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Nigreon 2020-07-08 23:46:02 +02:00
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#include <NeoGPS_cfg.h>
#include <ublox/ubxNMEA.h>
//======================================================================
// Program: PUBX.ino
//
// Description: This program parses NMEA proprietary messages from
// ublox devices. It is an extension of NMEA.ino.
//
// Prerequisites:
// 1) You have a ublox GPS device
// 2) NMEA.ino works with your device
// 3) You have installed ubxNMEA.H and ubxNMEA.CPP
// 4) At least one NMEA standard or proprietary sentence has been enabled.
// 5) Implicit Merging is disabled.
//
// Serial is for debug output to the Serial Monitor window.
//
// License:
// Copyright (C) 2014-2017, SlashDevin
//
// This file is part of NeoGPS
//
// NeoGPS is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// NeoGPS 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with NeoGPS. If not, see <http://www.gnu.org/licenses/>.
//
//======================================================================
#include <GPSport.h>
#include <Streamers.h>
//------------------------------------------------------------
// Check that the config files are set up properly
#if !defined( NMEAGPS_PARSE_GGA ) & !defined( NMEAGPS_PARSE_GLL ) & \
!defined( NMEAGPS_PARSE_GSA ) & !defined( NMEAGPS_PARSE_GSV ) & \
!defined( NMEAGPS_PARSE_RMC ) & !defined( NMEAGPS_PARSE_VTG ) & \
!defined( NMEAGPS_PARSE_ZDA ) & !defined( NMEAGPS_PARSE_GST ) & \
!defined( NMEAGPS_PARSE_PUBX_00 ) & !defined( NMEAGPS_PARSE_PUBX_04 )
#error No NMEA sentences enabled: no fix data available.
#endif
#if !defined( NMEAGPS_PARSE_PUBX_00 ) & !defined( NMEAGPS_PARSE_PUBX_04 )
#error No PUBX messages enabled! You must enable one or more in PUBX_cfg.h!
#endif
#ifndef NMEAGPS_DERIVED_TYPES
#error You must "#define NMEAGPS_DERIVED_TYPES" in NMEAGPS_cfg.h!
#endif
#ifndef NMEAGPS_EXPLICIT_MERGING
#error You must define NMEAGPS_EXPLICIT_MERGING in NMEAGPS_cfg.h
#endif
#ifdef NMEAGPS_INTERRUPT_PROCESSING
#error You must *NOT* define NMEAGPS_INTERRUPT_PROCESSING in NMEAGPS_cfg.h!
#endif
//------------------------------------------------------------
static ubloxNMEA gps; // This parses received characters
static gps_fix fix;
//----------------------------------------------------------------
static void poll()
{
#if defined( NMEAGPS_PARSE_PUBX_00 )
gps.send_P( &gpsPort, F("PUBX,00") );
#endif
#if defined( NMEAGPS_PARSE_PUBX_04 )
gps.send_P( &gpsPort, F("PUBX,04") );
#endif
}
//----------------------------------------------------------------
static void doSomeWork()
{
// Print all the things!
trace_all( DEBUG_PORT, gps, fix );
// Ask for the proprietary messages again
poll();
} // doSomeWork
//------------------------------------
static void GPSloop()
{
while (gps.available( gpsPort )) {
fix = gps.read();
#if defined(GPS_FIX_VELNED) && defined(NMEAGPS_PARSE_PUBX_00)
fix.calculateNorthAndEastVelocityFromSpeedAndHeading();
#endif
doSomeWork();
}
} // GPSloop
//--------------------------
void setup()
{
DEBUG_PORT.begin(9600);
while (!DEBUG_PORT)
;
DEBUG_PORT.print( F("PUBX: started\n") );
DEBUG_PORT.print( F("fix object size = ") );
DEBUG_PORT.println( sizeof(gps.fix()) );
DEBUG_PORT.print( F("ubloxNMEA object size = ") );
DEBUG_PORT.println( sizeof(gps) );
DEBUG_PORT.println( F("Looking for GPS device on " GPS_PORT_NAME) );
#ifdef NMEAGPS_PARSE_PUBX_04
if (LAST_SENTENCE_IN_INTERVAL != (NMEAGPS::nmea_msg_t) ubloxNMEA::PUBX_04) {
DEBUG_PORT.println( F("ERROR! LAST_SENTENCE_IN_INTERVAL should be PUBX_04") );
for(;;);
}
#else
if (LAST_SENTENCE_IN_INTERVAL != (NMEAGPS::nmea_msg_t) ubloxNMEA::PUBX_00) {
DEBUG_PORT.println( F("ERROR! LAST_SENTENCE_IN_INTERVAL should be PUBX_00") );
for(;;);
}
#endif
trace_header( DEBUG_PORT );
DEBUG_PORT.flush();
gpsPort.begin(9600);
// Ask for the special PUBX sentences
poll();
}
//--------------------------
void loop()
{
GPSloop();
}