Update gps parser for new NMEA protocol #182

Learn/Simple Libraries/Sensor/libgps/gps.h

@@ -1,23 +1,22 @@
 /**
  * @file gps.h
  *
- * @author Daniel Harris
+ * @author Daniel Harris, Matthew Matz
  *
  * @copyright
- * Copyright (C) Parallax, Inc. 2014. All Rights MIT Licensed.
+ * Copyright (C) Parallax, Inc. 2019. All Rights MIT Licensed.
  *
  * @brief   This library provides basic NMEA parsing  capabilities.  It is designed to take raw NMEA strings,
-  parse the data out of them, and make the data available to a parent application through accessor
-  functions.
-
+ * parse the data out of them, and make the data available to a parent application through accessor
+ * functions.
  *
  * @par Core Usage
  * Each call to rfid_open launches a serial communication process into another core.
  *
  * @par Memory Models
  * Use with CMM or LMM.
  *
- * @version 0.50
+ * @version 0.6
  */
 
 #ifndef __SIMPLE_NMEA_PARSER__
@@ -57,6 +56,7 @@ typedef struct nmea_data_s
   float date;         //current date, raw format with tenths of second, as float
   int time;           //current UTC time, raw format, as integer
   float mag_var;      //current magnetic variation, as float
+  char talker_ids[65];  //constellation ('P'=GPS, 'N'=GLONASS, Galileo, BeiDou, etc.) codes from the last positioning reads)
 
 } nmea_data;
 
@@ -194,6 +194,14 @@ float gps_magneticVariation();
  */
 void gps_txByte(int txByte);
 
+
+/**
+ * @brief Provides the caller with a string containing the sources (Talker IDs) of the last 64 positioning reads.  The most recent read is stored at character 0.
+ *
+ * @returns A string of length 65 (including null terminator) containing the second letter of the source's talker-ID.  See http://catb.org/gpsd/NMEA.html#_talker_ids for more info.
+ */
+char* gps_sources();
+
 #if defined(__cplusplus)
 }
 #endif

Learn/Simple Libraries/Sensor/libgps/gps_run.c

@@ -21,7 +21,7 @@ gps_byte_t *ptrBuff;
 
 fdserial *gps_ser;
 
-
+void ParseTID(char tid);
 void ParseRMC();
 void ParseGGA();
 void PrepBuff();
@@ -31,6 +31,10 @@ void gps_run(void *par)
   gps_byte_t tempBuff[16];
   gps_byte_t ch;
   int idx;
+
+  // Set the string of constellation sources read to all <space> characters
+  memset(gps_data.talker_ids, ' ', sizeof(gps_data.talker_ids));
+  gps_data.talker_ids[64] = 0;
 
   gps_ser = fdserial_open(_gps_rx_pin, _gps_tx_pin, 0, _gps_baud);
   for(;;)
@@ -54,20 +58,51 @@ void gps_run(void *par)
     {
       ch = fdserial_rxChar(gps_ser);
       inBuff[idx++] = ch;      
-    }while(ch != 13);
+    } while(ch != 13);
     inBuff[idx] = 0;      //null terminate
 
     //got the full sentence, do a little prep work to get ready for parsing.
     //modifies inBuff!
     PrepBuff();
 
-    if(strncmp(inBuff, "GPRMC", 5) == 0)
-      ParseRMC();
-    if(strncmp(inBuff, "GPGGA", 5) == 0)
-      ParseGGA();
+    // Determine Constellation/Transmission Source:
+    // More info here: http://catb.org/gpsd/NMEA.html#_talker_ids
+    if(inBuff[0] == 'G' || inBuff[0] == 'B' || inBuff[0] == 'Q') 
+    {
+      if(inBuff[0] == 'B' && inBuff[1] == 'D')
+      {
+        // BeiDou has two different codes
+        // this sets the second char to 'B' if it's BeiDou.
+        inBuff[1] = 'B';
+      }        
+
+      if(inBuff[2] == 'R' && inBuff[3] == 'M' && inBuff[4] == 'C') 
+      {
+        ParseTID(inBuff[1]);
+        ParseRMC();
+      }     
+
+      if(inBuff[2] == 'G' && inBuff[3] == 'G' && inBuff[4] == 'A') 
+      {
+        ParseTID(inBuff[1]);
+        ParseGGA();
+      }        
+    }      
   }
 }
 
+void ParseTID(char tid)
+{
+  int gcr;
+  // Copy the letter-code for the constellation read from into the string
+  for (gcr = 0; gcr < 64; gcr++) 
+  {
+    gps_data.talker_ids[gcr + 1] = gps_data.talker_ids[gcr];
+  }
+  gps_data.talker_ids[64] = 0;
+  gps_data.talker_ids[0] = tid;
+} 
+
 void ParseRMC()
 {
   int i;
@@ -131,8 +166,6 @@ void ParseRMC()
     ptrBuff = strtok(NULL,",");
     i++;
   }
-
-
 }
 
 void ParseGGA()

Learn/Simple Libraries/Sensor/libgps/gps_sources.c

@@ -0,0 +1,39 @@
+/**
+ * @author Matthew Matz
+ *
+ * @copyright
+ * Copyright (C) Parallax, Inc. 2019. All Rights MIT Licensed.
+ *
+ * @version 0.60
+ */
+
+#include "gps.h"
+
+volatile nmea_data gps_data;
+
+char* gps_sources()
+{
+  return(gps_data.talker_ids);
+}
+
+/**
+ * TERMS OF USE: MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ *  to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */

Learn/Simple Libraries/Sensor/libgps/libgps.c

@@ -22,8 +22,8 @@
 //#define ENABLE_LCD
 #define ENABLE_PC
 
-#define GPS_RXIN_PIN  0
-#define GPS_TXOUT_PIN 1
+#define GPS_RXIN_PIN  13
+#define GPS_TXOUT_PIN -1
 #define GPS_BAUD      9600
 
 #define LCD_PIN       14
@@ -86,7 +86,7 @@ int main()                                    // main() function
     print("%f  %f", gps_latitude(), gps_longitude());
 
     //sleep for 1/4 second
-    usleep(250000);
+    pause(250);
 
 #endif                //end ENABLE_PC
 

Learn/Simple Libraries/Sensor/libgps/libgps.side

@@ -16,6 +16,7 @@ gps_satsTracked.c
 gps_velocity.c
 gps.h
 gps_txByte.c
+gps_sources.c
 >compiler=C
 >memtype=cmm main ram compact
 >optimize=-Os

version.txt

@@ -1 +1 @@
-v1.4.116
+v1.4.117