# HG changeset patch
# User mkanning@CL-SEC241-10.cedarville.edu
# Date 2012-11-29 15:43:06
# Node ID 95c4c7f33ecb761dfd52aaab566b817ffa0cc0f0
# Parent  2e9d4bb3d9c7ae91931eb82de95819b17875a4cf

NMEA parser first pass complete

diff --git a/master/master/lib/trackuinoGPS/gpsMKa.c b/master/master/lib/trackuinoGPS/gpsMKa.c
--- a/master/master/lib/trackuinoGPS/gpsMKa.c
+++ b/master/master/lib/trackuinoGPS/gpsMKa.c
@@ -4,10 +4,11 @@
 * Created: 11/15/2012 12:02:38 PM
 *  Author: mkanning
 */
-/*
+
 #include <stdbool.h>
 #include <avr/io.h>
 #include "gpsMKa.h"
+#include "../serial.h"
 
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
@@ -23,10 +24,10 @@ int numBytes = 0;
 
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
-uint8_t tramsmissionType;
+uint8_t tramsmissionType[5];
 uint8_t timestamp[9];	//hhmmss.ss
 uint8_t latitude[8];	//lllll.lla
-uint8_t longitude[8];	//yyyyy.yya
+uint8_t longitude[8];	//yyyyy.yyb
 uint8_t quality;		//quality for GGA and validity for RMC
 uint8_t numSatellites[2];
 uint8_t hdop[4];		//xx.x
@@ -34,8 +35,12 @@ uint8_t altitude[8];	//xxxxxx.x
 uint8_t wgs84Height[6];	//sxxx.x
 uint8_t lastUpdated[6];	//blank - included for testing
 uint8_t stationID[6];	//blank - included for testing
-uint8_t checksum;		//xx
-
+uint8_t checksum[2];	//xx
+uint8_t knots[5];		//xxx.xx
+uint8_t course[5];		//xxx.x
+uint8_t datestamp[6];	//ddmmyy
+uint8_t variation[6];	//xxx.xb
+int calculatedChecksum;
 
 // transmission state machine
 enum decodeState {
@@ -56,180 +61,187 @@ enum decodeState {
 	GGA_STATION_ID,
 	//RMC data fields
 	RMC_TIME,
-	RMC_WARNING,
+	RMC_VALIDITY,
 	RMC_LATITUDE,
 	RMC_LONGITUDE,
 	RMC_KNOTS,
 	RMC_COURSE,
 	RMC_DATE,
-	RMC_MAG_VERIATION,
+	RMC_MAG_VARIATION,
 	
 }decodeState;
 
-/// MKa GPS transmission parser START
+//// MKa GPS transmission parser START
 void parse_gps_transmission(void){
-	bytesReceived++;
 	
 	// Pull byte off of the buffer
-	char byte = uart_getchar();
+	char byte = serial1_readChar();
 	
-	// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
-	//        ^8        ^18       ^28
 	if(byte == '$') //start of transmission sentence
 	{
-		bytesReceived = 1; //resets transmission if '$' is found
 		decodeState = GET_TYPE;
-		numBytes = 0;
+		numBytes = 0; //prep for next phases
+		skipBytes = 0;
+		calculatedChecksum = 0;
 	}
 	
 	//parse transmission type
 	else if (decodeState == GET_TYPE)
 	{
-		if (bytesReceived == 4 ) //check 4th byte
+		tramsmissionType[numBytes] = byte;
+		numBytes++;
+		
+		if(byte == ',') //end of this data type
 		{
-			tramsmissionType = byte;
-		}
-		
-		if(byte = ',') //end of type data
-		{
-			if (tramsmissionType == 'G')
+			if (tramsmissionType[2] == 'G' &&
+			tramsmissionType[3] == 'G' &&
+			tramsmissionType[4] == 'A')
 			{
 				decodeState = GGA_TIME;
 			}
-			else if(tramsmissionType == 'R')
+			else if (tramsmissionType[2] == 'R' &&
+			tramsmissionType[3] == 'M' &&
+			tramsmissionType[4] == 'C')
 			{
-				decodeState = RMC_TIME; //not implemented
+				decodeState = RMC_TIME;
 			}
-			else
+			else //this is an invalid transmission type
 			{
-				//reset
 				decodeState = INITIALIZE;
-				bytesReceived = 0;
 			}
 		}
 	}
 	
-	//parse GGA timestamp
+	///parses GGA transmissions START
+	/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
+	//timestamp
 	else if (decodeState == GGA_TIME)
 	{
-		if (byte = ',')//end of timestamp data
+		if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_LATITUDE;
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
 		}
-		else //store the byte of timestamp data
+		else //store data
 		{
 			timestamp[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA latitude data
+	//latitude
 	else if (decodeState == GGA_LATITUDE)
 	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
 		{
 			skipBytes = 1;
 		}
-		else if (byte == ',') //end of latitude data
+		else if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_LONGITUDE;
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
 		}
-		else
+		else //store data
 		{
 			latitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA longitude data
+	//longitude
 	else if (decodeState == GGA_LONGITUDE)
 	{
 		if (byte == ',' && skipBytes == 0) //discard this byte
 		{
 			skipBytes = 1;
 		}
-		else if (byte == ',') //end of latitude data
+		else if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_QUALITY;
-			numBytes = 0;
+			numBytes = 0; //prep for next phase of parse
+			skipBytes = 0;
 		}
-		else
+		else //store data
 		{
 			longitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA quality data
-	else if (decodeState = GGA_QUALITY)
+	//GGA quality
+	else if (decodeState == GGA_QUALITY)
 	{
-		if (byte = ',')//end of quality data
+		if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_SATELLITES;
-			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0; //prep for next phase of parse
 		}
-		else
+		else //store data
 		{
 			quality = byte; //maybe reset if invalid data ??
 		}
 	}
 	
-	//parse GGA number of satellites data
-	else if (decodeState = GGA_SATELLITES)
+	//number of satellites
+	else if (decodeState == GGA_SATELLITES)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_HDOP;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
+			numBytes = 0; //prep for next phase of parse
 		}
 		else //store data
 		{
-			numSatellites[numBytes] = byte;
+			numSatellites[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA HDOP data
-	else if (decodeState = GGA_HDOP)
+	//HDOP
+	else if (decodeState == GGA_HDOP)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',' ) //end of this data type
 		{
 			decodeState = GGA_ALTITUDE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
+			numBytes = 0; //prep for next phase of parse
+			skipBytes = 0;
 		}
 		else //store data
 		{
-			hdop[numBytes] = byte; //store byte of data
+			hdop[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA altitude data
-	else if (decodeState = GGA_ALTITUDE)
+	//altitude
+	else if (decodeState == GGA_ALTITUDE)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
+			skipBytes = 1;
+		}
+		else if(byte == ',') //end of this data type
 		{
 			decodeState = GGA_WGS84;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
+			numBytes = 0; //prep for next phase of parse
 		}
 		else //store data
 		{
-			altitude[numBytes] = byte;
+			altitude[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA WGS84 Height data
-	else if (decodeState = GGA_WGS84)
+	//WGS84 Height
+	else if (decodeState == GGA_WGS84)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
+			skipBytes = 1;
+		}
+		else if(byte == ',') //end of this data type
 		{
 			decodeState = GGA_LAST_UPDATE;
 			skipBytes = 0; //prep for next phase of parse
@@ -237,59 +249,199 @@ void parse_gps_transmission(void){
 		}
 		else //store data
 		{
-			wgs84Height[numBytes] = byte;
+			wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA last DGPS update data
-	else if (decodeState = GGA_LAST_UPDATE)
+	//last GGA DGPS update
+	else if (decodeState == GGA_LAST_UPDATE)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',') //end of this data type
 		{
 			decodeState = GGA_STATION_ID;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
+			numBytes = 0; //prep for next phase of parse
 		}
 		else //store data - this should be blank
 		{
-			lastUpdated[numBytes] = byte;
+			lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
 	
-	//parse GGA DGPS station ID data
-	else if (decodeState = GGA_STATION_ID)
+	//GGA DGPS station ID
+	else if (decodeState == GGA_STATION_ID)
 	{
-		if (byte = ',')//end of data
+		if (byte == ',' || byte == '*') //end of this data type
 		{
-			decodeState = GGA_CHECKSUM;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
+			decodeState = GPS_CHECKSUM;
+			numBytes = 0; //prep for next phase of parse
 		}
 		else //store data - this should be blank
 		{
-			stationID[numBytes] = byte;
+			stationID[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
 	}
+	///parses GGA transmissions END
 	
-	//parse GGA checksum data
-	else if (decodeState = GGA_CHECKSUM)
-	{
-		if (byte = ',')//end of data - terminating character ??
+	/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
+	///parses RMC transmissions
+	//time
+	else if(decodeState == RMC_TIME)
+	{
+		if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_VALIDITY;
+			numBytes = 0; //prep for next phase of parse
+		}
+		else //store data
+		{
+			timestamp[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//validity
+	else if(decodeState == RMC_VALIDITY)
+	{
+		if (byte == ',') //end of this data type
 		{
-			decodeState = INITIALIZE;
+			decodeState = RMC_LATITUDE;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			quality = byte;
+			numBytes++;
+		}
+	}
+	
+	//latitude
+	else if(decodeState == RMC_LATITUDE)
+	{
+		if (byte == ',' && skipBytes == 1) //discard this byte
+		{
+			skipBytes = 1; 
+		}
+		else if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_LONGITUDE;
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
 		}
 		else //store data
 		{
-			checksum[numBytes] = byte;
+			latitude[numBytes]= byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//longitude
+	else if(decodeState == RMC_LONGITUDE)
+	{
+		if (byte == ',' && skipBytes == 1) //discard this byte
+		{
+			skipBytes = 1; 
+		}
+		else if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_KNOTS;
+			skipBytes = 0;
+			numBytes = 0;
+		}
+		else //store data
+		{
+			longitude[numBytes]= byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//knots
+	else if(decodeState == RMC_KNOTS)
+	{
+		if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_COURSE;
+			numBytes = 0; //prep for next phase of parse
+		}
+		else //store data
+		{
+			knots[numBytes]= byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//course
+	else if(decodeState == RMC_COURSE)
+	{
+		if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_DATE;
+			numBytes = 0; //prep for next phase of parse
+		}
+		else //store data
+		{
+			course[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//date
+	else if(decodeState == RMC_DATE)
+	{
+		if (byte == ',') //end of this data type
+		{
+			decodeState = RMC_MAG_VARIATION;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			datestamp[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	
+	//magnetic variation
+	else if(decodeState == RMC_MAG_VARIATION)
+	{
+		if (byte == ',') //end of this data type
+		{
+			decodeState = GPS_CHECKSUM;
+			numBytes = 0; //prep for next phase of parse
+		}
+		else //store data
+		{
+			variation[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
+	}
+	///parses RMC transmissions END
+	
+	
+	//checksum
+	else if (decodeState == GPS_CHECKSUM)
+	{
+		if (numBytes == 2) //end of data - terminating character ??
+		{
+			decodeState = INITIALIZE;
+			numBytes = 0; //prep for next phase of parse
+		}
+		else //store data
+		{
+			checksum[numBytes] = byte; //adjust number of bytes to fit array
 			numBytes++;
 		}
-	}
+	}
 	
+	//input byte into running checksum
+	XORbyteWithChecksum(byte);
 }
-*/
-/// MKa GPS transmission parser END
\ No newline at end of file
+/// MKa GPS transmission parser END
+
+void XORbyteWithChecksum(uint8_t byte){
+	calculatedChecksum ^= (int)byte; //this may need to be re-coded
+}
+