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@48:58213015bb90, 2017-08-22 (annotated)

Committer:
mizuki_akaike
Date:
Tue Aug 22 11:33:42 2017 +0000
Revision:
48:58213015bb90
Parent:
46:a8617076f021
Child:
50:0dbbd39a54bb
ethernet??????????????

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 // Check if it is a GPGGA msg (matches both locked and non-locked msg)
mizuki_akaike 46:a8617076f021 78 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 79 line_parsed = GGA;
mizuki_akaike 46:a8617076f021 80 }
mizuki_akaike 46:a8617076f021 81 // Check if it is a GPRMC msg
mizuki_akaike 46:a8617076f021 82 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 83 line_parsed = RMC;
mizuki_akaike 46:a8617076f021 84 }
mizuki_akaike 46:a8617076f021 85 // GLL - Geographic Position-Lat/Lon
mizuki_akaike 46:a8617076f021 86 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 87 line_parsed = GLL;
mizuki_akaike 46:a8617076f021 88 }
mizuki_akaike 46:a8617076f021 89 // VTG-Course Over Ground and Ground Speed
mizuki_akaike 46:a8617076f021 90 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 91 line_parsed = VTG;
mizuki_akaike 46:a8617076f021 92 }
mizuki_akaike 46:a8617076f021 93
mizuki_akaike 46:a8617076f021 94 if(satelites == 0) {
mizuki_akaike 46:a8617076f021 95 lock = 0;
mizuki_akaike 46:a8617076f021 96 }
mizuki_akaike 46:a8617076f021 97 }
mizuki_akaike 46:a8617076f021 98 if (!lock) {
mizuki_akaike 46:a8617076f021 99 return NO_LOCK;
mizuki_akaike 46:a8617076f021 100 } else if (line_parsed) {
mizuki_akaike 46:a8617076f021 101 return line_parsed;
mizuki_akaike 46:a8617076f021 102 } else {
mizuki_akaike 46:a8617076f021 103 return NOT_PARSED;
mizuki_akaike 46:a8617076f021 104 }
mizuki_akaike 46:a8617076f021 105 }
mizuki_akaike 46:a8617076f021 106
mizuki_akaike 46:a8617076f021 107
mizuki_akaike 46:a8617076f021 108 // INTERNAL FUNCTINS ////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 109 float GPS::trunc(float v) {
mizuki_akaike 46:a8617076f021 110 if (v < 0.0) {
mizuki_akaike 46:a8617076f021 111 v*= -1.0;
mizuki_akaike 46:a8617076f021 112 v = floor(v);
mizuki_akaike 46:a8617076f021 113 v*=-1.0;
mizuki_akaike 46:a8617076f021 114 } else {
mizuki_akaike 46:a8617076f021 115 v = floor(v);
mizuki_akaike 46:a8617076f021 116 }
mizuki_akaike 46:a8617076f021 117 return v;
mizuki_akaike 46:a8617076f021 118 }
mizuki_akaike 46:a8617076f021 119
mizuki_akaike 46:a8617076f021 120 void GPS::getline() {
mizuki_akaike 46:a8617076f021 121 while (_gps.getc() != '$'); // wait for the start of a line
mizuki_akaike 46:a8617076f021 122 for (int i=0; i<1022; i++) {
mizuki_akaike 46:a8617076f021 123 msg[i] = _gps.getc();
mizuki_akaike 46:a8617076f021 124 if (msg[i] == '\r') {
mizuki_akaike 46:a8617076f021 125 msg[i] = 0;
mizuki_akaike 46:a8617076f021 126 return;
mizuki_akaike 46:a8617076f021 127 }
mizuki_akaike 46:a8617076f021 128 }
mizuki_akaike 46:a8617076f021 129 error("Overflow in getline");
mizuki_akaike 46:a8617076f021 130 }
mizuki_akaike 46:a8617076f021 131
mizuki_akaike 46:a8617076f021 132 void GPS::format_for_log() {
mizuki_akaike 46:a8617076f021 133 bfr[0] = '$';
mizuki_akaike 46:a8617076f021 134 for (int i = 0; i < 1022; i++) {
mizuki_akaike 46:a8617076f021 135 bfr[i+1] = msg[i];
mizuki_akaike 46:a8617076f021 136 if (msg[i] == 0 || msg[i] =='$') {
mizuki_akaike 46:a8617076f021 137 bfr[i+1] = '\r';
mizuki_akaike 46:a8617076f021 138 bfr[i+2] = '\n';
mizuki_akaike 46:a8617076f021 139 bfr[i+3] = 0;
mizuki_akaike 46:a8617076f021 140 return;
mizuki_akaike 46:a8617076f021 141 }
mizuki_akaike 46:a8617076f021 142 }
mizuki_akaike 46:a8617076f021 143 error("Overflow in format");
mizuki_akaike 46:a8617076f021 144 }
mizuki_akaike 46:a8617076f021 145
mizuki_akaike 46:a8617076f021 146 // GET FUNCTIONS /////////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 147 float GPS::get_msl_altitude() {
mizuki_akaike 46:a8617076f021 148 if (!lock)
mizuki_akaike 46:a8617076f021 149 return 0.0;
mizuki_akaike 46:a8617076f021 150 else
mizuki_akaike 46:a8617076f021 151 return msl_altitude;
mizuki_akaike 46:a8617076f021 152 }
mizuki_akaike 46:a8617076f021 153
mizuki_akaike 46:a8617076f021 154 int GPS::get_satelites() {
mizuki_akaike 46:a8617076f021 155 if (!lock)
mizuki_akaike 46:a8617076f021 156 return 0;
mizuki_akaike 46:a8617076f021 157 else
mizuki_akaike 46:a8617076f021 158 return satelites;
mizuki_akaike 46:a8617076f021 159 }
mizuki_akaike 46:a8617076f021 160
mizuki_akaike 46:a8617076f021 161 float GPS::get_nmea_longitude() {
mizuki_akaike 46:a8617076f021 162 if (!lock)
mizuki_akaike 46:a8617076f021 163 return 0.0;
mizuki_akaike 46:a8617076f021 164 else
mizuki_akaike 46:a8617076f021 165 return nmea_longitude;
mizuki_akaike 46:a8617076f021 166 }
mizuki_akaike 46:a8617076f021 167
mizuki_akaike 46:a8617076f021 168 float GPS::get_dec_longitude() {
mizuki_akaike 46:a8617076f021 169 dec_longitude = nmea_to_dec(nmea_longitude, ew);
mizuki_akaike 46:a8617076f021 170 if (!lock)
mizuki_akaike 46:a8617076f021 171 return 0.0;
mizuki_akaike 46:a8617076f021 172 else
mizuki_akaike 46:a8617076f021 173 return dec_longitude;
mizuki_akaike 46:a8617076f021 174 }
mizuki_akaike 46:a8617076f021 175
mizuki_akaike 46:a8617076f021 176 float GPS::get_nmea_latitude() {
mizuki_akaike 46:a8617076f021 177 if (!lock)
mizuki_akaike 46:a8617076f021 178 return 0.0;
mizuki_akaike 46:a8617076f021 179 else
mizuki_akaike 46:a8617076f021 180 return nmea_latitude;
mizuki_akaike 46:a8617076f021 181 }
mizuki_akaike 46:a8617076f021 182
mizuki_akaike 46:a8617076f021 183 float GPS::get_dec_latitude() {
mizuki_akaike 46:a8617076f021 184 dec_latitude = nmea_to_dec(nmea_latitude, ns);
mizuki_akaike 46:a8617076f021 185 if (!lock)
mizuki_akaike 46:a8617076f021 186 return 0.0;
mizuki_akaike 46:a8617076f021 187 else
mizuki_akaike 46:a8617076f021 188 return dec_latitude;
mizuki_akaike 46:a8617076f021 189 }
mizuki_akaike 46:a8617076f021 190
mizuki_akaike 46:a8617076f021 191 float GPS::get_course_t() {
mizuki_akaike 46:a8617076f021 192 if (!lock)
mizuki_akaike 46:a8617076f021 193 return 0.0;
mizuki_akaike 46:a8617076f021 194 else
mizuki_akaike 46:a8617076f021 195 return course_t;
mizuki_akaike 46:a8617076f021 196 }
mizuki_akaike 46:a8617076f021 197
mizuki_akaike 46:a8617076f021 198 float GPS::get_course_m() {
mizuki_akaike 46:a8617076f021 199 if (!lock)
mizuki_akaike 46:a8617076f021 200 return 0.0;
mizuki_akaike 46:a8617076f021 201 else
mizuki_akaike 46:a8617076f021 202 return course_m;
mizuki_akaike 46:a8617076f021 203 }
mizuki_akaike 46:a8617076f021 204
mizuki_akaike 46:a8617076f021 205 float GPS::get_speed_k() {
mizuki_akaike 46:a8617076f021 206 if (!lock)
mizuki_akaike 46:a8617076f021 207 return 0.0;
mizuki_akaike 46:a8617076f021 208 else
mizuki_akaike 46:a8617076f021 209 return speed_k;
mizuki_akaike 46:a8617076f021 210 }
mizuki_akaike 46:a8617076f021 211
mizuki_akaike 46:a8617076f021 212 float GPS::get_speed_km() {
mizuki_akaike 46:a8617076f021 213 if (!lock)
mizuki_akaike 46:a8617076f021 214 return 0.0;
mizuki_akaike 46:a8617076f021 215 else
mizuki_akaike 46:a8617076f021 216 return speed_km;
mizuki_akaike 46:a8617076f021 217 }
mizuki_akaike 46:a8617076f021 218
mizuki_akaike 46:a8617076f021 219 float GPS::get_altitude_ft() {
mizuki_akaike 46:a8617076f021 220 if (!lock)
mizuki_akaike 46:a8617076f021 221 return 0.0;
mizuki_akaike 46:a8617076f021 222 else
mizuki_akaike 46:a8617076f021 223 return 3.280839895*msl_altitude;
mizuki_akaike 46:a8617076f021 224 }
mizuki_akaike 46:a8617076f021 225
mizuki_akaike 46:a8617076f021 226 // NAVIGATION FUNCTIONS ////////////////////////////////////////////////////////////
mizuki_akaike 46:a8617076f021 227 float GPS::calc_course_to(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 228 const double d2r = PI / 180.0;
mizuki_akaike 46:a8617076f021 229 const double r2d = 180.0 / PI;
mizuki_akaike 46:a8617076f021 230 double dlat = abs(pointLat - get_dec_latitude()) * d2r;
mizuki_akaike 46:a8617076f021 231 double dlong = abs(pontLong - get_dec_longitude()) * d2r;
mizuki_akaike 46:a8617076f021 232 double y = sin(dlong) * cos(pointLat * d2r);
mizuki_akaike 46:a8617076f021 233 double x = cos(get_dec_latitude()*d2r)*sin(pointLat*d2r) - sin(get_dec_latitude()*d2r)*cos(pointLat*d2r)*cos(dlong);
mizuki_akaike 46:a8617076f021 234 return atan2(y,x)*r2d;
mizuki_akaike 46:a8617076f021 235 }
mizuki_akaike 46:a8617076f021 236
mizuki_akaike 46:a8617076f021 237 /*
mizuki_akaike 46:a8617076f021 238 var y = Math.sin(dLon) * Math.cos(lat2);
mizuki_akaike 46:a8617076f021 239 var x = Math.cos(lat1)*Math.sin(lat2) -
mizuki_akaike 46:a8617076f021 240 Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
mizuki_akaike 46:a8617076f021 241 var brng = Math.atan2(y, x).toDeg();
mizuki_akaike 46:a8617076f021 242 */
mizuki_akaike 46:a8617076f021 243
mizuki_akaike 46:a8617076f021 244 /*
mizuki_akaike 46:a8617076f021 245 The Haversine formula according to Dr. Math.
mizuki_akaike 46:a8617076f021 246 http://mathforum.org/library/drmath/view/51879.html
mizuki_akaike 46:a8617076f021 247
mizuki_akaike 46:a8617076f021 248 dlon = lon2 - lon1
mizuki_akaike 46:a8617076f021 249 dlat = lat2 - lat1
mizuki_akaike 46:a8617076f021 250 a = (sin(dlat/2))^2 + cos(lat1) * cos(lat2) * (sin(dlon/2))^2
mizuki_akaike 46:a8617076f021 251 c = 2 * atan2(sqrt(a), sqrt(1-a))
mizuki_akaike 46:a8617076f021 252 d = R * c
mizuki_akaike 46:a8617076f021 253
mizuki_akaike 46:a8617076f021 254 Where
mizuki_akaike 46:a8617076f021 255 * dlon is the change in longitude
mizuki_akaike 46:a8617076f021 256 * dlat is the change in latitude
mizuki_akaike 46:a8617076f021 257 * c is the great circle distance in Radians.
mizuki_akaike 46:a8617076f021 258 * R is the radius of a spherical Earth.
mizuki_akaike 46:a8617076f021 259 * The locations of the two points in
mizuki_akaike 46:a8617076f021 260 spherical coordinates (longitude and
mizuki_akaike 46:a8617076f021 261 latitude) are lon1,lat1 and lon2, lat2.
mizuki_akaike 46:a8617076f021 262 */
mizuki_akaike 46:a8617076f021 263 double GPS::calc_dist_to_mi(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 264 const double d2r = PI / 180.0;
mizuki_akaike 46:a8617076f021 265 double dlat = pointLat - get_dec_latitude();
mizuki_akaike 46:a8617076f021 266 double dlong = pontLong - get_dec_longitude();
mizuki_akaike 46:a8617076f021 267 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 268 double c = 2.0 * asin(sqrt(abs(a)));
mizuki_akaike 46:a8617076f021 269 double d = 63.765 * c;
mizuki_akaike 46:a8617076f021 270
mizuki_akaike 46:a8617076f021 271 return d;
mizuki_akaike 46:a8617076f021 272 }
mizuki_akaike 46:a8617076f021 273
mizuki_akaike 46:a8617076f021 274 double GPS::calc_dist_to_ft(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 275 return calc_dist_to_mi(pointLat, pontLong)*5280.0;
mizuki_akaike 46:a8617076f021 276 }
mizuki_akaike 46:a8617076f021 277
mizuki_akaike 46:a8617076f021 278 double GPS::calc_dist_to_km(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 279 return calc_dist_to_mi(pointLat, pontLong)*1.609344;
mizuki_akaike 46:a8617076f021 280 }
mizuki_akaike 46:a8617076f021 281
mizuki_akaike 46:a8617076f021 282 double GPS::calc_dist_to_m(float pointLat, float pontLong) {
mizuki_akaike 46:a8617076f021 283 return calc_dist_to_mi(pointLat, pontLong)*1609.344;
mizuki_akaike 46:a8617076f021 284 }
mizuki_akaike 46:a8617076f021 285
mizuki_akaike 46:a8617076f021 286