Initial upload

examples/GPS/gps.cpp

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+/*
+Provided to you by Emlid Ltd (c) 2014.
+twitter.com/emlidtech || www.emlid.com || info@emlid.com
+
+Example: Receive position information with GPS driver onboard of Navio shield for Raspberry Pi.
+
+Ublox GPS receiver is connected as an SPI device 0.0(/dev/spidev0.0).
+The receiver sends information over SPI in an endless stream,
+this program is intended to show, how to capture ubx protocol messages
+from the stream and extract useful information from them.
+
+To run this example navigate to the directory containing it and run following commands:
+make
+./ublox
+*/
+
+//#define _XOPEN_SOURCE 600
+#include "Navio/Ublox.h"
+#include "Navio/Util.h"
+
+using namespace std;
+
+int main(int argc, char *argv[]){
+
+    // This vector is used to store location data, decoded from ubx messages.
+    // After you decode at least one message successfully, the information is stored in vector
+    // in a way described in function decodeMessage(vector<double>& data) of class UBXParser(see ublox.h)
+
+    std::vector<double> pos_data;
+
+
+    // create ublox class instance
+    Ublox gps;
+
+    // check if APM is launched
+    if (check_apm()) {
+        return 1;
+    }
+
+    // Here we test connection with the receiver. Function testConnection() waits for a ubx protocol message and checks it.
+    // If there's at least one correct message in the first 300 symbols the test is passed
+    if(gps.testConnection())
+    {
+        printf("Ublox test OK\n");
+
+        // gps.decodeMessages();
+        // You can use this function to decode all messages, incoming from the GPS receiver. The function starts an infinite loop.
+        // In this example we can only decode NAV-POSLLH messages, the others are simply ignored.
+        // You can add new message types in function decodeMessage() of class UBXParser(see ublox.h)
+
+
+        // Here, however we use a different approach. Instead of trying to extract info from every message(as done in decodeMessages()),
+        // this function waits for a message of a specified type and gets you just the information you need
+        // In this example we decode NAV-POSLLH messages, adding new types, however is quite easy
+
+        while (true)
+        {
+
+            if (gps.decodeSingleMessage(Ublox::NAV_POSLLH, pos_data) == 1)
+            {
+                // after desired message is successfully decoded, we can use the information stored in pos_data vector
+                // right here, or we can do something with it from inside decodeSingleMessage() function(see ublox.h).
+                // the way, data is stored in pos_data vector is specified in decodeMessage() function of class UBXParser(see ublox.h)
+                printf("GPS Millisecond Time of Week: %.0lf s\n", pos_data[0]/1000);
+                printf("Longitude: %lf\n", pos_data[1]/10000000);
+                printf("Latitude: %lf\n", pos_data[2]/10000000);
+                printf("Height above Ellipsoid: %.3lf m\n", pos_data[3]/1000);
+                printf("Height above mean sea level: %.3lf m\n", pos_data[4]/1000);
+                printf("Horizontal Accuracy Estateimate: %.3lf m\n", pos_data[5]/1000);
+                printf("Vertical Accuracy Estateimate: %.3lf m\n", pos_data[6]/1000);
+
+            } else {
+                // printf("Message not captured\n");
+                // use this to see, how often you get the right messages
+                // to increase the frequency you can turn off the undesired messages or tweak ublox settings
+                // to increase internal receiver frequency
+            }
+
+            if (gps.decodeSingleMessage(Ublox::NAV_STATUS, pos_data) == 1)
+            {
+                printf("Current GPS status:\n");
+                printf("gpsFixOk: %d\n", ((int)pos_data[1] & 0x01));
+
+                printf("gps Fix status: ");
+                switch((int)pos_data[0]){
+                    case 0x00:
+                        printf("no fix\n");
+                        break;
+
+                    case 0x01:
+                        printf("dead reckoning only\n");
+                        break;
+
+                    case 0x02:
+                        printf("2D-fix\n");
+                        break;
+
+                    case 0x03:
+                        printf("3D-fix\n");
+                        break;
+
+                    case 0x04:
+                        printf("GPS + dead reckoning combined\n");
+                        break;
+
+                    case 0x05:
+                        printf("Time only fix\n");
+                        break;
+
+                    default:
+                        printf("Reserved value. Current state unknown\n");
+                        break;
+
+                }
+
+                printf("\n");
+
+            } else {
+                // printf("Status Message not captured\n");
+            }
+
+
+            usleep(200);
+        }
+
+    } else {
+
+        printf("Ublox test not passed\nAbort program!\n");
+
+    }
+
+    return 0;
+}