Move parse and build to their own source files
This commit is contained in:
Rick Sellens
parent
30280c5de2
commit
d1c93e04a7
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@ -32,206 +32,6 @@
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static boolean strStartsWith(const char *str, const char *prefix);
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static boolean strStartsWith(const char *str, const char *prefix);
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/**************************************************************************/
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/*!
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@brief Parse a NMEA string
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@param nmea Pointer to the NMEA string
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@return True if we parsed it, false if it has an invalid checksum or invalid
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data
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*/
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/**************************************************************************/
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boolean Adafruit_GPS::parse(char *nmea) {
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// do checksum check
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if (!check(nmea))
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return false;
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// passed the check, so there's a valid source in thisSource and a valid
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// sentence in thisSentence
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// look for a few common sentences
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char *p = nmea; // Pointer to move through the sentence -- good parsers are
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// non-destructive
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p = strchr(p, ',') +
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1; // Skip to the character after the next comma, then check sentence.
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if (!strcmp(thisSentence, "GGA")) {
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// found GGA
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// get time
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parseTime(p);
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// parse out latitude
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p = strchr(p, ',') + 1;
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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fixquality = atoi(p);
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if (fixquality > 0) {
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fix = true;
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lastFix = sentTime;
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} else
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fix = false;
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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satellites = atoi(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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HDOP = atof(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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altitude = atof(p);
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}
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p = strchr(p, ',') + 1;
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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geoidheight = atof(p);
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}
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}
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else if (!strcmp(thisSentence, "RMC")) {
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// found RMC
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// get time
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parseTime(p);
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// fix or no fix
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p = strchr(p, ',') + 1;
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if (!parseFix(p))
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return false;
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// parse out latitude
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p = strchr(p, ',') + 1;
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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// speed
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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speed = atof(p);
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}
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// angle
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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angle = atof(p);
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}
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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uint32_t fulldate = atof(p);
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day = fulldate / 10000;
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month = (fulldate % 10000) / 100;
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year = (fulldate % 100);
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lastDate = sentTime;
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}
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}
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else if (!strcmp(thisSentence, "GLL")) {
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// found GLL
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// parse out latitude
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parseLat(p);
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p = strchr(p, ',') + 1;
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if (!parseLatDir(p))
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return false;
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// parse out longitude
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p = strchr(p, ',') + 1;
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parseLon(p);
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p = strchr(p, ',') + 1;
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if (!parseLonDir(p))
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return false;
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// get time
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p = strchr(p, ',') + 1;
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parseTime(p);
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// fix or no fix
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p = strchr(p, ',') + 1;
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if (!parseFix(p))
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return false;
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}
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else if (!strcmp(thisSentence, "GSA")) {
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// found GSA
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// parse out Auto selection, but ignore them
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// parse out 3d fixquality
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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fixquality_3d = atoi(p);
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}
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// skip 12 Satellite PDNs without interpreting them
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for (int i = 0; i < 12; i++)
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p = strchr(p, ',') + 1;
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// parse out PDOP
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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PDOP = atof(p);
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}
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// parse out HDOP, we also parse this from the GGA sentence. Chipset should
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// report the same for both
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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HDOP = atof(p);
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}
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// parse out VDOP
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p = strchr(p, ',') + 1;
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if (!isEmpty(p)) {
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VDOP = atof(p);
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}
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}
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#ifdef NMEA_EXTENSIONS // Sentences not required for basic GPS functionality
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else if (!strcmp(thisSentence, "TXT")) { //*******************************TXT
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if (!isEmpty(p))
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txtTot = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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txtN = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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txtID = atoi(p);
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p = strchr(p, ',') + 1;
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if (!isEmpty(p))
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parseStr(txtTXT, p, 61); // copy the text to NMEA TXT max of 61 characters
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}
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#endif // NMEA_EXTENSIONS
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// we dont parse the remaining, yet!
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else
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return false;
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// Record the successful parsing of where the last data came from and when
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strcpy(lastSource, thisSource);
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strcpy(lastSentence, thisSentence);
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lastUpdate = millis();
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return true;
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}
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/**************************************************************************/
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/**************************************************************************/
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/*!
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/*!
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@brief Check an NMEA string for basic format, valid source ID and valid
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@brief Check an NMEA string for basic format, valid source ID and valid
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@ -1055,166 +855,4 @@ static boolean strStartsWith(const char *str, const char *prefix) {
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/**************************************************************************/
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/**************************************************************************/
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void Adafruit_GPS::resetSentTime() { sentTime = millis(); }
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void Adafruit_GPS::resetSentTime() { sentTime = millis(); }
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/**************************************************************************/
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/*!
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@brief Build an NMEA sentence string based on the relevant variables.
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Sentences start with a $, then a two character source identifier, then
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a three character sentence name that defines the format, then a comma
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and more comma separated fields defined by the sentence name. There are
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many sentences listed that are not yet supported. Most of these sentence
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definitions were found at http://fort21.ru/download/NMEAdescription.pdf
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build() will work with other lengths for source and sentence to allow
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extension to building proprietary sentences like $PMTK220,100*2F.
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build() will not work properly in an environment that does not support
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the %f floating point formatter in sprintf(), and will return NULL.
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build() adds Carriage Return and Line Feed to sentences to conform to
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NMEA-183, so send your output with a print, not a println.
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Some of the data in these test sentences may be arbitrary, e.g. for the
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TXT sentence which has a more complicated protocol for multiple lines
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sent as a message set. Also, the data in the class variables are presumed
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to be valid, so these sentences may contain values that are stale, or
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the result of initialization rather than measurement.
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@param nmea Pointer to the NMEA string buffer. Must be big enough to
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hold the sentence. No guarantee what will be in it if the
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building of the sentence fails.
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@param thisSource Pointer to the source name string (2 upper case)
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@param thisSentence Pointer to the sentence name string (3 upper case)
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@param ref Reference for the sentence, usually relative (R) or true (T)
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@return Pointer to sentence if successful, NULL if fails
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*/
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/**************************************************************************/
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char *Adafruit_GPS::build(char *nmea, const char *thisSource,
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const char *thisSentence, char ref) {
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sprintf(nmea, "%6.2f", 123.45); // fail if sprintf() doesn't handle floats
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if (strcmp(nmea, "123.45"))
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return NULL;
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*nmea = '$';
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char *p = nmea + 1; // Pointer to move through the sentence
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strncpy(p, thisSource, strlen(thisSource));
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p += strlen(thisSource);
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strncpy(p, thisSentence, strlen(thisSentence));
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p += strlen(thisSentence);
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*p = ',';
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p += 1; // Now $XXSSS, and need to add argument fields
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// This may look inefficient, but an M0 will get down the list in about 1 us /
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// strcmp()! Put the GPS sentences from Adafruit_GPS at the top to make
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// pruning excess code easier. Otherwise, keep them alphabetical for ease of
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// reading.
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if (!strcmp(thisSentence,
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"GGA")) { //********************************************GGA
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// GGA Global Positioning System Fix Data. Time, Position and fix related
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// data for a GPS receiver
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// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
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// | | | | | | | | | | | | | | |
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//$--GGA,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
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// 1) Time (UTC)
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// 2) Latitude
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// 3) N or S (North or South)
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// 4) Longitude
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// 5) E or W (East or West)
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// 6) GPS Quality Indicator, 0 - fix not available, 1 - GPS fix, 2 -
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// Differential GPS fix 7) Number of satellites in view, 00 - 12 8)
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// Horizontal Dilution of precision 9) Antenna Altitude above/below
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// mean-sea-level (geoid) 10) Units of antenna altitude, meters 11) Geoidal
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// separation, the difference between the WGS-84 earth
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// ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below
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// ellipsoid
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// 12) Units of geoidal separation, meters
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// 13) Age of differential GPS data, time in seconds since last SC104
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// type 1 or 9 update, null field when DGPS is not used
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// 14) Differential reference station ID, 0000-1023
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// 15) Checksum
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sprintf(p, "%09.2f,%09.4f,%c,%010.4f,%c,%d,%02d,%f,%f,M,%f,M,,",
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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latitude, lat, longitude, lon, fixquality, satellites, HDOP,
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altitude, geoidheight);
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} else if (!strcmp(thisSentence,
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"GLL")) { //********************************************GLL
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// GLL Geographic Position – Latitude/Longitude
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// 1 2 3 4 5 6 7
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// | | | | | | |
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//$--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,A*hh
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// 1) Latitude ddmm.mm format
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// 2) N or S (North or South)
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// 3) Longitude dddmm.mm format
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// 4) E or W (East or West)
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// 5) Time (UTC)
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// 6) Status A - Data Valid, V - Data Invalid
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// 7) Checksum
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sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", latitude, lat, longitude, lon,
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.);
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} else if (!strcmp(thisSentence,
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"GSA")) { //********************************************
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// GSA GPS DOP and active satellites
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// 1 2 3 14 15 16 17 18
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// | | | | | | | |
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//$--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh
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// 1) Selection mode
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// 2) Mode
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// 3) ID of 1st satellite used for fix
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// 4) ID of 2nd satellite used for fix
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// ...
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// 14) ID of 12th satellite used for fix
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// 15) PDOP in meters
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// 16) HDOP in meters
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// 17) VDOP in meters
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// 18) Checksum
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return NULL;
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} else if (!strcmp(thisSentence,
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"RMC")) { //********************************************RMC
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// RMC Recommended Minimum Navigation Information
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// 12
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// 1 2 3 4 5 6 7 8 9 10 11 |
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// | | | | | | | | | | | |
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//$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a*hh
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// 1) Time (UTC)
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// 2) Status, V = Navigation receiver warning
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// 3) Latitude
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// 4) N or S
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// 5) Longitude
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// 6) E or W
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// 7) Speed over ground, knots
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// 8) Track made good, degrees true
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// 9) Date, ddmmyy
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// 10) Magnetic Variation, degrees
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// 11) E or W
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// 12) Checksum
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sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
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hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
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latitude, lat, longitude, lon, speed, angle,
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day * 10000 + month * 100 + year, magvariation, mag);
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} else if (!strcmp(thisSentence,
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"TXT")) { //********************************************TXT
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// as mentioned in https://github.com/adafruit/Adafruit_GPS/issues/95
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// TXT Text Transmission
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// 1 2 3 4 5
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// | | | | |
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//$--TXT,xx,xx,xx,c--c*hh
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// 1) Total Number of Sentences 01-99
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// 2) Sentence Number 01-99
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// 3) Text Identifier 01-99
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// 4) Text String, max 61 characters
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// 5) Checksum
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sprintf(p, "01,01,23,This is the text of the sample message");
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} else {
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return NULL; // didn't find a match for the build request
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}
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addChecksum(nmea); // Successful completion
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sprintf(nmea, "%s\r\n",
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nmea); // Add Carriage Return and Line Feed to comply with NMEA-183
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return nmea; // return pointer to finished product
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}
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#endif // NMEA_EXTENSIONS
|
#endif // NMEA_EXTENSIONS
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,196 @@
|
||||||
|
/**************************************************************************/
|
||||||
|
/*!
|
||||||
|
@file NMEA_build.cpp
|
||||||
|
|
||||||
|
@mainpage Adafruit Ultimate GPS Breakout
|
||||||
|
|
||||||
|
@section intro Introduction
|
||||||
|
|
||||||
|
This is the Adafruit GPS library - the ultimate GPS library
|
||||||
|
for the ultimate GPS module!
|
||||||
|
|
||||||
|
Tested and works great with the Adafruit Ultimate GPS module
|
||||||
|
using MTK33x9 chipset
|
||||||
|
------> http://www.adafruit.com/products/746
|
||||||
|
|
||||||
|
Adafruit invests time and resources providing this open source code,
|
||||||
|
please support Adafruit and open-source hardware by purchasing
|
||||||
|
products from Adafruit!
|
||||||
|
|
||||||
|
@section author Author
|
||||||
|
|
||||||
|
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||||
|
|
||||||
|
@section license License
|
||||||
|
|
||||||
|
BSD license, check license.txt for more information
|
||||||
|
All text above must be included in any redistribution
|
||||||
|
*/
|
||||||
|
/**************************************************************************/
|
||||||
|
|
||||||
|
#include <Adafruit_GPS.h>
|
||||||
|
|
||||||
|
#ifdef NMEA_EXTENSIONS
|
||||||
|
/**************************************************************************/
|
||||||
|
/*!
|
||||||
|
@brief Build an NMEA sentence string based on the relevant variables.
|
||||||
|
Sentences start with a $, then a two character source identifier, then
|
||||||
|
a three character sentence name that defines the format, then a comma
|
||||||
|
and more comma separated fields defined by the sentence name. There are
|
||||||
|
many sentences listed that are not yet supported. Most of these sentence
|
||||||
|
definitions were found at http://fort21.ru/download/NMEAdescription.pdf
|
||||||
|
|
||||||
|
build() will work with other lengths for source and sentence to allow
|
||||||
|
extension to building proprietary sentences like $PMTK220,100*2F.
|
||||||
|
|
||||||
|
build() will not work properly in an environment that does not support
|
||||||
|
the %f floating point formatter in sprintf(), and will return NULL.
|
||||||
|
|
||||||
|
build() adds Carriage Return and Line Feed to sentences to conform to
|
||||||
|
NMEA-183, so send your output with a print, not a println.
|
||||||
|
|
||||||
|
Some of the data in these test sentences may be arbitrary, e.g. for the
|
||||||
|
TXT sentence which has a more complicated protocol for multiple lines
|
||||||
|
sent as a message set. Also, the data in the class variables are presumed
|
||||||
|
to be valid, so these sentences may contain values that are stale, or
|
||||||
|
the result of initialization rather than measurement.
|
||||||
|
|
||||||
|
@param nmea Pointer to the NMEA string buffer. Must be big enough to
|
||||||
|
hold the sentence. No guarantee what will be in it if the
|
||||||
|
building of the sentence fails.
|
||||||
|
@param thisSource Pointer to the source name string (2 upper case)
|
||||||
|
@param thisSentence Pointer to the sentence name string (3 upper case)
|
||||||
|
@param ref Reference for the sentence, usually relative (R) or true (T)
|
||||||
|
@return Pointer to sentence if successful, NULL if fails
|
||||||
|
*/
|
||||||
|
/**************************************************************************/
|
||||||
|
char *Adafruit_GPS::build(char *nmea, const char *thisSource,
|
||||||
|
const char *thisSentence, char ref) {
|
||||||
|
sprintf(nmea, "%6.2f", 123.45); // fail if sprintf() doesn't handle floats
|
||||||
|
if (strcmp(nmea, "123.45"))
|
||||||
|
return NULL;
|
||||||
|
*nmea = '$';
|
||||||
|
char *p = nmea + 1; // Pointer to move through the sentence
|
||||||
|
strncpy(p, thisSource, strlen(thisSource));
|
||||||
|
p += strlen(thisSource);
|
||||||
|
strncpy(p, thisSentence, strlen(thisSentence));
|
||||||
|
p += strlen(thisSentence);
|
||||||
|
*p = ',';
|
||||||
|
p += 1; // Now $XXSSS, and need to add argument fields
|
||||||
|
// This may look inefficient, but an M0 will get down the list in about 1 us /
|
||||||
|
// strcmp()! Put the GPS sentences from Adafruit_GPS at the top to make
|
||||||
|
// pruning excess code easier. Otherwise, keep them alphabetical for ease of
|
||||||
|
// reading.
|
||||||
|
|
||||||
|
if (!strcmp(thisSentence,
|
||||||
|
"GGA")) { //********************************************GGA
|
||||||
|
// GGA Global Positioning System Fix Data. Time, Position and fix related
|
||||||
|
// data for a GPS receiver
|
||||||
|
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
|
||||||
|
// | | | | | | | | | | | | | | |
|
||||||
|
//$--GGA,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
|
||||||
|
// 1) Time (UTC)
|
||||||
|
// 2) Latitude
|
||||||
|
// 3) N or S (North or South)
|
||||||
|
// 4) Longitude
|
||||||
|
// 5) E or W (East or West)
|
||||||
|
// 6) GPS Quality Indicator, 0 - fix not available, 1 - GPS fix, 2 -
|
||||||
|
// Differential GPS fix 7) Number of satellites in view, 00 - 12 8)
|
||||||
|
// Horizontal Dilution of precision 9) Antenna Altitude above/below
|
||||||
|
// mean-sea-level (geoid) 10) Units of antenna altitude, meters 11) Geoidal
|
||||||
|
// separation, the difference between the WGS-84 earth
|
||||||
|
// ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below
|
||||||
|
// ellipsoid
|
||||||
|
// 12) Units of geoidal separation, meters
|
||||||
|
// 13) Age of differential GPS data, time in seconds since last SC104
|
||||||
|
// type 1 or 9 update, null field when DGPS is not used
|
||||||
|
// 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,,",
|
||||||
|
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
|
||||||
|
latitude, lat, longitude, lon, fixquality, satellites, HDOP,
|
||||||
|
altitude, geoidheight);
|
||||||
|
|
||||||
|
} else if (!strcmp(thisSentence,
|
||||||
|
"GLL")) { //********************************************GLL
|
||||||
|
// GLL Geographic Position – Latitude/Longitude
|
||||||
|
// 1 2 3 4 5 6 7
|
||||||
|
// | | | | | | |
|
||||||
|
//$--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,A*hh
|
||||||
|
// 1) Latitude ddmm.mm format
|
||||||
|
// 2) N or S (North or South)
|
||||||
|
// 3) Longitude dddmm.mm format
|
||||||
|
// 4) E or W (East or West)
|
||||||
|
// 5) Time (UTC)
|
||||||
|
// 6) Status A - Data Valid, V - Data Invalid
|
||||||
|
// 7) Checksum
|
||||||
|
sprintf(p, "%09.4f,%c,%010.4f,%c,%09.2f,A", latitude, lat, longitude, lon,
|
||||||
|
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.);
|
||||||
|
|
||||||
|
} else if (!strcmp(thisSentence,
|
||||||
|
"GSA")) { //********************************************
|
||||||
|
// GSA GPS DOP and active satellites
|
||||||
|
// 1 2 3 14 15 16 17 18
|
||||||
|
// | | | | | | | |
|
||||||
|
//$--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh
|
||||||
|
// 1) Selection mode
|
||||||
|
// 2) Mode
|
||||||
|
// 3) ID of 1st satellite used for fix
|
||||||
|
// 4) ID of 2nd satellite used for fix
|
||||||
|
// ...
|
||||||
|
// 14) ID of 12th satellite used for fix
|
||||||
|
// 15) PDOP in meters
|
||||||
|
// 16) HDOP in meters
|
||||||
|
// 17) VDOP in meters
|
||||||
|
// 18) Checksum
|
||||||
|
return NULL;
|
||||||
|
|
||||||
|
} else if (!strcmp(thisSentence,
|
||||||
|
"RMC")) { //********************************************RMC
|
||||||
|
// RMC Recommended Minimum Navigation Information
|
||||||
|
// 12
|
||||||
|
// 1 2 3 4 5 6 7 8 9 10 11 |
|
||||||
|
// | | | | | | | | | | | |
|
||||||
|
//$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a*hh
|
||||||
|
// 1) Time (UTC)
|
||||||
|
// 2) Status, V = Navigation receiver warning
|
||||||
|
// 3) Latitude
|
||||||
|
// 4) N or S
|
||||||
|
// 5) Longitude
|
||||||
|
// 6) E or W
|
||||||
|
// 7) Speed over ground, knots
|
||||||
|
// 8) Track made good, degrees true
|
||||||
|
// 9) Date, ddmmyy
|
||||||
|
// 10) Magnetic Variation, degrees
|
||||||
|
// 11) E or W
|
||||||
|
// 12) Checksum
|
||||||
|
sprintf(p, "%09.2f,A,%09.4f,%c,%010.4f,%c,%f,%f,%06d,%f,%c",
|
||||||
|
hour * 10000L + minute * 100L + seconds + milliseconds / 1000.,
|
||||||
|
latitude, lat, longitude, lon, speed, angle,
|
||||||
|
day * 10000 + month * 100 + year, magvariation, mag);
|
||||||
|
|
||||||
|
} else if (!strcmp(thisSentence,
|
||||||
|
"TXT")) { //********************************************TXT
|
||||||
|
// as mentioned in https://github.com/adafruit/Adafruit_GPS/issues/95
|
||||||
|
// TXT Text Transmission
|
||||||
|
// 1 2 3 4 5
|
||||||
|
// | | | | |
|
||||||
|
//$--TXT,xx,xx,xx,c--c*hh
|
||||||
|
// 1) Total Number of Sentences 01-99
|
||||||
|
// 2) Sentence Number 01-99
|
||||||
|
// 3) Text Identifier 01-99
|
||||||
|
// 4) Text String, max 61 characters
|
||||||
|
// 5) Checksum
|
||||||
|
sprintf(p, "01,01,23,This is the text of the sample message");
|
||||||
|
|
||||||
|
} else {
|
||||||
|
return NULL; // didn't find a match for the build request
|
||||||
|
}
|
||||||
|
|
||||||
|
addChecksum(nmea); // Successful completion
|
||||||
|
sprintf(nmea, "%s\r\n",
|
||||||
|
nmea); // Add Carriage Return and Line Feed to comply with NMEA-183
|
||||||
|
return nmea; // return pointer to finished product
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // NMEA_EXTENSIONS
|
||||||
|
|
@ -0,0 +1,232 @@
|
||||||
|
/**************************************************************************/
|
||||||
|
/*!
|
||||||
|
@file NMEA_parse.cpp
|
||||||
|
|
||||||
|
@mainpage Adafruit Ultimate GPS Breakout
|
||||||
|
|
||||||
|
@section intro Introduction
|
||||||
|
|
||||||
|
This is the Adafruit GPS library - the ultimate GPS library
|
||||||
|
for the ultimate GPS module!
|
||||||
|
|
||||||
|
Tested and works great with the Adafruit Ultimate GPS module
|
||||||
|
using MTK33x9 chipset
|
||||||
|
------> http://www.adafruit.com/products/746
|
||||||
|
|
||||||
|
Adafruit invests time and resources providing this open source code,
|
||||||
|
please support Adafruit and open-source hardware by purchasing
|
||||||
|
products from Adafruit!
|
||||||
|
|
||||||
|
@section author Author
|
||||||
|
|
||||||
|
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||||
|
|
||||||
|
@section license License
|
||||||
|
|
||||||
|
BSD license, check license.txt for more information
|
||||||
|
All text above must be included in any redistribution
|
||||||
|
*/
|
||||||
|
/**************************************************************************/
|
||||||
|
|
||||||
|
#include <Adafruit_GPS.h>
|
||||||
|
|
||||||
|
/**************************************************************************/
|
||||||
|
/*!
|
||||||
|
@brief Parse a NMEA string
|
||||||
|
@param nmea Pointer to the NMEA string
|
||||||
|
@return True if we parsed it, false if it has an invalid checksum or invalid
|
||||||
|
data
|
||||||
|
*/
|
||||||
|
/**************************************************************************/
|
||||||
|
boolean Adafruit_GPS::parse(char *nmea) {
|
||||||
|
// do checksum check
|
||||||
|
if (!check(nmea))
|
||||||
|
return false;
|
||||||
|
// passed the check, so there's a valid source in thisSource and a valid
|
||||||
|
// sentence in thisSentence
|
||||||
|
|
||||||
|
// look for a few common sentences
|
||||||
|
char *p = nmea; // Pointer to move through the sentence -- good parsers are
|
||||||
|
// non-destructive
|
||||||
|
p = strchr(p, ',') +
|
||||||
|
1; // Skip to the character after the next comma, then check sentence.
|
||||||
|
|
||||||
|
if (!strcmp(thisSentence, "GGA")) {
|
||||||
|
// found GGA
|
||||||
|
// get time
|
||||||
|
parseTime(p);
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
fixquality = atoi(p);
|
||||||
|
if (fixquality > 0) {
|
||||||
|
fix = true;
|
||||||
|
lastFix = sentTime;
|
||||||
|
} else
|
||||||
|
fix = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
satellites = atoi(p);
|
||||||
|
}
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
HDOP = atof(p);
|
||||||
|
}
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
altitude = atof(p);
|
||||||
|
}
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
geoidheight = atof(p);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
else if (!strcmp(thisSentence, "RMC")) {
|
||||||
|
// found RMC
|
||||||
|
// get time
|
||||||
|
parseTime(p);
|
||||||
|
|
||||||
|
// fix or no fix
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!parseFix(p))
|
||||||
|
return false;
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
|
||||||
|
// speed
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
speed = atof(p);
|
||||||
|
}
|
||||||
|
|
||||||
|
// angle
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
angle = atof(p);
|
||||||
|
}
|
||||||
|
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
uint32_t fulldate = atof(p);
|
||||||
|
day = fulldate / 10000;
|
||||||
|
month = (fulldate % 10000) / 100;
|
||||||
|
year = (fulldate % 100);
|
||||||
|
lastDate = sentTime;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
else if (!strcmp(thisSentence, "GLL")) {
|
||||||
|
// found GLL
|
||||||
|
// parse out latitude
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
else if (!strcmp(thisSentence, "GSA")) {
|
||||||
|
// found GSA
|
||||||
|
// parse out Auto selection, but ignore them
|
||||||
|
// parse out 3d fixquality
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
fixquality_3d = atoi(p);
|
||||||
|
}
|
||||||
|
// skip 12 Satellite PDNs without interpreting them
|
||||||
|
for (int i = 0; i < 12; i++)
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
|
||||||
|
// parse out PDOP
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
PDOP = atof(p);
|
||||||
|
}
|
||||||
|
// parse out HDOP, we also parse this from the GGA sentence. Chipset should
|
||||||
|
// report the same for both
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
HDOP = atof(p);
|
||||||
|
}
|
||||||
|
// parse out VDOP
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p)) {
|
||||||
|
VDOP = atof(p);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef NMEA_EXTENSIONS // Sentences not required for basic GPS functionality
|
||||||
|
else if (!strcmp(thisSentence, "TXT")) { //*******************************TXT
|
||||||
|
if (!isEmpty(p))
|
||||||
|
txtTot = atoi(p);
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p))
|
||||||
|
txtN = atoi(p);
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p))
|
||||||
|
txtID = atoi(p);
|
||||||
|
p = strchr(p, ',') + 1;
|
||||||
|
if (!isEmpty(p))
|
||||||
|
parseStr(txtTXT, p, 61); // copy the text to NMEA TXT max of 61 characters
|
||||||
|
}
|
||||||
|
#endif // NMEA_EXTENSIONS
|
||||||
|
|
||||||
|
// we dont parse the remaining, yet!
|
||||||
|
else
|
||||||
|
return false;
|
||||||
|
|
||||||
|
// Record the successful parsing of where the last data came from and when
|
||||||
|
strcpy(lastSource, thisSource);
|
||||||
|
strcpy(lastSentence, thisSentence);
|
||||||
|
lastUpdate = millis();
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
Loading…
Reference in New Issue