FTE-denshi / Mbed 2 deprecated FTE-06

東北大学学友会準加盟団体 From The Earth の高高度ロケットFTE-06（通称：海豚）にて使用したソフトウェアです．ご自由にお使いください．このプログラムによって生じた損害について当団体は一切責任を負いません．また，各モジュールのライブラリは当団体が作成したものではないので再配布は禁止します．

Dependencies:   mbed FATFileSystem

Fork of FTE-06 by Tetsushi Amano

GPS/GPS.cpp@46:a8617076f021, 2017-08-21 (annotated)

Committer:
mizuki_akaike
Date:
Mon Aug 21 16:24:34 2017 +0000
Revision:
46:a8617076f021
Child:
48:58213015bb90
gps?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mizuki_akaike 46:a8617076f021 1 #include "GPS.h"
mizuki_akaike 46:a8617076f021 2
mizuki_akaike 46:a8617076f021 3 GPS::GPS(PinName tx, PinName rx) : _gps(tx, rx) {
mizuki_akaike 46:a8617076f021 4 _gps.baud(9600);
mizuki_akaike 46:a8617076f021 5 nmea_longitude = 0.0;
mizuki_akaike 46:a8617076f021 6 nmea_latitude = 0.0;
mizuki_akaike 46:a8617076f021 7 utc_time = 0;
mizuki_akaike 46:a8617076f021 8 ns = ' ';
mizuki_akaike 46:a8617076f021 9 ew = ' ';
mizuki_akaike 46:a8617076f021 10 lock = 0;
mizuki_akaike 46:a8617076f021 11 satelites = 0;
mizuki_akaike 46:a8617076f021 12 hdop = 0.0;
mizuki_akaike 46:a8617076f021 13 msl_altitude = 0.0;
mizuki_akaike 46:a8617076f021 14 msl_units = ' ';
mizuki_akaike 46:a8617076f021 15
mizuki_akaike 46:a8617076f021 16 rmc_status = ' ';
mizuki_akaike 46:a8617076f021 17 speed_k = 0.0;
mizuki_akaike 46:a8617076f021 18 course_d = 0.0;
mizuki_akaike 46:a8617076f021 19 date = 0;
mizuki_akaike 46:a8617076f021 20
mizuki_akaike 46:a8617076f021 21 dec_longitude = 0.0;
mizuki_akaike 46:a8617076f021 22 dec_latitude = 0.0;
mizuki_akaike 46:a8617076f021 23
mizuki_akaike 46:a8617076f021 24 gll_status = ' ';
mizuki_akaike 46:a8617076f021 25
mizuki_akaike 46:a8617076f021 26 course_t = 0.0; // ground speed true
mizuki_akaike 46:a8617076f021 27 course_t_unit = ' ';
mizuki_akaike 46:a8617076f021 28 course_m = 0.0; // magnetic
mizuki_akaike 46:a8617076f021 29 course_m_unit = ' ';
mizuki_akaike 46:a8617076f021 30 speed_k_unit = ' ';
mizuki_akaike 46:a8617076f021 31 speed_km = 0.0; // speek km/hr
mizuki_akaike 46:a8617076f021 32 speed_km_unit = ' ';
mizuki_akaike 46:a8617076f021 33
mizuki_akaike 46:a8617076f021 34 altitude_ft = 0.0;
mizuki_akaike 46:a8617076f021 35 #ifdef OPEN_LOG
mizuki_akaike 46:a8617076f021 36 is_logging = false;
mizuki_akaike 46:a8617076f021 37 #endif
mizuki_akaike 46:a8617076f021 38 }
mizuki_akaike 46:a8617076f021 39
mizuki_akaike 46:a8617076f021 40 #ifdef OPEN_LOG
mizuki_akaike 46:a8617076f021 41 void GPS::start_log() {
mizuki_akaike 46:a8617076f021 42 is_logging = true;
mizuki_akaike 46:a8617076f021 43 }
mizuki_akaike 46:a8617076f021 44
mizuki_akaike 46:a8617076f021 45 void GPS::new_file(void) {
mizuki_akaike 46:a8617076f021 46 _openLog.newFile();
mizuki_akaike 46:a8617076f021 47 }
mizuki_akaike 46:a8617076f021 48
mizuki_akaike 46:a8617076f021 49 void GPS::stop_log(void) {
mizuki_akaike 46:a8617076f021 50 is_logging = false;
mizuki_akaike 46:a8617076f021 51 }
mizuki_akaike 46:a8617076f021 52 #endif
mizuki_akaike 46:a8617076f021 53
mizuki_akaike 46:a8617076f021 54 float GPS::nmea_to_dec(float deg_coord, char nsew) {
mizuki_akaike 46:a8617076f021 55 int degree = (int)(deg_coord/100);
mizuki_akaike 46:a8617076f021 56 float minutes = deg_coord - degree*100;
mizuki_akaike 46:a8617076f021 57 float dec_deg = minutes / 60;
mizuki_akaike 46:a8617076f021 58 float decimal = degree + dec_deg;
mizuki_akaike 46:a8617076f021 59 if (nsew == 'S' || nsew == 'W') { // return negative
mizuki_akaike 46:a8617076f021 60 decimal *= -1;
mizuki_akaike 46:a8617076f021 61 }
mizuki_akaike 46:a8617076f021 62 return decimal;
mizuki_akaike 46:a8617076f021 63 }
mizuki_akaike 46:a8617076f021 64
mizuki_akaike 46:a8617076f021 65 int GPS::sample() {
mizuki_akaike 46:a8617076f021 66 int line_parsed = 0;
mizuki_akaike 46:a8617076f021 67
mizuki_akaike 46:a8617076f021 68 if (_gps.readable()) {
mizuki_akaike 46:a8617076f021 69 getline();
mizuki_akaike 46:a8617076f021 70
mizuki_akaike 46:a8617076f021 71 #ifdef OPEN_LOG
mizuki_akaike 46:a8617076f021 72 if (is_logging && lock) {
mizuki_akaike 46:a8617076f021 73 format_for_log();
mizuki_akaike 46:a8617076f021 74 _openLog.write(bfr);
mizuki_akaike 46:a8617076f021 75 }
mizuki_akaike 46:a8617076f021 76 #endif
mizuki_akaike 46:a8617076f021 77
mizuki_akaike 46:a8617076f021 78 // Check if it is a GPGGA msg (matches both locked and non-locked msg)
mizuki_akaike 46:a8617076f021 79 if (sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,%c", &utc_time, &nmea_latitude, &ns, &nmea_longitude, &ew, &lock, &satelites, &hdop, &msl_altitude, &msl_units) >= 1) {
mizuki_akaike 46:a8617076f021 80 line_parsed = GGA;
mizuki_akaike 46:a8617076f021 81 }
mizuki_akaike 46:a8617076f021 82 // Check if it is a GPRMC msg
mizuki_akaike 46:a8617076f021 83 else if (sscanf(msg, "GPRMC,%f,%c,%f,%c,%f,%f,%d", &utc_time, &ns, &nmea_longitude, &ew, &speed_k, &course_d, &date) >= 1) {
mizuki_akaike 46:a8617076f021 84 line_parsed = RMC;
mizuki_akaike 46:a8617076f021 85 }
mizuki_akaike 46:a8617076f021 86 // GLL - Geographic Position-Lat/Lon
mizuki_akaike 46:a8617076f021 87 else if (sscanf(msg, "GPGLL,%f,%c,%f,%c,%f,%c", &nmea_latitude, &ns, &nmea_longitude, &ew, &utc_time, &gll_status) >= 1) {
mizuki_akaike 46:a8617076f021 88 line_parsed = GLL;
mizuki_akaike 46:a8617076f021 89 }
mizuki_akaike 46:a8617076f021 90 // VTG-Course Over Ground and Ground Speed
mizuki_akaike 46:a8617076f021 91 else if (sscanf(msg, "GPVTG,%f,%c,%f,%c,%f,%c,%f,%c", &course_t, &course_t_unit, &course_m, &course_m_unit, &speed_k, &speed_k_unit, &speed_km, &speed_km_unit) >= 1) {
mizuki_akaike 46:a8617076f021 92 line_parsed = VTG;
mizuki_akaike 46:a8617076f021 93 }
mizuki_akaike 46:a8617076f021 94
mizuki_akaike 46:a8617076f021 95 if(satelites == 0) {
mizuki_akaike 46:a8617076f021 96 lock = 0;
mizuki_akaike 46:a8617076f021 97 }
mizuki_akaike 46:a8617076f021 98 }
mizuki_akaike 46:a8617076f021 99 if (!lock) {
mizuki_akaike 46:a8617076f021 100 return NO_LOCK;
mizuki_akaike 46:a8617076f021 101 } else if (line_parsed) {
mizuki_akaike 46:a8617076f021 102 return line_parsed;
mizuki_akaike 46:a8617076f021 103 } else {
mizuki_akaike 46:a8617076f021 104 return NOT_PARSED;
mizuki_akaike 46:a8617076f021 105 }
mizuki_akaike 46:a8617076f021 106 }
mizuki_akaike 46:a8617076f021 107
mizuki_akaike 46:a8617076f021 108
mizuki_akaike 46:a8617076f021 109 // INTERNAL FUNCTINS ////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 110 float GPS::trunc(float v) {
mizuki_akaike 46:a8617076f021 111 if (v < 0.0) {
mizuki_akaike 46:a8617076f021 112 v*= -1.0;
mizuki_akaike 46:a8617076f021 113 v = floor(v);
mizuki_akaike 46:a8617076f021 114 v*=-1.0;
mizuki_akaike 46:a8617076f021 115 } else {
mizuki_akaike 46:a8617076f021 116 v = floor(v);
mizuki_akaike 46:a8617076f021 117 }
mizuki_akaike 46:a8617076f021 118 return v;
mizuki_akaike 46:a8617076f021 119 }
mizuki_akaike 46:a8617076f021 120
mizuki_akaike 46:a8617076f021 121 void GPS::getline() {
mizuki_akaike 46:a8617076f021 122 while (_gps.getc() != '$'); // wait for the start of a line
mizuki_akaike 46:a8617076f021 123 for (int i=0; i<1022; i++) {
mizuki_akaike 46:a8617076f021 124 msg[i] = _gps.getc();
mizuki_akaike 46:a8617076f021 125 if (msg[i] == '\r') {
mizuki_akaike 46:a8617076f021 126 msg[i] = 0;
mizuki_akaike 46:a8617076f021 127 return;
mizuki_akaike 46:a8617076f021 128 }
mizuki_akaike 46:a8617076f021 129 }
mizuki_akaike 46:a8617076f021 130 error("Overflow in getline");
mizuki_akaike 46:a8617076f021 131 }
mizuki_akaike 46:a8617076f021 132
mizuki_akaike 46:a8617076f021 133 void GPS::format_for_log() {
mizuki_akaike 46:a8617076f021 134 bfr[0] = '$';
mizuki_akaike 46:a8617076f021 135 for (int i = 0; i < 1022; i++) {
mizuki_akaike 46:a8617076f021 136 bfr[i+1] = msg[i];
mizuki_akaike 46:a8617076f021 137 if (msg[i] == 0 || msg[i] =='$') {
mizuki_akaike 46:a8617076f021 138 bfr[i+1] = '\r';
mizuki_akaike 46:a8617076f021 139 bfr[i+2] = '\n';
mizuki_akaike 46:a8617076f021 140 bfr[i+3] = 0;
mizuki_akaike 46:a8617076f021 141 return;
mizuki_akaike 46:a8617076f021 142 }
mizuki_akaike 46:a8617076f021 143 }
mizuki_akaike 46:a8617076f021 144 error("Overflow in format");
mizuki_akaike 46:a8617076f021 145 }
mizuki_akaike 46:a8617076f021 146
mizuki_akaike 46:a8617076f021 147 // GET FUNCTIONS /////////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 148 float GPS::get_msl_altitude() {
mizuki_akaike 46:a8617076f021 149 if (!lock)
mizuki_akaike 46:a8617076f021 150 return 0.0;
mizuki_akaike 46:a8617076f021 151 else
mizuki_akaike 46:a8617076f021 152 return msl_altitude;
mizuki_akaike 46:a8617076f021 153 }
mizuki_akaike 46:a8617076f021 154
mizuki_akaike 46:a8617076f021 155 int GPS::get_satelites() {
mizuki_akaike 46:a8617076f021 156 if (!lock)
mizuki_akaike 46:a8617076f021 157 return 0;
mizuki_akaike 46:a8617076f021 158 else
mizuki_akaike 46:a8617076f021 159 return satelites;
mizuki_akaike 46:a8617076f021 160 }
mizuki_akaike 46:a8617076f021 161
mizuki_akaike 46:a8617076f021 162 float GPS::get_nmea_longitude() {
mizuki_akaike 46:a8617076f021 163 if (!lock)
mizuki_akaike 46:a8617076f021 164 return 0.0;
mizuki_akaike 46:a8617076f021 165 else
mizuki_akaike 46:a8617076f021 166 return nmea_longitude;
mizuki_akaike 46:a8617076f021 167 }
mizuki_akaike 46:a8617076f021 168
mizuki_akaike 46:a8617076f021 169 float GPS::get_dec_longitude() {
mizuki_akaike 46:a8617076f021 170 dec_longitude = nmea_to_dec(nmea_longitude, ew);
mizuki_akaike 46:a8617076f021 171 if (!lock)
mizuki_akaike 46:a8617076f021 172 return 0.0;
mizuki_akaike 46:a8617076f021 173 else
mizuki_akaike 46:a8617076f021 174 return dec_longitude;
mizuki_akaike 46:a8617076f021 175 }
mizuki_akaike 46:a8617076f021 176
mizuki_akaike 46:a8617076f021 177 float GPS::get_nmea_latitude() {
mizuki_akaike 46:a8617076f021 178 if (!lock)
mizuki_akaike 46:a8617076f021 179 return 0.0;
mizuki_akaike 46:a8617076f021 180 else
mizuki_akaike 46:a8617076f021 181 return nmea_latitude;
mizuki_akaike 46:a8617076f021 182 }
mizuki_akaike 46:a8617076f021 183
mizuki_akaike 46:a8617076f021 184 float GPS::get_dec_latitude() {
mizuki_akaike 46:a8617076f021 185 dec_latitude = nmea_to_dec(nmea_latitude, ns);
mizuki_akaike 46:a8617076f021 186 if (!lock)
mizuki_akaike 46:a8617076f021 187 return 0.0;
mizuki_akaike 46:a8617076f021 188 else
mizuki_akaike 46:a8617076f021 189 return dec_latitude;
mizuki_akaike 46:a8617076f021 190 }
mizuki_akaike 46:a8617076f021 191
mizuki_akaike 46:a8617076f021 192 float GPS::get_course_t() {
mizuki_akaike 46:a8617076f021 193 if (!lock)
mizuki_akaike 46:a8617076f021 194 return 0.0;
mizuki_akaike 46:a8617076f021 195 else
mizuki_akaike 46:a8617076f021 196 return course_t;
mizuki_akaike 46:a8617076f021 197 }
mizuki_akaike 46:a8617076f021 198
mizuki_akaike 46:a8617076f021 199 float GPS::get_course_m() {
mizuki_akaike 46:a8617076f021 200 if (!lock)
mizuki_akaike 46:a8617076f021 201 return 0.0;
mizuki_akaike 46:a8617076f021 202 else
mizuki_akaike 46:a8617076f021 203 return course_m;
mizuki_akaike 46:a8617076f021 204 }
mizuki_akaike 46:a8617076f021 205
mizuki_akaike 46:a8617076f021 206 float GPS::get_speed_k() {
mizuki_akaike 46:a8617076f021 207 if (!lock)
mizuki_akaike 46:a8617076f021 208 return 0.0;
mizuki_akaike 46:a8617076f021 209 else
mizuki_akaike 46:a8617076f021 210 return speed_k;
mizuki_akaike 46:a8617076f021 211 }
mizuki_akaike 46:a8617076f021 212
mizuki_akaike 46:a8617076f021 213 float GPS::get_speed_km() {
mizuki_akaike 46:a8617076f021 214 if (!lock)
mizuki_akaike 46:a8617076f021 215 return 0.0;
mizuki_akaike 46:a8617076f021 216 else
mizuki_akaike 46:a8617076f021 217 return speed_km;
mizuki_akaike 46:a8617076f021 218 }
mizuki_akaike 46:a8617076f021 219
mizuki_akaike 46:a8617076f021 220 float GPS::get_altitude_ft() {
mizuki_akaike 46:a8617076f021 221 if (!lock)
mizuki_akaike 46:a8617076f021 222 return 0.0;
mizuki_akaike 46:a8617076f021 223 else
mizuki_akaike 46:a8617076f021 224 return 3.280839895*msl_altitude;
mizuki_akaike 46:a8617076f021 225 }
mizuki_akaike 46:a8617076f021 226
mizuki_akaike 46:a8617076f021 227 // NAVIGATION FUNCTIONS ////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 228 float GPS::calc_course_to(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 229 const double d2r = PI / 180.0;
mizuki_akaike 46:a8617076f021 230 const double r2d = 180.0 / PI;
mizuki_akaike 46:a8617076f021 231 double dlat = abs(pointLat - get_dec_latitude()) * d2r;
mizuki_akaike 46:a8617076f021 232 double dlong = abs(pontLong - get_dec_longitude()) * d2r;
mizuki_akaike 46:a8617076f021 233 double y = sin(dlong) * cos(pointLat * d2r);
mizuki_akaike 46:a8617076f021 234 double x = cos(get_dec_latitude()*d2r)*sin(pointLat*d2r) - sin(get_dec_latitude()*d2r)*cos(pointLat*d2r)*cos(dlong);
mizuki_akaike 46:a8617076f021 235 return atan2(y,x)*r2d;
mizuki_akaike 46:a8617076f021 236 }
mizuki_akaike 46:a8617076f021 237
mizuki_akaike 46:a8617076f021 238 /*
mizuki_akaike 46:a8617076f021 239 var y = Math.sin(dLon) * Math.cos(lat2);
mizuki_akaike 46:a8617076f021 240 var x = Math.cos(lat1)*Math.sin(lat2) -
mizuki_akaike 46:a8617076f021 241 Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
mizuki_akaike 46:a8617076f021 242 var brng = Math.atan2(y, x).toDeg();
mizuki_akaike 46:a8617076f021 243 */
mizuki_akaike 46:a8617076f021 244
mizuki_akaike 46:a8617076f021 245 /*
mizuki_akaike 46:a8617076f021 246 The Haversine formula according to Dr. Math.
mizuki_akaike 46:a8617076f021 247 http://mathforum.org/library/drmath/view/51879.html
mizuki_akaike 46:a8617076f021 248
mizuki_akaike 46:a8617076f021 249 dlon = lon2 - lon1
mizuki_akaike 46:a8617076f021 250 dlat = lat2 - lat1
mizuki_akaike 46:a8617076f021 251 a = (sin(dlat/2))^2 + cos(lat1) * cos(lat2) * (sin(dlon/2))^2
mizuki_akaike 46:a8617076f021 252 c = 2 * atan2(sqrt(a), sqrt(1-a))
mizuki_akaike 46:a8617076f021 253 d = R * c
mizuki_akaike 46:a8617076f021 254
mizuki_akaike 46:a8617076f021 255 Where
mizuki_akaike 46:a8617076f021 256 * dlon is the change in longitude
mizuki_akaike 46:a8617076f021 257 * dlat is the change in latitude
mizuki_akaike 46:a8617076f021 258 * c is the great circle distance in Radians.
mizuki_akaike 46:a8617076f021 259 * R is the radius of a spherical Earth.
mizuki_akaike 46:a8617076f021 260 * The locations of the two points in
mizuki_akaike 46:a8617076f021 261 spherical coordinates (longitude and
mizuki_akaike 46:a8617076f021 262 latitude) are lon1,lat1 and lon2, lat2.
mizuki_akaike 46:a8617076f021 263 */
mizuki_akaike 46:a8617076f021 264 double GPS::calc_dist_to_mi(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 265 const double d2r = PI / 180.0;
mizuki_akaike 46:a8617076f021 266 double dlat = pointLat - get_dec_latitude();
mizuki_akaike 46:a8617076f021 267 double dlong = pontLong - get_dec_longitude();
mizuki_akaike 46:a8617076f021 268 double a = pow(sin(dlat/2.0),2.0) + cos(get_dec_latitude()*d2r) * cos(pointLat*d2r) * pow(sin(dlong/2.0),2.0);
mizuki_akaike 46:a8617076f021 269 double c = 2.0 * asin(sqrt(abs(a)));
mizuki_akaike 46:a8617076f021 270 double d = 63.765 * c;
mizuki_akaike 46:a8617076f021 271
mizuki_akaike 46:a8617076f021 272 return d;
mizuki_akaike 46:a8617076f021 273 }
mizuki_akaike 46:a8617076f021 274
mizuki_akaike 46:a8617076f021 275 double GPS::calc_dist_to_ft(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 276 return calc_dist_to_mi(pointLat, pontLong)*5280.0;
mizuki_akaike 46:a8617076f021 277 }
mizuki_akaike 46:a8617076f021 278
mizuki_akaike 46:a8617076f021 279 double GPS::calc_dist_to_km(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 280 return calc_dist_to_mi(pointLat, pontLong)*1.609344;
mizuki_akaike 46:a8617076f021 281 }
mizuki_akaike 46:a8617076f021 282
mizuki_akaike 46:a8617076f021 283 double GPS::calc_dist_to_m(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 284 return calc_dist_to_mi(pointLat, pontLong)*1609.344;
mizuki_akaike 46:a8617076f021 285 }
mizuki_akaike 46:a8617076f021 286
mizuki_akaike 46:a8617076f021 287