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/*
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  TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
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  Copyright (C) 2008-9 Mikal Hart
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  All rights reserved.
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  This library is free software; you can redistribute it and/or
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  modify it under the terms of the GNU Lesser General Public
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  License as published by the Free Software Foundation; either
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  version 2.1 of the License, or (at your option) any later version.
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  This library is distributed in the hope that it will be useful,
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  but WITHOUT ANY WARRANTY; without even the implied warranty of
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  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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  Lesser General Public License for more details.
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  You should have received a copy of the GNU Lesser General Public
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  License along with this library; if not, write to the Free Software
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  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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*/
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#ifndef TinyGPS_h
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#define TinyGPS_h
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#include "WProgram.h"
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#define _GPS_VERSION 9 // software version of this library
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#define _GPS_MPH_PER_KNOT 1.15077945
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#define _GPS_MPS_PER_KNOT 0.51444444
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#define _GPS_KMPH_PER_KNOT 1.852
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#define _GPS_MILES_PER_METER 0.00062137112
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#define _GPS_KM_PER_METER 0.001
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//#define _GPS_NO_STATS
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class TinyGPS
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{
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  public:
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    TinyGPS();
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    bool encode(char c); // process one character received from GPS
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    TinyGPS &operator << (char c) {encode(c); return *this;}
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    // lat/long in hundred thousandths of a degree and age of fix in milliseconds
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    inline void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0)
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    {
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      if (latitude) *latitude = _latitude;
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      if (longitude) *longitude = _longitude;
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      if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ? 
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        GPS_INVALID_AGE : millis() - _last_position_fix;
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    }
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    // date as ddmmyy, time as hhmmsscc, and age in milliseconds
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    inline void get_datetime(unsigned long *date, unsigned long *time, unsigned long *fix_age = 0)
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    {
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      if (date) *date = _date;
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      if (time) *time = _time;
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      if (fix_age) *fix_age = _last_time_fix == GPS_INVALID_FIX_TIME ? 
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        GPS_INVALID_AGE : millis() - _last_time_fix;
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    }
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    // signed altitude in centimeters (from GPGGA sentence)
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    inline long altitude() { return _altitude; }
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    // course in last full GPRMC sentence in 100th of a degree
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    inline unsigned long course() { return _course; }
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    // speed in last full GPRMC sentence in 100ths of a knot
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    unsigned long speed() { return _speed; }
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#ifndef _GPS_NO_STATS
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    void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
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#endif
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    inline void f_get_position(float *latitude, float *longitude, unsigned long *fix_age = 0)
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    {
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      long lat, lon;
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      get_position(&lat, &lon, fix_age);
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      *latitude = lat / 100000.0;
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      *longitude = lon / 100000.0;
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    }
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    inline void crack_datetime(int *year, byte *month, byte *day, 
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      byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0)
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    {
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      unsigned long date, time;
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      get_datetime(&date, &time, fix_age);
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      if (year) 
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      {
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        *year = date % 100;
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        *year += *year > 80 ? 1900 : 2000;
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      }
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      if (month) *month = (date / 100) % 100;
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      if (day) *day = date / 10000;
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      if (hour) *hour = time / 1000000;
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      if (minute) *minute = (time / 10000) % 100;
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      if (second) *second = (time / 100) % 100;
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      if (hundredths) *hundredths = time % 100;
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    }
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    inline float f_altitude()    { return altitude() / 100.0; }
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    inline float f_course()      { return course() / 100.0; }
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    inline float f_speed_knots() { return speed() / 100.0; }
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    inline float f_speed_mph()   { return _GPS_MPH_PER_KNOT * f_speed_knots(); }
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    inline float f_speed_mps()   { return _GPS_MPS_PER_KNOT * f_speed_knots(); }
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    inline float f_speed_kmph()  { return _GPS_KMPH_PER_KNOT * f_speed_knots(); }
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    static int library_version() { return _GPS_VERSION; }
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    enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,
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      GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF};
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private:
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    enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};
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    // properties
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    unsigned long _time, _new_time;
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    unsigned long _date, _new_date;
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    long _latitude, _new_latitude;
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    long _longitude, _new_longitude;
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    long _altitude, _new_altitude;
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    unsigned long  _speed, _new_speed;
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    unsigned long  _course, _new_course;
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    unsigned long _last_time_fix, _new_time_fix;
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    unsigned long _last_position_fix, _new_position_fix;
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    // parsing state variables
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    byte _parity;
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    bool _is_checksum_term;
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    char _term[15];
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    byte _sentence_type;
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    byte _term_number;
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    byte _term_offset;
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    bool _gps_data_good;
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#ifndef _GPS_NO_STATS
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    // statistics
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    unsigned long _encoded_characters;
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    unsigned short _good_sentences;
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    unsigned short _failed_checksum;
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    unsigned short _passed_checksum;
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#endif
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    // internal utilities
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    int from_hex(char a);
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    unsigned long parse_decimal();
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    unsigned long parse_degrees();
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    bool term_complete();
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    bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
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    long gpsatol(const char *str);
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    int gpsstrcmp(const char *str1, const char *str2);
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};
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// Arduino 0012 workaround
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#undef int
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#undef char
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#undef long
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#undef byte
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#undef float
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#undef abs
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#undef round 
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#endif