From 6afdcf2e9846ba3ba0e102f3da4500b206fdce9a Mon Sep 17 00:00:00 2001
From: Stanley Huang <stanleyhuangyc@gmail.com>
Date: Mon, 10 Jun 2013 13:22:08 +0800
Subject: add TinyGPS library
---
libraries/TinyGPS/TinyGPS.cpp | 426 ++++++++++++++++++++++++++++++++++++++++++
libraries/TinyGPS/TinyGPS.h | 153 +++++++++++++++
2 files changed, 579 insertions(+)
create mode 100644 libraries/TinyGPS/TinyGPS.cpp
create mode 100644 libraries/TinyGPS/TinyGPS.h
(limited to 'libraries')
diff --git a/libraries/TinyGPS/TinyGPS.cpp b/libraries/TinyGPS/TinyGPS.cpp
new file mode 100644
index 0000000..00a683c
--- /dev/null
+++ b/libraries/TinyGPS/TinyGPS.cpp
@@ -0,0 +1,426 @@
+/*
+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
+*/
+
+#include "TinyGPS.h"
+
+#define _GPRMC_TERM "GPRMC"
+#define _GPGGA_TERM "GPGGA"
+
+TinyGPS::TinyGPS()
+ : _time(GPS_INVALID_TIME)
+ , _date(GPS_INVALID_DATE)
+ , _latitude(GPS_INVALID_ANGLE)
+ , _longitude(GPS_INVALID_ANGLE)
+ , _altitude(GPS_INVALID_ALTITUDE)
+ , _speed(GPS_INVALID_SPEED)
+ , _course(GPS_INVALID_ANGLE)
+ , _hdop(GPS_INVALID_HDOP)
+ , _numsats(GPS_INVALID_SATELLITES)
+ , _last_time_fix(GPS_INVALID_FIX_TIME)
+ , _last_position_fix(GPS_INVALID_FIX_TIME)
+ , _parity(0)
+ , _is_checksum_term(false)
+ , _sentence_type(_GPS_SENTENCE_OTHER)
+ , _term_number(0)
+ , _term_offset(0)
+ , _gps_data_good(false)
+#ifndef _GPS_NO_STATS
+ , _encoded_characters(0)
+ , _good_sentences(0)
+ , _failed_checksum(0)
+#endif
+{
+ _term[0] = '\0';
+}
+
+//
+// public methods
+//
+
+bool TinyGPS::encode(char c)
+{
+ bool valid_sentence = false;
+
+#ifndef _GPS_NO_STATS
+ ++_encoded_characters;
+#endif
+ switch(c)
+ {
+ case ',': // term terminators
+ _parity ^= c;
+ case '\r':
+ case '\n':
+ case '*':
+ if (_term_offset < sizeof(_term))
+ {
+ _term[_term_offset] = 0;
+ valid_sentence = term_complete();
+ }
+ ++_term_number;
+ _term_offset = 0;
+ _is_checksum_term = c == '*';
+ return valid_sentence;
+
+ case '$': // sentence begin
+ _term_number = _term_offset = 0;
+ _parity = 0;
+ _sentence_type = _GPS_SENTENCE_OTHER;
+ _is_checksum_term = false;
+ _gps_data_good = false;
+ return valid_sentence;
+ }
+
+ // ordinary characters
+ if (_term_offset < sizeof(_term) - 1)
+ _term[_term_offset++] = c;
+ if (!_is_checksum_term)
+ _parity ^= c;
+
+ return valid_sentence;
+}
+
+#ifndef _GPS_NO_STATS
+void TinyGPS::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
+{
+ if (chars) *chars = _encoded_characters;
+ if (sentences) *sentences = _good_sentences;
+ if (failed_cs) *failed_cs = _failed_checksum;
+}
+#endif
+
+//
+// internal utilities
+//
+int TinyGPS::from_hex(char a)
+{
+ if (a >= 'A' && a <= 'F')
+ return a - 'A' + 10;
+ else if (a >= 'a' && a <= 'f')
+ return a - 'a' + 10;
+ else
+ return a - '0';
+}
+
+unsigned long TinyGPS::parse_decimal()
+{
+ char *p = _term;
+ bool isneg = *p == '-';
+ if (isneg) ++p;
+ unsigned long ret = 100UL * gpsatol(p);
+ while (gpsisdigit(*p)) ++p;
+ if (*p == '.')
+ {
+ if (gpsisdigit(p[1]))
+ {
+ ret += 10 * (p[1] - '0');
+ if (gpsisdigit(p[2]))
+ ret += p[2] - '0';
+ }
+ }
+ return isneg ? -ret : ret;
+}
+
+unsigned long TinyGPS::parse_degrees()
+{
+ char *p;
+ unsigned long left = gpsatol(_term);
+ unsigned long tenk_minutes = (left % 100UL) * 10000UL;
+ for (p=_term; gpsisdigit(*p); ++p);
+ if (*p == '.')
+ {
+ unsigned long mult = 1000;
+ while (gpsisdigit(*++p))
+ {
+ tenk_minutes += mult * (*p - '0');
+ mult /= 10;
+ }
+ }
+ return (left / 100) * 100000 + tenk_minutes / 6;
+}
+
+#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
+
+// Processes a just-completed term
+// Returns true if new sentence has just passed checksum test and is validated
+bool TinyGPS::term_complete()
+{
+ if (_is_checksum_term)
+ {
+ byte checksum = 16 * from_hex(_term[0]) + from_hex(_term[1]);
+ if (checksum == _parity)
+ {
+ if (_gps_data_good)
+ {
+#ifndef _GPS_NO_STATS
+ ++_good_sentences;
+#endif
+ _last_time_fix = _new_time_fix;
+ _last_position_fix = _new_position_fix;
+
+ switch(_sentence_type)
+ {
+ case _GPS_SENTENCE_GPRMC:
+ _time = _new_time;
+ _date = _new_date;
+ _latitude = _new_latitude;
+ _longitude = _new_longitude;
+ _speed = _new_speed;
+ _course = _new_course;
+ break;
+ case _GPS_SENTENCE_GPGGA:
+ _altitude = _new_altitude;
+ _time = _new_time;
+ _latitude = _new_latitude;
+ _longitude = _new_longitude;
+ _numsats = _new_numsats;
+ _hdop = _new_hdop;
+ break;
+ }
+
+ return true;
+ }
+ }
+
+#ifndef _GPS_NO_STATS
+ else
+ ++_failed_checksum;
+#endif
+ return false;
+ }
+
+ // the first term determines the sentence type
+ if (_term_number == 0)
+ {
+ if (!gpsstrcmp(_term, _GPRMC_TERM))
+ _sentence_type = _GPS_SENTENCE_GPRMC;
+ else if (!gpsstrcmp(_term, _GPGGA_TERM))
+ _sentence_type = _GPS_SENTENCE_GPGGA;
+ else
+ _sentence_type = _GPS_SENTENCE_OTHER;
+ return false;
+ }
+
+ if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
+ switch(COMBINE(_sentence_type, _term_number))
+ {
+ case COMBINE(_GPS_SENTENCE_GPRMC, 1): // Time in both sentences
+ case COMBINE(_GPS_SENTENCE_GPGGA, 1):
+ _new_time = parse_decimal();
+ _new_time_fix = millis();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 2): // GPRMC validity
+ _gps_data_good = _term[0] == 'A';
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 3): // Latitude
+ case COMBINE(_GPS_SENTENCE_GPGGA, 2):
+ _new_latitude = parse_degrees();
+ _new_position_fix = millis();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 4): // N/S
+ case COMBINE(_GPS_SENTENCE_GPGGA, 3):
+ if (_term[0] == 'S')
+ _new_latitude = -_new_latitude;
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 5): // Longitude
+ case COMBINE(_GPS_SENTENCE_GPGGA, 4):
+ _new_longitude = parse_degrees();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 6): // E/W
+ case COMBINE(_GPS_SENTENCE_GPGGA, 5):
+ if (_term[0] == 'W')
+ _new_longitude = -_new_longitude;
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
+ _new_speed = parse_decimal();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
+ _new_course = parse_decimal();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
+ _new_date = gpsatol(_term);
+ break;
+ case COMBINE(_GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
+ _gps_data_good = _term[0] > '0';
+ break;
+ case COMBINE(_GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
+ _new_numsats = (unsigned char)atoi(_term);
+ break;
+ case COMBINE(_GPS_SENTENCE_GPGGA, 8): // HDOP
+ _new_hdop = parse_decimal();
+ break;
+ case COMBINE(_GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
+ _new_altitude = parse_decimal();
+ break;
+ }
+
+ return false;
+}
+
+long TinyGPS::gpsatol(const char *str)
+{
+ long ret = 0;
+ while (gpsisdigit(*str))
+ ret = 10 * ret + *str++ - '0';
+ return ret;
+}
+
+int TinyGPS::gpsstrcmp(const char *str1, const char *str2)
+{
+ while (*str1 && *str1 == *str2)
+ ++str1, ++str2;
+ return *str1;
+}
+
+/* static */
+float TinyGPS::distance_between (float lat1, float long1, float lat2, float long2)
+{
+ // returns distance in meters between two positions, both specified
+ // as signed decimal-degrees latitude and longitude. Uses great-circle
+ // distance computation for hypothetical sphere of radius 6372795 meters.
+ // Because Earth is no exact sphere, rounding errors may be up to 0.5%.
+ // Courtesy of Maarten Lamers
+ float delta = radians(long1-long2);
+ float sdlong = sin(delta);
+ float cdlong = cos(delta);
+ lat1 = radians(lat1);
+ lat2 = radians(lat2);
+ float slat1 = sin(lat1);
+ float clat1 = cos(lat1);
+ float slat2 = sin(lat2);
+ float clat2 = cos(lat2);
+ delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+ delta = sq(delta);
+ delta += sq(clat2 * sdlong);
+ delta = sqrt(delta);
+ float denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
+ delta = atan2(delta, denom);
+ return delta * 6372795;
+}
+
+float TinyGPS::course_to (float lat1, float long1, float lat2, float long2)
+{
+ // returns course in degrees (North=0, West=270) from position 1 to position 2,
+ // both specified as signed decimal-degrees latitude and longitude.
+ // Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
+ // Courtesy of Maarten Lamers
+ float dlon = radians(long2-long1);
+ lat1 = radians(lat1);
+ lat2 = radians(lat2);
+ float a1 = sin(dlon) * cos(lat2);
+ float a2 = sin(lat1) * cos(lat2) * cos(dlon);
+ a2 = cos(lat1) * sin(lat2) - a2;
+ a2 = atan2(a1, a2);
+ if (a2 < 0.0)
+ {
+ a2 += TWO_PI;
+ }
+ return degrees(a2);
+}
+
+const char *TinyGPS::cardinal (float course)
+{
+ static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
+
+ int direction = (int)((course + 11.25f) / 22.5f);
+ return directions[direction % 16];
+}
+
+// lat/long in hundred thousandths of a degree and age of fix in milliseconds
+void TinyGPS::get_position(long *latitude, long *longitude, unsigned long *fix_age)
+{
+ 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
+void TinyGPS::get_datetime(unsigned long *date, unsigned long *time, unsigned long *age)
+{
+ if (date) *date = _date;
+ if (time) *time = _time;
+ if (age) *age = _last_time_fix == GPS_INVALID_FIX_TIME ?
+GPS_INVALID_AGE : millis() - _last_time_fix;
+}
+
+void TinyGPS::f_get_position(float *latitude, float *longitude, unsigned long *fix_age)
+{
+ long lat, lon;
+ get_position(&lat, &lon, fix_age);
+ *latitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lat / 100000.0);
+ *longitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lon / 100000.0);
+}
+
+void TinyGPS::crack_datetime(int *year, byte *month, byte *day,
+ byte *hour, byte *minute, byte *second, byte *hundredths, unsigned long *age)
+{
+ unsigned long date, time;
+ get_datetime(&date, &time, 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;
+}
+
+float TinyGPS::f_altitude()
+{
+ return _altitude == GPS_INVALID_ALTITUDE ? GPS_INVALID_F_ALTITUDE : _altitude / 100.0;
+}
+
+float TinyGPS::f_course()
+{
+ return _course == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : _course / 100.0;
+}
+
+float TinyGPS::f_speed_knots()
+{
+ return _speed == GPS_INVALID_SPEED ? GPS_INVALID_F_SPEED : _speed / 100.0;
+}
+
+float TinyGPS::f_speed_mph()
+{
+ float sk = f_speed_knots();
+ return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPH_PER_KNOT * f_speed_knots();
+}
+
+float TinyGPS::f_speed_mps()
+{
+ float sk = f_speed_knots();
+ return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPS_PER_KNOT * f_speed_knots();
+}
+
+float TinyGPS::f_speed_kmph()
+{
+ float sk = f_speed_knots();
+ return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_KMPH_PER_KNOT * f_speed_knots();
+}
+
+const float TinyGPS::GPS_INVALID_F_ANGLE = 1000.0;
+const float TinyGPS::GPS_INVALID_F_ALTITUDE = 1000000.0;
+const float TinyGPS::GPS_INVALID_F_SPEED = -1.0;
diff --git a/libraries/TinyGPS/TinyGPS.h b/libraries/TinyGPS/TinyGPS.h
new file mode 100644
index 0000000..89d4148
--- /dev/null
+++ b/libraries/TinyGPS/TinyGPS.h
@@ -0,0 +1,153 @@
+/*
+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
--
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