seniordesign-firmware Changeset - d96de01781be

Changeset - d96de01781be

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mkanning@CL-SEC241-10.cedarville.edu - 13 years ago 2012-11-15 14:02:59
mkanning@CL-SEC241-10.cedarville.edu

more changes to GPS tracker

9 files changed with 76 insertions and 921 deletions:

master/master/lib/aprs_trackuino/gps.c

362

master/master/lib/aprs_trackuino/gps.cpp

363

master/master/lib/aprs_trackuino/gps.h

master/master/lib/aprs_trackuino/trackuino.pde

142

master/master/lib/trackuinoGPS/gps.c

master/master/lib/trackuinoGPS/gps.h

master/master/lib/trackuinoGPS/gpsMKa.c

master/master/lib/trackuinoGPS/gpsMKa.h

master/master/master.cproj

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master/master/lib/aprs_trackuino/gps.c

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master/master/lib/aprs_trackuino/gps.cpp

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master/master/lib/aprs_trackuino/gps.h

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master/master/lib/aprs_trackuino/trackuino.pde

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deleted file

master/master/lib/trackuinoGPS/gps.c

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@@ @@ -64,334 +64,336 @@ static const t_nmea_parser gga_parsers[] @@
 static const t_nmea_parser rmc_parsers[] = {
 	NULL,             // $GPRMC
 	parse_time,       // Time
 	parse_status,     // A=active, V=void
 	parse_lat,        // Latitude,
 	parse_lat_hemi,   // N/S
 	parse_lon,        // Longitude
 	parse_lon_hemi,   // E/W
 	parse_speed,      // Speed over ground in knots
 	parse_course,     // Track angle in degrees (true)
 	NULL,             // Date (DDMMYY)
 	NULL,             // Magnetic variation
 	NULL              // E/W
 };
 static const int NUM_OF_UNK_PARSERS = (sizeof(unk_parsers) / sizeof(t_nmea_parser));
 static const int NUM_OF_GGA_PARSERS = (sizeof(gga_parsers) / sizeof(t_nmea_parser));
 static const int NUM_OF_RMC_PARSERS = (sizeof(rmc_parsers) / sizeof(t_nmea_parser));
 // Module variables
 static t_sentence_type sentence_type = SENTENCE_UNK;
 static bool at_checksum = false;
 static unsigned char our_checksum = '$';
 static unsigned char their_checksum = 0;
 static char token[16];
 static int num_tokens = 0;
 static unsigned int offset = 0;
 static bool active = false;
 static char gga_time[7] = "", rmc_time[7] = "";
 static char new_time[7];
 static uint32_t new_seconds;
 static float new_lat;
 static float new_lon;
 static char new_aprs_lat[9];
 static char new_aprs_lon[10];
 static float new_course;
 static float new_speed;
 static float new_altitude;
 // Public (extern) variables, readable from other modules
 char gps_time[7];       // HHMMSS
 uint32_t gps_seconds = 0;   // seconds after midnight
 float gps_lat = 0;
 float gps_lon = 0;
 char gps_aprs_lat[9];
 char gps_aprs_lon[10];
 float gps_course = 0;
 float gps_speed = 0;
 float gps_altitude = 0;
 // Module functions
 /// convert hex to binary ??
 unsigned char from_hex(char a)
+{
 	if (a >= 'A' && a <= 'F'){
 		return a - 'A' + 10;
 	}else if (a >= 'a' && a <= 'f'){
 		return a - 'a' + 10;
 	}else if (a >= '0' && a <= '9'){
 		return a - '0';
 	}else{
 		return 0;
+	}
+}
 /// determine what type of message is being sent ??
 /// we only send one message type so may not be needed
 void parse_sentence_type(const char *token)
+{
 	if (strcmp(token, "$GPGGA") == 0) {
 		sentence_type = SENTENCE_GGA;
 	} else if (strcmp(token, "$GPRMC") == 0) {
 		sentence_type = SENTENCE_RMC;
 	} else {
 		sentence_type = SENTENCE_UNK;
+	}
+}
 void parse_time(const char *token)
+{
 	// Time can have decimals (fractions of a second), but we only take HHMMSS
 	///we prolly want the entire time (unix time) ??
 	strncpy(new_time, token, 6);
 	// Terminate string
 	new_time[6] = '\0';
 	new_seconds =
 		((new_time[0] - '0') * 10 + (new_time[1] - '0')) * 60 * 60UL +
 		((new_time[2] - '0') * 10 + (new_time[3] - '0')) * 60 +
 		((new_time[4] - '0') * 10 + (new_time[5] - '0'));
+}
 /// not sure of exact purpose, besides the name...
 void parse_status(const char *token)
+{
 	// "A" = active, "V" = void. We should disregard void sentences
 	if (strcmp(token, "A") == 0){
 		active = true;
 	}else{
 		active = false;
+	}
+}
 /// this is a vital function
 void parse_lat(const char *token)
+{
 	// Parses latitude in the format "DD" + "MM" (+ ".M{...}M")
 	/// not sure about the format...
 	char degs[3];
 	if (strlen(token) >= 4) {
 		degs[0] = token[0];
 		degs[1] = token[1];
 		degs[2] = '\0';
 		new_lat = atof(degs) + atof(token + 2) / 60;
+	}
 	// APRS-ready latitude
 	strncpy(new_aprs_lat, token, 7);
 	new_aprs_lat[7] = '\0';
+}
 /// if this is hemisphere it is not needed. we are in the north.
 void parse_lat_hemi(const char *token)
+{
 	if (token[0] == 'S'){
 		new_lat = -new_lat;
+	}
 	new_aprs_lat[7] = token[0];
 	new_aprs_lon[8] = '\0';
+}
 /// another vital function
 void parse_lon(const char *token)
+{
 	// Longitude is in the format "DDD" + "MM" (+ ".M{...}M")
 	/// again not sure of formatting...
 	char degs[4];
 	if (strlen(token) >= 5) {
 		degs[0] = token[0];
 		degs[1] = token[1];
 		degs[2] = token[2];
 		degs[3] = '\0';
 		new_lon = atof(degs) + atof(token + 3) / 60;
+	}
 	// APRS-ready longitude
 	strncpy(new_aprs_lon, token, 8);
 	new_aprs_lon[8] = '\0';
+}
 /// if this is hemisphere it is not needed
 void parse_lon_hemi(const char *token)
+{
 	if (token[0] == 'W'){
 		new_lon = -new_lon;
+	}
 	new_aprs_lon[8] = token[0];
 	new_aprs_lon[9] = '\0';
+}
 /// we do not need to record speed
 void parse_speed(const char *token)
+{
 	new_speed = atof(token);
+}
 /// we do not need to record course
 void parse_course(const char *token)
+{
 	new_course = atof(token);
+}
 /// will use this to validate pressure readings
 void parse_altitude(const char *token)
+{
 	new_altitude = atof(token);
+}
 //
 // Exported functions
 //
 /// void zeroing of data. presumably to be called at start
 void gps_setup() {
 	strcpy(gps_time, "000000");
 	strcpy(gps_aprs_lat, "0000.00N");
 	strcpy(gps_aprs_lon, "00000.00E");
+}
 /// MKa GPS transmission parser
 void parse_gps_transmission(char c){
 /// MKa GPS transmission parser START
 void parse_gps_transmission(char gpsToken){
 	// i think c is the most recent character of transmission and is constantly
 	// tested if terminal character. if terminal then do parse on previous transmission.
 	// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
-	if(c == '\n') //end of transmission sentence. may need more checks
+	if(gpsToken == '$') //start of transmission sentence
+	{
+	}
+}
 /// MKa GPS transmission parser END
 /// process gps transmission
 bool gps_decode(char c)
+{
 	int ret = false;
 	switch(c) {
 		case '\r':
 		case '\n': // End of sentence
 			if (num_tokens && our_checksum == their_checksum) { ///checksum is valid (good transmission)
 				#ifdef DEBUG_GPS
 				Serial.print(" (OK!) ");
 				Serial.print(millis());
 				#endif
 				// Return a valid position only when we have two rmc and gga
 				// messages with the same timestamp.
 				switch (sentence_type) {
 					case SENTENCE_UNK:
 						break;    // Keeps gcc happy
 					case SENTENCE_GGA:
 						strcpy(gga_time, new_time);
 						break;
 					case SENTENCE_RMC:
 						strcpy(rmc_time, new_time);
 						break;
+				}
 				// Valid position scenario:
 				//
 				// 1. The timestamps of the two previous GGA/RMC sentences must match.
 				//
 				// 2. We just processed a known (GGA/RMC) sentence. Suppose the
 				//    contrary: after starting up this module, gga_time and rmc_time
 				//    are both equal (they're both initialized to ""), so (1) holds
 				//    and we wrongly report a valid position.
 				//
 				// 3. The GPS has a valid fix. For some reason, the Venus 634FLPX
 				//    reports 24 deg N, 121 deg E (the middle of Taiwan) until a valid
 				//    fix is acquired:
 				//
 				//    $GPGGA,120003.000,2400.0000,N,12100.0000,E,0,00,0.0,0.0,M,0.0,M,,0000*69 (OK!)
 				//    $GPGSA,A,1,,,,,,,,,,,,,0.0,0.0,0.0*30 (OK!)
 				//    $GPRMC,120003.000,V,2400.0000,N,12100.0000,E,000.0,000.0,280606,,,N*78 (OK!)
 				//    $GPVTG,000.0,T,,M,000.0,N,000.0,K,N*02 (OK!)
 				if (sentence_type != SENTENCE_UNK &&      // Known sentence?
 				strcmp(gga_time, rmc_time) == 0 &&    // RMC/GGA times match?
 				active) {                             // Valid fix?
 					// Atomically merge data from the two sentences
 					strcpy(gps_time, new_time);
 					gps_seconds = new_seconds;
 					gps_lat = new_lat;
 					gps_lon = new_lon;
 					strcpy(gps_aprs_lat, new_aprs_lat);
 					strcpy(gps_aprs_lon, new_aprs_lon);
 					gps_course = new_course;
 					gps_speed = new_speed;
 					gps_altitude = new_altitude;
 					ret = true;
+				}
+			}
 			#ifdef DEBUG_GPS
 			if (num_tokens){
 				Serial.println();
+			}
 			#endif
 			at_checksum = false;        // CR/LF signals the end of the checksum
 			our_checksum = '$';         // Reset checksums
 			their_checksum = 0;
 			offset = 0;                 // Prepare for the next incoming sentence
 			num_tokens = 0;
 			sentence_type = SENTENCE_UNK;
 			break;
 		case '*':
 			// Handle as ',', but prepares to receive checksum (ie. do not break)
 			at_checksum = true;
 			our_checksum ^= c;
 		case ',':
 			// Process token
 			token[offset] = '\0';
 			our_checksum ^= c;  // Checksum the ',', undo the '*'
 			// Parse token
 			switch (sentence_type) {
 				case SENTENCE_UNK:
 					if (num_tokens < NUM_OF_UNK_PARSERS && unk_parsers[num_tokens]){
 						unk_parsers[num_tokens](token);
+					}
 					break;
 				case SENTENCE_GGA:
 					if (num_tokens < NUM_OF_GGA_PARSERS && gga_parsers[num_tokens]){
 						gga_parsers[num_tokens](token);
+					}
 					break;
 				case SENTENCE_RMC:
 					if (num_tokens < NUM_OF_RMC_PARSERS && rmc_parsers[num_tokens]){
 						rmc_parsers[num_tokens](token);
+					}
 					break;
+			}
 			// Prepare for next token
 			num_tokens++;
 			offset = 0;
 			#ifdef DEBUG_GPS
 			Serial.print(c);
 			#endif
 			break;
 		default:
 			// Any other character
 			if (at_checksum) {
 				// Checksum value
 				their_checksum = their_checksum * 16 + from_hex(c);
 			} else {
 				// Regular NMEA data
 				if (offset < 15) {  // Avoid buffer overrun (tokens can't be > 15 chars)
 					token[offset] = c;
 					offset++;
 					our_checksum ^= c;
+				}
+			}
 			#ifdef DEBUG_GPS
 			Serial.print(c);
 			#endif
+	}
 	return ret;
+}

master/master/lib/trackuinoGPS/gps.h

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 /* trackuino copyright (C) 2010  EA5HAV Javi
+ *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
  * as published by the Free Software Foundation; either version 2
  * of the License, or (at your option) any later version.
+ *
  * This program 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 General Public License for more details.
+ *
  * You should have received a copy of the GNU General Public License
  * along with this program; if not, write to the Free Software
  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  */
 #ifndef __GPS_H__
 #define __GPS_H__
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
 #include <stdbool.h>
 extern char gps_time[7];       // HHMMSS
 extern uint32_t gps_seconds;   // seconds after midnight
 extern char gps_date[7];       // DDMMYY
 extern float gps_lat;
 extern float gps_lon;
 extern char gps_aprs_lat[9];
 extern char gps_aprs_lon[10];
 extern float gps_course;
 extern float gps_speed;
 extern float gps_altitude;
 void gps_setup();
 bool gps_decode(char c);
 #endif
 enum t_sentence_type {
 typedef enum t_sentence_type {
 	SENTENCE_UNK,
 	SENTENCE_GGA,
 	SENTENCE_RMC
 };
@@ \ No newline at end of file @@
 }t_sentence_type;
 #endif

master/master/lib/trackuinoGPS/gpsMKa.c

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@@ new file 100644 @@
 /*
  * gpsMKa.c
+ *
  * Created: 11/15/2012 12:02:38 PM
  *  Author: mkanning
  */
 #include <stdbool.h>
 // has the transmission started
 bool transmissionBegin = false;
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 //data (and checksum) of most recent transmission
 char data[16];
 /// MKa GPS transmission parser START
 void parse_gps_transmission(void){
 	// Pull byte off of the buffer
 	char byte = uart_getchar();
 	// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
 	if(byte == '$') //start of transmission sentence
+	{
 		transmissionBegin = true;
 		bytesReceived = 1; //resets transmission if '$' is found
+	}
 	if (transmissionBegin)
+	{
 		if (bytesReceived == 3) //check 4th byte
+		{
 			if(byte == ' ')
+			{
+			}
+		}
 		else
+		{
+		}
 		//use a state machine implementation rather than this
+	}
+}
 /// MKa GPS transmission parser END
@@ \ No newline at end of file @@

master/master/lib/trackuinoGPS/gpsMKa.h

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@@ new file 100644 @@
 /*
  * gpsMKa.h
+ *
  * Created: 11/15/2012 12:02:53 PM
  *  Author: mkanning
  */
 #ifndef GPSMKA_H_
 #define GPSMKA_H_
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 // states
 #define
 #endif /* GPSMKA_H_ */
@@ \ No newline at end of file @@

master/master/master.cproj

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@@ @@ -6,214 +6,209 @@ @@
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     <ProjectGuid>{8579ec2d-5815-40db-84e0-1d14239c7aea}</ProjectGuid>
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       <ToolType>com.atmel.avrdbg.tool.ispmk2</ToolType>
       <ToolName>AVRISP mkII</ToolName>
       <ToolNumber>000200131077</ToolNumber>
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           <JtagDbgClock>249000</JtagDbgClock>
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           <JtagInChain>false</JtagInChain>
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       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\sd\sd_raw_config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\trackuinoGPS\config.h">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\trackuinoGPS\gps.c">
+    <Compile Include="lib\trackuinoGPS\gpsMKa.c">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="lib\trackuinoGPS\gps.h">
+    <Compile Include="lib\trackuinoGPS\gpsMKa.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="master.c">
       <SubType>compile</SubType>
     </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="lib" />
     <Folder Include="lib\trackuinoGPS" />
     <Folder Include="lib\sd" />
   </ItemGroup>
   <ItemGroup>
     <None Include="lib\trackuinoGPS\trackuino.pde">
       <SubType>compile</SubType>
     </None>
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
 </Project>
@@ \ No newline at end of file @@

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