Serial.print(GPS.year+2000, DEC); Serial.print("-");
if(GPS.month < 10) Serial.print("0");
Serial.print(GPS.month, DEC); Serial.print("-");
if(d < 10) Serial.print("0");
Serial.print(d, DEC);
Serial.print(" Time: ");
if(h < 10) Serial.print("0");
Serial.print(h, DEC); Serial.print(':');
if(m < 10) Serial.print("0");
Serial.print(m, DEC); Serial.print(':');
if(s < 10) Serial.print("0");
Serial.println(s, 3);
Serial.print("Fix: "); Serial.print((int)GPS.fix);
Serial.print(" quality: "); Serial.println((int)GPS.fixquality);
Serial.print("Times [s] since last fix: "); Serial.print(GPS.secondsSinceFix(),3);
Serial.print(", GPS time: "); Serial.print(GPS.secondsSinceTime(),3);
Serial.print(", GPS date: "); Serial.println(GPS.secondsSinceDate(),3);
if (GPS.fix) {
Serial.print("Location: ");
Serial.print(GPS.latitude, 4); Serial.print(GPS.lat);
Serial.print(", ");
Serial.print(GPS.longitude, 4); Serial.println(GPS.lon);
Serial.print("Speed (knots): "); Serial.println(GPS.speed);
Serial.print("Angle: "); Serial.println(GPS.angle);
Serial.print("Altitude: "); Serial.println(GPS.altitude);
Serial.print("Satellites: "); Serial.println((int)GPS.satellites);
}
}
}