unsigned long Gps::parse_decimal()
{
char *p = _term;
bool isneg = *p == '-';
if (isneg)
{
++p; // skip heading '-'
}
unsigned long ret = 100UL * gpsatol(p); // gpsatol = generalPtrStrToLong => convert int-part to long: 90.239 => 100*90
while (gpsisdigit(*p))
{
++p; // skip converted digits '.'
}
if (*p == '.')
{
if (gpsisdigit(p[1])) // any number behind '.' ?
{
ret += 10 * (p[1] - '0'); // add first decimal
if (gpsisdigit(p[2]))
ret += p[2] - '0'; // add second decimal - note all meter values are converted to cm with the precision of 2 digits
}
}
return isneg ? -ret : ret; // negate result if isneg is set
}
unsigned long Gps::ParseDegrees()
{
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;
}
unsigned long TinyGPS::parse_degrees()
{
char *p;
unsigned long left = gpsatol(_term);
unsigned long tenk_minutes = (left % 100UL) * 10000UL;
for (p=_term; gpsisdigit(*p); ++p);
if (*p == '.')
{
unsigned long mult = 1000;
while (gpsisdigit(*++p))
{
tenk_minutes += mult * (*p - '0');
mult /= 10;
}
}
return (left / 100) * 100000 + tenk_minutes / 6;
}
unsigned long GPS::parse_degrees() // term=5000.0095 (50° 00' 0.0095*60'')
{ // (D)DDMM.MMMM is the format
char *p;
unsigned long left = gpsatol(_term); // get (D)DDMM in left
unsigned long tenk_minutes = (left % 100UL) * 10000UL; // get MM*10000
for (p=_term; gpsisdigit(*p); ++p); // advance to '.'
if (*p == '.')
{
unsigned long mult = 1000;
while (gpsisdigit(*++p))
{
tenk_minutes += mult * (*p - '0');
mult /= 10;
}
}
return (left / 100) * 100000 + tenk_minutes / 6; // DDD * 100000 + tenk_minutes/6=°*10*10000
}
unsigned long Gps::ParseDecimal()
{
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;
}
// 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;
_rmc_ready = true;
break;
case _GPS_SENTENCE_GPGGA:
_altitude = _new_altitude;
_time = _new_time;
_latitude = _new_latitude;
_longitude = _new_longitude;
_gga_ready = true;
_hdop = _new_hdop;
_sat_count = _new_sat_count;
case _GPS_SENTENCE_GPGSV:
_gsv_ready = true;
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 if (!gpsstrcmp(_term, _GPGSV_TERM))
_sentence_type = _GPS_SENTENCE_GPGSV;
else
_sentence_type = _GPS_SENTENCE_OTHER;
return false;
}
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
switch((_sentence_type == _GPS_SENTENCE_GPGGA ? 200 : 100) + _term_number)
{
case 101: // Time in both sentences
case 201:
_new_time = parse_decimal();
_new_time_fix = millis();
break;
case 102: // GPRMC validity
_gps_data_good = _term[0] == 'A';
break;
case 103: // Latitude
case 202:
_new_latitude = parse_degrees();
_new_position_fix = millis();
break;
case 104: // N/S
case 203:
if (_term[0] == 'S')
_new_latitude = -_new_latitude;
break;
case 105: // Longitude
case 204:
_new_longitude = parse_degrees();
break;
case 106: // E/W
case 205:
if (_term[0] == 'W')
_new_longitude = -_new_longitude;
break;
case 107: // Speed (GPRMC)
_new_speed = parse_decimal();
break;
case 108: // Course (GPRMC)
_new_course = parse_decimal();
break;
case 109: // Date (GPRMC)
_new_date = gpsatol(_term);
break;
case 206: // Fix data (GPGGA)
_gps_data_good = _term[0] > '0';
break;
case 207: // Number of satelites tracked (GPGGA)
_new_sat_count = parse_decimal();
break;
case 208: // Horizontal Dilution of Position (GPGGA)
_new_hdop = parse_decimal();
break;
case 209: // Altitude (GPGGA)
_new_altitude = parse_decimal();
break;
} /* switch */
return false;
}
// 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;
}
// Processes a just-completed term
// Returns true if new sentence has just passed checksum test and is validated
bool Gps::term_complete()
{
//Console.println("compl");
if (_is_checksum_term)
{
byte checksum = (byte)(16 * from_hex(_term[0]) + from_hex(_term[1]));
//Console.print(checksum);
//Console.print(",");
//Console.println(_parity);
if (checksum == _parity)
{
//if (1==1)
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;
default:
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) ; 0=invalid, 1=GPS fix, 2=DGPS fix, 6=estimation
_gps_data_good = _term[0] > '0';
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 7): // NN-Satellites used (GPGGA): 00-12
_new_numsats = (unsigned char)atoi(_term);
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 8): // D.D - HDOP (GPGGA) - horizontal deviation
_new_hdop = parse_decimal();
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 9): // H.H - Altitude (GPGGA)
_new_altitude = parse_decimal();
break;
default:
break;
}
}
return false;
}
// 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;
_sats = _new_sats;
break;
// terry
case _GPS_SENTENCE_PUBX:
_time = _new_time;
_latitude = _new_latitude;
_longitude = _new_longitude;
_speed = _new_speed;
_course = _new_course;
_altitude = _new_altitude;
_sats = _new_sats; //nigey
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;
// terry
else if (!gpsstrcmp(_term, _PUBX_TERM))
_sentence_type = _GPS_SENTENCE_PUBX;
//
else
_sentence_type = _GPS_SENTENCE_OTHER;
return false;
}
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
// terry
switch(_sentence_type) {
case _GPS_SENTENCE_GPRMC:
_term_id = 100 + _term_number;
break;
case _GPS_SENTENCE_GPGGA:
_term_id = 200 + _term_number;
break;
case _GPS_SENTENCE_PUBX:
_term_id = 300 + _term_number;
break;
}
//
switch(_term_id) // terry
{
case 101: // Time in both sentences
case 201:
case 302: // terry (time PUBX 00)
_new_time = parse_decimal();
_new_time_fix = millis();
break;
case 102: // GPRMC validity
_gps_data_good = _term[0] == 'A';
break;
case 103: // Latitude
case 202:
case 303: // terry (lat PUBX 00)
_new_latitude = parse_degrees();
_new_position_fix = millis();
break;
case 104: // N/S
case 203:
case 304: // terry (N/S PUBX 00)
if (_term[0] == 'S')
_new_latitude = -_new_latitude;
break;
case 105: // Longitude
case 204:
case 305: // terry (lon PUBX 00)
_new_longitude = parse_degrees();
break;
case 106: // E/W
case 205:
case 306: // terry (E/W PUBX 00)
if (_term[0] == 'W')
_new_longitude = -_new_longitude;
break;
case 107: // Speed (GPRMC)
_new_speed = parse_decimal();
break;
case 108: // Course (GPRMC)
case 312: // terry (course PUBX 00)
_new_course = parse_decimal();
break;
case 109: // Date (GPRMC)
_new_date = gpsatol(_term);
break;
case 206: // Fix data (GPGGA)
_gps_data_good = _term[0] > '0';
break;
case 209: // Altitude (GPGGA)
case 307: // terry (altitude PUBX 00)
_new_altitude = parse_decimal();
break;
// terry
case 301: // PUBX message ID (we want 0)
if (_term[0] == '0' && _term[1] == '0') _gps_data_good = 1;
break;
case 311: // (km/h speed PUBX 00)
_new_speed = parse_decimal() / _GPS_KMPH_PER_KNOT;
break;
case 207: // sats (GPGGA); // (nigey) sats
_new_sats = atoi(_term);
break;
//
}
return false;
}
void parse_gps_term(void)
{
if (gps_checksum_term)
{
unsigned char checksum = 16 * gps_from_hex(gps_term[0]) + gps_from_hex(gps_term[1]);
if (checksum == gps_parity)
{
if (gps_data_good)
{
gps_last_time_fix = gps_new_time_fix;
gps_last_position_fix = gps_new_position_fix;
switch(gps_sentence_type)
{
case GPS_SENTENCE_GPRMC:
gps_time = gps_new_time;
gps_date = gps_new_date;
gps_latitude = gps_new_latitude;
gps_longitude = gps_new_longitude;
gps_speed = gps_new_speed;
gps_course = gps_new_course;
break;
case GPS_SENTENCE_GPGGA:
gps_altitude = gps_new_altitude;
gps_time = gps_new_time;
gps_latitude = gps_new_latitude;
gps_longitude = gps_new_longitude;
gps_numsats = gps_new_numsats;
gps_hdop = gps_new_hdop;
break;
}
return;
}
}
return;
}
// the first term determines the sentence type
if (gps_term_number == 0)
{
if (!gpsstrcmp(gps_term, GPRMC_TERM))
gps_sentence_type = GPS_SENTENCE_GPRMC;
else if (!gpsstrcmp(gps_term, GPGGA_TERM))
gps_sentence_type = GPS_SENTENCE_GPGGA;
else
gps_sentence_type = GPS_SENTENCE_OTHER;
return;
}
if (gps_sentence_type != GPS_SENTENCE_OTHER && gps_term[0])
switch(COMBINE(gps_sentence_type, gps_term_number))
{
case COMBINE(GPS_SENTENCE_GPRMC, 1): // Time in both sentences
case COMBINE(GPS_SENTENCE_GPGGA, 1):
gps_new_time = gps_parse_decimal();
gps_new_time_fix = main_get_msclock_ticks();
break;
case COMBINE(GPS_SENTENCE_GPRMC, 2): // GPRMC validity
gps_data_good = gps_term[0] == 'A';
break;
case COMBINE(GPS_SENTENCE_GPRMC, 3): // Latitude
case COMBINE(GPS_SENTENCE_GPGGA, 2):
gps_new_latitude = gps_parse_degrees();
gps_new_position_fix = main_get_msclock_ticks();
break;
case COMBINE(GPS_SENTENCE_GPRMC, 4): // N/S
case COMBINE(GPS_SENTENCE_GPGGA, 3):
if (gps_term[0] == 'S')
gps_new_latitude = -gps_new_latitude;
break;
case COMBINE(GPS_SENTENCE_GPRMC, 5): // Longitude
case COMBINE(GPS_SENTENCE_GPGGA, 4):
gps_new_longitude = gps_parse_degrees();
break;
case COMBINE(GPS_SENTENCE_GPRMC, 6): // E/W
case COMBINE(GPS_SENTENCE_GPGGA, 5):
if (gps_term[0] == 'W')
gps_new_longitude = -gps_new_longitude;
break;
case COMBINE(GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
gps_new_speed = gps_parse_decimal();
break;
case COMBINE(GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
gps_new_course = gps_parse_decimal();
break;
case COMBINE(GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
gps_new_date = gpsatol(gps_term);
break;
case COMBINE(GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
gps_data_good = gps_term[0] > '0';
break;
case COMBINE(GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
gps_new_numsats = (unsigned char)atoi(gps_term);
break;
case COMBINE(GPS_SENTENCE_GPGGA, 8): // HDOP
gps_new_hdop = gps_parse_decimal();
break;
case COMBINE(GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
gps_new_altitude = gps_parse_decimal();
break;
}
}
