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ao_GpsParser.cpp
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ao_GpsParser.cpp
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#include "ao_GpsParser.h"
#include "Arduino.h"
volatile uint8_t GpsInterface::newData;
GpsInterface::GpsInterface(void)
: crcCntDat(0), crcSum(0), wordCnt(0), charCnt(0) {
}
bool GpsInterface::nextChar(char c){
uint8_t result = doCrc(c);
if (result==0) {
if (c==',') { // new word
checkWord();
wordBuf[charCnt]='\0'; // terminate string
//Serial.print(wordCnt);
//Serial.print(" ");
//Serial.println(wordBuf);
wordCnt++;
charCnt=0;
} else {
wordBuf[charCnt]=c;
if (charCnt<GPS_WORD_LENGTH-1) charCnt++;
}
} else if (result==255){
return true; // sentence end
} else if (result==1) {
transferData(); // tranfer sentence data
return true; // sentence end
} else if (result==3){
checkWord(); // finalize last word in sentence
}
return false; // continuie
}
uint8_t GpsInterface::doCrc(char c){
if (c=='*'){
crcCntDat=2; // detected CRC start
return 3;
} else if (crcCntDat){
crcCntDat--;
if (crcCntDat) {
crcValue=getCharToNibble(c)<<4;
return 2;
} else {
crcValue|=getCharToNibble(c);
return (crcSum==crcValue?1:255);
}
} else {
crcSum^=c; // Streamdata: add data to crc
}
return 0;
}
// takes a char and returns it as a lower hex nibble
uint8_t GpsInterface::getCharToNibble(char c){
return (c>'9'?(c>'Z'?c-'a'+10:c-'A'+10):c-'0')&0x0F;
}
//------------------------------------------------
GPS_Rmc::GPS_Rmc(GpsData *gpd){
gpdata=gpd;
}
void GPS_Rmc::checkWord(void){
switch (wordCnt) {
case 1:{ // time
readClock(time);
break;}
case 2:{ // vali A:ok, V:invalid
valid=wordBuf[0];
break;}
case 3:{ // Latitude 90
readValGPS(latitude);
break;}
case 4:{ // North/South
latitude.nesw=(wordBuf[0]=='N'?0x00:0x40);
break;}
case 5:{ // Longitude 180
readValGPS(longitude);
break;}
case 6:{ // East/West
longitude.nesw=(wordBuf[0]=='E'?0x20:0x60);
break;}
case 7:{ // Speed
speed=(uint16_t)(18.52 * atof(wordBuf));
break;}
case 8:{ // course
course=(uint16_t)(10 * atof(wordBuf));
break;}
case 9:{ // Date
readClock(date);
break;}
// case 10:{ // Variation
// break;}
// case 11:{ // East/West
// break;}
}
}
void GPS_Rmc::transferData(){ // set new sentence to data struct
gpdata->time=time;
gpdata->date=date;
gpdata->valid=valid;
if (valid=='A'||valid=='a'){
gpdata->latitude=latitude;
gpdata->longitude=longitude;
gpdata->speed=speed;
gpdata->course=course;
}
GpsInterface::newData|=GPS_SENTENCE_RMC;
}
void GPS_Rmc::readClock(Clock &clock){
char b[3];
b[2]='\0';
for (uint8_t i=0; i<3; i++){
b[0]=wordBuf[2*i];
b[1]=wordBuf[2*i+1];
clock.c[i]=atoi(b);
}
}
void GPS_Rmc::readValGPS(ValGPS °){
uint8_t offset=0; // code gps to jeti format
char b[6];
b[0]=wordBuf[0];
b[1]=wordBuf[1];
if (wordBuf[4]=='.') {
b[2]='\0';
} else {
offset=1;
b[2]=wordBuf[2];
b[3]='\0';
}
deg.degs=(uint8_t)atoi(b);
//
b[0]=wordBuf[2+offset];
b[1]=wordBuf[3+offset];
// skip the '.'
b[2]=wordBuf[5+offset];
b[3]=wordBuf[6+offset];
b[4]=wordBuf[7+offset];
b[5]='\0';
deg.minute=(uint16_t)atoi(b);
}
//------------------------------------------------
GPS_Gga::GPS_Gga(GpsData *gpd){
gpdata=gpd;
}
void GPS_Gga::checkWord(void){
switch (wordCnt) {
case 6:{ // fix
fix=atoi(wordBuf);
break;}
// case 7:{ // number of satellites
// satellites=atoi(wordBuf);
// break;}
case 9:{ // Antenna altitude
altitude=(uint16_t)(10* atof(wordBuf));
break;}
}
}
void GPS_Gga::transferData(){ // set new sentence to data struct
if (gpdata->valid=='A'||gpdata->valid=='a'){
gpdata->altitude=altitude;
}
gpdata->fix=fix;
// gpdata->satellites=satellites;
GpsInterface::newData|=GPS_SENTENCE_GGA;
}
//------------------------------------------------
GPS_Parser::GPS_Parser(void) : state(0) {
pa.setTable(GPS_Header);
}
uint8_t GPS_Parser::parseStream(char c){
if (c=='$') { // start new sentence?
state=0; // sentence finisched
if (gpi) delete gpi;
gpi=nullptr;
} else if (state){
if (gpi->nextChar(c)){
state=0; // sentence finisched
if (gpi) delete gpi;
gpi=nullptr;
}
} else {
state=pa.parse(c); // find sentence Header
if (state) { // new header found
switch (state){ // assign new handler object
case 1:
case 2: {
gpi = new GPS_Rmc(&gpsData);
break;}
case 3:
case 4: {
gpi = new GPS_Gga(&gpsData);
break;}
}
if (gpi) {
char buf[10];
pa.getString(state, buf); // add header to crc
uint8_t i=0;
while (buf[i]) gpi->doCrc(buf[i++]);
} else {
state=0; // somthing went wrong
}
}
}
}
uint8_t GPS_Parser::available(void){
return GpsInterface::newData; //RMC=01, GGA=02
}
void GPS_Parser::done(uint8_t what){
uint8_t cSREG= SREG;
cli();
GpsInterface::newData&=(~what);
SREG = cSREG; // restore SREG value (I-bit)
}
//