restructure for msCode
This commit is contained in:
429
.pio/libdeps/m5stack-core-esp32/TinyGPS/TinyGPS.cpp
Normal file
429
.pio/libdeps/m5stack-core-esp32/TinyGPS/TinyGPS.cpp
Normal file
@@ -0,0 +1,429 @@
|
||||
/*
|
||||
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
|
||||
Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
|
||||
Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
|
||||
Precision improvements suggested by Wayne Holder.
|
||||
Copyright (C) 2008-2013 Mikal Hart
|
||||
All rights reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library 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
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#include "TinyGPS.h"
|
||||
|
||||
#define _GPRMC_TERM "GPRMC"
|
||||
#define _GPGGA_TERM "GPGGA"
|
||||
|
||||
TinyGPS::TinyGPS()
|
||||
: _time(GPS_INVALID_TIME)
|
||||
, _date(GPS_INVALID_DATE)
|
||||
, _latitude(GPS_INVALID_ANGLE)
|
||||
, _longitude(GPS_INVALID_ANGLE)
|
||||
, _altitude(GPS_INVALID_ALTITUDE)
|
||||
, _speed(GPS_INVALID_SPEED)
|
||||
, _course(GPS_INVALID_ANGLE)
|
||||
, _hdop(GPS_INVALID_HDOP)
|
||||
, _numsats(GPS_INVALID_SATELLITES)
|
||||
, _last_time_fix(GPS_INVALID_FIX_TIME)
|
||||
, _last_position_fix(GPS_INVALID_FIX_TIME)
|
||||
, _parity(0)
|
||||
, _is_checksum_term(false)
|
||||
, _sentence_type(_GPS_SENTENCE_OTHER)
|
||||
, _term_number(0)
|
||||
, _term_offset(0)
|
||||
, _gps_data_good(false)
|
||||
#ifndef _GPS_NO_STATS
|
||||
, _encoded_characters(0)
|
||||
, _good_sentences(0)
|
||||
, _failed_checksum(0)
|
||||
#endif
|
||||
{
|
||||
_term[0] = '\0';
|
||||
}
|
||||
|
||||
//
|
||||
// public methods
|
||||
//
|
||||
|
||||
bool TinyGPS::encode(char c)
|
||||
{
|
||||
bool valid_sentence = false;
|
||||
|
||||
#ifndef _GPS_NO_STATS
|
||||
++_encoded_characters;
|
||||
#endif
|
||||
switch(c)
|
||||
{
|
||||
case ',': // term terminators
|
||||
_parity ^= c;
|
||||
case '\r':
|
||||
case '\n':
|
||||
case '*':
|
||||
if (_term_offset < sizeof(_term))
|
||||
{
|
||||
_term[_term_offset] = 0;
|
||||
valid_sentence = term_complete();
|
||||
}
|
||||
++_term_number;
|
||||
_term_offset = 0;
|
||||
_is_checksum_term = c == '*';
|
||||
return valid_sentence;
|
||||
|
||||
case '$': // sentence begin
|
||||
_term_number = _term_offset = 0;
|
||||
_parity = 0;
|
||||
_sentence_type = _GPS_SENTENCE_OTHER;
|
||||
_is_checksum_term = false;
|
||||
_gps_data_good = false;
|
||||
return valid_sentence;
|
||||
}
|
||||
|
||||
// ordinary characters
|
||||
if (_term_offset < sizeof(_term) - 1)
|
||||
_term[_term_offset++] = c;
|
||||
if (!_is_checksum_term)
|
||||
_parity ^= c;
|
||||
|
||||
return valid_sentence;
|
||||
}
|
||||
|
||||
#ifndef _GPS_NO_STATS
|
||||
void TinyGPS::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
|
||||
{
|
||||
if (chars) *chars = _encoded_characters;
|
||||
if (sentences) *sentences = _good_sentences;
|
||||
if (failed_cs) *failed_cs = _failed_checksum;
|
||||
}
|
||||
#endif
|
||||
|
||||
//
|
||||
// internal utilities
|
||||
//
|
||||
int TinyGPS::from_hex(char a)
|
||||
{
|
||||
if (a >= 'A' && a <= 'F')
|
||||
return a - 'A' + 10;
|
||||
else if (a >= 'a' && a <= 'f')
|
||||
return a - 'a' + 10;
|
||||
else
|
||||
return a - '0';
|
||||
}
|
||||
|
||||
unsigned long TinyGPS::parse_decimal()
|
||||
{
|
||||
char *p = _term;
|
||||
bool isneg = *p == '-';
|
||||
if (isneg) ++p;
|
||||
unsigned long ret = 100UL * gpsatol(p);
|
||||
while (gpsisdigit(*p)) ++p;
|
||||
if (*p == '.')
|
||||
{
|
||||
if (gpsisdigit(p[1]))
|
||||
{
|
||||
ret += 10 * (p[1] - '0');
|
||||
if (gpsisdigit(p[2]))
|
||||
ret += p[2] - '0';
|
||||
}
|
||||
}
|
||||
return isneg ? -ret : ret;
|
||||
}
|
||||
|
||||
// Parse a string in the form ddmm.mmmmmmm...
|
||||
unsigned long TinyGPS::parse_degrees()
|
||||
{
|
||||
char *p;
|
||||
unsigned long left_of_decimal = gpsatol(_term);
|
||||
unsigned long hundred1000ths_of_minute = (left_of_decimal % 100UL) * 100000UL;
|
||||
for (p=_term; gpsisdigit(*p); ++p);
|
||||
if (*p == '.')
|
||||
{
|
||||
unsigned long mult = 10000;
|
||||
while (gpsisdigit(*++p))
|
||||
{
|
||||
hundred1000ths_of_minute += mult * (*p - '0');
|
||||
mult /= 10;
|
||||
}
|
||||
}
|
||||
return (left_of_decimal / 100) * 1000000 + (hundred1000ths_of_minute + 3) / 6;
|
||||
}
|
||||
|
||||
#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
|
||||
|
||||
// Processes a just-completed term
|
||||
// Returns true if new sentence has just passed checksum test and is validated
|
||||
bool TinyGPS::term_complete()
|
||||
{
|
||||
if (_is_checksum_term)
|
||||
{
|
||||
byte checksum = 16 * from_hex(_term[0]) + from_hex(_term[1]);
|
||||
if (checksum == _parity)
|
||||
{
|
||||
if (_gps_data_good)
|
||||
{
|
||||
#ifndef _GPS_NO_STATS
|
||||
++_good_sentences;
|
||||
#endif
|
||||
_last_time_fix = _new_time_fix;
|
||||
_last_position_fix = _new_position_fix;
|
||||
|
||||
switch(_sentence_type)
|
||||
{
|
||||
case _GPS_SENTENCE_GPRMC:
|
||||
_time = _new_time;
|
||||
_date = _new_date;
|
||||
_latitude = _new_latitude;
|
||||
_longitude = _new_longitude;
|
||||
_speed = _new_speed;
|
||||
_course = _new_course;
|
||||
break;
|
||||
case _GPS_SENTENCE_GPGGA:
|
||||
_altitude = _new_altitude;
|
||||
_time = _new_time;
|
||||
_latitude = _new_latitude;
|
||||
_longitude = _new_longitude;
|
||||
_numsats = _new_numsats;
|
||||
_hdop = _new_hdop;
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef _GPS_NO_STATS
|
||||
else
|
||||
++_failed_checksum;
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
// the first term determines the sentence type
|
||||
if (_term_number == 0)
|
||||
{
|
||||
if (!gpsstrcmp(_term, _GPRMC_TERM))
|
||||
_sentence_type = _GPS_SENTENCE_GPRMC;
|
||||
else if (!gpsstrcmp(_term, _GPGGA_TERM))
|
||||
_sentence_type = _GPS_SENTENCE_GPGGA;
|
||||
else
|
||||
_sentence_type = _GPS_SENTENCE_OTHER;
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
|
||||
switch(COMBINE(_sentence_type, _term_number))
|
||||
{
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 1): // Time in both sentences
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 1):
|
||||
_new_time = parse_decimal();
|
||||
_new_time_fix = millis();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 2): // GPRMC validity
|
||||
_gps_data_good = _term[0] == 'A';
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 3): // Latitude
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 2):
|
||||
_new_latitude = parse_degrees();
|
||||
_new_position_fix = millis();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 4): // N/S
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 3):
|
||||
if (_term[0] == 'S')
|
||||
_new_latitude = -_new_latitude;
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 5): // Longitude
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 4):
|
||||
_new_longitude = parse_degrees();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 6): // E/W
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 5):
|
||||
if (_term[0] == 'W')
|
||||
_new_longitude = -_new_longitude;
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
|
||||
_new_speed = parse_decimal();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
|
||||
_new_course = parse_decimal();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
|
||||
_new_date = gpsatol(_term);
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
|
||||
_gps_data_good = _term[0] > '0';
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
|
||||
_new_numsats = (unsigned char)atoi(_term);
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 8): // HDOP
|
||||
_new_hdop = parse_decimal();
|
||||
break;
|
||||
case COMBINE(_GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
|
||||
_new_altitude = parse_decimal();
|
||||
break;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
long TinyGPS::gpsatol(const char *str)
|
||||
{
|
||||
long ret = 0;
|
||||
while (gpsisdigit(*str))
|
||||
ret = 10 * ret + *str++ - '0';
|
||||
return ret;
|
||||
}
|
||||
|
||||
int TinyGPS::gpsstrcmp(const char *str1, const char *str2)
|
||||
{
|
||||
while (*str1 && *str1 == *str2)
|
||||
++str1, ++str2;
|
||||
return *str1;
|
||||
}
|
||||
|
||||
/* static */
|
||||
float TinyGPS::distance_between (float lat1, float long1, float lat2, float long2)
|
||||
{
|
||||
// returns distance in meters between two positions, both specified
|
||||
// as signed decimal-degrees latitude and longitude. Uses great-circle
|
||||
// distance computation for hypothetical sphere of radius 6372795 meters.
|
||||
// Because Earth is no exact sphere, rounding errors may be up to 0.5%.
|
||||
// Courtesy of Maarten Lamers
|
||||
float delta = radians(long1-long2);
|
||||
float sdlong = sin(delta);
|
||||
float cdlong = cos(delta);
|
||||
lat1 = radians(lat1);
|
||||
lat2 = radians(lat2);
|
||||
float slat1 = sin(lat1);
|
||||
float clat1 = cos(lat1);
|
||||
float slat2 = sin(lat2);
|
||||
float clat2 = cos(lat2);
|
||||
delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
|
||||
delta = sq(delta);
|
||||
delta += sq(clat2 * sdlong);
|
||||
delta = sqrt(delta);
|
||||
float denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
|
||||
delta = atan2(delta, denom);
|
||||
return delta * 6372795;
|
||||
}
|
||||
|
||||
float TinyGPS::course_to (float lat1, float long1, float lat2, float long2)
|
||||
{
|
||||
// returns course in degrees (North=0, West=270) from position 1 to position 2,
|
||||
// both specified as signed decimal-degrees latitude and longitude.
|
||||
// Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
|
||||
// Courtesy of Maarten Lamers
|
||||
float dlon = radians(long2-long1);
|
||||
lat1 = radians(lat1);
|
||||
lat2 = radians(lat2);
|
||||
float a1 = sin(dlon) * cos(lat2);
|
||||
float a2 = sin(lat1) * cos(lat2) * cos(dlon);
|
||||
a2 = cos(lat1) * sin(lat2) - a2;
|
||||
a2 = atan2(a1, a2);
|
||||
if (a2 < 0.0)
|
||||
{
|
||||
a2 += TWO_PI;
|
||||
}
|
||||
return degrees(a2);
|
||||
}
|
||||
|
||||
const char *TinyGPS::cardinal (float course)
|
||||
{
|
||||
static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
|
||||
|
||||
int direction = (int)((course + 11.25f) / 22.5f);
|
||||
return directions[direction % 16];
|
||||
}
|
||||
|
||||
// lat/long in MILLIONTHs of a degree and age of fix in milliseconds
|
||||
// (note: versions 12 and earlier gave this value in 100,000ths of a degree.
|
||||
void TinyGPS::get_position(long *latitude, long *longitude, unsigned long *fix_age)
|
||||
{
|
||||
if (latitude) *latitude = _latitude;
|
||||
if (longitude) *longitude = _longitude;
|
||||
if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ?
|
||||
GPS_INVALID_AGE : millis() - _last_position_fix;
|
||||
}
|
||||
|
||||
// date as ddmmyy, time as hhmmsscc, and age in milliseconds
|
||||
void TinyGPS::get_datetime(unsigned long *date, unsigned long *time, unsigned long *age)
|
||||
{
|
||||
if (date) *date = _date;
|
||||
if (time) *time = _time;
|
||||
if (age) *age = _last_time_fix == GPS_INVALID_FIX_TIME ?
|
||||
GPS_INVALID_AGE : millis() - _last_time_fix;
|
||||
}
|
||||
|
||||
void TinyGPS::f_get_position(float *latitude, float *longitude, unsigned long *fix_age)
|
||||
{
|
||||
long lat, lon;
|
||||
get_position(&lat, &lon, fix_age);
|
||||
*latitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lat / 1000000.0);
|
||||
*longitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lon / 1000000.0);
|
||||
}
|
||||
|
||||
void TinyGPS::crack_datetime(int *year, byte *month, byte *day,
|
||||
byte *hour, byte *minute, byte *second, byte *hundredths, unsigned long *age)
|
||||
{
|
||||
unsigned long date, time;
|
||||
get_datetime(&date, &time, age);
|
||||
if (year)
|
||||
{
|
||||
*year = date % 100;
|
||||
*year += *year > 80 ? 1900 : 2000;
|
||||
}
|
||||
if (month) *month = (date / 100) % 100;
|
||||
if (day) *day = date / 10000;
|
||||
if (hour) *hour = time / 1000000;
|
||||
if (minute) *minute = (time / 10000) % 100;
|
||||
if (second) *second = (time / 100) % 100;
|
||||
if (hundredths) *hundredths = time % 100;
|
||||
}
|
||||
|
||||
float TinyGPS::f_altitude()
|
||||
{
|
||||
return _altitude == GPS_INVALID_ALTITUDE ? GPS_INVALID_F_ALTITUDE : _altitude / 100.0;
|
||||
}
|
||||
|
||||
float TinyGPS::f_course()
|
||||
{
|
||||
return _course == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : _course / 100.0;
|
||||
}
|
||||
|
||||
float TinyGPS::f_speed_knots()
|
||||
{
|
||||
return _speed == GPS_INVALID_SPEED ? GPS_INVALID_F_SPEED : _speed / 100.0;
|
||||
}
|
||||
|
||||
float TinyGPS::f_speed_mph()
|
||||
{
|
||||
float sk = f_speed_knots();
|
||||
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPH_PER_KNOT * sk;
|
||||
}
|
||||
|
||||
float TinyGPS::f_speed_mps()
|
||||
{
|
||||
float sk = f_speed_knots();
|
||||
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPS_PER_KNOT * sk;
|
||||
}
|
||||
|
||||
float TinyGPS::f_speed_kmph()
|
||||
{
|
||||
float sk = f_speed_knots();
|
||||
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_KMPH_PER_KNOT * sk;
|
||||
}
|
||||
|
||||
const float TinyGPS::GPS_INVALID_F_ANGLE = 1000.0;
|
||||
const float TinyGPS::GPS_INVALID_F_ALTITUDE = 1000000.0;
|
||||
const float TinyGPS::GPS_INVALID_F_SPEED = -1.0;
|
||||
Reference in New Issue
Block a user