Revision 0:6256752abece, committed 2021-09-12

Comitter:

cocorlow

Date:

Sun Sep 12 16:38:51 2021 +0000

Commit message:

TIMEUTC test

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DataStructure.hpp	Sun Sep 12 16:38:51 2021 +0000
@@ -0,0 +1,53 @@
+#ifndef OBSVDSTRUCT
+#define OBSVDSTRUCT
+
+//全ての観測データを収納する型
+typedef struct obsvdData{
+    
+    int Tim;
+    
+    int Lon;
+    int Lat;
+    int GHeight; //GPS高度
+    
+    int VelN;
+    int VelE;
+    int VelD;
+    
+    int Acc[3];
+    int Gyr[3];
+    int Mag[3];
+    
+    int PHeight; //気圧
+    
+    
+}obsvdData;
+
+typedef struct timData{
+    int Year;
+    int Month;
+    int Day;
+    int Hour;
+    int Min;
+    int Sec;
+}tim;
+
+typedef enum state{
+    WAIT,
+    MANUAL,
+    AUTO,
+    READ,
+    STREAM,
+    CONFIG    
+}state;
+
+//ログの状態を表す
+typedef enum logstate{
+    STOP,
+    STBY,
+    RUNTIME,
+    FIN
+}logstate;
+
+
+#endif
\ No newline at end of file

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPSUBX.hpp	Sun Sep 12 16:38:51 2021 +0000
@@ -0,0 +1,182 @@
+#ifndef __GPSUBX_HPP__
+#define __GPSUBX_HPP__
+
+#include "mbed.h"
+#include "Vector3.hpp"
+
+#define GPS_ADDRESS 0x23
+
+#define POSECEF_LEN 20
+#define POSLLH_LEN 28
+#define TIMEUTC_LEN 20
+#define VELECEF_LEN 20
+#define VELNED_LEN 36
+
+
+#define UBX_SYNC 0x62 << 8 | 0xb5
+
+extern Serial pc;
+
+struct GPSData
+{
+    int Year;
+    int Month;
+    int Day;
+    int Hours;
+    int Minutes;
+    int Seconds;
+    int iTOW;
+    float Longitude;
+    float Latitude;
+    float Height;
+    float Pressure;
+    Vector3 VelocityNED;
+    Vector3 PositionNED;
+    Vector3 PositionECEF;
+};
+
+enum GPSState
+{
+    WAIT,
+    MANUAL,
+    AUTO,
+    READ,
+    STREAM,
+    CONFIG    
+};
+
+enum LogState
+{
+    STOP,
+    STBY,
+    RUNTIME,
+    FIN
+};
+
+// 0x01 0x01
+union POSECEF
+{
+    char byte_data[POSECEF_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int ecefX;
+        int ecefY;
+        int ecefZ;
+        unsigned int pAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x02
+union POSLLH
+{
+    char byte_data[POSLLH_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int lon;
+        int lat;
+        int height;
+        int hMSL;
+        unsigned int hAcc;
+        unsigned int vAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x21
+union TIMEUTC
+{
+    char byte_data[TIMEUTC_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        unsigned int tAcc;
+        int nano;
+        unsigned short year;
+        unsigned char month;
+        unsigned char day;
+        unsigned char hour;
+        unsigned char min;
+        unsigned char sec;
+        unsigned char valid;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+// 0x01 0x11
+union VELECEF
+{
+    char byte_data[VELECEF_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int ecefVX;
+        int ecefVY;
+        int ecefVZ;
+        unsigned int sAcc;
+        char check_a;
+        char check_b;
+    } data;  
+};
+
+// 0x01 0x12
+union VELNED
+{
+    char byte_data[VELNED_LEN+8];
+    struct
+    {
+        unsigned short sync;
+        char m_class;
+        char m_id;
+        unsigned short pay_len;
+        unsigned int iTOW;
+        int velN;
+        int velE;
+        int velD;
+        unsigned int speed;
+        unsigned int gSpeed;
+        signed int heading;
+        unsigned int sAcc;
+        unsigned int cAcc;
+        char check_a;
+        char check_b;
+    } data;
+};
+
+class GPSUBX
+{
+private:
+    I2C i2c;
+    char Address;
+public:
+    int TimeDifference;
+    
+    GPSUBX(PinName sda, PinName scl, char address, int timedifference, int hz);
+    int GetGPSData(GPSData* pdata);
+    int GetTimeData(GPSData* pdata);
+    
+    static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Vector3.lib	Sun Sep 12 16:38:51 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Gaku0606/code/Vector3/#d68f06f4d554