CansatB_2021 / Mbed 2 deprecated cansat_integrated

統合プログラム

Dependencies:   mbed Servo BMP180

getGPS.cpp@8:7209c810309d, 2021-11-01 (annotated)

Committer:
tsubasa_nakajima
Date:
Mon Nov 01 16:52:17 2021 +0000
Revision:
8:7209c810309d
Parent:
0:e7b7def631c2 
completed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
minanao 0:e7b7def631c2 1 #include "mbed.h"
minanao 0:e7b7def631c2 2 #include "getGPS.h"
minanao 0:e7b7def631c2 3
minanao 0:e7b7def631c2 4 GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx)
minanao 0:e7b7def631c2 5 {
minanao 0:e7b7def631c2 6 latitude = 0;
minanao 0:e7b7def631c2 7 longitude = 0;
minanao 0:e7b7def631c2 8 _gps.baud(GPSBAUD);
minanao 0:e7b7def631c2 9 _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29");
minanao 0:e7b7def631c2 10 }
minanao 0:e7b7def631c2 11
minanao 0:e7b7def631c2 12 bool GPS::getgps()
minanao 0:e7b7def631c2 13 {
minanao 0:e7b7def631c2 14 char gps_data[256];
minanao 0:e7b7def631c2 15 int i;
minanao 0:e7b7def631c2 16
minanao 0:e7b7def631c2 17 do {
minanao 0:e7b7def631c2 18 while(_gps.getc() != '$'); //$マークまで読み飛ばし
minanao 0:e7b7def631c2 19 i = 0;
minanao 0:e7b7def631c2 20
minanao 0:e7b7def631c2 21 /* gpa_data初期化 */
minanao 0:e7b7def631c2 22 for(int j = 0; j < 256; j++)
minanao 0:e7b7def631c2 23 gps_data[j] = '\0';
minanao 0:e7b7def631c2 24
minanao 0:e7b7def631c2 25 /* NMEAから一行読み込み */
minanao 0:e7b7def631c2 26 while((gps_data[i] = _gps.getc()) != '\r') {
minanao 0:e7b7def631c2 27 i++;
minanao 0:e7b7def631c2 28 if(i == 256) {
minanao 0:e7b7def631c2 29 i = 255;
minanao 0:e7b7def631c2 30 break;
minanao 0:e7b7def631c2 31 }
minanao 0:e7b7def631c2 32 }
minanao 0:e7b7def631c2 33 } while(strstr(gps_data, "GPGGA") == NULL); //GGAセンテンスまで一行ずつ読み込み続ける
minanao 0:e7b7def631c2 34
minanao 0:e7b7def631c2 35 int rlock;
minanao 0:e7b7def631c2 36 char ns,ew;
minanao 0:e7b7def631c2 37 double w_time, raw_longitude, raw_latitude;
minanao 0:e7b7def631c2 38 int satnum;
minanao 0:e7b7def631c2 39 double hdop;
minanao 0:e7b7def631c2 40
minanao 0:e7b7def631c2 41 if(sscanf(gps_data, "GPGGA, %lf, %lf, %c, %lf, %c, %d, %d, %lf", &w_time, &raw_latitude, &ns, &raw_longitude, &ew, &rlock, &satnum, &hdop) > 1) {
minanao 0:e7b7def631c2 42 /* 座標1（度部分） */
minanao 0:e7b7def631c2 43 int latitude_dd = (int)(raw_latitude / 100);
minanao 0:e7b7def631c2 44 int longitude_dd = (int)(raw_longitude / 100);
minanao 0:e7b7def631c2 45
minanao 0:e7b7def631c2 46 /* 座標2（分部分 → 度） */
minanao 0:e7b7def631c2 47 double latitude_md = (raw_latitude - latitude_dd * 100) / 60;
minanao 0:e7b7def631c2 48 double longitude_md = (raw_longitude - longitude_dd * 100) / 60;
minanao 0:e7b7def631c2 49
minanao 0:e7b7def631c2 50 /* 座標1 + 2 */
minanao 0:e7b7def631c2 51 latitude = latitude_dd + latitude_md;
minanao 0:e7b7def631c2 52 longitude = longitude_dd + longitude_md;
minanao 0:e7b7def631c2 53
minanao 0:e7b7def631c2 54 return true;
minanao 0:e7b7def631c2 55 } else
minanao 0:e7b7def631c2 56 return false; //GGAセンテンスの情報が欠けている時
minanao 0:e7b7def631c2 57 }