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esp32_Adafruit_GPS/Adafruit_GPS.h

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/**************************************************************************/
/*!
@file Adafruit_GPS.h
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
Pick one up today at the Adafruit electronics shop
and help support open source hardware & software! -ada
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above must be included in any redistribution
*/
/**************************************************************************/
// Fllybob added lines 34,35 and 40,41 to add 100mHz logging capability
#ifndef _ADAFRUIT_GPS_H
#define _ADAFRUIT_GPS_H
#define USE_SW_SERIAL ///< comment this out if you don't want to include software serial in the library
#define GPS_DEFAULT_I2C_ADDR 0x10 ///< The default address for I2C transport of GPS data
#define GPS_MAX_I2C_TRANSFER 32 ///< The max number of bytes we'll try to read at once
#include "Arduino.h"
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
#include <SoftwareSerial.h>
#endif
#include <Wire.h>
#include <SPI.h>
/**************************************************************************/
/**
Different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
Note that these only control the rate at which the position is echoed, to actually speed up the
position fix you must also send one of the position fix rate commands below too. */
#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ "$PMTK220,10000*2F" ///< Once every 10 seconds, 100 millihertz.
#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ "$PMTK220,5000*1B" ///< Once every 5 seconds, 200 millihertz.
#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F" ///< 1 Hz
#define PMTK_SET_NMEA_UPDATE_2HZ "$PMTK220,500*2B" ///< 2 Hz
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" ///< 5 Hz
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F" ///< 10 Hz
// Position fix update rate commands.
#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ "$PMTK300,10000,0,0,0,0*2C" ///< Once every 10 seconds, 100 millihertz.
#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ "$PMTK300,5000,0,0,0,0*18" ///< Once every 5 seconds, 200 millihertz.
#define PMTK_API_SET_FIX_CTL_1HZ "$PMTK300,1000,0,0,0,0*1C" ///< 1 Hz
#define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F" ///< 5 Hz
// Can't fix position faster than 5 times a second!
#define PMTK_SET_BAUD_115200 "$PMTK251,115200*1F" ///< 115200 bps
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C" ///< 57600 bps
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17" ///< 9600 bps
#define PMTK_SET_NMEA_OUTPUT_GLLONLY "$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_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 "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28" ///< turn off output
// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22" ///< Start logging data
#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23" ///< Stop logging data
#define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C" ///< Acknowledge the start or stop command
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38" ///< Query the logging status
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22" ///< Erase the log flash data
#define LOCUS_OVERLAP 0 ///< If flash is full, log will overwrite old data with new logs
#define LOCUS_FULLSTOP 1 ///< If flash is full, logging will stop
#define PMTK_ENABLE_SBAS "$PMTK313,1*2E" ///< Enable search for SBAS satellite (only works with 1Hz output rate)
#define PMTK_ENABLE_WAAS "$PMTK301,2*2E" ///< Use WAAS for DGPS correction data
#define PMTK_STANDBY "$PMTK161,0*28" ///< standby command & boot successful message
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" ///< Not needed currently
#define PMTK_AWAKE "$PMTK010,002*2D" ///< Wake up
#define PMTK_Q_RELEASE "$PMTK605*31" ///< ask for the release and version
#define PGCMD_ANTENNA "$PGCMD,33,1*6C" ///< request for updates on antenna status
#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" ///< don't show antenna status messages
#define MAXWAITSENTENCE 10 ///< how long to wait when we're looking for a response
/**************************************************************************/
/**************************************************************************/
/*!
@brief The GPS class
*/
class Adafruit_GPS : public Print{
public:
bool begin(uint32_t baud_or_i2caddr);
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
Adafruit_GPS(SoftwareSerial *ser); // Constructor when using SoftwareSerial
#endif
Adafruit_GPS(HardwareSerial *ser); // Constructor when using HardwareSerial
Adafruit_GPS(TwoWire *theWire); // Constructor when using I2C
Adafruit_GPS(SPIClass *theSPI, int8_t cspin); // Constructor when using SPI
char *lastNMEA(void);
boolean newNMEAreceived();
void common_init(void);
void sendCommand(const char *);
void pause(boolean b);
uint8_t parseHex(char c);
char read(void);
size_t write(uint8_t);
size_t available(void);
boolean parse(char *);
float secondsSinceFix();
float secondsSinceTime();
float secondsSinceDate();
boolean wakeup(void);
boolean standby(void);
uint8_t hour; ///< GMT hours
uint8_t minute; ///< GMT minutes
uint8_t seconds; ///< GMT seconds
uint16_t milliseconds; ///< GMT milliseconds
uint8_t year; ///< GMT year
uint8_t month; ///< GMT month
uint8_t day; ///< GMT day
float latitude; ///< Floating point latitude value in degrees/minutes as received from the GPS (DDMM.MMMM)
float longitude; ///< Floating point longitude value in degrees/minutes as received from the GPS (DDDMM.MMMM)
/** Fixed point latitude and longitude value with degrees stored in units of 1/100000 degrees,
and minutes stored in units of 1/100000 degrees. See pull #13 for more details:
https://github.com/adafruit/Adafruit-GPS-Library/pull/13 */
int32_t latitude_fixed; ///< Fixed point latitude in decimal degrees
int32_t longitude_fixed; ///< Fixed point longitude in decimal degrees
float latitudeDegrees; ///< Latitude in decimal degrees
float longitudeDegrees; ///< Longitude in decimal degrees
float geoidheight; ///< Diff between geoid height and WGS84 height
float altitude; ///< Altitude in meters above MSL
float speed; ///< Current speed over ground in knots
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);
boolean LOCUS_StartLogger(void);
boolean LOCUS_StopLogger(void);
boolean LOCUS_ReadStatus(void);
uint16_t LOCUS_serial; ///< Log serial number
uint16_t LOCUS_records; ///< Log number of data record
uint8_t LOCUS_type; ///< Log type, 0: Overlap, 1: FullStop
uint8_t LOCUS_mode; ///< Logging mode, 0x08 interval logger
uint8_t LOCUS_config; ///< Contents of configuration
uint8_t LOCUS_interval; ///< Interval setting
uint8_t LOCUS_distance; ///< Distance setting
uint8_t LOCUS_speed; ///< Speed setting
uint8_t LOCUS_status; ///< 0: Logging, 1: Stop logging
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
uint32_t sentTime = 2000000000L; // millis() when first character of last full sentence received
boolean paused;
uint8_t parseResponse(char *response);
#if (defined(__AVR__) || defined(ESP8266)) && defined(USE_SW_SERIAL)
SoftwareSerial *gpsSwSerial;
#endif
HardwareSerial *gpsHwSerial;
TwoWire *gpsI2C;
SPIClass *gpsSPI;
int8_t gpsSPI_cs = -1;
SPISettings gpsSPI_settings = SPISettings(1000000, MSBFIRST, SPI_MODE0); // default
char _spibuffer[GPS_MAX_SPI_TRANSFER]; // for when we write data, we need to read it too!
uint8_t _i2caddr;
char _i2cbuffer[GPS_MAX_I2C_TRANSFER];
int8_t _buff_max = -1, _buff_idx = 0;
char last_char = 0;
};
/**************************************************************************/
#endif
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