Quadrotor

/*

  TinyGPS - a small GPS library for Arduino providing basic NMEA parsing

  Copyright (C) 2008-9 Mikal Hart

  All rights reserved.

  This library is free software; you can redistribute it and/or

  modify it under the terms of the GNU Lesser General Public

  License as published by the Free Software Foundation; either

  version 2.1 of the License, or (at your option) any later version.

  This 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

  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public

  License along with this library; if not, write to the Free Software

  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

*/

#ifndef TinyGPS_h

#define TinyGPS_h

#include "WProgram.h"

#define _GPS_VERSION 9 // software version of this library

#define _GPS_MPH_PER_KNOT 1.15077945

#define _GPS_MPS_PER_KNOT 0.51444444

#define _GPS_KMPH_PER_KNOT 1.852

#define _GPS_MILES_PER_METER 0.00062137112

#define _GPS_KM_PER_METER 0.001

//#define _GPS_NO_STATS

class TinyGPS

{

  public:

    TinyGPS();

    bool encode(char c); // process one character received from GPS

    TinyGPS &operator << (char c) {encode(c); return *this;}

    // lat/long in hundred thousandths of a degree and age of fix in milliseconds

    inline void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0)

    {

      if (latitude) *latitude = _latitude;

      if (longitude) *longitude = _longitude;

      if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ? 

        GPS_INVALID_AGE : millis() - _last_position_fix;

    }

    // date as ddmmyy, time as hhmmsscc, and age in milliseconds

    inline void get_datetime(unsigned long *date, unsigned long *time, unsigned long *fix_age = 0)

    {

      if (date) *date = _date;

      if (time) *time = _time;

      if (fix_age) *fix_age = _last_time_fix == GPS_INVALID_FIX_TIME ? 

        GPS_INVALID_AGE : millis() - _last_time_fix;

    }

    // signed altitude in centimeters (from GPGGA sentence)

    inline long altitude() { return _altitude; }

    // course in last full GPRMC sentence in 100th of a degree

    inline unsigned long course() { return _course; }

    // speed in last full GPRMC sentence in 100ths of a knot

    unsigned long speed() { return _speed; }

#ifndef _GPS_NO_STATS

    void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);

#endif

    inline void f_get_position(float *latitude, float *longitude, unsigned long *fix_age = 0)

    {

      long lat, lon;

      get_position(&lat, &lon, fix_age);

      *latitude = lat / 100000.0;

      *longitude = lon / 100000.0;

    }

    inline void crack_datetime(int *year, byte *month, byte *day, 

      byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0)

    {

      unsigned long date, time;

      get_datetime(&date, &time, fix_age);

      if (year) 

      {

        *year = date % 100;

        *year += *year > 80 ? 1900 : 2000;

      }

      if (month) *month = (date / 100) % 100;

      if (day) *day = date / 10000;

      if (hour) *hour = time / 1000000;

      if (minute) *minute = (time / 10000) % 100;

      if (second) *second = (time / 100) % 100;

      if (hundredths) *hundredths = time % 100;

    }

    inline float f_altitude()    { return altitude() / 100.0; }

    inline float f_course()      { return course() / 100.0; }

    inline float f_speed_knots() { return speed() / 100.0; }

    inline float f_speed_mph()   { return _GPS_MPH_PER_KNOT * f_speed_knots(); }

    inline float f_speed_mps()   { return _GPS_MPS_PER_KNOT * f_speed_knots(); }

    inline float f_speed_kmph()  { return _GPS_KMPH_PER_KNOT * f_speed_knots(); }

    static int library_version() { return _GPS_VERSION; }

    enum {GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999, GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,

      GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999, GPS_INVALID_FIX_TIME = 0xFFFFFFFF};

private:

    enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};

    // properties

    unsigned long _time, _new_time;

    unsigned long _date, _new_date;

    long _latitude, _new_latitude;

    long _longitude, _new_longitude;

    long _altitude, _new_altitude;

    unsigned long  _speed, _new_speed;

    unsigned long  _course, _new_course;

    unsigned long _last_time_fix, _new_time_fix;

    unsigned long _last_position_fix, _new_position_fix;

    // parsing state variables

    byte _parity;

    bool _is_checksum_term;

    char _term[15];

    byte _sentence_type;

    byte _term_number;

    byte _term_offset;

    bool _gps_data_good;

#ifndef _GPS_NO_STATS

    // statistics

    unsigned long _encoded_characters;

    unsigned short _good_sentences;

    unsigned short _failed_checksum;

    unsigned short _passed_checksum;

#endif

    // internal utilities

    int from_hex(char a);

    unsigned long parse_decimal();

    unsigned long parse_degrees();

    bool term_complete();

    bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }

    long gpsatol(const char *str);

    int gpsstrcmp(const char *str1, const char *str2);

};

// Arduino 0012 workaround

#undef int

#undef char

#undef long

#undef byte

#undef float

#undef abs

#undef round 

#endif