610 lines
18 KiB
C
610 lines
18 KiB
C
/*
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TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
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Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
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Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
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Precision improvements suggested by Wayne Holder.
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Copyright (C) 2008-2013 Mikal Hart
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All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library 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 GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "TinyGPS.h"
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#include <math.h>
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//#include <trig.h>
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#include <hal.h>
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#define _GPRMC_TERM "GPRMC"
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#define _GPGGA_TERM "GPGGA"
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#define TWO_PI 6.28318530717958647693 //These numbers are included in Processing, since we aren't using Processing we need to include them here.
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#define PI 3.14159265358979323846
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#define GPS_HYBERNATE_COMMAND "$PMTK161,0*28\x0D\x0A"
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enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};
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// properties
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unsigned long _time, _new_time;
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unsigned long _date, _new_date;
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long _latitude, _new_latitude;
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long _longitude, _new_longitude;
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long _altitude, _new_altitude;
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unsigned long _speed, _new_speed;
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unsigned long _course, _new_course;
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unsigned long _hdop, _new_hdop;
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unsigned short _numsats, _new_numsats;
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unsigned long timeOfLastChar = 0;
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unsigned long _last_time_fix, _new_time_fix;
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unsigned long _last_position_fix, _new_position_fix;
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// parsing state variables
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unsigned char _parity; //was byte
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bool _is_checksum_term;
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char _term[15];
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unsigned char _sentence_type; //was byte
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unsigned char _term_number; //was byte
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unsigned char _term_offset; //was byte
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bool _gps_data_good;
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#ifndef _GPS_NO_STATS
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// statistics
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unsigned long _encoded_characters;
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unsigned short _good_sentences;
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unsigned short _failed_checksum;
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unsigned short _passed_checksum;
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#endif
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// internal utilities
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int TinyGPS_from_hex(char a);
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unsigned long TinyGPS_parse_decimal();
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unsigned long TinyGPS_parse_degrees();
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bool TinyGPS_term_complete();
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bool TinyGPS_gpsisdigit(char c); //{ return c >= '0' && c <= '9'; }
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long TinyGPS_gpsatol(const char *str);
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int TinyGPS_gpsstrcmp(const char *str1, const char *str2);
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void TinyGPS_init()
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{
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_time = GPS_INVALID_TIME;
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_date = GPS_INVALID_DATE;
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_latitude = GPS_INVALID_ANGLE;
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_longitude = GPS_INVALID_ANGLE;
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_altitude = GPS_INVALID_ALTITUDE;
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_speed = GPS_INVALID_SPEED;
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_course = GPS_INVALID_ANGLE;
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_hdop = GPS_INVALID_HDOP;
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_numsats = GPS_INVALID_SATELLITES;
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_last_time_fix = GPS_INVALID_FIX_TIME;
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_last_position_fix = GPS_INVALID_FIX_TIME;
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_parity = 0;
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_is_checksum_term = false;
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_sentence_type = _GPS_SENTENCE_OTHER;
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_term_number = 0;
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_term_offset = 0;
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_gps_data_good = false;
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#ifndef _GPS_NO_STATS
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_encoded_characters = 0;
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_good_sentences = 0;
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_failed_checksum = 0;
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#endif
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{
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_term[0] = '\0';
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}
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//Initial Uart setup
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//uart_init(hal_gpsUart);
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#ifdef SIRF_MODULE
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//TODO: Determine which of these delays can be eliminated or reduced
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hal_delay_ms(1000);
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//Put module into binary mode to accept TricklePower command
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//Putting module into binary at 4800 DOES NOT WORK (it sets itself to 9600)
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//uart_write(hal_gpsUart, "$PSRF100,0,57600,8,1,0*37\r\n", 27); //Does put module into binary mode, baud rate is correct.
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uart_write(hal_gpsUart, "$PSRF100,0,9600,8,1,0*0C\r\n", 26); //Does put module into binary mode, baud rate is correct.
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hal_delay_ms(1000);
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//Now we're working at 9600
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hal_setupUart3(9600);
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//Enable tricklepower mode (mid 151)
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uart_write(hal_gpsUart, "\xA0\xA2\x00\x09\x97\x00\x00\x00\xC8\x00\x00\x01\x90\x01\xF0\xB0\xB3",17); //No additional CR or LF needed.
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hal_delay_ms(1000);
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//Set Low Power acquisition parameters (mid 167)
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uart_write(hal_gpsUart, "\xA0\xA2\x00\x0F\xA7\x00\x00\x75\x30\x00\x04\x93\xE0\x00\x00\x07\x08\x00\x01\x02\xD3\xB0\xB3", 23);
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hal_delay_ms(1000);
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//revert to NMEA mode (Puts it into 9600 so I don't have to rewrite the command, but I will if I need to)
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uart_write(hal_gpsUart, "\xA0\xA2\x00\x18\x81\x02\x01\x01\x00\x01\x00\x01\x00\x01\x01\x01\x00\x01\x00\x01\x00\x01\x00\x01\x00\x01\x25\x80\x01\x34\xB0\xB3", 32);
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hal_delay_ms(1000);
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#endif
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#ifdef MEDIATEK_MODULE
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//Send it something to wake it up
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//uart_write(hal_gpsUart, "\r\n", 2);
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#endif
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}
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//Power on GPS (this probably shouldn't be in TinyGPS
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//void TinyGPS_powerOnGps()
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//{
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// //I think any character will wake it up, so... why not send a few carriage returns?
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// uart_write(hal_gpsUart, "\r\r\r", 3);
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//}
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//Hybernate GPS (also shouldn't be in TinyGPS
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//void TinyGPS_hybernateGps()
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//{
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// uart_write(hal_gpsUart, (unsigned char*) GPS_HYBERNATE_COMMAND, sizeof GPS_HYBERNATE_COMMAND - 1);
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//}
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//GPS power status. Since the only way we know (right?) is by watching for characters,
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//and they only come once per second, it's possible this will be wrong for up to a second, you know?
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//Also shouldn't be in TinyGPS
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int TinyGPS_gpsIsOn()
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{
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return hal_checkTimeout(timeOfLastChar, 1100) ? 0 : 1;
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}
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int TinyGPS_feedGps() //probably not the right place to put this. Maybe in the GPS.c?
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{
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char c;
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while(uart_getChar(hal_gpsUart, &c) != -1)
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{
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timeOfLastChar = hal_getCurrentTime_ms();
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//return TinyGPS_encode(c);
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// could return here if returns true, but probably not for each character
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TinyGPS_encode(c);
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}
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return false;
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}
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int TinyGPS_hasFix() //The right way to do this would be to parse the NMEA sentences to get this information, but I am in a hurry.
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{
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bool returnVal = (_last_position_fix != GPS_INVALID_FIX_TIME && !hal_checkTimeout(_last_position_fix, 5000)) ? 1 : 0;
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return returnVal; //So I can see what's happening.
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}
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#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
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//
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// internal utilities
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//
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int TinyGPS_from_hex(char a)
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{
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if (a >= 'A' && a <= 'F')
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return a - 'A' + 10;
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else if (a >= 'a' && a <= 'f')
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return a - 'a' + 10;
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else
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return a - '0';
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}
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long TinyGPS_gpsatol(const char *str)
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{
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long ret = 0;
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while (TinyGPS_gpsisdigit(*str))
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ret = 10 * ret + *str++ - '0';
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return ret;
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}
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int TinyGPS_gpsstrcmp(const char *str1, const char *str2)
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{
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while (*str1 && *str1 == *str2)
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++str1, ++str2;
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return *str1;
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}
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unsigned long TinyGPS_parse_decimal()
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{
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char *p = _term;
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bool isneg = *p == '-';
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if (isneg) ++p;
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unsigned long ret = 100UL * TinyGPS_gpsatol(p);
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while (TinyGPS_gpsisdigit(*p)) ++p;
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if (*p == '.')
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{
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if (TinyGPS_gpsisdigit(p[1]))
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{
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ret += 10 * (p[1] - '0');
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if (TinyGPS_gpsisdigit(p[2]))
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ret += p[2] - '0';
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}
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}
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return isneg ? -ret : ret;
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}
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bool TinyGPS_gpsisdigit(char c)
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{
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return c >= '0' && c <= '9';
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}
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// Parse a string in the form ddmm.mmmmmmm...
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unsigned long TinyGPS_parse_degrees()
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{
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char *p;
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unsigned long left_of_decimal = TinyGPS_gpsatol(_term);
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unsigned long hundred1000ths_of_minute = (left_of_decimal % 100UL) * 100000UL;
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for (p=_term; TinyGPS_gpsisdigit(*p); ++p);
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if (*p == '.')
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{
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unsigned long mult = 10000;
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while (TinyGPS_gpsisdigit(*++p))
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{
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hundred1000ths_of_minute += mult * (*p - '0');
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mult /= 10;
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}
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}
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return (left_of_decimal / 100) * 1000000 + (hundred1000ths_of_minute + 3) / 6;
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}
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// Processes a just-completed term
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// Returns true if new sentence has just passed checksum test and is validated
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bool TinyGPS_term_complete()
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{
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if (_is_checksum_term)
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{
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unsigned char checksum = 16 * TinyGPS_from_hex(_term[0]) + TinyGPS_from_hex(_term[1]); //Was byte
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if (checksum == _parity)
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{
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if (_gps_data_good)
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{
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#ifndef _GPS_NO_STATS
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++_good_sentences;
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#endif
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_last_time_fix = _new_time_fix;
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_last_position_fix = _new_position_fix;
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switch(_sentence_type)
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{
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case _GPS_SENTENCE_GPRMC:
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_time = _new_time;
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_date = _new_date;
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_latitude = _new_latitude;
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_longitude = _new_longitude;
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_speed = _new_speed;
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_course = _new_course;
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break;
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case _GPS_SENTENCE_GPGGA:
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_altitude = _new_altitude;
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_time = _new_time;
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_latitude = _new_latitude;
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_longitude = _new_longitude;
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_numsats = _new_numsats;
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_hdop = _new_hdop;
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break;
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}
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return true;
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}
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}
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#ifndef _GPS_NO_STATS
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else
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++_failed_checksum;
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#endif
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return false;
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}
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// the first term determines the sentence type
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if (_term_number == 0)
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{
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if (!TinyGPS_gpsstrcmp(_term, _GPRMC_TERM))
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_sentence_type = _GPS_SENTENCE_GPRMC;
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else if (!TinyGPS_gpsstrcmp(_term, _GPGGA_TERM))
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_sentence_type = _GPS_SENTENCE_GPGGA;
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else
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_sentence_type = _GPS_SENTENCE_OTHER;
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return false;
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}
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if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
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switch(COMBINE(_sentence_type, _term_number))
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{
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case COMBINE(_GPS_SENTENCE_GPRMC, 1): // Time in both sentences
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case COMBINE(_GPS_SENTENCE_GPGGA, 1):
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_new_time = TinyGPS_parse_decimal();
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_new_time_fix = hal_getCurrentTime_ms(); //millis(); //TODO: put a callback so we can remove the hal.h dependency.
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 2): // GPRMC validity
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_gps_data_good = _term[0] == 'A';
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 3): // Latitude
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case COMBINE(_GPS_SENTENCE_GPGGA, 2):
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_new_latitude = TinyGPS_parse_degrees();
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_new_position_fix = hal_getCurrentTime_ms(); //millis();
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 4): // N/S
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case COMBINE(_GPS_SENTENCE_GPGGA, 3):
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if (_term[0] == 'S')
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_new_latitude = -_new_latitude;
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 5): // Longitude
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case COMBINE(_GPS_SENTENCE_GPGGA, 4):
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_new_longitude = TinyGPS_parse_degrees();
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 6): // E/W
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case COMBINE(_GPS_SENTENCE_GPGGA, 5):
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if (_term[0] == 'W')
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_new_longitude = -_new_longitude;
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
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_new_speed = TinyGPS_parse_decimal();
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
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_new_course = TinyGPS_parse_decimal();
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break;
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case COMBINE(_GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
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_new_date = TinyGPS_gpsatol(_term);
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break;
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case COMBINE(_GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
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_gps_data_good = _term[0] > '0';
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break;
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case COMBINE(_GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
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_new_numsats = (unsigned char)atoi(_term);
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break;
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case COMBINE(_GPS_SENTENCE_GPGGA, 8): // HDOP
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_new_hdop = TinyGPS_parse_decimal();
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break;
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case COMBINE(_GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
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_new_altitude = TinyGPS_parse_decimal();
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break;
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}
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return false;
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}
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bool TinyGPS_encode(char c)
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{
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bool valid_sentence = false;
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#ifndef _GPS_NO_STATS
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++_encoded_characters;
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#endif
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switch(c)
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{
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case ',': // term terminators
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_parity ^= c;
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case '\r':
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case '\n':
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case '*':
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if (_term_offset < sizeof(_term))
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{
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_term[_term_offset] = 0;
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valid_sentence = TinyGPS_term_complete();
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}
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++_term_number;
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_term_offset = 0;
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_is_checksum_term = c == '*';
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return valid_sentence;
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case '$': // sentence begin
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_term_number = _term_offset = 0;
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_parity = 0;
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_sentence_type = _GPS_SENTENCE_OTHER;
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_is_checksum_term = false;
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_gps_data_good = false;
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return valid_sentence;
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}
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// ordinary characters
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if (_term_offset < sizeof(_term) - 1)
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_term[_term_offset++] = c;
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if (!_is_checksum_term)
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_parity ^= c;
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return valid_sentence;
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}
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#ifndef _GPS_NO_STATS
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void TinyGPS_stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
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{
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if (chars) *chars = _encoded_characters;
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if (sentences) *sentences = _good_sentences;
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if (failed_cs) *failed_cs = _failed_checksum;
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}
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#endif
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/* static */
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float TinyGPS_distance_between (long lat1_, long long1_, long lat2_, long long2_)
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{
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// returns distance in meters between two positions, both specified
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// as signed decimal-degrees latitude and longitude. Uses great-circle
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// distance computation for hypothetical sphere of radius 6372795 meters.
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// Because Earth is no exact sphere, rounding errors may be up to 0.5%.
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// Courtesy of Maarten Lamers
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//float delta = radians(long1-long2); //I'm not including a math library just for this!
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float lat1 = lat1_ / 1000000.0;
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float long1 = long1_ / 1000000.0;
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float lat2 = lat2_ / 1000000.0;
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float long2 = long2_ / 1000000.0;
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float delta = (long1-long2) * PI/180.0;
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float sdlong = sin(delta);
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float cdlong = cos(delta);
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//lat1 = radians(lat1);
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//lat2 = radians(lat2);
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lat1 = (lat1) * PI/180.0;
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lat2 = (lat2) * PI/180.0;
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float slat1 = sin(lat1);
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float clat1 = cos(lat1);
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float slat2 = sin(lat2);
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float clat2 = cos(lat2);
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delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
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//delta = sq(delta); //I'm not including a math library just for this!
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delta = delta * delta;
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//delta += sq(clat2 * sdlong);
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delta += (clat2 * sdlong) * (clat2 * sdlong);
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delta = sqrt(delta);
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float denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
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delta = atan2(delta, denom);
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return delta * 6372795;
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}
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float TinyGPS_course_to (float lat1, float long1, float lat2, float long2)
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{
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// returns course in degrees (North=0, West=270) from position 1 to position 2,
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// both specified as signed decimal-degrees latitude and longitude.
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// Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
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// Courtesy of Maarten Lamers
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//float dlon = radians(long2-long1);
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float dlon = (long2-long1) * PI/180.0;
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//lat1 = radians(lat1);
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//lat2 = radians(lat2);
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lat1 = (lat1) * PI/180.0;
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lat2 = (lat2) * PI/180.0;
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float a1 = sin(dlon) * cos(lat2);
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float a2 = sin(lat1) * cos(lat2) * cos(dlon);
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a2 = cos(lat1) * sin(lat2) - a2;
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a2 = atan2(a1, a2);
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if (a2 < 0.0)
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{
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a2 += TWO_PI;
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}
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//return degrees(a2);
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return (a2) * 180.0 / PI;
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}
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const char *TinyGPS_cardinal (float course)
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{
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static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
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int direction = (int)((course + 11.25f) / 22.5f);
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return directions[direction % 16];
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}
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// lat/long in MILLIONTHs of a degree and age of fix in milliseconds
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// (note: versions 12 and earlier gave this value in 100,000ths of a degree.
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void TinyGPS_get_position(long *latitude, long *longitude, unsigned long *fix_age)
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{
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//*fix_age = 0; //Do I want this?
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if (latitude) *latitude = _latitude;
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if (longitude) *longitude = _longitude;
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if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ?
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GPS_INVALID_AGE : /*millis()*/ hal_getCurrentTime_ms() - _last_position_fix;
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}
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// date as ddmmyy, time as hhmmsscc, and age in milliseconds
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void TinyGPS_get_datetime(unsigned long *date, unsigned long *time, unsigned long *age)
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{
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//*age = 0; //Do I want this?
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if (date) *date = _date;
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if (time) *time = _time;
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if (age) *age = _last_time_fix == GPS_INVALID_FIX_TIME ?
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GPS_INVALID_AGE : /*millis()*/ hal_getCurrentTime_ms() - _last_time_fix;
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}
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void TinyGPS_f_get_position(float *latitude, float *longitude, unsigned long *fix_age)
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{
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//*fix_age = 0; //Do I want this?
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long lat, lon;
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TinyGPS_get_position(&lat, &lon, fix_age);
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*latitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lat / 1000000.0);
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*longitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lon / 1000000.0);
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}
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void TinyGPS_crack_datetime(int *year, unsigned char *month, unsigned char *day,
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unsigned char *hour, unsigned char *minute, unsigned char *second, unsigned char *hundredths, unsigned long *age)
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{
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//*hundredths = 0; //Do I want this?
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//*age = 0; //And this?
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unsigned long date, time;
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TinyGPS_get_datetime(&date, &time, age);
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if (year)
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{
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*year = date % 100;
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*year += *year > 80 ? 1900 : 2000;
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}
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if (month) *month = (date / 100) % 100;
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if (day) *day = date / 10000;
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if (hour) *hour = time / 1000000;
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if (minute) *minute = (time / 10000) % 100;
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if (second) *second = (time / 100) % 100;
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if (hundredths) *hundredths = time % 100;
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}
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float TinyGPS_f_altitude()
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{
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return _altitude == GPS_INVALID_ALTITUDE ? GPS_INVALID_F_ALTITUDE : _altitude / 100.0;
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}
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float TinyGPS_f_course()
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{
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return _course == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : _course / 100.0;
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}
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float TinyGPS_f_speed_knots()
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{
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return _speed == GPS_INVALID_SPEED ? GPS_INVALID_F_SPEED : _speed / 100.0;
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}
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float TinyGPS_f_speed_mph()
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{
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float sk = TinyGPS_f_speed_knots();
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return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPH_PER_KNOT * sk;
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}
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float TinyGPS_f_speed_mps()
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{
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float sk = TinyGPS_f_speed_knots();
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return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPS_PER_KNOT * sk;
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}
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float TinyGPS_f_speed_kmph()
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|
{
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|
float sk = TinyGPS_f_speed_knots();
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return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_KMPH_PER_KNOT * sk;
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}
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|
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const float TinyGPS_GPS_INVALID_F_ANGLE = 1000.0;
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const float TinyGPS_GPS_INVALID_F_ALTITUDE = 1000000.0;
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const float TinyGPS_GPS_INVALID_F_SPEED = -1.0;
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// signed altitude in centimeters (from GPGGA sentence)
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inline long TinyGPS_altitude() { return _altitude; }
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// course in last full GPRMC sentence in 100th of a degree
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inline unsigned long TinyGPS_course() { return _course; }
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// speed in last full GPRMC sentence in 100ths of a knot
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|
inline unsigned long TinyGPS_speed() { return _speed; }
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// satellites used in last full GPGGA sentence
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|
inline unsigned short TinyGPS_satellites() { return _numsats; }
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// horizontal dilution of precision in 100ths
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inline unsigned long TinyGPS_hdop() { return _hdop; }
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int TinyGPS_library_version() { return _GPS_VERSION; }
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