Update of /cvsroot/playerstage/code/player/server/drivers/gps
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23325
Modified Files:
garminnmea.cc
Log Message:
applied patch 1696209
Index: garminnmea.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/gps/garminnmea.cc,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** garminnmea.cc 23 Feb 2006 02:21:49 -0000 1.24
--- garminnmea.cc 19 Apr 2007 17:02:26 -0000 1.25
***************
*** 136,139 ****
--- 136,143 ----
#define NMEA_GPRTE "GPRTE"
+ // these are standard NMEA sentences that come
+ // out of other units (NovaTel)
+ #define NMEA_GPGST "GPGST"
+
// these are the proprietary NMEA sentences that
// come out of the geko 201
***************
*** 143,147 ****
// spec says 82, but that done mean squat. Make it big
! #define NMEA_MAX_SENTENCE_LEN 83
#define NMEA_START_CHAR '$'
--- 147,151 ----
// spec says 82, but that done mean squat. Make it big
! #define NMEA_MAX_SENTENCE_LEN 128
#define NMEA_START_CHAR '$'
***************
*** 220,223 ****
--- 224,228 ----
int ParseGPRMC(const char *buf);
int ParsePGRME(const char *buf);
+ int ParseGPGST(const char *buf);
char* GetNextField(char* field, size_t len, const char* ptr);
***************
*** 366,369 ****
--- 371,389 ----
cfsetospeed(&term, B38400);
}
+ else if (gps_baud == 57600)
+ {
+ cfsetispeed(&term, B57600);
+ cfsetospeed(&term, B57600);
+ }
+ else if (gps_baud == 115200)
+ {
+ cfsetispeed(&term, B115200);
+ cfsetospeed(&term, B115200);
+ }
+ else if (gps_baud == 230400)
+ {
+ cfsetispeed(&term, B230400);
+ cfsetospeed(&term, B230400);
+ }
else
{
***************
*** 838,845 ****
ParseGPRMC(ptr);
! // the PGRME msg has the error
if(!strcmp(tmp,NMEA_PGRME))
ParsePGRME(ptr);
return(0);
}
--- 858,869 ----
ParseGPRMC(ptr);
! // the PGRME msg has the error (Garmin)
if(!strcmp(tmp,NMEA_PGRME))
ParsePGRME(ptr);
+ // the GPGST msg has the error (NMEA)
+ if(!strcmp(tmp,NMEA_GPGST))
+ ParseGPGST(ptr);
+
return(0);
}
***************
*** 1130,1133 ****
--- 1154,1218 ----
}
+ /*
+ * Parse the GPGST sentence, which has esimated position error.
+ */
+ int GarminNMEA::ParseGPGST(const char *buf)
+ {
+ const char *ptr = buf;
+ char field[32];
+ double err;
+ double utc;
+
+ // printf("got GPGST (%s)\n", buf);
+ // fflush(stdout);
+
+ if(!(ptr = GetNextField(field, sizeof(field), ptr)))
+ return(-1);
+
+ // First field is UTC time
+ utc = atof(field);
+ /* Maybe do a check to make sure current packet is the right packet */
+
+ if(!(ptr = GetNextField(field, sizeof(field), ptr)))
+ return(-1);
+
+ // Second field is RMS deviation
+ err = atof(field);
+
+ if(!(ptr = GetNextField(field, sizeof(field), ptr)))
+ return(-1);
+
+ // Third field is Semi-minor deviation
+ err = atof(field);
+
+ if(!(ptr = GetNextField(field, sizeof(field), ptr)))
+ return(-1);
+
+ // Fourth field is Semi-major deviation
+ err = atof(field);
+
+ if(!(ptr = GetNextField(field, sizeof(field), ptr)))
+ return(-1);
+
+ // Fifth field is Latitude error deviation
+ err = atof(field);
+ data.err_horz = (uint32_t) ( err * 1000);
+
+
+ // Sixth field is Longitude error deviation
+ err = atof(field);
+ data.err_vert = (uint32_t) ( err * 1000);
+
+ // Seventh field is Altitude error deviation
+ err = atof(field);
+
+ /* Dont write here
+ PutData(&data,sizeof(player_gps_data_t),0,0);
+ */
+
+ return 0;
+ }
+
+
/*
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