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