gps.ino

#include <Wire.h>
#include <string.h>
//#include <AltSoftSerial.h>


/**
   Macro definitions
**/
#define Task_t 10          // Task Time in milli seconds

/**
   String definitions
**/
const int sentenceSize = 80;
char sentence[sentenceSize];
int error = 0;

/**
   Main hardware declaration
**/
//AltSoftSerial gpsSerial;   //GPS Module: 9 (TX) → Not in use , 8 (RX)  Library.


/**
   L298N Pin definitions
**/

/**
   Other variables
**/
int dt = 0;                // Time interval
unsigned long t;           // Last time mark reference


void setup()
{
  Serial.begin(9600);    // Start main Serial communication
  //gpsSerial.begin(9600); // Start the GPS Module
}

void loop()
{
  static int i = 0;
  if (Serial.available())
  {
    char ch = Serial.read();
    if (ch != '\n' && i < sentenceSize)
    {
      sentence[i] = ch;
      i++;
    }
    else
    {
      sentence[i] = '\0';
      i = 0;
      displayGPS();
    }

  }
  Serial.flush();
}

int incPulse(int val, int inc){
  if( val + inc  > 2000 )
    return 1000 ;
  else
    return val + inc;
}

void displayGPS()
{
  char field[40];
  getField(field, 0);
  //Serial.print(field);
  if (strcmp(field, "$GPRMC") == 0)
  {
    Serial.print("Lat: ");
    getField(field, 3);  // number
    Serial.print(field);
    getField(field, 4); // N/S
    Serial.print(field);

    Serial.print(" Long: ");
    getField(field, 5);  // number
    Serial.print(field);
    getField(field, 6);  // E/W
    Serial.println(field);
  }
}


void getField(char* buffer, int index)
{
  int sentencePos = 0;
  int fieldPos = 0;
  int commaCount = 0;
  while (sentencePos < sentenceSize)
  {
    if (sentence[sentencePos] == ',')
    {
      commaCount ++;
      sentencePos ++;
    }
    if (commaCount == index)
    {
      buffer[fieldPos] = sentence[sentencePos];
      fieldPos ++;
    }
    sentencePos ++;
  }
  buffer[fieldPos] = '\0';
}