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WiGPS.cpp
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WiGPS.cpp
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/*
Copyright 2013 Daniele Faugiana
This file is part of "WiGPS Arduino Library".
"WiGPS Arduino Library" is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
"WiGPS Arduino Library" is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with "WiGPS Arduino Library". If not, see <http://www.gnu.org/licenses/>.
*/
/*
* MODIFIED BY: Geoffrey Card
* FILE: WiGPS.cpp
* PROGRAM: rover
* PURPOSE: collect and convert NMEA GPS data
* DATE: 2014-06-14 -
* NOTES: Arduino doubles are floats
* MODIFICATIONS: Converted to Arduino IDE
* Used m/s instead of km/h
* Fixed latitude and longitude seconds
* Added get functions
* Formatted to YYYY-MM-DD HH:mm:ss
* Added seconds as float for more precision
* Update loop exits on timeout
* Serial selection in constructor
*/
#include "WiGPS.h"
void WiGPS::parseGPRMC(GPRMC* str){
/*
* Save all data from the GPRMC string
* in a numeric format in memory.
*/
//Serial.println("GPS GPRMC parsing.");
hours = str->UTCtime().substring(0,2).toInt();
minutes = str->UTCtime().substring(2,4).toInt();
seconds = str->UTCtime().substring(4,6).toInt();
day = str->UTCdate().substring(0,2).toInt();
month = str->UTCdate().substring(2,4).toInt();
year = str->UTCdate().substring(4,6).toInt();
latitudeDeg = str->latitudeDeg().substring(0,2).toInt();
latitudeMin = str->latitudeDeg().substring(2,4).toInt();
latitudeSecf = (float) str->latitudeDeg().substring(5,10).toInt() * CONV_TO_SEC; // convert from .mm to sec
latitudeSec = (int) round(latitudeSecf);
latitudeRef = str->latitudeRef().charAt(0);
longitudeDeg = str->longitudeDeg().substring(0,3).toInt();
longitudeMin = str->longitudeDeg().substring(3,5).toInt();
longitudeSecf = (float) str->longitudeDeg().substring(6,11).toInt() * CONV_TO_SEC; // convert from .mm to sec
longitudeSec = (int) round(longitudeSecf);
longitudeRef = str->longitudeRef().charAt(0);
String speedString(str->speed());
int speedDot = speedString.indexOf('.');
Speed = (int) round(speedString.substring(0,speedDot).toInt() * KNOTS_TO_MS);
String courseString(str->course());
int courseDot = courseString.indexOf('.');
Course = courseString.substring(0,courseDot).toInt();
return;
}
/******************
* PUBLIC METHODS
******************/
WiGPS::WiGPS(HardwareSerial& serial) : _serial(serial) {
//Serial.println("GPS class initialization.");
// init all variables
powerPort = 0;
powerState = LOW;
hours = 0;
minutes = 0;
seconds = 0;
day = 0;
month = 0;
year = 0;
latitudeDeg = 0;
latitudeMin = 0;
latitudeSec = 0;
latitudeRef = '\0';
longitudeDeg = 0;
longitudeMin = 0;
longitudeSec = 0;
longitudeRef = '\0';
Speed = 0;
Course = 0;
dataReady = false;
return;
}
void WiGPS::init(int pw) {
//Serial.println("GPS initialization.");
dataReady = false;
_serial.begin(9600);
powerPort = pw;
pinMode(powerPort, OUTPUT);
digitalWrite(powerPort, LOW);
return;
}
int WiGPS::on(void){
/*
* Powers on the GPS which
* starts watching for satellites
* to retrieve data from them
*/
//Serial.println("GPS on.");
int counter = 0;
digitalWrite(powerPort, HIGH);
while(!_serial.available()){
if(counter++ < 3){
delay(1000);
}else{
return -1;
};
};
return 0;
}
int WiGPS::off(void){
/*
* Powers off the GPS which
* stops watching for satellites
* but keeps the last RTC data
* and RAM memory data for future
* exploring.
*/
//Serial.println("GPS off.");
int counter = 0;
digitalWrite(powerPort, LOW);
while(_serial.available()){
if(counter++ < 3){
delay(1000);
}else{
return -1;
};
};
return 0;
}
bool WiGPS::update(void){
return update(DEFAULT_UPDATE_TIMEOUT);
}
bool WiGPS::update(int timeout_sec){
/*
* The main function for fetching data
* from the GPS module.
* This function gets incoming Strings
* from the _serial port and store them
* in a buffer if they starts with the $ char
* After retrieving a "valid" String the
* parser is called.
*/
//Serial.println("GPS update.");
char buffer[BUFFER_LENGTH_2];
char *buf = buffer;
dataReady = false;
//int failed5 = 0;
unsigned long updateTimeout = millis() + timeout_sec*1000;
while(buf - buffer < BUFFER_LENGTH_2){
*(buf++) = '\0';
}
buf = buffer;
//Serial.print("GPS begin loop: ");
//Serial.print(updateTimeout - timeout_sec*1000);
//Serial.print(" < ");
//Serial.println(updateTimeout);
while(!dataReady){
// Wait for the first incoming header
while(_serial.read() != '$');
// Store the first 5 chars
for(int i = 0; i<5; i++){
while(!_serial.available());
*(buf++) = _serial.read();
}
//Serial.print("buffer:" );
//Serial.print(buffer);
if(strncmp(buffer, PROTOCOL, 5) == 0){
// This is the right String, go on
do {
// Fetch the rest of the GPRMC String
while(!_serial.available());
*buf = _serial.read();
} while(*(buf++) != '\n');
GPRMC str(buffer);
//Serial.println(str);
// 'A' for valid, 'V' for invalid
if(str.dataValid().equals("A")){
//Serial.println("GPS data is valid.");
// The string is ok, extract data
// TODO: ADD CHECKSUM CONTROL TO THE STRING
Serial.print(str);
parseGPRMC(&str);
//Now break the cycle
//Serial.println("GPS success.");
//Serial.println("GPS break loop.");
//Serial.print("\n");
dataReady = true;
return dataReady;
} else {
//Serial.println("GPS data invalid.");
}
}
//Serial.println("6- Data is not ready ");
//Serial.println("------");
//failed5++;
//if(failed5 <= 1500){
//Serial.println("7- Too many fails.. quitting ");
//return FALSE;
//}
//Serial.println("\n");
// if update timed out
//Serial.print("GPS time: ");
//Serial.print(millis());
//Serial.print(" < ");
//Serial.println(updateTimeout);
if (millis() >= updateTimeout) {
//Serial.println("GPS timeout.");
//Serial.println("GPS break loop.");
//Serial.print("\n");
dataReady = false;
return false;
}
buf = buffer;
};
//Serial.println("GPS loop end.");
//Serial.print("\n");
return true;
}
String WiGPS::time(void){
/*
* Get the time from the
* last updated data in the memory
* in the format of the String d
*/
//Serial.println("GPS time.");
String h(hours);
String m(minutes);
String s(seconds);
String f = h + String(':') + m + String(':') + s;
return f;
}
String WiGPS::date(void){
/*
* Get the date from the
* last updated data in the memory
* in the format of the String d
*/
//Serial.println("GPS date.");
String d(day);
String m(month);
String y(year);
String f = String('2') + String('0') + y + String('-') + m + String('-') + d;
return f;
}
String WiGPS::latitude(void){
/*
* Get the latitude from the
* last updated data in the memory
* in the format of the String d
*/
//Serial.println("GPS latitude.");
String d(latitudeDeg);
String m(latitudeMin);
String s(latitudeSec);
String r(latitudeRef);
char c = DEGREE_CHAR;
String f = d + String(c) + m + String('\'') + s + String('\"') + r;
return f;
}
String WiGPS::longitude(void){
/*
* Get the longitude from the
* last updated data in the memory
* in the format of the String d
*/
//Serial.println("GPS longitude.");
String d(longitudeDeg);
String m(longitudeMin);
String s(longitudeSec);
String r(longitudeRef);
char c = DEGREE_CHAR;
String f = d + String(c) + m + String('\'') + s + String('\"') + r;
return f;
}
String WiGPS::speed(void){
/*
* Get the speed from the
* last updated data in the memory
* in the format of the String d (m/s)
*/
//Serial.println("GPS speed.");
String s(Speed);
String f = s + String(" m/s");
return f;
}
String WiGPS::course(void){
/*
* Get the course from the
* last updated data in the memory
* in the format of the String d
*/
//Serial.println("GPS course.");
String s(Course);
char c = DEGREE_CHAR;
String f = s + String(c);
return s;
}
WiGPS::~WiGPS(){
/*
* This destroys the created
* SoftwareSerial object.
*/
//Serial.println("GPS de-initialization.");
//delete serialPort;
}
bool WiGPS::isReady(void){
//Serial.println("GPS readiness.");
return dataReady;
}
float WiGPS::getLatitude(void){
//Serial.println("GPS numerical latitude.");
float temp = (float) latitudeDeg;
temp += (float) latitudeMin/60;
temp += latitudeSecf/3600;
temp *= latitudeRef == 'N' ? 1.0 : -1.0;
return temp;
}
int WiGPS::getLatitudeDeg(void){
//Serial.println("GPS numerical latitude degrees.");
return latitudeDeg;
}
int WiGPS::getLatitudeMin(void){
//Serial.println("GPS numerical latitude minutes.");
return latitudeMin;
}
int WiGPS::getLatitudeSec(void){
//Serial.println("GPS numerical latitude seconds.");
return latitudeSec;
}
float WiGPS::getLatitudeSecf(void){
//Serial.println("GPS numerical (float) latitude seconds.");
return latitudeSecf;
}
char WiGPS::getLatitudeRef(void){
//Serial.println("GPS numerical latitude reference.");
return latitudeRef;
}
float WiGPS::getLongitude(void){
//Serial.println("GPS numerical longitude.");
float temp = (float) longitudeDeg;
temp += (float) longitudeMin/60;
temp += longitudeSecf/3600;
temp *= longitudeRef == 'N' ? 1.0 : -1.0;
return temp;
}
int WiGPS::getLongitudeDeg(void){
//Serial.println("GPS numerical longitude degrees.");
return longitudeDeg;
}
int WiGPS::getLongitudeMin(void){
//Serial.println("GPS numerical longitude minutes.");
return longitudeMin;
}
int WiGPS::getLongitudeSec(void){
//Serial.println("GPS numerical longitude seconds.");
return longitudeSec;
}
float WiGPS::getLongitudeSecf(void){
//Serial.println("GPS numerical (float) longitude seconds.");
return longitudeSecf;
}
char WiGPS::getLongitudeRef(void){
//Serial.println("GPS numerical longitude reference.");
return longitudeRef;
}