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Redo Pull Request 108 

Created new fork in hopes of making things mergeable
This commit is contained in:
Rick Sellens 2020-01-18 09:07:15 -05:00
parent 309b27c464
commit f02d93b749
2 changed files with 253 additions and 19 deletions
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243
Adafruit_GPS.cpp
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@ -73,7 +73,7 @@ boolean Adafruit_GPS::parse(char *nmea) {
return false; return false;
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
fixquality = atoi(p); fixquality = atoi(p);
if (fixquality > 0) { if (fixquality > 0) {
fix = true; fix = true;
@ -83,23 +83,23 @@ boolean Adafruit_GPS::parse(char *nmea) {
} }
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
satellites = atoi(p); satellites = atoi(p);
} }
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
HDOP = atof(p); HDOP = atof(p);
} }
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
altitude = atof(p); altitude = atof(p);
} }
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
geoidheight = atof(p); geoidheight = atof(p);
} }
} }
@ -130,18 +130,18 @@ boolean Adafruit_GPS::parse(char *nmea) {
// speed // speed
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
speed = atof(p); speed = atof(p);
} }
// angle // angle
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
angle = atof(p); angle = atof(p);
} }
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
uint32_t fulldate = atof(p); uint32_t fulldate = atof(p);
day = fulldate / 10000; day = fulldate / 10000;
month = (fulldate % 10000) / 100; month = (fulldate % 10000) / 100;
@ -180,7 +180,7 @@ boolean Adafruit_GPS::parse(char *nmea) {
// parse out Auto selection, but ignore them // parse out Auto selection, but ignore them
// parse out 3d fixquality // parse out 3d fixquality
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
fixquality_3d = atoi(p); fixquality_3d = atoi(p);
} }
// skip 12 Satellite PDNs without interpreting them // skip 12 Satellite PDNs without interpreting them
@ -189,22 +189,31 @@ boolean Adafruit_GPS::parse(char *nmea) {
// parse out PDOP // parse out PDOP
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
PDOP = atof(p); PDOP = atof(p);
} }
// parse out HDOP, we also parse this from the GGA sentence. Chipset should // parse out HDOP, we also parse this from the GGA sentence. Chipset should
// report the same for both // report the same for both
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
HDOP = atof(p); HDOP = atof(p);
} }
// parse out VDOP // parse out VDOP
p = strchr(p, ',') + 1; p = strchr(p, ',') + 1;
if (',' != *p) { if (!isEmpty(p)) {
VDOP = atof(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! // we dont parse the remaining, yet!
else else
return false; return false;
@ -296,6 +305,51 @@ const char *Adafruit_GPS::tokenOnList(char *token, const char **list) {
return NULL; // couldn't find a match return NULL; // couldn't find a match
} }
/**************************************************************************/
/*!
@brief Parse a string token from pointer p to the next comma, asterisk
or end of string.
@param buff Pointer to the buffer to store the string in
@param p Pointer into a string
@param n Max permitted size of string including terminating 0
@return Pointer to the string buffer
*/
/**************************************************************************/
char * Adafruit_GPS::parseStr(char * buff, char *p, int n) {
char *e = strchr(p, ',');
int len = 0;
if(e){
len = min(e - p, n - 1);
strncpy(buff,p,len); // copy up to the comma
buff[len] = 0;
} else {
e = strchr(p, '*');
if(e){
len = min(e - p, n - 1);
strncpy(buff,p,len); // or up to the *
buff[e-p] = 0;
} else {
len = min((int) strlen(p), n - 1);
strncpy(buff,p,len); // or to the end or max capacity
}
}
return buff;
}
/**************************************************************************/
/*!
@brief Is the field empty, or should we try conversion? Won't work
for a text field that starts with an asterisk or a comma, but that
probably violates the NMEA-183 standard.
@param pStart Pointer to the location of the token in the NMEA string
@return true if empty field, false if something there
*/
/**************************************************************************/
bool Adafruit_GPS::isEmpty(char *pStart) {
if (',' != *pStart && '*' != *pStart && pStart != NULL) return false;
else return true;
}
/**************************************************************************/ /**************************************************************************/
/*! /*!
@brief Add *CS where CS is the two character hex checksum for all but @brief Add *CS where CS is the two character hex checksum for all but
@ -345,7 +399,7 @@ void Adafruit_GPS::parseLat(char *p) {
int32_t degree; int32_t degree;
long minutes; long minutes;
char degreebuff[10]; char degreebuff[10];
if (',' != *p) { if (!isEmpty(p)) {
strncpy(degreebuff, p, 2); strncpy(degreebuff, p, 2);
p += 2; p += 2;
degreebuff[2] = '\0'; degreebuff[2] = '\0';
@ -394,7 +448,7 @@ void Adafruit_GPS::parseLon(char *p) {
int32_t degree; int32_t degree;
long minutes; long minutes;
char degreebuff[10]; char degreebuff[10];
if (',' != *p) { if (!isEmpty(p)) {
strncpy(degreebuff, p, 3); strncpy(degreebuff, p, 3);
p += 3; p += 3;
degreebuff[3] = '\0'; degreebuff[3] = '\0';
@ -419,7 +473,7 @@ void Adafruit_GPS::parseLon(char *p) {
*/ */
/**************************************************************************/ /**************************************************************************/
boolean Adafruit_GPS::parseLonDir(char *p) { boolean Adafruit_GPS::parseLonDir(char *p) {
if (',' != *p) { if (!isEmpty(p)) {
if (p[0] == 'W') { if (p[0] == 'W') {
lon = 'W'; lon = 'W';
longitudeDegrees *= -1.0; longitudeDegrees *= -1.0;
@ -981,4 +1035,161 @@ static boolean strStartsWith(const char *str, const char *prefix) {
return false; return false;
} }
return true; return true;
} }
#ifdef NMEA_EXTENSIONS
/**************************************************************************/
/*!
@brief Fakes time of receipt of a sentence. Use between build() and parse()
to make the timing look like the sentence arrived from the GPS.
*/
/**************************************************************************/
void Adafruit_GPS::resetSentTime(){
sentTime = millis();
}
/**************************************************************************/
/*!
@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

29
Adafruit_GPS.h
View File

@ -26,6 +26,15 @@
#ifndef _ADAFRUIT_GPS_H #ifndef _ADAFRUIT_GPS_H
#define _ADAFRUIT_GPS_H #define _ADAFRUIT_GPS_H
/**************************************************************************/
/**
Comment out the definition of NMEA_EXTENSIONS to make the library use as
little memory as possible for GPS functionality only. The ARDUINO_ARCH_AVR
test should leave it out of any compilations for the UNO and similar. */
#ifndef ARDUINO_ARCH_AVR
#define NMEA_EXTENSIONS ///< if defined will include more NMEA sentences
#endif
#define USE_SW_SERIAL ///< comment this out if you don't want to include #define USE_SW_SERIAL ///< comment this out if you don't want to include
///< software serial in the library ///< software serial in the library
#define GPS_DEFAULT_I2C_ADDR \ #define GPS_DEFAULT_I2C_ADDR \
@ -232,9 +241,9 @@ public:
///< vertical position ///< vertical position
float PDOP; ///< Position Dilution of Precision - Complex maths derives a float PDOP; ///< Position Dilution of Precision - Complex maths derives a
///< simple, single number for each kind of DOP ///< simple, single number for each kind of DOP
char lat; ///< N/S char lat = 'X'; ///< N/S
char lon; ///< E/W char lon = 'X'; ///< E/W
char mag; ///< Magnetic variation direction char mag = 'X'; ///< Magnetic variation direction
boolean fix; ///< Have a fix? boolean fix; ///< Have a fix?
uint8_t fixquality; ///< Fix quality (0, 1, 2 = Invalid, GPS, DGPS) 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 fixquality_3d; ///< 3D fix quality (1, 3, 3 = Nofix, 2D fix, 3D fix)
@ -257,8 +266,22 @@ public:
uint8_t LOCUS_status; ///< 0: Logging, 1: Stop logging uint8_t LOCUS_status; ///< 0: Logging, 1: Stop logging
uint8_t LOCUS_percent; ///< Log life used percentage uint8_t LOCUS_percent; ///< Log life used percentage
#ifdef NMEA_EXTENSIONS
// NMEA additional public functions
char * build(char *nmea, const char *thisSource, const char *thisSentence, char ref = 'R');
void resetSentTime();
// NMEA additional public variables
char txtTXT[63] = {0}; ///< text content from most recent TXT sentence
int txtTot = 0; ///< total TXT sentences in group
int txtID = 0; ///< id of the text message
int txtN = 0; ///< the TXT sentence number
#endif // NMEA_EXTENSIONS
private: private:
const char *tokenOnList(char *token, const char **list); const char *tokenOnList(char *token, const char **list);
char * parseStr(char * buff, char *p, int n);
bool isEmpty(char *pStart);
void parseTime(char *); void parseTime(char *);
void parseLat(char *); void parseLat(char *);
boolean parseLatDir(char *); boolean parseLatDir(char *);