# HG changeset patch
# User ethanzonca@CL-SEC241-08.cedarville.edu
# Date 2012-11-15 15:50:44
# Node ID e54e67fc99cd6ff8fe06e39140f98f5da667b53c
# Parent  94648aa82312e79fb27aeb20be8db33a58f13516
# Parent  2c211b2f6366d61581e2695f97e5a2586476be9a

Merge

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
@@ -5,9 +5,8 @@
  *  Author: mkanning
  */ 
 #include <stdbool.h>
-
-// has the transmission started 
-bool transmissionBegin = false;
+#include <avr/io.h>
+#include "gpsMKa.h"
 
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
@@ -15,32 +14,135 @@ int bytesReceived = 0;
 //data (and checksum) of most recent transmission
 char data[16];
 
+//used to skip over bytes during parse
+int skipBytes = 0;
+
+//variables to store data from transmission
+uint8_t tramsmissionType;
+uint8_t timestamp[9]; //hhmmss.ss
+uint8_t latitude[8]; //llll.ll,a
+uint8_t longitude[8]; //yyyyy.yy,a
+uint8_t quality;
+uint8_t numSatellites;
+uint8_t hdop;
+uint8_t altitude;
+uint8_t wgs84Height;
+uint8_t lastUpdated;
+uint8_t stationID;
+uint8_t checksum;
+
+// transmission state machine
+enum decodeState { 
+	INITIALIZE=0,
+	GET_TYPE,
+	GGA_TIME,
+	GGA_LATITUDE,
+	GGA_LONGITUDE,
+	GGA_QUALITY,
+	GGA_SATELLITES,
+	GGA_HDOP,
+	GGA_ALTITUDE,
+	GGA_WGS84,
+	GGA_LAST_UPDATE,
+	GGA_STATION_ID,
+	RMC_TIME
+}decodeState;
+
 /// MKa GPS transmission parser START
 void parse_gps_transmission(void){
+	bytesReceived++;
 	
 	// Pull byte off of the buffer
 	char byte = uart_getchar();
 	
 	// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
+	//        ^8        ^18       ^28                               
 	if(byte == '$') //start of transmission sentence
 	{
-		transmissionBegin = true;
 		bytesReceived = 1; //resets transmission if '$' is found
+		decodeState = GET_TYPE;
 	}
 	
-	if (transmissionBegin)
+	//parse transmission type
+	else if (decodeState == GET_TYPE)
 	{
-		if (bytesReceived == 3) //check 4th byte
+		if (bytesReceived == 4 ) //check 4th byte
+		{
+			tramsmissionType = byte;
+		}
+		
+		if(byte = ',') //end of type data
 		{
-			if(byte == ' ')
+			if (tramsmissionType == 'G')
+			{
+				decodeState = GGA_TIME;
+			} 
+			else if(tramsmissionType == 'R')
+			{
+				decodeState = RMC_TIME; //not implemented
+			}
+			else
 			{
-				
-			}
-		} 
+				//reset 
+				decodeState = INITIALIZE;
+				bytesReceived = 0;
+			}			
+		}
+	}
+	
+	//parse GGA timestamp
+	else if (decodeState == GGA_TIME)
+	{
+		if (byte = ',')//end of timestamp data
+		{
+			decodeState = GGA_LATITUDE;
+			skipBytes = 0; //prep for next phase of parse
+		}
+		else //store the byte of timestamp data
+		{
+			timestamp[bytesReceived-7] = byte; //adjust number of bytes to fit array
+		}
+	}
+	
+	//parse GGA latitude data
+	else if (decodeState == GGA_LATITUDE)
+	{
+		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
+			skipBytes = 1;
+		}
+		else if (byte == ',') //end of latitude data
+		{
+			decodeState = GGA_LONGITUDE;
+			skipBytes = 0; //prep for next phase of parse
+		}
 		else
 		{
+			latitude[bytesReceived-17] = byte; //adjust number of bytes to fit array
+		}	
+	}
+	
+	//parse GGA longitude data
+	else if (decodeState == GGA_LONGITUDE)
+	{
+		if (byte == ',' && skipBytes == 0) //discard this byte
+		{
+			skipBytes = 1;
 		}
-		//use a state machine implementation rather than this
+		else if (byte == ',') //end of latitude data
+		{
+			decodeState = GGA_QUALITY;
+		}
+		else
+		{
+			longitude[bytesReceived-17] = byte; //adjust number of bytes to fit array
+		}	
+	}
+	
+	//parse GGA quality data
+	else if (decodeState = GGA_QUALITY)
+	{
+		quality = byte;
 	}
 	
 }
diff --git a/master/master/lib/trackuinoGPS/gpsMKa.h b/master/master/lib/trackuinoGPS/gpsMKa.h
--- a/master/master/lib/trackuinoGPS/gpsMKa.h
+++ b/master/master/lib/trackuinoGPS/gpsMKa.h
@@ -11,8 +11,5 @@
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
-// states
-#define 
-
 
 #endif /* GPSMKA_H_ */
\ No newline at end of file