C++ TinyGPS类代码示例

void encodeTargetData(uint8_t c){
  if (gps.encode(c)){
    float flat, flon;
    unsigned long fix_age;
    gps.f_get_position(&flat, &flon, &fix_age);
    
    if (fix_age == TinyGPS::GPS_INVALID_AGE){
      hasFix = false;
    }
    else if (fix_age > 5000){
      hasFix = false;
    }
    else{
      gps.get_position(&lat,&lon);
      hasFix = true;
    }
    
    if(gps.altitude() != TinyGPS::GPS_INVALID_ALTITUDE) {
      alt = (int16_t)gps.altitude();
      hasAlt = true;
    }else{
      hasAlt = false;
    }
  }
}

void read_gps(long lon, long lat)
{
  while (Serial2.available())
  {
    TinyGPS gps;
    int c = Serial2.read();
    if (gps.encode(c))
    {
      unsigned long fix;
      gps.get_position(&lat,&lon,&fix);
    }
  }
}

//Update the latitude and longitude global variables with GPS data (or place dummy values)
int update_lat_long() {
    unsigned long age;
    gps.f_get_position(&latitude, &longitude, &age); //Updates longitude and latitude
    if (age == TinyGPS::GPS_INVALID_AGE) {
        latitude = -500.0; //These are sentinel values for lat long; if GPS can't track them
        longitude = -500.0; 
        return -1;
    } else {
        return 0;
    }
}

//Update the datetime global variable with GPS data (or place dummy values)
int update_datetime() {
    unsigned long age;
    int year;
    byte month, day, hour, minute, second, hundredths;
    gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
    if (age == TinyGPS::GPS_INVALID_AGE) {
        sprintf(date,"1000 BC");
        return -1;
    } else {
        sprintf(date,"%02d/%02d/%02d %02d:%02d:%02d",month, day, year, hour, minute, second);
        return 0;
    }
}

void encodeTargetData(uint8_t c) {
  if (remoteGps.encode(c)) {
    unsigned long fix_age;
    remoteGps.get_position(&lat, &lon, &fix_age);
    
    if (fix_age == TinyGPS::GPS_INVALID_AGE) {
      HAS_FIX = false;
    } else if (fix_age > 5000) {
      HAS_FIX = false;
    } else {
      //TODO valid data
      lat = lat / 10;
      lon = lon / 10;

      if (remoteGps.altitude() != TinyGPS::GPS_INVALID_ALTITUDE) {
        alt = int16_t(remoteGps.altitude() / 100);
        HAS_ALT = true;
      }
      HAS_FIX = true;
    }
  }
}

void loop() {
	static TinyGPS gps;
	
	static unsigned long nextdisplay = millis();
	
	if(Serial1.available()) {
		gps.encode(Serial1.read());
	}
	
	if(millis() > nextdisplay) {
		long lat, lon;
		
		gps.get_position(&lat,&lon);
		
		Serial.print(lat);
		Serial.print(", ");
		Serial.print(lon);
		Serial.println();
		
		nextdisplay = millis() + 1000;
	}
}

void getgps(TinyGPS &gps) {
	// To get all of the data into varialbes that you can use in your code,
	// all you need to do is define variables and query the object for the
	// data. To see the complete list of functions see keywords.txt file in
	// the TinyGPS and NewSoftSerial libs.

	// Define the variables that will be used
	float latitude, longitude;
	// Then call this function
	gps.f_get_position(&latitude, &longitude);
	// You can now print variables latitude and longitude
	Serial.print("Lat/Long: ");
	Serial.print(latitude, 5);
	Serial.print(", ");
	Serial.println(longitude, 5);

	// Same goes for date and time
	int year;
	byte month, day, hour, minute, second, hundredths;
	gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths);
	// Print data and time
	Serial.print("Date: ");
	Serial.print(month, DEC);
	Serial.print("/");
	Serial.print(day, DEC);
	Serial.print("/");
	Serial.print(year);
	Serial.print("  Time: ");
	Serial.print(hour, DEC);
	Serial.print(":");
	Serial.print(minute, DEC);
	Serial.print(":");
	Serial.print(second, DEC);
	Serial.print(".");
	Serial.println(hundredths, DEC);
	//Since month, day, hour, minute, second, and hundr

	// Here you can print the altitude and course values directly since
	// there is only one value for the function
	Serial.print("Altitude (meters): ");
	Serial.println(gps.f_altitude());
	// Same goes for course
	Serial.print("Course (degrees): ");
	Serial.println(gps.f_course());
	// And same goes for speed
	Serial.print("Speed(kmph): ");
	Serial.println(gps.f_speed_kmph());
	Serial.println();

	// Here you can print statistics on the sentences.
	unsigned long chars;
	unsigned short sentences, failed_checksum;
	gps.stats(&chars, &sentences, &failed_checksum);
	//Serial.print("Failed Checksums: ");Serial.print(failed_checksum);
	//Serial.println(); Serial.println();
}

char check_gps()
{
  newData=false;
  unsigned long chars;
  unsigned short sentences, failed;

  // For one second we parse GPS data and report some key values
  for (unsigned long start = millis(); millis() - start < 1000;)
  {
    while (Serial2.available())
    {
      char c = Serial2.read();
      // Serial.write(c); // uncomment this line if you want to see the GPS data flowing
      if (gps.encode(c)) // Did a new valid sentence come in?
        newData = true;
    }
  }

  if (newData)
  {
    float flat, flon;
    unsigned long age;
    int _year;
    byte _month, _day,_hour,_minute,_second,_hundredths;        
    gps.f_get_position(&flat, &flon, &age);
        gps.crack_datetime(&_year,&_month,&_day,&_hour,&_minute,&_second,&_hundredths,&age);
        flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6;
        flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6;
    dtostrf(flat, 11, 6, gps_lat); 
    dtostrf(flon, 10, 6, gps_lon); 
        
        strcpy(gps_sms,"lat:");
        strcat(gps_sms,gps_lat);
        strcat(gps_sms,"\n");
        strcat(gps_sms,"lon:");
        strcat(gps_sms,gps_lon);
        strcat(gps_sms,"\n");
        strcat(gps_sms,"time:");
        
    itoa(_year,gps_year,10);
    strcat(gps_sms,gps_year);
        
    itoa(_month,gps_mon,10);
    if(strlen(gps_mon)==1)
      strcat(gps_sms,"0");
    strcat(gps_sms,gps_mon);
        
    itoa(_day,gps_day,10);
        if(strlen(gps_day)==1)
      strcat(gps_sms,"0");
    strcat(gps_sms,gps_day);
        
    itoa(_hour,gps_hour,10);
        if(strlen(gps_hour)==1)
      strcat(gps_sms,"0");
    strcat(gps_sms,gps_hour);
        
    itoa(_minute,gps_min,10);
        if(strlen(gps_min)==1)
      strcat(gps_sms,"0");
    strcat(gps_sms,gps_min);
        
    itoa(_second,gps_sec,10);
        if(strlen(gps_sec)==1)
      strcat(gps_sms,"0");
    strcat(gps_sms,gps_sec);        
        
    Serial.println(gps_sms);


  }
  



}

//Uses all the sensors to update all of the global variables that have to do with logging.
int update_data() {
    p_sensor.Barometer_MS5803(); //Gathers data from external temp/pressure sensor 
    //Updates temperatures, pressure, and power 
    pressure = p_sensor.MS5803_Pressure();
    external_temp = p_sensor.MS5803_Temperature();
    internal_temp = temperature.read();
    power = ain.read();
    //Data gathered from GPS 
    bool gps_ready = gps_readable();
    int max_gps_requests = 4;
    int gps_counter = 0;
    while (!gps_ready && gps_counter < max_gps_requests) {
        gps_ready = gps_readable();
        gps_counter++;
        //printf("Waiting!\n");
    }
    if (gps_ready) {
        update_lat_long();
        altitude = gps.f_altitude();
        precision = gps.hdop();
        gps.stats(&encoded_chars, &good_sentences, &failed_checksums);
        update_datetime();
    } else {
        //Place DUMMY GPS VALUES 
        latitude = -1000.0;
        longitude = -1000.0; 
        altitude = -1000.0; 
        precision = -1000;
        sprintf(date,"20000 BC");
        encoded_chars = -1;
        good_sentences = -1;
        failed_checksums = -1;
    }
    return 0; //Data update was a success! 
}

void loop() {
	bool newData = false;
	unsigned long start = millis();
	while (millis() - start < 1000) {
		while (nss.available()) {
			if (gps.encode(nss.read()))
				newData = true;
		}
	}

	if (newData) {
		if (gps.hdop() < MAX_HDOP)
			signal_fixed_status();
		else
			signal_instable_status();

		if (!gps_filename) {
			gps_filename = create_gps_file();
		}

		String line = create_gps_line();
		gps_filename.println(line);
		gps_filename.flush();

		Serial.println(line);
	} else {
		signal_unavailable_status();
	}
}

void MXS2201::get_info(float *latitude, float *longitude, float *altitude,float *speed_mps,int *year, byte *month, byte *day,
		byte *hour, byte *minute, byte *second,byte *hundredths,unsigned long *fix_age)
{
	bool newData = false;


	// For one second we parse GPS data and report some key values
	for (unsigned long start = millis(); millis() - start < 1500;)
	{
		while (_mySerial.available())
		{
			char c = _mySerial.read();
			if (gps.encode(c)) // Did a new valid sentence come in?
				newData = true;
		}
	}

	if (newData)
	{
		gps.f_get_position(latitude,longitude,fix_age);
		gps.crack_datetime(year, month, day,
				hour, minute, second,hundredths,fix_age );
		*altitude=gps.f_altitude();
		*speed_mps=gps.f_speed_mps();
		return;
	}
}

/* GPS listen thread */
void gps_spinOnce(void) {
   if(rx_ready(gps_port)) {
      gps_input = rx_byte(gps_port);

      if(gps.encode(gps_input)) {
         gps.get_position(&lat, &lon);

         if( gps_pub.reset() ) {
            gps_pub.append(lat);
            gps_pub.append(lon);
            // TODO: fill in rest of GPS message
            gps_pub.append(gps.altitude());
            gps_pub.append(gps.hdop());
            gps_pub.finish();
         }

         if( gps_pub2.reset() ) {
            gps_pub2.append(lat);
            gps_pub2.append(lon);
            // TODO: fill in rest of GPS message
            gps_pub2.finish();
         }
      } 
   }
}

char gps_get_data() {
    float lat, lon = 0.0;
    unsigned long fixAge = 0;
    char uart_buffer[512] = {};
    int ctr = 0;

    uart_init(9600);// The default baud rate for this GPS device is 9600

    uart_read(uart_buffer, sizeof(uart_buffer));
    while (uart_buffer[ctr] != NULL){
        char charRead = uart_buffer[ctr];
        GPSDevice.encode(charRead);
        if ((charRead == ',') && (GPSDevice._term_number == 1)) {
            itsAGPRMCMessage = !GPSDevice.gpsstrcmp(GPSDevice._term, _GPRMC_TERM);
        }

        if ((charRead == 'A' || charRead == 'V') && itsAGPRMCMessage) {
            dataStatus = charRead;
            itsAGPRMCMessage = 0;
        }
        ctr++;
    }
    GPSDevice.f_get_position(&lat, &lon, &fixAge);
    printf("lat: %.4f\t", lat);
    printf("lon: %.4f\t", lon);
    printf("alt: %.1f\t", GPSDevice.f_altitude());
    printf("sta: %c\n", dataStatus);

    return dataStatus;
}

File create_gps_file() {
	int year;
	unsigned long age;
	byte month, day, hour, minute, second, hundredth;
	gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredth, &age);

	String filename;
	filename.concat(GPS_DIR);
	filename.concat('/');
	filename.concat(year);
	filename.concat('/');
	filename.concat(month);
	filename.concat('/');
	filename.concat(day);
	filename.concat('/');
	filename.concat(hour);
	filename.concat(minute);
	filename.concat(second);
	filename.concat(".GPS");

	char buf[filename.length() + 1];
	filename.toCharArray(buf, sizeof(buf));

	Serial.print("Criando arquivo... ");
	Serial.println(buf);
	return create_file(buf);
}

String create_gps_line() {
	float lat, lon;
	unsigned long age;
	gps.f_get_position(&lat, &lon, &age);

	short satellites = gps.satellites();

	String line;
	line.concat(line_number++);
	line.concat(',');

	char buf[12];
	line.concat(dtostrf(lat, 4, 6, buf));
	line.concat(',');

	line.concat(dtostrf(lon, 4, 6, buf));
	line.concat(',');

	int year;
	byte month, day, hour, minute, second, hundredth;
	gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredth, &age);

	line.concat(day);
	line.concat('/');
	line.concat(month);
	line.concat('/');
	line.concat(year);
	line.concat(" ");
	line.concat(hour);
	line.concat(":");
	line.concat(minute);
	line.concat(":");
	line.concat(second);
	line.concat(',');
	line.concat(satellites);
	line.concat(',');
	line.concat(dtostrf(gps.f_altitude(), 4, 2, buf));
	line.concat(',');
	line.concat(gps.hdop());
	line.concat(',');
	line.concat(age);

	return line;
}