Added NMEA example.

WildernessLabs · Oct 26, 2017 · 842dc58 · 842dc58
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diff --git a/NMEA_GPS/SourceCode/Program.cs b/NMEA_GPS/SourceCode/Program.cs
@@ -0,0 +1,122 @@
+using Microsoft.SPOT;
+using Netduino.Foundation.Sensors.GPS;
+using System;
+using System.Threading;
+
+namespace NMEATest
+{
+    public class Program
+    {
+        public static void Main()
+        {
+            try
+            {
+                NMEA gps = new NMEA("COM1", 9600, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
+                //
+                GGADecoder ggaDecoder = new GGADecoder();
+                ggaDecoder.OnPositionReceived += ggaDecoder_OnPositionReceived;
+                gps.AddDecoder(ggaDecoder);
+                //
+                GLLDecoder gllDecoder = new GLLDecoder();
+                gllDecoder.OnGeographicLatitudeLongitudeReceived += gllDecoder_OnGeographicLatitudeLongitudeReceived;
+                gps.AddDecoder(gllDecoder);
+                //
+                GSADecoder gsaDecoder = new GSADecoder();
+                gsaDecoder.OnActiveSatellitesReceived += gsaDecoder_OnActiveSatellitesReceived;
+                gps.AddDecoder(gsaDecoder);
+                //
+                RMCDecoder rmcDecoder = new RMCDecoder();
+                rmcDecoder.OnPositionCourseAndTimeReceived += rmcDecoder_OnPositionCourseAndTimeReceived;
+                gps.AddDecoder(rmcDecoder);
+                //
+                VTGDecoder vtgDecoder = new VTGDecoder();
+                vtgDecoder.OnCourseAndVelocityReceived += vtgDecoder_OnCourseAndVelocityReceived;
+                gps.AddDecoder(vtgDecoder);
+                //
+                gps.Open();
+                Thread.Sleep(Timeout.Infinite);
+            }
+            catch (Exception ex)
+            {
+
+            }
+        }
+
+        static string DecodeDMPosition(DegreeMinutePosition dmp)
+        {
+            string position = dmp.Degrees.ToString("f2") + "d " + dmp.Minutes.ToString("f2") + "m ";
+            switch (dmp.Direction)
+            {
+                case DirectionIndicator.East:
+                    position += "E";
+                    break;
+                case DirectionIndicator.West:
+                    position += "W";
+                    break;
+                case DirectionIndicator.North:
+                    position += "N";
+                    break;
+                case DirectionIndicator.South:
+                    position += "S";
+                    break;
+                case DirectionIndicator.Unknown:
+                    position += "Unknown";
+                    break;
+            }
+            return (position);
+        }
+
+        static void vtgDecoder_OnCourseAndVelocityReceived(object sender, CourseOverGround courseAndVelocity)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("True heading: " + courseAndVelocity.TrueHeading.ToString("f2"));
+            Debug.Print("Magnetic heading: " + courseAndVelocity.MagneticHeading.ToString("f2"));
+            Debug.Print("Knots: " + courseAndVelocity.Knots.ToString("f2"));
+            Debug.Print("KPH: " + courseAndVelocity.KPH.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void rmcDecoder_OnPositionCourseAndTimeReceived(object sender, PositionCourseAndTime positionCourseAndTime)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("Time of reading: " + positionCourseAndTime.TimeOfReading);
+            Debug.Print("Latitude: " + DecodeDMPosition(positionCourseAndTime.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(positionCourseAndTime.Longitude));
+            Debug.Print("Speed: " + positionCourseAndTime.Speed.ToString("f2"));
+            Debug.Print("Course: " + positionCourseAndTime.Course.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void gsaDecoder_OnActiveSatellitesReceived(object sender, ActiveSatellites activeSatellites)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("Number of satellites involved in fix: " + activeSatellites.SatellitesUsedForFix.Length);
+            Debug.Print("Dilution of precision: " + activeSatellites.DilutionOfPrecision.ToString("f2"));
+            Debug.Print("HDOP: " + activeSatellites.HorizontalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("VDOP: " + activeSatellites.VerticalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void gllDecoder_OnGeographicLatitudeLongitudeReceived(object sender, GPSLocation location)
+        {
+            Debug.Print("Location information received.");
+            Debug.Print("Time of reading: " + location.ReadingTime);
+            Debug.Print("Latitude: " + DecodeDMPosition(location.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(location.Longitude));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void ggaDecoder_OnPositionReceived(object sender, GPSLocation location)
+        {
+            Debug.Print("Location information received.");
+            Debug.Print("Time of reading: " + location.ReadingTime);
+            Debug.Print("Latitude: " +  DecodeDMPosition(location.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(location.Longitude));
+            Debug.Print("Altitude: " + location.Altitude.ToString("f2"));
+            Debug.Print("Number of satellites: " + location.NumberOfSatellites);
+            Debug.Print("Fix quality: " + location.FixQuality);
+            Debug.Print("HDOP: " + location.HorizontalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+    }
+}
diff --git a/NMEA_GPS/readme.md b/NMEA_GPS/readme.md
@@ -0,0 +1,150 @@
+# NMEA GPS - Generic GPS Decoder
+
+`NMEA` provides a library of routines to read the output from a GPS receiver and translate the output into a series of messages for the application.
+
+## Hardware
+
+The library is compatible with NMEA GPS such as the following:
+
+* [GP-20U7](https://www.sparkfun.com/products/13740)
+* [Crius Neo-9](https://www.amazon.com/Crius-U-blox-Multiwii-Pixhawk-Controller/dp/B00KTYRZC8)
+
+Three connections are required as a minimum:
+
+| GPS Connection | Netduino Connection |
+|------------------|------------|
+| Power            | 3.3V or 5V |
+| GND              | Ground     |
+| T<sub>x</sub>    | R<sub>x</sub> on one of the COM ports. |
+
+A 5V power connection is acceptable as the digital pins on the Netduino are 5V tolerant.
+
+## Software
+
+The following application creates a new `NMEA` GPS object and attaches the object to `COM1`.  A location (GLL) decoder is then attached to the GPS and messages are processed by the `ggaDecoder_OnPositionReceived` method:
+
+```csharp
+using Microsoft.SPOT;
+using Netduino.Foundation.Sensors.GPS;
+using System;
+using System.Threading;
+
+namespace NMEATest
+{
+    public class Program
+    {
+        public static void Main()
+        {
+            try
+            {
+                NMEA gps = new NMEA("COM1", 9600, System.IO.Ports.Parity.None, 8, System.IO.Ports.StopBits.One);
+                //
+                GGADecoder ggaDecoder = new GGADecoder();
+                ggaDecoder.OnPositionReceived += ggaDecoder_OnPositionReceived;
+                gps.AddDecoder(ggaDecoder);
+                //
+                GLLDecoder gllDecoder = new GLLDecoder();
+                gllDecoder.OnGeographicLatitudeLongitudeReceived += gllDecoder_OnGeographicLatitudeLongitudeReceived;
+                gps.AddDecoder(gllDecoder);
+                //
+                GSADecoder gsaDecoder = new GSADecoder();
+                gsaDecoder.OnActiveSatellitesReceived += gsaDecoder_OnActiveSatellitesReceived;
+                gps.AddDecoder(gsaDecoder);
+                //
+                RMCDecoder rmcDecoder = new RMCDecoder();
+                rmcDecoder.OnPositionCourseAndTimeReceived += rmcDecoder_OnPositionCourseAndTimeReceived;
+                gps.AddDecoder(rmcDecoder);
+                //
+                VTGDecoder vtgDecoder = new VTGDecoder();
+                vtgDecoder.OnCourseAndVelocityReceived += vtgDecoder_OnCourseAndVelocityReceived;
+                gps.AddDecoder(vtgDecoder);
+                //
+                gps.Open();
+                Thread.Sleep(Timeout.Infinite);
+            }
+            catch (Exception ex)
+            {
+
+            }
+        }
+
+        static string DecodeDMPosition(DegreeMinutePosition dmp)
+        {
+            string position = dmp.Degrees.ToString("f2") + "d " + dmp.Minutes.ToString("f2") + "m ";
+            switch (dmp.Direction)
+            {
+                case DirectionIndicator.East:
+                    position += "E";
+                    break;
+                case DirectionIndicator.West:
+                    position += "W";
+                    break;
+                case DirectionIndicator.North:
+                    position += "N";
+                    break;
+                case DirectionIndicator.South:
+                    position += "S";
+                    break;
+                case DirectionIndicator.Unknown:
+                    position += "Unknown";
+                    break;
+            }
+            return (position);
+        }
+
+        static void vtgDecoder_OnCourseAndVelocityReceived(object sender, CourseOverGround courseAndVelocity)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("True heading: " + courseAndVelocity.TrueHeading.ToString("f2"));
+            Debug.Print("Magnetic heading: " + courseAndVelocity.MagneticHeading.ToString("f2"));
+            Debug.Print("Knots: " + courseAndVelocity.Knots.ToString("f2"));
+            Debug.Print("KPH: " + courseAndVelocity.KPH.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void rmcDecoder_OnPositionCourseAndTimeReceived(object sender, PositionCourseAndTime positionCourseAndTime)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("Time of reading: " + positionCourseAndTime.TimeOfReading);
+            Debug.Print("Latitude: " + DecodeDMPosition(positionCourseAndTime.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(positionCourseAndTime.Longitude));
+            Debug.Print("Speed: " + positionCourseAndTime.Speed.ToString("f2"));
+            Debug.Print("Course: " + positionCourseAndTime.Course.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void gsaDecoder_OnActiveSatellitesReceived(object sender, ActiveSatellites activeSatellites)
+        {
+            Debug.Print("Satellite information received.");
+            Debug.Print("Number of satellites involved in fix: " + activeSatellites.SatellitesUsedForFix.Length);
+            Debug.Print("Dilution of precision: " + activeSatellites.DilutionOfPrecision.ToString("f2"));
+            Debug.Print("HDOP: " + activeSatellites.HorizontalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("VDOP: " + activeSatellites.VerticalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void gllDecoder_OnGeographicLatitudeLongitudeReceived(object sender, GPSLocation location)
+        {
+            Debug.Print("Location information received.");
+            Debug.Print("Time of reading: " + location.ReadingTime);
+            Debug.Print("Latitude: " + DecodeDMPosition(location.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(location.Longitude));
+            Debug.Print("*********************************************\n");
+        }
+
+        static void ggaDecoder_OnPositionReceived(object sender, GPSLocation location)
+        {
+            Debug.Print("Location information received.");
+            Debug.Print("Time of reading: " + location.ReadingTime);
+            Debug.Print("Latitude: " +  DecodeDMPosition(location.Latitude));
+            Debug.Print("Longitude: " + DecodeDMPosition(location.Longitude));
+            Debug.Print("Altitude: " + location.Altitude.ToString("f2"));
+            Debug.Print("Number of satellites: " + location.NumberOfSatellites);
+            Debug.Print("Fix quality: " + location.FixQuality);
+            Debug.Print("HDOP: " + location.HorizontalDilutionOfPrecision.ToString("f2"));
+            Debug.Print("*********************************************\n");
+        }
+    }
+}
+
+```