diff --git a/firmware/Ultimate_GPS.cpp b/firmware/Ultimate_GPS.cpp new file mode 100644 index 0000000..2760ff3 --- /dev/null +++ b/firmware/Ultimate_GPS.cpp @@ -0,0 +1,437 @@ +#include "Ultimate_GPS.h" +#include +// 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 Ultimate_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=2; 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 Ultimate_GPS::read(void) { + char c = 0; + + if (paused) return c; + + if(!Serial1.available()) return c; + c = Serial1.read(); + + 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; +} + +Ultimate_GPS::Ultimate_GPS(USARTSerial *serialPort) { + 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 Ultimate_GPS::begin(uint16_t baud) +{ + Serial1.begin(baud); + + delay(10); +} + +void Ultimate_GPS::sendCommand(const char *str) { + Serial1.println(str); +} + +boolean Ultimate_GPS::newNMEAreceived(void) { + return recvdflag; +} + +void Ultimate_GPS::pause(boolean p) { + paused = p; +} + +char *Ultimate_GPS::lastNMEA(void) { + recvdflag = false; + return (char *)lastline; +} + +// read a Hex value and return the decimal equivalent +uint8_t Ultimate_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 Ultimate_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 Ultimate_GPS::LOCUS_StartLogger(void) { + sendCommand(PMTK_LOCUS_STARTLOG); + recvdflag = false; + return waitForSentence(PMTK_LOCUS_STARTSTOPACK); +} + +boolean Ultimate_GPS::LOCUS_StopLogger(void) { + sendCommand(PMTK_LOCUS_STOPLOG); + recvdflag = false; + return waitForSentence(PMTK_LOCUS_STARTSTOPACK); +} + +boolean Ultimate_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 Ultimate_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 Ultimate_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 + } +}