seniordesign-firmware Changeset - 95c4c7f33ecb

Changeset - 95c4c7f33ecb

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mkanning@CL-SEC241-10.cedarville.edu - 12 years ago 2012-11-29 15:43:06
mkanning@CL-SEC241-10.cedarville.edu

NMEA parser first pass complete

1 file changed with 235 insertions and 83 deletions:

master/master/lib/trackuinoGPS/gpsMKa.c

235

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master/master/lib/trackuinoGPS/gpsMKa.c

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 /*
 * gpsMKa.c
+*
 * 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;
 //data (and checksum) of most recent transmission
 char data[16];
@@ @@ -20,25 +21,29 @@ int skipBytes = 0; @@
 //used to index data arrays during data collection
 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
 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 {
 	//shared fields
 	INITIALIZE=0,
 	GET_TYPE,
@@ @@ -53,243 +58,390 @@ enum decodeState { @@
 	GGA_ALTITUDE,
 	GGA_WGS84,
 	GGA_LAST_UPDATE,
 	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
 			numBytes = 0;
+		}
 		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
 	/// $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++;
+		}
+	}
 	//parse GGA checksum data
 	else if (decodeState = GGA_CHECKSUM)
 	//validity
 	else if(decodeState == RMC_VALIDITY)
+	{
 		if (byte == ',') //end of this data type
+		{
 			decodeState = RMC_LATITUDE;
 			skipBytes = 0; //prep for next phase of parse
 			numBytes = 0;
+		}
 		else //store data
+	{
 		if (byte = ',')//end of data - terminating character ??
 			quality = byte;
 			numBytes++;
+		}
+	}
 	//latitude
 	else if(decodeState == RMC_LATITUDE)
+		{
 			decodeState = INITIALIZE;
 		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;
+}
 */
 /// MKa GPS transmission parser END
@@ \ No newline at end of file @@
 		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
 void XORbyteWithChecksum(uint8_t byte){
 	calculatedChecksum ^= (int)byte; //this may need to be re-coded
+}

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