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| 3 | <title>Procyon AVRlib: nmea.c Source File</title> |
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| 8 | <h1>nmea.c</h1><a href="nmea_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file nmea.c \brief NMEA protocol function library. */</span> |
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| 9 | 00002 <span class="comment">//*****************************************************************************</span> |
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| 10 | 00003 <span class="comment">//</span> |
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| 11 | 00004 <span class="comment">// File Name : 'nmea.c'</span> |
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| 12 | 00005 <span class="comment">// Title : NMEA protocol function library</span> |
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| 13 | 00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002</span> |
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| 14 | 00007 <span class="comment">// Created : 2002.08.27</span> |
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| 15 | 00008 <span class="comment">// Revised : 2002.08.27</span> |
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| 16 | 00009 <span class="comment">// Version : 0.1</span> |
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| 17 | 00010 <span class="comment">// Target MCU : Atmel AVR Series</span> |
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| 18 | 00011 <span class="comment">// Editor Tabs : 4</span> |
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| 19 | 00012 <span class="comment">//</span> |
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| 20 | 00013 <span class="comment">// NOTE: This code is currently below version 1.0, and therefore is considered</span> |
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| 21 | 00014 <span class="comment">// to be lacking in some functionality or documentation, or may not be fully</span> |
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| 22 | 00015 <span class="comment">// tested. Nonetheless, you can expect most functions to work.</span> |
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| 23 | 00016 <span class="comment">//</span> |
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| 24 | 00017 <span class="comment">// This code is distributed under the GNU Public License</span> |
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| 25 | 00018 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span> |
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| 26 | 00019 <span class="comment">//</span> |
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| 27 | 00020 <span class="comment">//*****************************************************************************</span> |
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| 28 | 00021 |
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| 29 | 00022 <span class="preprocessor">#ifndef WIN32</span> |
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| 30 | 00023 <span class="preprocessor"></span><span class="preprocessor"> #include <avr/io.h></span> |
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| 31 | 00024 <span class="preprocessor"> #include <avr/interrupt.h></span> |
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| 32 | 00025 <span class="preprocessor"> #include <avr/pgmspace.h></span> |
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| 33 | 00026 <span class="preprocessor">#endif</span> |
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| 34 | 00027 <span class="preprocessor"></span><span class="preprocessor">#include <string.h></span> |
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| 35 | 00028 <span class="preprocessor">#include <stdlib.h></span> |
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| 36 | 00029 <span class="preprocessor">#include <math.h></span> |
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| 37 | 00030 |
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| 38 | 00031 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span> |
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| 39 | 00032 <span class="preprocessor">#include "<a class="code" href="buffer_8h.html">buffer.h</a>"</span> |
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| 40 | 00033 <span class="preprocessor">#include "<a class="code" href="rprintf_8h.html">rprintf.h</a>"</span> |
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| 41 | 00034 <span class="preprocessor">#include "<a class="code" href="gps_8h.html">gps.h</a>"</span> |
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| 42 | 00035 |
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| 43 | 00036 <span class="preprocessor">#include "<a class="code" href="nmea_8h.html">nmea.h</a>"</span> |
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| 44 | 00037 |
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| 45 | 00038 <span class="comment">// Program ROM constants</span> |
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| 46 | 00039 |
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| 47 | 00040 <span class="comment">// Global variables</span> |
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| 48 | 00041 <span class="keyword">extern</span> GpsInfoType GpsInfo; |
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| 49 | 00042 u08 NmeaPacket[NMEA_BUFFERSIZE]; |
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| 50 | 00043 |
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| 51 | 00044 <span class="keywordtype">void</span> nmeaInit(<span class="keywordtype">void</span>) |
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| 52 | 00045 { |
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| 53 | 00046 } |
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| 54 | 00047 |
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| 55 | 00048 u08* nmeaGetPacketBuffer(<span class="keywordtype">void</span>) |
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| 56 | 00049 { |
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| 57 | 00050 <span class="keywordflow">return</span> NmeaPacket; |
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| 58 | 00051 } |
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| 59 | 00052 |
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| 60 | 00053 u08 nmeaProcess(<a class="code" href="structstruct__cBuffer.html">cBuffer</a>* rxBuffer) |
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| 61 | 00054 { |
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| 62 | 00055 u08 foundpacket = NMEA_NODATA; |
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| 63 | 00056 u08 startFlag = FALSE; |
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| 64 | 00057 <span class="comment">//u08 data;</span> |
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| 65 | 00058 u16 i,j; |
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| 66 | 00059 |
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| 67 | 00060 <span class="comment">// process the receive buffer</span> |
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| 68 | 00061 <span class="comment">// go through buffer looking for packets</span> |
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| 69 | 00062 <span class="keywordflow">while</span>(rxBuffer-><a class="code" href="structstruct__cBuffer.html#o2">datalength</a>) |
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| 70 | 00063 { |
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| 71 | 00064 <span class="comment">// look for a start of NMEA packet</span> |
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| 72 | 00065 <span class="keywordflow">if</span>(<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,0) == <span class="charliteral">'$'</span>) |
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| 73 | 00066 { |
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| 74 | 00067 <span class="comment">// found start</span> |
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| 75 | 00068 startFlag = TRUE; |
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| 76 | 00069 <span class="comment">// when start is found, we leave it intact in the receive buffer</span> |
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| 77 | 00070 <span class="comment">// in case the full NMEA string is not completely received. The</span> |
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| 78 | 00071 <span class="comment">// start will be detected in the next nmeaProcess iteration.</span> |
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| 79 | 00072 |
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| 80 | 00073 <span class="comment">// done looking for start</span> |
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| 81 | 00074 <span class="keywordflow">break</span>; |
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| 82 | 00075 } |
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| 83 | 00076 <span class="keywordflow">else</span> |
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| 84 | 00077 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 85 | 00078 } |
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| 86 | 00079 |
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| 87 | 00080 <span class="comment">// if we detected a start, look for end of packet</span> |
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| 88 | 00081 <span class="keywordflow">if</span>(startFlag) |
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| 89 | 00082 { |
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| 90 | 00083 <span class="keywordflow">for</span>(i=1; i<(rxBuffer-><a class="code" href="structstruct__cBuffer.html#o2">datalength</a>)-1; i++) |
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| 91 | 00084 { |
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| 92 | 00085 <span class="comment">// check for end of NMEA packet <CR><LF></span> |
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| 93 | 00086 <span class="keywordflow">if</span>((<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i) == <span class="charliteral">'\r'</span>) && (<a class="code" href="group__buffer.html#ga4">bufferGetAtIndex</a>(rxBuffer,i+1) == <span class="charliteral">'\n'</span>)) |
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| 94 | 00087 { |
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| 95 | 00088 <span class="comment">// have a packet end</span> |
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| 96 | 00089 <span class="comment">// dump initial '$'</span> |
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| 97 | 00090 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 98 | 00091 <span class="comment">// copy packet to NmeaPacket</span> |
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| 99 | 00092 <span class="keywordflow">for</span>(j=0; j<(i-1); j++) |
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| 100 | 00093 { |
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| 101 | 00094 <span class="comment">// although NMEA strings should be 80 characters or less,</span> |
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| 102 | 00095 <span class="comment">// receive buffer errors can generate erroneous packets.</span> |
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| 103 | 00096 <span class="comment">// Protect against packet buffer overflow</span> |
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| 104 | 00097 <span class="keywordflow">if</span>(j<(NMEA_BUFFERSIZE-1)) |
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| 105 | 00098 NmeaPacket[j] = <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 106 | 00099 <span class="keywordflow">else</span> |
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| 107 | 00100 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 108 | 00101 } |
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| 109 | 00102 <span class="comment">// null terminate it</span> |
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| 110 | 00103 NmeaPacket[j] = 0; |
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| 111 | 00104 <span class="comment">// dump <CR><LF> from rxBuffer</span> |
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| 112 | 00105 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 113 | 00106 <a class="code" href="group__buffer.html#ga2">bufferGetFromFront</a>(rxBuffer); |
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| 114 | 00107 |
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| 115 | 00108 <span class="preprocessor"> #ifdef NMEA_DEBUG_PKT</span> |
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| 116 | 00109 <span class="preprocessor"></span> rprintf(<span class="stringliteral">"Rx NMEA packet type: "</span>); |
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| 117 | 00110 <a class="code" href="group__rprintf.html#ga3">rprintfStrLen</a>(NmeaPacket, 0, 5); |
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| 118 | 00111 <a class="code" href="group__rprintf.html#ga3">rprintfStrLen</a>(NmeaPacket, 5, (i-1)-5); |
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| 119 | 00112 <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>(); |
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| 120 | 00113 <span class="preprocessor"> #endif</span> |
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| 121 | 00114 <span class="preprocessor"></span> <span class="comment">// found a packet</span> |
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| 122 | 00115 <span class="comment">// done with this processing session</span> |
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| 123 | 00116 foundpacket = NMEA_UNKNOWN; |
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| 124 | 00117 <span class="keywordflow">break</span>; |
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| 125 | 00118 } |
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| 126 | 00119 } |
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| 127 | 00120 } |
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| 128 | 00121 |
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| 129 | 00122 <span class="keywordflow">if</span>(foundpacket) |
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| 130 | 00123 { |
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| 131 | 00124 <span class="comment">// check message type and process appropriately</span> |
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| 132 | 00125 <span class="keywordflow">if</span>(!strncmp(NmeaPacket, <span class="stringliteral">"GPGGA"</span>, 5)) |
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| 133 | 00126 { |
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| 134 | 00127 <span class="comment">// process packet of this type</span> |
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| 135 | 00128 nmeaProcessGPGGA(NmeaPacket); |
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| 136 | 00129 <span class="comment">// report packet type</span> |
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| 137 | 00130 foundpacket = NMEA_GPGGA; |
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| 138 | 00131 } |
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| 139 | 00132 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(!strncmp(NmeaPacket, <span class="stringliteral">"GPVTG"</span>, 5)) |
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| 140 | 00133 { |
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| 141 | 00134 <span class="comment">// process packet of this type</span> |
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| 142 | 00135 nmeaProcessGPVTG(NmeaPacket); |
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| 143 | 00136 <span class="comment">// report packet type</span> |
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| 144 | 00137 foundpacket = NMEA_GPVTG; |
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| 145 | 00138 } |
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| 146 | 00139 } |
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| 147 | 00140 <span class="keywordflow">else</span> <span class="keywordflow">if</span>(rxBuffer-><a class="code" href="structstruct__cBuffer.html#o2">datalength</a> >= rxBuffer-><a class="code" href="structstruct__cBuffer.html#o1">size</a>) |
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| 148 | 00141 { |
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| 149 | 00142 <span class="comment">// if we found no packet, and the buffer is full</span> |
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| 150 | 00143 <span class="comment">// we're logjammed, flush entire buffer</span> |
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| 151 | 00144 <a class="code" href="group__buffer.html#ga7">bufferFlush</a>(rxBuffer); |
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| 152 | 00145 } |
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| 153 | 00146 <span class="keywordflow">return</span> foundpacket; |
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| 154 | 00147 } |
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| 155 | 00148 |
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| 156 | 00149 <span class="keywordtype">void</span> nmeaProcessGPGGA(u08* packet) |
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| 157 | 00150 { |
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| 158 | 00151 u08 i; |
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| 159 | 00152 <span class="keywordtype">char</span>* endptr; |
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| 160 | 00153 <span class="keywordtype">double</span> degrees, minutesfrac; |
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| 161 | 00154 |
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| 162 | 00155 <span class="preprocessor"> #ifdef NMEA_DEBUG_GGA</span> |
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| 163 | 00156 <span class="preprocessor"></span> rprintf(<span class="stringliteral">"NMEA: "</span>); |
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| 164 | 00157 <a class="code" href="group__rprintf.html#ga2">rprintfStr</a>(packet); |
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| 165 | 00158 <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>(); |
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| 166 | 00159 <span class="preprocessor"> #endif</span> |
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| 167 | 00160 <span class="preprocessor"></span> |
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| 168 | 00161 <span class="comment">// start parsing just after "GPGGA,"</span> |
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| 169 | 00162 i = 6; |
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| 170 | 00163 <span class="comment">// attempt to reject empty packets right away</span> |
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| 171 | 00164 <span class="keywordflow">if</span>(packet[i]==<span class="charliteral">','</span> && packet[i+1]==<span class="charliteral">','</span>) |
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| 172 | 00165 <span class="keywordflow">return</span>; |
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| 173 | 00166 |
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| 174 | 00167 <span class="comment">// get UTC time [hhmmss.sss]</span> |
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| 175 | 00168 GpsInfo.PosLLA.TimeOfFix.f = strtod(&packet[i], &endptr); |
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| 176 | 00169 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: latitude</span> |
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| 177 | 00170 |
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| 178 | 00171 <span class="comment">// get latitude [ddmm.mmmmm]</span> |
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| 179 | 00172 GpsInfo.PosLLA.lat.f = strtod(&packet[i], &endptr); |
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| 180 | 00173 <span class="comment">// convert to pure degrees [dd.dddd] format</span> |
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| 181 | 00174 minutesfrac = modf(GpsInfo.PosLLA.lat.f/100, &degrees); |
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| 182 | 00175 GpsInfo.PosLLA.lat.f = degrees + (minutesfrac*100)/60; |
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| 183 | 00176 <span class="comment">// convert to radians</span> |
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| 184 | 00177 GpsInfo.PosLLA.lat.f *= (M_PI/180); |
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| 185 | 00178 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: N/S indicator</span> |
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| 186 | 00179 |
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| 187 | 00180 <span class="comment">// correct latitute for N/S</span> |
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| 188 | 00181 <span class="keywordflow">if</span>(packet[i] == <span class="charliteral">'S'</span>) GpsInfo.PosLLA.lat.f = -GpsInfo.PosLLA.lat.f; |
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| 189 | 00182 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: longitude</span> |
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| 190 | 00183 |
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| 191 | 00184 <span class="comment">// get longitude [ddmm.mmmmm]</span> |
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| 192 | 00185 GpsInfo.PosLLA.lon.f = strtod(&packet[i], &endptr); |
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| 193 | 00186 <span class="comment">// convert to pure degrees [dd.dddd] format</span> |
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| 194 | 00187 minutesfrac = modf(GpsInfo.PosLLA.lon.f/100, &degrees); |
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| 195 | 00188 GpsInfo.PosLLA.lon.f = degrees + (minutesfrac*100)/60; |
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| 196 | 00189 <span class="comment">// convert to radians</span> |
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| 197 | 00190 GpsInfo.PosLLA.lon.f *= (M_PI/180); |
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| 198 | 00191 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: E/W indicator</span> |
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| 199 | 00192 |
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| 200 | 00193 <span class="comment">// correct latitute for E/W</span> |
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| 201 | 00194 <span class="keywordflow">if</span>(packet[i] == <span class="charliteral">'W'</span>) GpsInfo.PosLLA.lon.f = -GpsInfo.PosLLA.lon.f; |
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| 202 | 00195 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: position fix status</span> |
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| 203 | 00196 |
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| 204 | 00197 <span class="comment">// position fix status</span> |
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| 205 | 00198 <span class="comment">// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS</span> |
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| 206 | 00199 <span class="comment">// check for good position fix</span> |
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| 207 | 00200 <span class="keywordflow">if</span>( (packet[i] != <span class="charliteral">'0'</span>) && (packet[i] != <span class="charliteral">','</span>) ) |
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| 208 | 00201 GpsInfo.PosLLA.updates++; |
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| 209 | 00202 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: satellites used</span> |
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| 210 | 00203 |
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| 211 | 00204 <span class="comment">// get number of satellites used in GPS solution</span> |
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| 212 | 00205 GpsInfo.numSVs = atoi(&packet[i]); |
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| 213 | 00206 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: HDOP (horizontal dilution of precision)</span> |
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| 214 | 00207 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: altitude</span> |
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| 215 | 00208 |
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| 216 | 00209 <span class="comment">// get altitude (in meters)</span> |
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| 217 | 00210 GpsInfo.PosLLA.alt.f = strtod(&packet[i], &endptr); |
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| 218 | 00211 |
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| 219 | 00212 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: altitude units, always 'M'</span> |
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| 220 | 00213 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: geoid seperation</span> |
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| 221 | 00214 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: seperation units</span> |
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| 222 | 00215 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: DGPS age</span> |
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| 223 | 00216 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: DGPS station ID</span> |
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| 224 | 00217 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">'*'</span>); <span class="comment">// next field: checksum</span> |
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| 225 | 00218 } |
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| 226 | 00219 |
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| 227 | 00220 <span class="keywordtype">void</span> nmeaProcessGPVTG(u08* packet) |
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| 228 | 00221 { |
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| 229 | 00222 u08 i; |
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| 230 | 00223 <span class="keywordtype">char</span>* endptr; |
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| 231 | 00224 |
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| 232 | 00225 <span class="preprocessor"> #ifdef NMEA_DEBUG_VTG</span> |
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| 233 | 00226 <span class="preprocessor"></span> rprintf(<span class="stringliteral">"NMEA: "</span>); |
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| 234 | 00227 <a class="code" href="group__rprintf.html#ga2">rprintfStr</a>(packet); |
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| 235 | 00228 <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>(); |
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| 236 | 00229 <span class="preprocessor"> #endif</span> |
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| 237 | 00230 <span class="preprocessor"></span> |
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| 238 | 00231 <span class="comment">// start parsing just after "GPVTG,"</span> |
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| 239 | 00232 i = 6; |
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| 240 | 00233 <span class="comment">// attempt to reject empty packets right away</span> |
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| 241 | 00234 <span class="keywordflow">if</span>(packet[i]==<span class="charliteral">','</span> && packet[i+1]==<span class="charliteral">','</span>) |
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| 242 | 00235 <span class="keywordflow">return</span>; |
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| 243 | 00236 |
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| 244 | 00237 <span class="comment">// get course (true north ref) in degrees [ddd.dd]</span> |
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| 245 | 00238 GpsInfo.VelHS.heading.f = strtod(&packet[i], &endptr); |
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| 246 | 00239 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: 'T'</span> |
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| 247 | 00240 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: course (magnetic north)</span> |
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| 248 | 00241 |
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| 249 | 00242 <span class="comment">// get course (magnetic north ref) in degrees [ddd.dd]</span> |
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| 250 | 00243 <span class="comment">//GpsInfo.VelHS.heading.f = strtod(&packet[i], &endptr);</span> |
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| 251 | 00244 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: 'M'</span> |
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| 252 | 00245 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: speed (knots)</span> |
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| 253 | 00246 |
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| 254 | 00247 <span class="comment">// get speed in knots</span> |
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| 255 | 00248 <span class="comment">//GpsInfo.VelHS.speed.f = strtod(&packet[i], &endptr);</span> |
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| 256 | 00249 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: 'N'</span> |
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| 257 | 00250 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: speed (km/h)</span> |
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| 258 | 00251 |
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| 259 | 00252 <span class="comment">// get speed in km/h</span> |
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| 260 | 00253 GpsInfo.VelHS.speed.f = strtod(&packet[i], &endptr); |
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| 261 | 00254 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">','</span>); <span class="comment">// next field: 'K'</span> |
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| 262 | 00255 <span class="keywordflow">while</span>(packet[i++] != <span class="charliteral">'*'</span>); <span class="comment">// next field: checksum</span> |
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| 263 | 00256 |
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| 264 | 00257 GpsInfo.VelHS.updates++; |
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| 265 | 00258 } |
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| 266 | 00259 |
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| 267 | </pre></div><hr size="1"><address style="align: right;"><small>Generated on Sun Oct 29 03:41:07 2006 for Procyon AVRlib by |
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| 268 | <a href="http://www.doxygen.org/index.html"> |
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| 269 | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.2 </small></address> |
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| 270 | </body> |
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| 271 | </html> |
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