#include <stdio.h>#include <stdlib.h>#include <string.h>#include <stdarg.h>#include <vcs_bsp/vcsbsp.h>#include "gps.h"Include dependency graph for gps.c:
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Functions | |
| int | init_gps (void) |
| int | get_field (char *sentence, char *field, int field_num) |
| void | get_field_test (void) |
| int | gps_parse (char *sentence) |
| char * | gps_get (void) |
| int | evaluate_gps (void) |
| int | gps_show_raw (void) |
| int | gps_add_checksum (char *sentence) |
| int | gps_send (const char *fmt,...) |
Variables | |
| gps_t | buf_struct |
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Definition at line 180 of file gps.c. References buf_struct, gps_buffer::data, gps::db, and gps_buffer::status. Referenced by main(). 00180 {
00181 static char message_buffer[100]="";
00182 static char *buf_ptr = message_buffer;
00183 enum {LOCATE_SENTINEL,CRLF};
00184 static char parser_state=LOCATE_SENTINEL;
00185 static int char_counter=0;
00186 static int current_buffer=0;
00187 char temp;
00188 int ret_val=0;
00189 while ((temp=getchar_gps_nb())) { // Grab a character from the buffer.
00190 switch (parser_state) {
00191 case LOCATE_SENTINEL:
00192 if ((temp=='$')&&(buf_struct.db[current_buffer].status==EMPTY)) {
00193 buf_ptr=buf_struct.db[current_buffer].data;
00194 *buf_ptr++=temp;
00195 parser_state=CRLF;
00196 char_counter=1;
00197 }
00198 break;
00199 case CRLF:
00200 if (temp=='\r') {
00201 *buf_ptr++='\n';
00202 *buf_ptr=0;
00203 buf_struct.db[current_buffer++].status=READY;
00204 if (current_buffer==GPS_BUF_NUM) {
00205 current_buffer=0;
00206 }
00207 parser_state=LOCATE_SENTINEL;
00208 }
00209 else {
00210 if (char_counter++<100) {
00211 *buf_ptr++=temp;
00212 }
00213 else {
00214 parser_state=LOCATE_SENTINEL;
00215 }
00216 }
00217 break;
00218 }
00219 }
00220 return (ret_val);
00221 }
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Definition at line 68 of file gps.c. Referenced by get_field_test(), and gps_parse(). 00068 {
00069 // Function returns 1 if the requested field is found.
00070 // 0 is returned if the end of "sentence" is found
00071 // before the desired field is located.
00072 // The field is copied to the buffer starting at "field".
00073 char *field_ptr=0;
00074 char *field_start=0;
00075 char ret_val=0;
00076 field_ptr=field_start=sentence;
00077 while (*field_ptr) {
00078 if ((*field_ptr==',')||(*field_ptr=='*')) {
00079 if (!field_num) {
00080 while (field_start<field_ptr) {
00081 *field++=*field_start++;
00082 }
00083 *field=0;
00084 ret_val=1;
00085 break;
00086 }
00087 else {
00088 field_start=field_ptr+1;
00089 field_num--;
00090 }
00091 }
00092 field_ptr++;
00093 }
00094 return (ret_val);
00095 }
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Definition at line 97 of file gps.c. References get_field(). 00097 {
00098 char sentence[]="$foo,,,3,4,5,6,7,8,9,10,11,12*5E";
00099 char field_buf[20]="";
00100 int i;
00101 for (i=0;i<16;i++) {
00102 if (get_field(sentence,field_buf,i)) {
00103 printf("%s\n",field_buf);
00104 }
00105 else {
00106 printf("returned 0\n");
00107 }
00108 flush_uart0();
00109 }
00110 }
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Definition at line 237 of file gps.c. Referenced by gps_send(). 00237 {
00238 unsigned char sum = '\0';
00239 char c, *p = sentence;
00240 int ret_val=0;
00241
00242 if (*p == '$') {
00243 p++;
00244 }
00245 else {
00246 ret_val=1;
00247 }
00248 while ( ((c = *p) != '*') && (c != '\0')) {
00249 sum ^= c;
00250 p++;
00251 }
00252 *p++ = '*';
00253 (void)snprintf(p, 5, "%02X\r\n", (unsigned)sum);
00254 return (ret_val);
00255 }
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Definition at line 167 of file gps.c. References buf_struct, gps_buffer::data, gps::db, and gps_buffer::status. Referenced by main(). 00167 {
00168 char *ret_val=0;
00169 static int gps_buf=0;
00170 if (buf_struct.db[gps_buf].status==READY) {
00171 ret_val=buf_struct.db[gps_buf].data;
00172 buf_struct.db[gps_buf++].status=EMPTY;
00173 if (gps_buf==GPS_BUF_NUM) {
00174 gps_buf=0;
00175 }
00176 }
00177 return (ret_val);
00178 }
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Definition at line 112 of file gps.c. References DATE, EVEL, FIX, get_field(), HPE, LATITUDE, LONGITUDE, NVEL, and TIME. Referenced by main(). 00112 {
00113 static int gps_avail=0;
00114 char buf[20];
00115 const char PGRMF[]="$PGRMF";
00116 const char PGRME[]="$PGRME";
00117 const char PGRMV[]="$PGRMV";
00118 int ret_val=0;
00119
00120 if (get_field(sentence,buf,0)) {
00121 if (!strcmp(buf,PGRMF)) {
00122 if (get_field(sentence,buf,FIX)) {
00123 if ((gps_avail=atoi(buf))) {
00124 if (get_field(sentence,buf,DATE)) {
00125 printf("DATE=%s ",buf);
00126 }
00127 if (get_field(sentence,buf,TIME)) {
00128 printf("TIME=%s ",buf);
00129 }
00130 if (get_field(sentence,buf,LATITUDE)) {
00131 printf("LAT=%s ",buf);
00132 }
00133 if (get_field(sentence,buf,LONGITUDE)) {
00134 printf("LON=%s ",buf);
00135 }
00136 }
00137 else {
00138 printf("NO FIX\n");
00139 }
00140 flush_uart0();
00141 }
00142 }
00143 else if (!strcmp(buf,PGRME)) {
00144 if (gps_avail) {
00145 if (get_field(sentence,buf,HPE)) {
00146 printf("ERR=%s ",buf);
00147 flush_uart0();
00148 }
00149 }
00150 }
00151 else if (!strcmp(buf,PGRMV)) {
00152 if (gps_avail) {
00153 if (get_field(sentence,buf,NVEL)) {
00154 printf("NVEL=%s ",buf);
00155 }
00156 if (get_field(sentence,buf,EVEL)) {
00157 printf("EVEL=%s ",buf);
00158 }
00159 printf("\n");
00160 flush_uart0();
00161 }
00162 }
00163 }
00164 return(ret_val);
00165 }
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Definition at line 257 of file gps.c. References gps_add_checksum(). Referenced by init_gps(). 00257 {
00258 static int init=0;
00259 int ret_val=0;
00260 char buf[100];
00261 if (!init) {
00262 uprintf(&putchar_gps,"\r\n"); // Send a CR/LF to clean out any previous partial commands.
00263 init=1;
00264 }
00265 va_list ap;
00266 va_start(ap, fmt) ;
00267 (void)vsnprintf(buf, sizeof(buf)-5, fmt, ap);
00268 va_end(ap);
00269 if (fmt[0] == '$') {
00270 strcat(buf, "*");
00271 if (gps_add_checksum(buf)) {
00272 ret_val=1;
00273 }
00274 }
00275 else {
00276 strcat(buf, "\r\n");
00277 }
00278 if (!ret_val) {
00279 uprintf(&putchar_gps,"%s",buf);
00280 flush_uart1();
00281 }
00282 return (ret_val);
00283 }
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Definition at line 223 of file gps.c. 00223 {
00224 char temp;
00225 char message_buffer[100]="";
00226 char *buf_ptr = message_buffer;
00227
00228 while ((temp=getchar_gps_nb())) {
00229 *buf_ptr++=temp;
00230 }
00231 *buf_ptr=0;
00232 printf("%s",message_buffer);
00233 flush_uart0();
00234 return (1);
00235 }
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Definition at line 54 of file gps.c. References buf_struct, gps::db, gps_send(), and gps_buffer::status. Referenced by main(). 00054 {
00055 buf_struct.db[0].status=EMPTY; // Initialize the structures used to store the GPS sentences
00056 buf_struct.db[1].status=EMPTY;
00057
00058 gps_send("$PGRMC,,,,,,,,,,,,2,,"); // Turn on the periodic pulse output from the GPS.
00059 gps_send("$PGRMC1,,,,,,,,,,,,,2"); // Periodic Pulse will turn off when GPS data not available.
00060 gps_send("$PGRMO,,2"); // Turn on all of the sentences
00061 while (!flush_uart1());
00062 gps_send("$PGRMO,PGRMF,1"); // Turn on the GPS Fix Data Sentence
00063 gps_send("$PGRMO,PGRME,1"); // Turn on the Estimate Error Sentence
00064 gps_send("$PGRMO,PGRMV,1"); // Turn on the 3D Velocity Information
00065 return (0);
00066 }
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Definition at line 52 of file gps.c. Referenced by evaluate_gps(), gps_get(), and init_gps(). |
1.3.9.1