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esp32_Adafruit_GPS
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Added support for the GSA sentence

This commit is contained in:
Bas Rijniersce 2019-10-31 14:05:02 -07:00
parent 5c2ddda5c2
commit ebde856657
2 changed files with 147 additions and 13 deletions
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152
Adafruit_GPS.cpp
View File

@ -204,6 +204,136 @@ boolean Adafruit_GPS::parse(char *nmea) {
return true;
}
if (strStartsWith(nmea, "$GPRMC") || strStartsWith(nmea, "$GNRMC")) {
// found RMC
// get time
p = strchr(p, ',')+1;
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 (',' != *p)
{
speed = atof(p);
}
// angle
p = strchr(p, ',')+1;
if (',' != *p)
{
angle = atof(p);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
uint32_t fulldate = atof(p);
day = fulldate / 10000;
month = (fulldate % 10000) / 100;
year = (fulldate % 100);
lastDate = sentTime;
}
return true;
}
if (strStartsWith(nmea, "$GPGLL") || strStartsWith(nmea, "$GNGLL")) {
// 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;
}
if (strStartsWith(nmea, "$GPGSA")) {
// found GSA
// parse out Auto selection, but ignore them
p = strchr(p, ',')+1;
// parse out 3d fixquality
p = strchr(p, ',')+1;
if (',' != *p)
{
fixquality_3d = atoi(p);
}
// parse out Satellite PDNs, but ignore them
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
//parse out PDOP
p = strchr(p, ',')+1;
if (',' != *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 (',' != *p)
{
HDOP = atof(p);
}
// parse out VDOP
p = strchr(p, ',')+1;
if (',' != *p)
{
VDOP = atof(p);
}
return true;
}
// we dont parse the remaining, yet!
return false;
}
@ -393,7 +523,7 @@ size_t Adafruit_GPS::available(void) {
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
if (gpsSwSerial) {
return gpsSwSerial->available();
}
}
#endif
if (gpsHwSerial) {
return gpsHwSerial->available();
@ -415,7 +545,7 @@ size_t Adafruit_GPS::write(uint8_t c) {
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
if (gpsSwSerial) {
return gpsSwSerial->write(c);
}
}
#endif
if (gpsHwSerial) {
return gpsHwSerial->write(c);
@ -447,13 +577,13 @@ char Adafruit_GPS::read(void) {
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
if(gpsSwSerial) {
if (!gpsSwSerial->available())
if (!gpsSwSerial->available())
return c;
c = gpsSwSerial->read();
}
}
#endif
if (gpsHwSerial) {
if (!gpsHwSerial->available())
if (!gpsHwSerial->available())
return c;
c = gpsHwSerial->read();
}
@ -469,7 +599,7 @@ char Adafruit_GPS::read(void) {
char curr_char = 0;
for (int i=0; i<GPS_MAX_I2C_TRANSFER; i++) {
curr_char = Wire.read();
if ((curr_char == 0x0A) && (last_char != 0x0D)) {
if ((curr_char == 0x0A) && (last_char != 0x0D)) {
// skip duplicate 0x0A's - but keep as part of a CRLF
continue;
}
@ -486,9 +616,9 @@ char Adafruit_GPS::read(void) {
return c;
}
}
//Serial.print(c);
currentline[lineidx++] = c;
if (lineidx >= MAXLINELENGTH)
lineidx = MAXLINELENGTH-1; // ensure there is someplace to put the next received character
@ -573,12 +703,12 @@ void Adafruit_GPS::common_init(void) {
lastline = line2;
hour = minute = seconds = year = month = day =
fixquality = satellites = 0; // uint8_t
fixquality = fixquality_3d = satellites = 0; // uint8_t
lat = lon = mag = 0; // char
fix = false; // boolean
milliseconds = 0; // uint16_t
latitude = longitude = geoidheight = altitude =
speed = angle = magvariation = HDOP = 0.0; // float
speed = angle = magvariation = HDOP = VDOP = PDOP = 0.0; // float
}
/**************************************************************************/
@ -593,7 +723,7 @@ bool Adafruit_GPS::begin(uint32_t baud_or_i2caddr)
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
if(gpsSwSerial) {
gpsSwSerial->begin(baud_or_i2caddr);
}
}
#endif
if (gpsHwSerial) {
gpsHwSerial->begin(baud_or_i2caddr);

8
Adafruit_GPS.h
View File

@ -66,6 +66,7 @@
#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 "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn on GPRMC and GPGGA
#define PMTK_SET_NMEA_OUTPUT_RMCGGAGSA "$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29" ///< turn on GPRMC, GPGGA and GPGSA
#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
@ -159,11 +160,14 @@ class Adafruit_GPS : public Print{
float angle; ///< Course in degrees from true north
float magvariation; ///< Magnetic variation in degrees (vs. true north)
float HDOP; ///< Horizontal Dilution of Precision - relative accuracy of horizontal position
float VDOP; ///< Vertical Dilution of Precision - relative accuracy of vertical position
float PDOP; ///< Position Dilution of Precision - Complex maths derives a simple, single number for each kind of DOP
char lat; ///< N/S
char lon; ///< E/W
char mag; ///< Magnetic variation direction
boolean fix; ///< Have a fix?
uint8_t fixquality; ///< Fix quality (0, 1, 2 = Invalid, GPS, DGPS)
uint8_t fixquality_3d; ///< 3D fix quality (1, 3, 3 = Nofix, 2D fix, 3D fix)
uint8_t satellites; ///< Number of satellites in use
boolean waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE, boolean usingInterrupts = false);
@ -189,8 +193,8 @@ class Adafruit_GPS : public Print{
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.
// 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