HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.hpp@12:2ffb2fcaac23, 2021-11-04 (annotated)

Committer:
NaotoMorita
Date:
Thu Nov 04 09:41:59 2021 +0000
Revision:
12:2ffb2fcaac23
Parent:
11:6890b7b749c7
Child:
13:facd8e54f2eb
changed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 0:cf7c726ec8a1 1 #ifndef __GPSUBX_UART_HPP__
cocorlow 0:cf7c726ec8a1 2 #define __GPSUBX_UART_HPP__
cocorlow 0:cf7c726ec8a1 3
cocorlow 0:cf7c726ec8a1 4 #include "mbed.h"
cocorlow 0:cf7c726ec8a1 5 #include "Vector3.hpp"
cocorlow 0:cf7c726ec8a1 6
cocorlow 0:cf7c726ec8a1 7 #define POSECEF_LEN 20
cocorlow 0:cf7c726ec8a1 8 #define POSLLH_LEN 28
cocorlow 10:a90d07e4c34d 9 #define RELPOSNED_LEN 40
cocorlow 0:cf7c726ec8a1 10 #define TIMEUTC_LEN 20
cocorlow 0:cf7c726ec8a1 11 #define VELECEF_LEN 20
cocorlow 0:cf7c726ec8a1 12 #define VELNED_LEN 36
cocorlow 0:cf7c726ec8a1 13
cocorlow 0:cf7c726ec8a1 14 #define UBX_SYNC 0x62 << 8 | 0xb5
cocorlow 0:cf7c726ec8a1 15
cocorlow 1:71f5168e48c8 16 #define RECEIVE_SIZE 1024
cocorlow 0:cf7c726ec8a1 17 #define SENTENCE_SIZE 64
cocorlow 0:cf7c726ec8a1 18
NaotoMorita 12:2ffb2fcaac23 19 //extern Serial twelite;
cocorlow 0:cf7c726ec8a1 20
cocorlow 0:cf7c726ec8a1 21 //// 0x01 0x01
cocorlow 0:cf7c726ec8a1 22 //union POSECEF
cocorlow 0:cf7c726ec8a1 23 //{
cocorlow 0:cf7c726ec8a1 24 // char byte_data[POSECEF_LEN+8];
cocorlow 0:cf7c726ec8a1 25 // struct
cocorlow 0:cf7c726ec8a1 26 // {
cocorlow 0:cf7c726ec8a1 27 // unsigned short sync;
cocorlow 0:cf7c726ec8a1 28 // char m_class;
cocorlow 0:cf7c726ec8a1 29 // char m_id;
cocorlow 0:cf7c726ec8a1 30 // unsigned short pay_len;
cocorlow 0:cf7c726ec8a1 31 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 32 // int ecefX;
cocorlow 0:cf7c726ec8a1 33 // int ecefY;
cocorlow 0:cf7c726ec8a1 34 // int ecefZ;
cocorlow 0:cf7c726ec8a1 35 // unsigned int pAcc;
cocorlow 0:cf7c726ec8a1 36 // char check_a;
cocorlow 0:cf7c726ec8a1 37 // char check_b;
cocorlow 0:cf7c726ec8a1 38 // } data;
cocorlow 0:cf7c726ec8a1 39 //};
cocorlow 0:cf7c726ec8a1 40
cocorlow 0:cf7c726ec8a1 41 // 0x01 0x02
cocorlow 0:cf7c726ec8a1 42 union POSLLH
cocorlow 0:cf7c726ec8a1 43 {
cocorlow 0:cf7c726ec8a1 44 char byte_data[POSLLH_LEN];
cocorlow 0:cf7c726ec8a1 45 struct
cocorlow 0:cf7c726ec8a1 46 {
cocorlow 0:cf7c726ec8a1 47 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 48 int lon;
cocorlow 0:cf7c726ec8a1 49 int lat;
cocorlow 0:cf7c726ec8a1 50 int height;
cocorlow 0:cf7c726ec8a1 51 int hMSL;
cocorlow 0:cf7c726ec8a1 52 unsigned int hAcc;
cocorlow 0:cf7c726ec8a1 53 unsigned int vAcc;
cocorlow 0:cf7c726ec8a1 54 } data;
cocorlow 0:cf7c726ec8a1 55 };
cocorlow 0:cf7c726ec8a1 56
cocorlow 10:a90d07e4c34d 57 // 0x01 0x3c
cocorlow 10:a90d07e4c34d 58 union RELPOSNED
cocorlow 10:a90d07e4c34d 59 {
cocorlow 10:a90d07e4c34d 60 char byte_data[RELPOSNED_LEN];
cocorlow 10:a90d07e4c34d 61 struct
cocorlow 10:a90d07e4c34d 62 {
cocorlow 10:a90d07e4c34d 63 unsigned char version;
cocorlow 10:a90d07e4c34d 64 unsigned char reserved1;
cocorlow 10:a90d07e4c34d 65 unsigned short refStationId;
cocorlow 10:a90d07e4c34d 66 unsigned int iTOW;
cocorlow 10:a90d07e4c34d 67 int relPosN;
cocorlow 10:a90d07e4c34d 68 int relPosE;
cocorlow 10:a90d07e4c34d 69 int relPosD;
cocorlow 10:a90d07e4c34d 70 char relPosHPN;
cocorlow 10:a90d07e4c34d 71 char relPosHPE;
cocorlow 10:a90d07e4c34d 72 char relPosHPD;
cocorlow 10:a90d07e4c34d 73 unsigned char reserved2;
cocorlow 10:a90d07e4c34d 74 unsigned int accN;
cocorlow 10:a90d07e4c34d 75 unsigned int accE;
cocorlow 10:a90d07e4c34d 76 unsigned int accD;
cocorlow 10:a90d07e4c34d 77 int flags;
cocorlow 10:a90d07e4c34d 78 } data;
cocorlow 10:a90d07e4c34d 79 };
cocorlow 10:a90d07e4c34d 80
cocorlow 0:cf7c726ec8a1 81 // 0x01 0x21
cocorlow 0:cf7c726ec8a1 82 union TIMEUTC
cocorlow 0:cf7c726ec8a1 83 {
cocorlow 0:cf7c726ec8a1 84 char byte_data[TIMEUTC_LEN];
cocorlow 0:cf7c726ec8a1 85 struct
cocorlow 0:cf7c726ec8a1 86 {
cocorlow 0:cf7c726ec8a1 87 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 88 unsigned int tAcc;
cocorlow 0:cf7c726ec8a1 89 int nano;
cocorlow 0:cf7c726ec8a1 90 unsigned short year;
cocorlow 0:cf7c726ec8a1 91 unsigned char month;
cocorlow 0:cf7c726ec8a1 92 unsigned char day;
cocorlow 0:cf7c726ec8a1 93 unsigned char hour;
cocorlow 0:cf7c726ec8a1 94 unsigned char min;
cocorlow 0:cf7c726ec8a1 95 unsigned char sec;
cocorlow 0:cf7c726ec8a1 96 unsigned char valid;
cocorlow 0:cf7c726ec8a1 97 } data;
cocorlow 0:cf7c726ec8a1 98 };
cocorlow 0:cf7c726ec8a1 99
cocorlow 0:cf7c726ec8a1 100 //// 0x01 0x11
cocorlow 0:cf7c726ec8a1 101 //union VELECEF
cocorlow 0:cf7c726ec8a1 102 //{
cocorlow 0:cf7c726ec8a1 103 // char byte_data[VELECEF_LEN];
cocorlow 0:cf7c726ec8a1 104 // struct
cocorlow 0:cf7c726ec8a1 105 // {
cocorlow 0:cf7c726ec8a1 106 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 107 // int ecefVX;
cocorlow 0:cf7c726ec8a1 108 // int ecefVY;
cocorlow 0:cf7c726ec8a1 109 // int ecefVZ;
cocorlow 0:cf7c726ec8a1 110 // unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 111 // } data;
cocorlow 0:cf7c726ec8a1 112 //};
cocorlow 0:cf7c726ec8a1 113
cocorlow 0:cf7c726ec8a1 114 // 0x01 0x12
cocorlow 0:cf7c726ec8a1 115 union VELNED
cocorlow 0:cf7c726ec8a1 116 {
cocorlow 0:cf7c726ec8a1 117 char byte_data[VELNED_LEN];
cocorlow 0:cf7c726ec8a1 118 struct
cocorlow 0:cf7c726ec8a1 119 {
cocorlow 0:cf7c726ec8a1 120 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 121 int velN;
cocorlow 0:cf7c726ec8a1 122 int velE;
cocorlow 0:cf7c726ec8a1 123 int velD;
cocorlow 0:cf7c726ec8a1 124 unsigned int speed;
cocorlow 0:cf7c726ec8a1 125 unsigned int gSpeed;
cocorlow 0:cf7c726ec8a1 126 signed int heading;
cocorlow 0:cf7c726ec8a1 127 unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 128 unsigned int cAcc;
cocorlow 0:cf7c726ec8a1 129 } data;
cocorlow 0:cf7c726ec8a1 130 };
cocorlow 4:59f0f651296c 131
cocorlow 0:cf7c726ec8a1 132
cocorlow 5:a92850395dcb 133 /**GPS/GNSS library for UART (UBX protocol)
cocorlow 5:a92850395dcb 134 * RX pin is required.
cocorlow 8:1eb5f701a0d0 135 @code
cocorlow 8:1eb5f701a0d0 136 #include "mbed.h"
cocorlow 8:1eb5f701a0d0 137 #include "GPSUBX_UART.cpp"
cocorlow 8:1eb5f701a0d0 138
cocorlow 8:1eb5f701a0d0 139 Serial pc(USBTX, USBRX, 115200);
cocorlow 8:1eb5f701a0d0 140
cocorlow 8:1eb5f701a0d0 141 GPSUBX_UART gps(PD_1, PD_0); // mbed Nucleo 767
cocorlow 8:1eb5f701a0d0 142
cocorlow 8:1eb5f701a0d0 143 void Display()
cocorlow 8:1eb5f701a0d0 144 {
cocorlow 8:1eb5f701a0d0 145 pc.printf("POSLLH: %d, %f, %f, %f\r\n", gps.iTOW_POSLLH, gps.Longitude, gps.Latitude, gps.Height);
cocorlow 8:1eb5f701a0d0 146 pc.printf("VELNED: %d, %f, %f, %f\r\n", gps.iTOW_VELNED, gps.VelocityNED.x, gps.VelocityNED.y, gps.VelocityNED.z);
cocorlow 8:1eb5f701a0d0 147 pc.printf("TIMEUTC: %4d/%2d/%2d %2d:%2d %2d\r\n", gps.Year, gps.Month, gps.Day, gps.Hours, gps.Minutes, gps.Seconds);
cocorlow 8:1eb5f701a0d0 148 }
cocorlow 8:1eb5f701a0d0 149
cocorlow 8:1eb5f701a0d0 150 int main()
cocorlow 8:1eb5f701a0d0 151 {
cocorlow 8:1eb5f701a0d0 152 gps.Attach();
cocorlow 8:1eb5f701a0d0 153 int timer = 0;
cocorlow 8:1eb5f701a0d0 154 while (1)
cocorlow 8:1eb5f701a0d0 155 {
cocorlow 8:1eb5f701a0d0 156 gps.Update();
cocorlow 8:1eb5f701a0d0 157 wait(0.1);
cocorlow 8:1eb5f701a0d0 158 timer++;
cocorlow 8:1eb5f701a0d0 159 if (timer >= 5)
cocorlow 8:1eb5f701a0d0 160 {
cocorlow 8:1eb5f701a0d0 161 Display();
cocorlow 8:1eb5f701a0d0 162 timer = 0;
cocorlow 8:1eb5f701a0d0 163 }
cocorlow 8:1eb5f701a0d0 164 }
cocorlow 8:1eb5f701a0d0 165 }
cocorlow 8:1eb5f701a0d0 166 @endcode
cocorlow 5:a92850395dcb 167 */
cocorlow 0:cf7c726ec8a1 168 class GPSUBX_UART
cocorlow 0:cf7c726ec8a1 169 {
cocorlow 0:cf7c726ec8a1 170 private:
cocorlow 2:6218fe8e54f4 171
cocorlow 1:71f5168e48c8 172 RawSerial serial;
cocorlow 0:cf7c726ec8a1 173 char receive_buffer[RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 174 char sentence_buffer[SENTENCE_SIZE];
cocorlow 0:cf7c726ec8a1 175 static const float Radius = 6378136.6f;
cocorlow 2:6218fe8e54f4 176 volatile int receive_index;
cocorlow 0:cf7c726ec8a1 177
cocorlow 1:71f5168e48c8 178 void Receive();
cocorlow 1:71f5168e48c8 179 void Decode(char buffer[], int mc, int mi);
cocorlow 0:cf7c726ec8a1 180
cocorlow 0:cf7c726ec8a1 181 public:
cocorlow 2:6218fe8e54f4 182
cocorlow 2:6218fe8e54f4 183 int dummy; // Compiler bug? If "dummy" does not exist, the value of "Year" (under "public:") may include bugs.
cocorlow 5:a92850395dcb 184 /**Year*/
cocorlow 2:6218fe8e54f4 185 volatile int Year;
cocorlow 5:a92850395dcb 186 /**Month*/
cocorlow 2:6218fe8e54f4 187 volatile int Month;
cocorlow 5:a92850395dcb 188 /**Day*/
cocorlow 2:6218fe8e54f4 189 volatile int Day;
cocorlow 5:a92850395dcb 190 /**Hours*/
cocorlow 2:6218fe8e54f4 191 volatile int Hours;
cocorlow 5:a92850395dcb 192 /**Minutes*/
cocorlow 2:6218fe8e54f4 193 volatile int Minutes;
cocorlow 5:a92850395dcb 194 /**Seconds*/
cocorlow 2:6218fe8e54f4 195 volatile int Seconds;
cocorlow 5:a92850395dcb 196 /**Longitude (deg)*/
cocorlow 5:a92850395dcb 197 volatile float Longitude;
cocorlow 5:a92850395dcb 198 /**Latitude (deg)*/
cocorlow 2:6218fe8e54f4 199 volatile float Latitude;
cocorlow 5:a92850395dcb 200 /**Height [m]*/
cocorlow 2:6218fe8e54f4 201 volatile float Height;
cocorlow 5:a92850395dcb 202 /**iTOW of POSLLH [ms]*/
cocorlow 2:6218fe8e54f4 203 volatile int iTOW_POSLLH;
cocorlow 9:874d7633e358 204 /**Velocity NED [m/s]*/
cocorlow 2:6218fe8e54f4 205 volatile Vector3 VelocityNED;
cocorlow 5:a92850395dcb 206 /**Speed [m/s]*/
cocorlow 2:6218fe8e54f4 207 volatile float Speed;
cocorlow 5:a92850395dcb 208 /**Ground speed [m/s]*/
cocorlow 2:6218fe8e54f4 209 volatile float GroundSpeed;
cocorlow 5:a92850395dcb 210 /**Heading angle (deg) */
cocorlow 2:6218fe8e54f4 211 volatile float Heading;
cocorlow 5:a92850395dcb 212 /**iTOW of VELNED [ms]*/
cocorlow 2:6218fe8e54f4 213 volatile int iTOW_VELNED;
cocorlow 1:71f5168e48c8 214
cocorlow 10:a90d07e4c34d 215 /**Reference Station ID (0~4095)*/
cocorlow 10:a90d07e4c34d 216 volatile int RefStationID;
cocorlow 10:a90d07e4c34d 217 /**iTOW of RELPOSNED [ms]*/
cocorlow 10:a90d07e4c34d 218 volatile int iTOW_RELPOSNED;
cocorlow 10:a90d07e4c34d 219 /**Relative Position [m]*/
cocorlow 10:a90d07e4c34d 220 volatile Vector3 RelPosNED;
cocorlow 10:a90d07e4c34d 221
cocorlow 10:a90d07e4c34d 222
cocorlow 10:a90d07e4c34d 223
cocorlow 5:a92850395dcb 224 /**Time zone*/
cocorlow 2:6218fe8e54f4 225 volatile int TimeZone;
cocorlow 0:cf7c726ec8a1 226
cocorlow 0:cf7c726ec8a1 227 Vector3 UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 228 Vector3 UniversalZeroUnitN;
cocorlow 0:cf7c726ec8a1 229 Vector3 UniversalZeroUnitE;
cocorlow 0:cf7c726ec8a1 230 Vector3 UniversalZeroUnitD;
cocorlow 0:cf7c726ec8a1 231 Vector3 UniversalPosition;
cocorlow 5:a92850395dcb 232 /**Position NED [m]*/
cocorlow 0:cf7c726ec8a1 233 Vector3 PositionNED;
cocorlow 3:6c8715574bb8 234
cocorlow 5:a92850395dcb 235 /**Constructor
cocorlow 3:6c8715574bb8 236 *@param tx UART TX pin
cocorlow 3:6c8715574bb8 237 *@param rx UART RX pin
cocorlow 3:6c8715574bb8 238 *@param baud UART baud rate (default: 38400)
cocorlow 3:6c8715574bb8 239 *@param timezone Time zone (default: +9)
cocorlow 3:6c8715574bb8 240 */
cocorlow 3:6c8715574bb8 241 GPSUBX_UART(PinName tx, PinName rx, int baud = 38400, int timezone = +9);
cocorlow 5:a92850395dcb 242 /**call Update() regularly in the main loop
cocorlow 5:a92850395dcb 243 */
cocorlow 1:71f5168e48c8 244 void Update();
cocorlow 5:a92850395dcb 245 /**call Attach() once before measuring position
cocorlow 5:a92850395dcb 246 */
cocorlow 0:cf7c726ec8a1 247 void Attach();
cocorlow 0:cf7c726ec8a1 248
cocorlow 0:cf7c726ec8a1 249 Vector3 ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 250 Vector3 ToUniversal();
cocorlow 0:cf7c726ec8a1 251 void CalculateUnit();
cocorlow 5:a92850395dcb 252 /**call Calculate() before calculating PositionNED
cocorlow 5:a92850395dcb 253 */
cocorlow 0:cf7c726ec8a1 254 void Calculate();
cocorlow 0:cf7c726ec8a1 255 Vector3 Calculate(Vector3 position);
cocorlow 0:cf7c726ec8a1 256
cocorlow 0:cf7c726ec8a1 257 static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
cocorlow 0:cf7c726ec8a1 258 };
cocorlow 0:cf7c726ec8a1 259 #endif