Commit f2346dcb authored by Thomas Pryor's avatar Thomas Pryor
Browse files
parents 1dcc8961 fb579ed5
/***********************************
This is our GPS library
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
****************************************/
#ifdef __AVR__
// Only include software serial on AVR platforms (i.e. not on Due).
#include <SoftwareSerial.h>
#endif
#include <Adafruit_GPS.h>
// how long are max NMEA lines to parse?
#define MAXLINELENGTH 120
// we double buffer: read one line in and leave one for the main program
volatile char line1[MAXLINELENGTH];
volatile char line2[MAXLINELENGTH];
// our index into filling the current line
volatile uint8_t lineidx=0;
// pointers to the double buffers
volatile char *currentline;
volatile char *lastline;
volatile boolean recvdflag;
volatile boolean inStandbyMode;
boolean Adafruit_GPS::parse(char *nmea) {
// do checksum check
// first look if we even have one
if (nmea[strlen(nmea)-4] == '*') {
uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
sum += parseHex(nmea[strlen(nmea)-2]);
// check checksum
for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
sum ^= nmea[i];
}
if (sum != 0) {
// bad checksum :(
//return false;
}
}
int32_t degree;
long minutes;
char degreebuff[10];
// look for a few common sentences
if (strstr(nmea, "$GPGGA")) {
// found GGA
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
// parse out latitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 2);
p += 2;
degreebuff[2] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
latitude_fixed = degree + minutes;
latitude = degree / 100000 + minutes * 0.000006F;
latitudeDegrees = (latitude-100*int(latitude/100))/60.0;
latitudeDegrees += int(latitude/100);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'S') latitudeDegrees *= -1.0;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
}
// parse out longitude
p = strchr(p, ',')+1;
if (',' != *p)
{
strncpy(degreebuff, p, 3);
p += 3;
degreebuff[3] = '\0';
degree = atol(degreebuff) * 10000000;
strncpy(degreebuff, p, 2); // minutes
p += 3; // skip decimal point
strncpy(degreebuff + 2, p, 4);
degreebuff[6] = '\0';
minutes = 50 * atol(degreebuff) / 3;
longitude_fixed = degree + minutes;
longitude = degree / 100000 + minutes * 0.000006F;
longitudeDegrees = (longitude-100*int(longitude/100))/60.0;
longitudeDegrees += int(longitude/100);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
if (p[0] == 'W') longitudeDegrees *= -1.0;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
}
p = strchr(p, ',')+1;
if (',' != *p)
{
fixquality = atoi(p);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
satellites = atoi(p);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
HDOP = atof(p);
}
p = strchr(p, ',')+1;
if (',' != *p)
{
altitude = atof(p);
}
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
if (',' != *p)
{
geoidheight = atof(p);
}
return true;
}
if (strstr(nmea, "$GPRMC")) {
// found RMC
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;
p = strchr(p, ',')+1;
// Serial.println(p);
if (p[0] == 'A')
fix = true;
else if (p[0] == 'V')
fix = false;
else
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);
}
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;
}
// 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);
}
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;
}
// 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);
}
// we dont parse the remaining, yet!
return true;
}
return false;
}
char Adafruit_GPS::read(void) {
char c = 0;
if (paused) return c;
#ifdef __AVR__
if(gpsSwSerial) {
if(!gpsSwSerial->available()) return c;
c = gpsSwSerial->read();
} else
#endif
{
if(!gpsHwSerial->available()) return c;
c = gpsHwSerial->read();
}
//Serial.print(c);
// if (c == '$') { //please don't eat the dollar sign - rdl 9/15/14
// currentline[lineidx] = 0;
// lineidx = 0;
// }
if (c == '\n') {
currentline[lineidx] = 0;
if (currentline == line1) {
currentline = line2;
lastline = line1;
} else {
currentline = line1;
lastline = line2;
}
//Serial.println("----");
//Serial.println((char *)lastline);
//Serial.println("----");
lineidx = 0;
recvdflag = true;
}
currentline[lineidx++] = c;
if (lineidx >= MAXLINELENGTH)
lineidx = MAXLINELENGTH-1;
return c;
}
#ifdef __AVR__
// Constructor when using SoftwareSerial or NewSoftSerial
#if ARDUINO >= 100
Adafruit_GPS::Adafruit_GPS(SoftwareSerial *ser)
#else
Adafruit_GPS::Adafruit_GPS(NewSoftSerial *ser)
#endif
{
common_init(); // Set everything to common state, then...
gpsSwSerial = ser; // ...override gpsSwSerial with value passed.
}
#endif
// Constructor when using HardwareSerial
Adafruit_GPS::Adafruit_GPS(HardwareSerial *ser) {
common_init(); // Set everything to common state, then...
gpsHwSerial = ser; // ...override gpsHwSerial with value passed.
}
// Initialization code used by all constructor types
void Adafruit_GPS::common_init(void) {
#ifdef __AVR__
gpsSwSerial = NULL; // Set both to NULL, then override correct
#endif
gpsHwSerial = NULL; // port pointer in corresponding constructor
recvdflag = false;
paused = false;
lineidx = 0;
currentline = line1;
lastline = line2;
hour = minute = seconds = year = month = day =
fixquality = 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
}
void Adafruit_GPS::begin(uint16_t baud)
{
#ifdef __AVR__
if(gpsSwSerial)
gpsSwSerial->begin(baud);
else
gpsHwSerial->begin(baud);
#endif
delay(10);
}
void Adafruit_GPS::sendCommand(const char *str) {
#ifdef __AVR__
if(gpsSwSerial)
gpsSwSerial->println(str);
else
#endif
gpsHwSerial->println(str);
}
boolean Adafruit_GPS::newNMEAreceived(void) {
return recvdflag;
}
void Adafruit_GPS::pause(boolean p) {
paused = p;
}
char *Adafruit_GPS::lastNMEA(void) {
recvdflag = false;
return (char *)lastline;
}
// read a Hex value and return the decimal equivalent
uint8_t Adafruit_GPS::parseHex(char c) {
if (c < '0')
return 0;
if (c <= '9')
return c - '0';
if (c < 'A')
return 0;
if (c <= 'F')
return (c - 'A')+10;
// if (c > 'F')
return 0;
}
boolean Adafruit_GPS::waitForSentence(const char *wait4me, uint8_t max) {
char str[20];
uint8_t i=0;
while (i < max) {
if (newNMEAreceived()) {
char *nmea = lastNMEA();
strncpy(str, nmea, 20);
str[19] = 0;
i++;
if (strstr(str, wait4me))
return true;
}
}
return false;
}
boolean Adafruit_GPS::LOCUS_StartLogger(void) {
sendCommand(PMTK_LOCUS_STARTLOG);
recvdflag = false;
return waitForSentence(PMTK_LOCUS_STARTSTOPACK);
}
boolean Adafruit_GPS::LOCUS_StopLogger(void) {
sendCommand(PMTK_LOCUS_STOPLOG);
recvdflag = false;
return waitForSentence(PMTK_LOCUS_STARTSTOPACK);
}
boolean Adafruit_GPS::LOCUS_ReadStatus(void) {
sendCommand(PMTK_LOCUS_QUERY_STATUS);
if (! waitForSentence("$PMTKLOG"))
return false;
char *response = lastNMEA();
uint16_t parsed[10];
uint8_t i;
for (i=0; i<10; i++) parsed[i] = -1;
response = strchr(response, ',');
for (i=0; i<10; i++) {
if (!response || (response[0] == 0) || (response[0] == '*'))
break;
response++;
parsed[i]=0;
while ((response[0] != ',') &&
(response[0] != '*') && (response[0] != 0)) {
parsed[i] *= 10;
char c = response[0];
if (isDigit(c))
parsed[i] += c - '0';
else
parsed[i] = c;
response++;
}
}
LOCUS_serial = parsed[0];
LOCUS_type = parsed[1];
if (isAlpha(parsed[2])) {
parsed[2] = parsed[2] - 'a' + 10;
}
LOCUS_mode = parsed[2];
LOCUS_config = parsed[3];
LOCUS_interval = parsed[4];
LOCUS_distance = parsed[5];
LOCUS_speed = parsed[6];
LOCUS_status = !parsed[7];
LOCUS_records = parsed[8];
LOCUS_percent = parsed[9];
return true;
}
// Standby Mode Switches
boolean Adafruit_GPS::standby(void) {
if (inStandbyMode) {
return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS
}
else {
inStandbyMode = true;
sendCommand(PMTK_STANDBY);
//return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working
return true;
}
}
boolean Adafruit_GPS::wakeup(void) {
if (inStandbyMode) {
inStandbyMode = false;
sendCommand(""); // send byte to wake it up
return waitForSentence(PMTK_AWAKE);
}
else {
return false; // Returns false if not in standby mode, nothing to wakeup
}
}
/***********************************
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
#ifdef __AVR__
#if ARDUINO >= 100
#include <SoftwareSerial.h>
#else
#include <NewSoftSerial.h>
#endif
#endif
// 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 "$PMTK220,1000*1F"
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C"
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
// Position fix update rate commands.
#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ "$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"
#define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F"
// Can't fix position faster than 5 times a second!
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
// turn on only the second sentence (GPRMC)
#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
// turn on GPRMC and GGA
#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn on ALL THE DATA
#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn off output
#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22"
#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23"
#define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C"
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
#define LOCUS_OVERLAP 0
#define LOCUS_FULLSTOP 1
#define PMTK_ENABLE_SBAS "$PMTK313,1*2E"
#define PMTK_ENABLE_WAAS "$PMTK301,2*2E"
// standby command & boot successful message
#define PMTK_STANDBY "$PMTK161,0*28"
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently
#define PMTK_AWAKE "$PMTK010,002*2D"
// ask for the release and version
#define PMTK_Q_RELEASE "$PMTK605*31"
// request for updates on antenna status
#define PGCMD_ANTENNA "$PGCMD,33,1*6C"
#define PGCMD_NOANTENNA "$PGCMD,33,0*6D"
// how long to wait when we're looking for a response
#define MAXWAITSENTENCE 5
#if ARDUINO >= 100
#include "Arduino.h"
#if defined (__AVR__) && !defined(__AVR_ATmega32U4__)
#include "SoftwareSerial.h"
#endif
#else
#include "WProgram.h"
#include "NewSoftSerial.h"
#endif
class Adafruit_GPS {
public:
void begin(uint16_t baud);
#ifdef __AVR__
#if ARDUINO >= 100
Adafruit_GPS(SoftwareSerial *ser); // Constructor when using SoftwareSerial
#else
Adafruit_GPS(NewSoftSerial *ser); // Constructor when using NewSoftSerial
#endif
#endif
Adafruit_GPS(HardwareSerial *ser); // Constructor when using HardwareSerial
char *lastNMEA(void);
boolean newNMEAreceived();
void common_init(void);
void sendCommand(const char *);
void pause(boolean b);
boolean parseNMEA(char *response);
uint8_t parseHex(char c);