1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
|
/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
Copyright (C) 2008-2012 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
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define _GPS_VERSION 12 // 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:
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, GPS_INVALID_SATELLITES = 0xFF,
GPS_INVALID_HDOP = 0xFFFFFFFF
};
static const float GPS_INVALID_F_ANGLE, GPS_INVALID_F_ALTITUDE, GPS_INVALID_F_SPEED;
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
void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0);
// date as ddmmyy, time as hhmmsscc, and age in milliseconds
void get_datetime(unsigned long *date, unsigned long *time, unsigned long *age = 0);
// 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
inline unsigned long speed() { return _speed; }
// satellites used in last full GPGGA sentence
inline unsigned short satellites() { return _numsats; }
// horizontal dilution of precision in 100ths
inline unsigned long hdop() { return _hdop; }
void f_get_position(float *latitude, float *longitude, unsigned long *fix_age = 0);
void crack_datetime(int *year, byte *month, byte *day,
byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0);
float f_altitude();
float f_course();
float f_speed_knots();
float f_speed_mph();
float f_speed_mps();
float f_speed_kmph();
static int library_version() { return _GPS_VERSION; }
static float distance_between (float lat1, float long1, float lat2, float long2);
static float course_to (float lat1, float long1, float lat2, float long2);
static const char *cardinal(float course);
#ifndef _GPS_NO_STATS
void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
#endif
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 _hdop, _new_hdop;
unsigned short _numsats, _new_numsats;
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);
};
#if !defined(ARDUINO)
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef float
#undef abs
#undef round
#endif
#endif
|
