void parseHTM(char *stream) {
char token[15]; // Tokens set to 15 characters in length
// Initialize tokenizer with the data stream. This first token is ignored
// as it just contains "$PTNTHTM".
myTokenizer(stream, ',', token);
// 1.- True heading (x.x)
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
revoDataStore.heading.flData = atof(token);
}
// 2.- Magnetometer status (C,L,M,N,O,P,H)
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
revoDataStore.magStatus = token[0];
}
// 3.- Pitch angle (x.x)
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
revoDataStore.pitch.flData = atof(token);
}
// 4.- Pitch status (N,O,P)
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
revoDataStore.pitchStatus = token[0];
}
// 5.- Roll angle (x.x)
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
revoDataStore.roll.flData = atof(token);
}
// 6.- Roll status (N,O,P)
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
revoDataStore.rollStatus = token[0];
}
// 7.- Dip angle (x.x)
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
revoDataStore.dip.flData = atof(token);
}
// 7.- Relative magnitude horizontal component of Earth's magnetic field
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
revoDataStore.magneticMagnitude.usData = atoi(token);
}
// Turn the flag on of new data
revoDataStore.newData = 1;
}
void parseGGA(char* stream) {
// declare the local vars
char token[15]; // Declare a token to be 15 characters in length
char tmp [3] = {0, 0, '\0'}, tmp3[4] = {0, 0, 0, '\0'};
unsigned char chTmp = 0;
// initialize tokenizer, let go first token which holds the msg type
myTokenizer(stream, ',', token);
// 1.- hhmmss.ssss
myTokenizer(NULL, ',', token);
if (strlen(token) > 5) {
tmp[0] = token[0];
tmp[1] = token[1];
gpsControlData.hour = (unsigned char) atoi(tmp);
tmp[0] = token[2];
tmp[1] = token[3];
gpsControlData.min = (unsigned char) atoi(tmp);
tmp[0] = token[4];
tmp[1] = token[5];
gpsControlData.sec = (unsigned char) atoi(tmp);
}
// 2.- Latitude
// ddmm.mmmmmm
myTokenizer(NULL, ',', token);
//printf("token %s", token);
if (strlen(token) > 0) {
// get the first two values
tmp[0] = token[0];
tmp[1] = token[1];
// get the degrees
chTmp = (unsigned char) atoi(tmp);
printf("\r\ntmp: %s\r\nchtmp: %d\r\n", tmp, chTmp);
// make the degrees zero for minutes conversion
token[0] = '0';
token[1] = '0';
//printf("token: %s\r\n", token);
//printf("atof(token): %f\r\n", atof(token));
// get the float
gpsControlData.lat = degMinToDeg(chTmp, atof(token));
//printf("\r\nLatittude: %f", gpsControlData.lat);
// 3.- Latitude Sector
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
// Set the sign of the float value.
// South & west are negative, so we invert the sign in
// those cases. North/East don't change the value so no
// need to check those.
if (token[0] == 'S' || token[1] == 'W') {
gpsControlData.lat = -gpsControlData.lat;
}
}
}
//printf("\r\nLatittude: %f", gpsControlData.lat);
// 4.- Longitude
// ddmm.mmmmmm
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
// get the first two values
tmp3[0] = token[0];
tmp3[1] = token[1];
tmp3[2] = token[2];
// get the degrees
chTmp = (unsigned char) atoi(tmp3);
// make the degrees zero for minutes conversion
token[0] = '0';
token[1] = '0';
token [2] = '0';
// get the float
gpsControlData.lon = degMinToDeg(chTmp, atof(token));
// 5.- Longitude Sector
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
// set the sign of the float value
if (token[0] == 'S' || token[0] == 'W') {
gpsControlData.lon = -gpsControlData.lon;
}
}
}
// 6.- Quality Indicator
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
gpsControlData.fix = (char) atoi(token);
}
// 7.- Sats used in solution
// xx
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
gpsControlData.sats = (unsigned char) atoi(token);
}
// 8.- Horizontal dilution of solution given from 0 to 99.99 but
// stored from 0 - 990
//in integers, i.e HDOP = HDOP_stored/100 CAUTION
// xx.xx
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
gpsControlData.hdop.usData = (unsigned short) (atof(token)*10.0);
}
// 9.- Altitude above mean sea level given in meters
// xxx.xxx
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
gpsControlData.height = atof(token);
}
// turn the flag on of new data
gpsControlData.newData = 1;
}
void parseRMC(char* stream) {
// declare the local vars
char token[15]; // Tokens set to 15 characters in length
char tmp [3] = {0, 0, '\0'}, tmp3[4] = {0, 0, 0, '\0'}, tmp4[5] = {0, 0, 0, 0, '\0'};
unsigned char chTmp = 0;
// initialize tokenizer, let go first token which holds the msg type
// token = strtok(stream, ",");
myTokenizer(stream, ',', token);
// 1.- hhmmss.ssss
myTokenizer(NULL, ',', token);
//printf("Token for time: %s\t",token);
if (strlen(token) > 5) {
tmp[0] = token[0];
tmp[1] = token[1];
gpsControlData.hour = (unsigned char) atoi(tmp);
tmp[0] = token[2];
tmp[1] = token[3];
gpsControlData.min = (unsigned char) atoi(tmp);
tmp[0] = token[4];
tmp[1] = token[5];
gpsControlData.sec = (unsigned char) atoi(tmp);
tmp4[0] = token[7];
tmp4[1] = token[8];
tmp4[2] = token[9];
tmp4[3] = token[10];
//printf("%s\t",tmp4);
gpsControlData.millisec = (unsigned short) atoi(tmp4);
}
// 2.- Status of position Fix
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
if (token[0] == 'A' || token[0] == 'D') {
gpsControlData.fix = 1;
} else {
gpsControlData.fix = 0;
}
}
// 3.- Latitude
// ddmm.mmmmmm
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
// get the first two values
tmp[0] = token[0];
tmp[1] = token[1];
// get the degrees
chTmp = (unsigned char) atoi(tmp);
// make the degrees zero for minutes conversion
token[0] = '0';
token[1] = '0';
// get the float
gpsControlData.lat = degMinToDeg(chTmp, atof(token));
// 4.- Latitude Sector
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
// set the sign of the float value
if (token[0] == 'S' || token[0] == 'W') {
gpsControlData.lat = -gpsControlData.lat;
}
}
}
// 5.- Longitude
// dddmm.mmmmmm
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
// get the first two values
tmp3[0] = token[0];
tmp3[1] = token[1];
tmp3[2] = token[2];
// get the degrees
chTmp = (unsigned char) atoi(tmp3);
// make the degrees zero for minutes conversion
token[0] = '0';
token[1] = '0';
token [2] = '0';
// get the float
gpsControlData.lon = degMinToDeg(chTmp, atof(token));
// 6.- Longitude Sector
myTokenizer(NULL, ',', token);
if (strlen(token) == 1) {
// set the sign of the float value
if (token[0] == 'S' || token[0] == 'W') {
gpsControlData.lon = -gpsControlData.lon;
}
}
}
// 7.- SOG in knots but gets stored in cm/s CAUTION
// xx.xx
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
gpsControlData.sog.usData = (unsigned short) (atof(token) * KTS2MPS * 100.0);
}
// 8.- COG in degrees
// xxx.xxx
myTokenizer(NULL, ',', token);
if (strlen(token) > 0) {
gpsControlData.cog.usData = (unsigned short) atof(token);
}
// 9.- UTC Date
// ddmmyy
myTokenizer(NULL, ',', token);
if (strlen(token) > 5) {
// get day
tmp[0] = token[0];
tmp[1] = token[1];
gpsControlData.day = (unsigned char) atoi(tmp);
// get month
tmp[0] = token[2];
tmp[1] = token[3];
gpsControlData.month = (unsigned char) atoi(tmp);
// get year
tmp[0] = token[4];
tmp[1] = token[5];
gpsControlData.year = (unsigned char) atoi(tmp);
}
// turn the flag on of new data
gpsControlData.newData = 1;
}
