Diff: GPSUBX.cpp

Revision:

0:6256752abece

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSUBX.cpp	Sun Sep 12 16:38:51 2021 +0000
@@ -0,0 +1,104 @@
+#include "GPSUBX.hpp"
+#include "mbed.h"
+
+GPSUBX::GPSUBX(PinName sda, PinName scl, char address = GPS_ADDRESS, int timedifference = 9, int hz = 100000)
+    :i2c(sda, scl), Address(address), TimeDifference(timedifference)
+{
+    i2c.frequency(hz);
+}
+
+void GPSUBX::Checksum(char payload[], int n, char* ck_a, char* ck_b)
+{
+    int ca = 0;
+    int cb = 0;
+    for (int i = 0; i < n+4; i++)
+    {
+        ca += (unsigned char)payload[i+2];
+        cb += ca;
+    }
+    *ck_a = (char)(ca & 0xff);
+    *ck_b = (char)(cb & 0xff);
+}
+
+int GPSUBX::GetGPSData(GPSData* pdata)
+{
+    POSLLH posllh;
+    char command[8] = {0xb5, 0x62, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00};
+    Checksum(command, 0, &command[6], &command[7]);
+    
+    i2c.write(Address << 1, command, 8);
+    i2c.read(Address << 1 | 1, posllh.byte_data, POSLLH_LEN+8);
+    
+    for (int i = 0; i < POSLLH_LEN+8; i++)
+    {
+        pc.printf("%x ", posllh.byte_data[i]);
+    }
+    pc.printf("\r\n");
+    if (posllh.data.sync == UBX_SYNC && posllh.data.m_class == 0x01 && posllh.data.m_id == 0x02 && posllh.data.pay_len == POSLLH_LEN)
+    {
+        char ca, cb;
+        Checksum(posllh.byte_data, POSLLH_LEN, &ca, &cb);
+        if (posllh.data.check_a == ca && posllh.data.check_b == cb)
+        {
+            pdata->Longitude = (float)posllh.data.lon * 1e-7f;
+            pdata->Latitude = (float)posllh.data.lat * 1e-7f;
+            pdata->Height = (float)posllh.data.height / 1000.0f;
+            pc.printf("%f, %f, %f\r\n", pdata->Longitude, pdata->Latitude, pdata->Height);
+        }
+        else
+        {
+            pc.printf("#1\r\n");
+            return 0;
+        }
+            pc.printf("#2\r\n");
+        return 1;
+    }
+    else
+    {
+        pc.printf("#3\r\n");
+        return 0;
+    }
+}
+
+int GPSUBX::GetTimeData(GPSData* pdata)
+{
+    TIMEUTC timeutc;
+    char command[8] = {0xb5, 0x62, 0x01, 0x21, 0x00, 0x00, 0x00, 0x00};
+    Checksum(command, 0, &command[6], &command[7]);
+    
+    i2c.write(Address << 1, command, 8);
+    i2c.read(Address << 1 | 1, timeutc.byte_data, TIMEUTC_LEN+8);
+    
+    for (int i = 0; i < TIMEUTC_LEN+8; i++)
+    {
+        pc.printf("%x ", timeutc.byte_data[i]);
+    }
+    pc.printf("\r\n");
+    if (timeutc.data.sync == UBX_SYNC && timeutc.data.m_class == 0x01 && timeutc.data.m_id == 0x21 && timeutc.data.pay_len == TIMEUTC_LEN)
+    {
+        char ca, cb;
+        Checksum(timeutc.byte_data, TIMEUTC_LEN, &ca, &cb);
+        if (timeutc.data.check_a == ca && timeutc.data.check_b == cb)
+        {
+            pdata->Year = timeutc.data.year;
+            pdata->Month = timeutc.data.month;
+            pdata->Day = timeutc.data.day;
+            pdata->Hours = timeutc.data.hour;
+            pdata->Minutes = timeutc.data.min;
+            pdata->Seconds = timeutc.data.sec;
+            pc.printf("%4d/%2d/%2d %2d:%2d %2d\r\n", pdata->Year, pdata->Month, pdata->Day, pdata->Hours, pdata->Minutes, pdata->Seconds);
+        }
+        else
+        {
+            pc.printf("#4\r\n");
+            return 0;
+        }
+            pc.printf("#5\r\n");
+        return 1;
+    }
+    else
+    {
+        pc.printf("#6\r\n");
+        return 0;
+    }
+}
\ No newline at end of file