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Alessandro Mauri 2025-11-09 19:19:17 +01:00
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.gitignore vendored Normal file
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the convention is to give header files names that end with `.h'.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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#pragma once
#include <Arduino.h>
struct GPSData {
float latitude; // in degrees, poistive is N
float longitude; // in degrees, positive is E
short altitude; // in meters from sea level
};
class GPSSerial {
private:
enum Field {
HEADER,
TIME,
LATITUDE,
LAT_INDICATOR,
LONGITUDE,
LONG_INDICATOR,
FIX_STATUS,
SAT_USED,
HDOP,
ALTITUDE,
ALT_UNIT,
ALTREF,
ALTREF_UNIT,
DIFFAGE,
DIFFSTATION,
CHECKSUM,
};
HardwareSerial* port;
char field_buffer[32];
unsigned char field_len;
Field field;
unsigned char checksum; // rolling checksum
bool read_field();
void update_checksum();
public:
GPSData data;
GPSSerial(HardwareSerial* hw_port) { port = hw_port; }
~GPSSerial();
bool is_data_ready(void);
};

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lib/README Normal file
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into the executable file.
The source code of each library should be placed in a separate directory
("lib/your_library_name/[Code]").
For example, see the structure of the following example libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Example contents of `src/main.c` using Foo and Bar:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
The PlatformIO Library Dependency Finder will find automatically dependent
libraries by scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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platformio.ini Normal file
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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
framework = arduino
board_build.core = earlephilhower
[env:pico2]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = rpipico2
framework = arduino
board_build.core = earlephilhower

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$GPGSV,3,2,11,15,08,041,,16,58,207,29,18,26,059,,23,49,064,*7A
$GPGSV,3,3,11,26,26,180,28,27,72,320,16,30,00,334,*4B
$GPGLL,4343.66601,N,01023.53900,E,225603.00,A,A*61
$GPRMC,225604.00,A,4343.66627,N,01023.53882,E,0.694,,051125,,,A*79
$GPVTG,,T,,M,0.694,N,1.285,K,A*26
$GPGGA,225604.00,4343.66627,N,01023.53882,E,1,05,2.87,-9.9,M,46.3,M,,*78
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.40,2.87,3.33*03
$GPGSV,3,1,11,02,17,255,20,07,07,310,,08,38,302,23,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,31,18,26,059,,23,49,064,*73
$GPGSV,3,3,11,26,26,180,30,27,72,320,16,30,00,334,*42
$GPGLL,4343.66627,N,01023.53882,E,225604.00,A,A*69
$GPRMC,225605.00,A,4343.66659,N,01023.53870,E,0.627,,051125,,,A*74
$GPVTG,,T,,M,0.627,N,1.162,K,A*24
$GPGGA,225605.00,4343.66659,N,01023.53870,E,1,05,2.87,-8.3,M,46.3,M,,*76
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.40,2.87,3.33*03
$GPGSV,3,1,11,02,17,255,21,07,07,310,,08,38,302,22,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,31,27,72,320,16,30,00,334,*43
$GPGLL,4343.66659,N,01023.53870,E,225605.00,A,A*6C
$GPRMC,225606.00,A,4343.66681,N,01023.53854,E,0.488,,051125,,,A*73
$GPVTG,,T,,M,0.488,N,0.904,K,A*2A
$GPGGA,225606.00,4343.66681,N,01023.53854,E,1,05,2.87,-6.7,M,46.3,M,,*7C
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.40,2.87,3.33*03
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,22,10,59,141,38*7F
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,31,27,72,320,16,30,00,334,*43
$GPGLL,4343.66681,N,01023.53854,E,225606.00,A,A*6C
$GPRMC,225607.00,A,4343.66682,N,01023.53836,E,0.260,,051125,,,A*75
$GPVTG,,T,,M,0.260,N,0.482,K,A*29
$GPGGA,225607.00,4343.66682,N,01023.53836,E,1,05,2.87,-5.5,M,46.3,M,,*7B
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.40,2.87,3.33*03
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,23,10,59,141,38*7E
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,31,27,72,320,16,30,00,334,*43
$GPGLL,4343.66682,N,01023.53836,E,225607.00,A,A*6A
$GPRMC,225608.00,A,4343.66692,N,01023.53823,E,0.293,,051125,,,A*73
$GPVTG,,T,,M,0.293,N,0.542,K,A*28
$GPGGA,225608.00,4343.66692,N,01023.53823,E,1,05,2.87,-4.6,M,46.3,M,,*73
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,23,10,59,141,38*7E
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,30,27,72,320,14,30,00,334,*40
$GPGLL,4343.66692,N,01023.53823,E,225608.00,A,A*60
$GPRMC,225609.00,A,4343.66694,N,01023.53820,E,0.143,,051125,,,A*79
$GPVTG,,T,,M,0.143,N,0.264,K,A*25
$GPGGA,225609.00,4343.66694,N,01023.53820,E,1,05,2.87,-3.8,M,46.3,M,,*7E
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,22,10,59,141,37*70
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66694,N,01023.53820,E,225609.00,A,A*64
$GPRMC,225610.00,A,4343.66698,N,01023.53812,E,0.071,,051125,,,A*7C
$GPVTG,,T,,M,0.071,N,0.131,K,A*26
$GPGGA,225610.00,4343.66698,N,01023.53812,E,1,05,2.87,-3.1,M,46.3,M,,*72
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66698,N,01023.53812,E,225610.00,A,A*61
$GPRMC,225611.00,A,4343.66675,N,01023.53807,E,0.259,,051125,,,A*72
$GPVTG,,T,,M,0.259,N,0.479,K,A*27
$GPGGA,225611.00,4343.66675,N,01023.53807,E,1,05,2.87,-2.1,M,46.3,M,,*75
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66675,N,01023.53807,E,225611.00,A,A*67
$GPRMC,225612.00,A,4343.66608,N,01023.53809,E,0.987,,051125,,,A*7D
$GPVTG,,T,,M,0.987,N,1.828,K,A*26
$GPGGA,225612.00,4343.66608,N,01023.53809,E,1,05,2.87,-0.3,M,46.3,M,,*72
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66608,N,01023.53809,E,225612.00,A,A*60
$GPRMC,225613.00,A,4343.66624,N,01023.53804,E,0.360,,051125,,,A*7C
$GPVTG,,T,,M,0.360,N,0.666,K,A*20
$GPGGA,225613.00,4343.66624,N,01023.53804,E,1,05,2.87,0.3,M,46.3,M,,*5D
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66624,N,01023.53804,E,225613.00,A,A*62
$GPRMC,225614.00,A,4343.66631,N,01023.53795,E,0.134,,051125,,,A*7B
$GPVTG,,T,,M,0.134,N,0.249,K,A*2A
$GPGGA,225614.00,4343.66631,N,01023.53795,E,1,05,2.87,1.2,M,46.3,M,,*59
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,33,18,26,059,,23,49,064,*71
$GPGSV,3,3,11,26,26,180,30,27,72,320,14,30,00,334,*40
$GPGLL,4343.66631,N,01023.53795,E,225614.00,A,A*66
$GPRMC,225615.00,A,4343.66623,N,01023.53792,E,0.282,,051125,,,A*70
$GPVTG,,T,,M,0.282,N,0.522,K,A*2E
$GPGGA,225615.00,4343.66623,N,01023.53792,E,1,05,2.87,2.0,M,46.3,M,,*5D
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,21,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,30,27,72,320,14,30,00,334,*40
$GPGLL,4343.66623,N,01023.53792,E,225615.00,A,A*63
$GPRMC,225616.00,A,4343.66610,N,01023.53791,E,0.413,,051125,,,A*7E
$GPVTG,,T,,M,0.413,N,0.764,K,A*20
$GPGGA,225616.00,4343.66610,N,01023.53791,E,1,05,2.87,2.7,M,46.3,M,,*5A
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,30,27,72,320,14,30,00,334,*40
$GPGLL,4343.66610,N,01023.53791,E,225616.00,A,A*63
$GPRMC,225617.00,A,4343.66599,N,01023.53791,E,0.429,,051125,,,A*74
$GPVTG,,T,,M,0.429,N,0.795,K,A*27
$GPGGA,225617.00,4343.66599,N,01023.53791,E,1,05,2.87,3.2,M,46.3,M,,*5D
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66599,N,01023.53791,E,225617.00,A,A*60
$GPRMC,225618.00,A,4343.66557,N,01023.53791,E,0.798,,051125,,,A*70
$GPVTG,,T,,M,0.798,N,1.479,K,A*2E
$GPGGA,225618.00,4343.66557,N,01023.53791,E,1,05,2.87,4.2,M,46.3,M,,*57
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66557,N,01023.53791,E,225618.00,A,A*6D
$GPRMC,225619.00,A,4343.66561,N,01023.53791,E,0.540,,051125,,,A*73
$GPVTG,,T,,M,0.540,N,1.000,K,A*23
$GPGGA,225619.00,4343.66561,N,01023.53791,E,1,05,2.87,4.4,M,46.3,M,,*55
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,14,30,00,334,*48
$GPGLL,4343.66561,N,01023.53791,E,225619.00,A,A*69
$GPRMC,225620.00,A,4343.66522,N,01023.53795,E,0.933,,051125,,,A*72
$GPVTG,,T,,M,0.933,N,1.728,K,A*26
$GPGGA,225620.00,4343.66522,N,01023.53795,E,1,05,2.87,5.3,M,46.3,M,,*5A
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,21,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,10,30,00,334,*4C
$GPGLL,4343.66522,N,01023.53795,E,225620.00,A,A*60
$GPRMC,225621.00,A,4343.66487,N,01023.53795,E,1.055,,051125,,,A*75
$GPVTG,,T,,M,1.055,N,1.953,K,A*2C
$GPGGA,225621.00,4343.66487,N,01023.53795,E,1,05,2.87,6.1,M,46.3,M,,*54
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,10,30,00,334,*4C
$GPGLL,4343.66487,N,01023.53795,E,225621.00,A,A*6F
$GPRMC,225622.00,A,4343.66513,N,01023.53789,E,0.370,,051125,,,A*72
$GPVTG,,T,,M,0.370,N,0.685,K,A*2C
$GPGGA,225622.00,4343.66513,N,01023.53789,E,1,05,2.87,6.0,M,46.3,M,,*57
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,20,10,59,141,37*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,10,30,00,334,*4C
$GPGLL,4343.66513,N,01023.53789,E,225622.00,A,A*6D
$GPRMC,225623.00,A,4343.66506,N,01023.53789,E,0.408,,051125,,,A*7F
$GPVTG,,T,,M,0.408,N,0.756,K,A*2B
$GPGGA,225623.00,4343.66506,N,01023.53789,E,1,05,2.87,6.4,M,46.3,M,,*56
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,20,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,31,18,26,059,,23,49,064,*73
$GPGSV,3,3,11,26,26,180,29,27,72,320,10,30,00,334,*4C
$GPGLL,4343.66506,N,01023.53789,E,225623.00,A,A*68
$GPRMC,225624.00,A,4343.66484,N,01023.53794,E,0.697,,051125,,,A*7B
$GPVTG,,T,,M,0.697,N,1.291,K,A*20
$GPGGA,225624.00,4343.66484,N,01023.53794,E,1,05,2.87,6.8,M,46.3,M,,*5A
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,21,10,59,141,36*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,10,30,00,334,*4C
$GPGLL,4343.66484,N,01023.53794,E,225624.00,A,A*68
$GPRMC,225625.00,A,4343.66465,N,01023.53798,E,0.752,,051125,,,A*71
$GPVTG,,T,,M,0.752,N,1.393,K,A*2B
$GPGGA,225625.00,4343.66465,N,01023.53798,E,1,05,2.87,7.1,M,46.3,M,,*50
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,21,10,59,141,36*73
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,30,27,72,320,10,30,00,334,*44
$GPGLL,4343.66465,N,01023.53798,E,225625.00,A,A*6A
$GPRMC,225626.00,A,4343.66451,N,01023.53801,E,0.634,,051125,,,A*7B
$GPVTG,,T,,M,0.634,N,1.175,K,A*20
$GPGGA,225626.00,4343.66451,N,01023.53801,E,1,05,2.87,7.5,M,46.3,M,,*5F
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,22,10,59,141,37*70
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,30,27,72,320,13,30,00,334,*47
$GPGLL,4343.66451,N,01023.53801,E,225626.00,A,A*61
$GPRMC,225627.00,A,4343.66421,N,01023.53806,E,0.784,,051125,,,A*70
$GPVTG,,T,,M,0.784,N,1.452,K,A*2A
$GPGGA,225627.00,4343.66421,N,01023.53806,E,1,05,2.87,8.1,M,46.3,M,,*55
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,22,10,59,141,36*70
$GPGSV,3,2,11,15,08,041,,16,58,207,31,18,26,059,,23,49,064,*73
$GPGSV,3,3,11,26,26,180,30,27,72,320,13,30,00,334,*47
$GPGLL,4343.66421,N,01023.53806,E,225627.00,A,A*60
$GPRMC,225628.00,A,4343.66406,N,01023.53808,E,0.715,,051125,,,A*7C
$GPVTG,,T,,M,0.715,N,1.324,K,A*24
$GPGGA,225628.00,4343.66406,N,01023.53808,E,1,05,2.87,8.3,M,46.3,M,,*53
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,22,10,59,141,37*71
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,30,27,72,320,13,30,00,334,*47
$GPGLL,4343.66406,N,01023.53808,E,225628.00,A,A*64
$GPRMC,225629.00,A,4343.66383,N,01023.53813,E,0.660,,051125,,,A*7E
$GPVTG,,T,,M,0.660,N,1.223,K,A*21
$GPGGA,225629.00,4343.66383,N,01023.53813,E,1,05,2.87,8.3,M,46.3,M,,*52
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.33*0D
$GPGSV,3,1,11,02,17,255,23,07,07,310,,08,38,302,21,10,59,141,37*72
$GPGSV,3,2,11,15,08,041,,16,58,207,32,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,13,30,00,334,*4F
$GPGLL,4343.66383,N,01023.53813,E,225629.00,A,A*65
$GPRMC,225630.00,A,4343.66394,N,01023.53814,E,0.163,,051125,,,A*73
$GPVTG,,T,,M,0.163,N,0.301,K,A*25
$GPGGA,225630.00,4343.66394,N,01023.53814,E,1,05,2.87,8.2,M,46.3,M,,*5A
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.32*0C
$GPGSV,3,1,11,02,17,255,21,07,07,310,,08,38,302,20,10,59,141,36*70
$GPGSV,3,2,11,15,08,041,,16,58,207,31,18,26,059,,23,49,064,*73
$GPGSV,3,3,11,26,26,180,29,27,72,320,13,30,00,334,*4F
$GPGLL,4343.66394,N,01023.53814,E,225630.00,A,A*6C
$GPRMC,225631.00,A,4343.66411,N,01023.53789,E,0.514,,051125,,,A*77
$GPVTG,,T,,M,0.514,N,0.952,K,A*2D
$GPGGA,225631.00,4343.66411,N,01023.53789,E,1,05,2.87,7.9,M,46.3,M,,*5E
$GPGSA,A,3,26,16,08,27,10,,,,,,,,4.39,2.87,3.32*0C
$GPGSV,3,1,11,02,17,255,21,07,07,310,,08,38,302,21,10,59,141,34*73
$GPGSV,3,2,11,15,08,041,,16,58,207,23,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,28,27,72,320,13,30,00,334,*4E
$GPGLL,4343.66411,N,01023.53789,E,225631.00,A,A*6C
$GPRMC,225632.00,A,4343.66427,N,01023.53775,E,0.426,,051125,,,A*72
$GPVTG,,T,,M,0.426,N,0.789,K,A*25
$GPGGA,225632.00,4343.66427,N,01023.53775,E,1,04,2.93,8.0,M,46.3,M,,*59
$GPGSA,A,3,26,16,08,10,,,,,,,,,4.56,2.93,3.50*01
$GPGSV,3,1,11,02,17,255,22,07,07,310,,08,38,302,22,10,59,141,33*74
$GPGSV,3,2,11,15,08,041,,16,58,207,23,18,26,059,,23,49,064,*70
$GPGSV,3,3,11,26,26,180,29,27,72,320,06,30,00,334,*4B
$GPGLL,4343.66427,N,01023.53775,E,225632.00,A,A*69

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#include <stdlib.h>
#include "gps.h"
#define DEBUG(x) {int i=10;do{Serial.println(x);delay(100);}while(--i>0);Serial.println("IT'S OK NOW");}
// read the port and put the characters into the field_buffer
bool GPSSerial::read_field()
{
while (port->available() > 0) {
int c = port->read();
if (c < 0) return false;
switch (c) {
case '*': // end of payload, start of checksum
case ',': // end of a field
field_buffer[field_len] = '\0';
return true;
case '\r': // also the end of a field but wait for the next character
while(port->available() <= 0) delay(1);
c = port->read();
// c could be <0 or not '\n' but we just don't care :p
field_buffer[field_len] = '\0';
return true;
default:
field_buffer[field_len++] = (char)c;
break;
}
}
return false;
}
void GPSSerial::update_checksum()
{
for (int i = 0; i < field_len && field_buffer[i] != '\0'; i++) {
checksum ^= field_buffer[i];
}
checksum ^= ',';
}
/* Parse NMEA messages from serial communication, filling the GPSData structure.
* Since the arduino framework controls serial ports via interrupt the only way
* to do "async" operations on serial is through polling and internal state.
* Returns true when the data is ready, false otherwise.
*/
bool GPSSerial::is_data_ready(void)
{
bool done = false;
while (read_field() && !done) {
// we only care about the GGA message, since it contains all the information
// needed
switch (field) {
case HEADER: // waiting for the header
// we only care about GPGGA messages
if (strcmp(field_buffer, "$GPGGA") == 0) {
checksum = '$';
update_checksum();
field = TIME; // move to the next field
}
break;
case TIME:
// TIME field is ignored
update_checksum();
field = LATITUDE;
break;
case LATITUDE:
{
// the first two characters are in degrees
char x[3] = {field_buffer[0], field_buffer[1], 0};
float degrees = strtof(x, NULL);
// all other characters are in minutes
float minutes = strtof(&field_buffer[2], NULL);
data.latitude = degrees + minutes / 60.0;
}
update_checksum();
field = LAT_INDICATOR;
break;
case LAT_INDICATOR:
if (field_buffer[0] == 'N') {
// Do nothing
} else if (field_buffer[0] == 'S') {
data.latitude = -data.latitude;
}
update_checksum();
field = LONGITUDE;
break;
case LONGITUDE:
{
// the first three characters are in degrees
char x[4] = {field_buffer[0], field_buffer[1], field_buffer[2], 0};
float degrees = strtof(x, NULL);
// all other characters are in minutes
float minutes = strtof(&field_buffer[3], NULL);
data.longitude = degrees + minutes / 60.0;
}
update_checksum();
field = LONG_INDICATOR;
break;
case LONG_INDICATOR:
if (field_buffer[0] == 'E') {
// Do nothing
} else if (field_buffer[0] == 'W') {
data.longitude = -data.longitude;
}
update_checksum();
field = FIX_STATUS;
break;
case FIX_STATUS:
// FIX_STATUS is ignored
update_checksum();
field = SAT_USED;
break;
case SAT_USED:
// SAT_USED is ignored
update_checksum();
field = HDOP;
break;
case HDOP:
// HDOP is ignored
update_checksum();
field = ALTITUDE;
break;
case ALTITUDE:
data.altitude = int(round(strtof(field_buffer, NULL)));
update_checksum();
field = ALT_UNIT;
break;
case ALT_UNIT:
// ALT_UNIT is always "m"
update_checksum();
field = ALTREF;
break;
case ALTREF:
update_checksum();
field = ALTREF_UNIT;
break;
case ALTREF_UNIT:
update_checksum();
field = DIFFAGE;
break;
case DIFFAGE:
update_checksum();
field = DIFFSTATION;
break;
case DIFFSTATION:
update_checksum();
field = CHECKSUM;
break;
case CHECKSUM:
{
checksum ^= ',';
unsigned char ck = strtol(field_buffer, NULL, 16);
if (ck == checksum) {
done = true;
}
}
checksum = 0;
field = HEADER;
break;
}
// done handling the field, reset the buffer
field_len = 0;
}
return done;
}

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src/main.cpp Normal file
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/*
Ublox NEO-6M module test for pi pico
*/
#include <Arduino.h>
#include "gps.h"
#define LOCKUP(x) do{Serial.println(x);delay(1000);}while(true)
#define UBLOX_RX_PIN 13
#define UBLOX_TX_PIN 12
GPSSerial gps(&Serial1);
void setup()
{
Serial.begin(9600);
// ublox serial
Serial1.setTX(UBLOX_TX_PIN);
Serial1.setRX(UBLOX_RX_PIN);
Serial1.begin(9600);
}
void loop()
{
static GPSData data;
if (gps.is_data_ready()) {
data = gps.data;
Serial.print("latitude: ");
Serial.println(data.latitude, 10);
Serial.print("longitude: ");
Serial.println(data.longitude, 10);
Serial.print("altitude: ");
Serial.println(data.altitude);
Serial.print("\n");
}
}

11
test/README Normal file
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This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html