HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.hpp@18:ba361d6ab9cd, 2022-02-02 (annotated)

Committer:
NaotoMorita
Date:
Wed Feb 02 08:42:25 2022 +0000
Revision:
18:ba361d6ab9cd
Parent:
13:facd8e54f2eb
Child:
21:712076ece407
gps.Hacc

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
NaotoMorita 13:facd8e54f2eb 9 #define STATUS_LEN 16
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
NaotoMorita 13:facd8e54f2eb 57 // 0x01 0x03
NaotoMorita 13:facd8e54f2eb 58 union STATUS
cocorlow 10:a90d07e4c34d 59 {
NaotoMorita 13:facd8e54f2eb 60 char byte_data[STATUS_LEN];
cocorlow 10:a90d07e4c34d 61 struct
cocorlow 10:a90d07e4c34d 62 {
cocorlow 10:a90d07e4c34d 63 unsigned int iTOW;
NaotoMorita 13:facd8e54f2eb 64 unsigned char gpsFix;
NaotoMorita 13:facd8e54f2eb 65 unsigned char flags;
NaotoMorita 13:facd8e54f2eb 66 unsigned char fixStat;
NaotoMorita 13:facd8e54f2eb 67 unsigned char flags2;
NaotoMorita 13:facd8e54f2eb 68 unsigned int ttff;
NaotoMorita 13:facd8e54f2eb 69 unsigned int msss;
cocorlow 10:a90d07e4c34d 70 } data;
cocorlow 10:a90d07e4c34d 71 };
cocorlow 10:a90d07e4c34d 72
cocorlow 0:cf7c726ec8a1 73 // 0x01 0x21
cocorlow 0:cf7c726ec8a1 74 union TIMEUTC
cocorlow 0:cf7c726ec8a1 75 {
cocorlow 0:cf7c726ec8a1 76 char byte_data[TIMEUTC_LEN];
cocorlow 0:cf7c726ec8a1 77 struct
cocorlow 0:cf7c726ec8a1 78 {
cocorlow 0:cf7c726ec8a1 79 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 80 unsigned int tAcc;
cocorlow 0:cf7c726ec8a1 81 int nano;
cocorlow 0:cf7c726ec8a1 82 unsigned short year;
cocorlow 0:cf7c726ec8a1 83 unsigned char month;
cocorlow 0:cf7c726ec8a1 84 unsigned char day;
cocorlow 0:cf7c726ec8a1 85 unsigned char hour;
cocorlow 0:cf7c726ec8a1 86 unsigned char min;
cocorlow 0:cf7c726ec8a1 87 unsigned char sec;
cocorlow 0:cf7c726ec8a1 88 unsigned char valid;
cocorlow 0:cf7c726ec8a1 89 } data;
cocorlow 0:cf7c726ec8a1 90 };
cocorlow 0:cf7c726ec8a1 91
cocorlow 0:cf7c726ec8a1 92 //// 0x01 0x11
cocorlow 0:cf7c726ec8a1 93 //union VELECEF
cocorlow 0:cf7c726ec8a1 94 //{
cocorlow 0:cf7c726ec8a1 95 // char byte_data[VELECEF_LEN];
cocorlow 0:cf7c726ec8a1 96 // struct
cocorlow 0:cf7c726ec8a1 97 // {
cocorlow 0:cf7c726ec8a1 98 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 99 // int ecefVX;
cocorlow 0:cf7c726ec8a1 100 // int ecefVY;
cocorlow 0:cf7c726ec8a1 101 // int ecefVZ;
cocorlow 0:cf7c726ec8a1 102 // unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 103 // } data;
cocorlow 0:cf7c726ec8a1 104 //};
cocorlow 0:cf7c726ec8a1 105
cocorlow 0:cf7c726ec8a1 106 // 0x01 0x12
cocorlow 0:cf7c726ec8a1 107 union VELNED
cocorlow 0:cf7c726ec8a1 108 {
cocorlow 0:cf7c726ec8a1 109 char byte_data[VELNED_LEN];
cocorlow 0:cf7c726ec8a1 110 struct
cocorlow 0:cf7c726ec8a1 111 {
cocorlow 0:cf7c726ec8a1 112 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 113 int velN;
cocorlow 0:cf7c726ec8a1 114 int velE;
cocorlow 0:cf7c726ec8a1 115 int velD;
cocorlow 0:cf7c726ec8a1 116 unsigned int speed;
cocorlow 0:cf7c726ec8a1 117 unsigned int gSpeed;
cocorlow 0:cf7c726ec8a1 118 signed int heading;
cocorlow 0:cf7c726ec8a1 119 unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 120 unsigned int cAcc;
cocorlow 0:cf7c726ec8a1 121 } data;
cocorlow 0:cf7c726ec8a1 122 };
cocorlow 4:59f0f651296c 123
cocorlow 0:cf7c726ec8a1 124
cocorlow 5:a92850395dcb 125 /**GPS/GNSS library for UART (UBX protocol)
cocorlow 5:a92850395dcb 126 * RX pin is required.
cocorlow 8:1eb5f701a0d0 127 @code
cocorlow 8:1eb5f701a0d0 128 #include "mbed.h"
cocorlow 8:1eb5f701a0d0 129 #include "GPSUBX_UART.cpp"
cocorlow 8:1eb5f701a0d0 130
cocorlow 8:1eb5f701a0d0 131 Serial pc(USBTX, USBRX, 115200);
cocorlow 8:1eb5f701a0d0 132
cocorlow 8:1eb5f701a0d0 133 GPSUBX_UART gps(PD_1, PD_0); // mbed Nucleo 767
cocorlow 8:1eb5f701a0d0 134
cocorlow 8:1eb5f701a0d0 135 void Display()
cocorlow 8:1eb5f701a0d0 136 {
cocorlow 8:1eb5f701a0d0 137 pc.printf("POSLLH: %d, %f, %f, %f\r\n", gps.iTOW_POSLLH, gps.Longitude, gps.Latitude, gps.Height);
cocorlow 8:1eb5f701a0d0 138 pc.printf("VELNED: %d, %f, %f, %f\r\n", gps.iTOW_VELNED, gps.VelocityNED.x, gps.VelocityNED.y, gps.VelocityNED.z);
cocorlow 8:1eb5f701a0d0 139 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 140 }
cocorlow 8:1eb5f701a0d0 141
cocorlow 8:1eb5f701a0d0 142 int main()
cocorlow 8:1eb5f701a0d0 143 {
cocorlow 8:1eb5f701a0d0 144 gps.Attach();
cocorlow 8:1eb5f701a0d0 145 int timer = 0;
cocorlow 8:1eb5f701a0d0 146 while (1)
cocorlow 8:1eb5f701a0d0 147 {
cocorlow 8:1eb5f701a0d0 148 gps.Update();
cocorlow 8:1eb5f701a0d0 149 wait(0.1);
cocorlow 8:1eb5f701a0d0 150 timer++;
cocorlow 8:1eb5f701a0d0 151 if (timer >= 5)
cocorlow 8:1eb5f701a0d0 152 {
cocorlow 8:1eb5f701a0d0 153 Display();
cocorlow 8:1eb5f701a0d0 154 timer = 0;
cocorlow 8:1eb5f701a0d0 155 }
cocorlow 8:1eb5f701a0d0 156 }
cocorlow 8:1eb5f701a0d0 157 }
cocorlow 8:1eb5f701a0d0 158 @endcode
cocorlow 5:a92850395dcb 159 */
cocorlow 0:cf7c726ec8a1 160 class GPSUBX_UART
cocorlow 0:cf7c726ec8a1 161 {
cocorlow 0:cf7c726ec8a1 162 private:
cocorlow 2:6218fe8e54f4 163
cocorlow 1:71f5168e48c8 164 RawSerial serial;
cocorlow 0:cf7c726ec8a1 165 char receive_buffer[RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 166 char sentence_buffer[SENTENCE_SIZE];
cocorlow 0:cf7c726ec8a1 167 static const float Radius = 6378136.6f;
cocorlow 2:6218fe8e54f4 168 volatile int receive_index;
cocorlow 0:cf7c726ec8a1 169
cocorlow 1:71f5168e48c8 170 void Receive();
cocorlow 1:71f5168e48c8 171 void Decode(char buffer[], int mc, int mi);
cocorlow 0:cf7c726ec8a1 172
cocorlow 0:cf7c726ec8a1 173 public:
cocorlow 2:6218fe8e54f4 174
cocorlow 2:6218fe8e54f4 175 int dummy; // Compiler bug? If "dummy" does not exist, the value of "Year" (under "public:") may include bugs.
cocorlow 5:a92850395dcb 176 /**Year*/
cocorlow 2:6218fe8e54f4 177 volatile int Year;
cocorlow 5:a92850395dcb 178 /**Month*/
cocorlow 2:6218fe8e54f4 179 volatile int Month;
cocorlow 5:a92850395dcb 180 /**Day*/
cocorlow 2:6218fe8e54f4 181 volatile int Day;
cocorlow 5:a92850395dcb 182 /**Hours*/
cocorlow 2:6218fe8e54f4 183 volatile int Hours;
cocorlow 5:a92850395dcb 184 /**Minutes*/
cocorlow 2:6218fe8e54f4 185 volatile int Minutes;
cocorlow 5:a92850395dcb 186 /**Seconds*/
cocorlow 2:6218fe8e54f4 187 volatile int Seconds;
cocorlow 5:a92850395dcb 188 /**Longitude (deg)*/
cocorlow 5:a92850395dcb 189 volatile float Longitude;
cocorlow 5:a92850395dcb 190 /**Latitude (deg)*/
cocorlow 2:6218fe8e54f4 191 volatile float Latitude;
cocorlow 5:a92850395dcb 192 /**Height [m]*/
cocorlow 2:6218fe8e54f4 193 volatile float Height;
cocorlow 5:a92850395dcb 194 /**iTOW of POSLLH [ms]*/
NaotoMorita 18:ba361d6ab9cd 195 volatile float Hacc;
NaotoMorita 18:ba361d6ab9cd 196 /**Horizontal acculacy of POSLLH [mm]*/
cocorlow 2:6218fe8e54f4 197 volatile int iTOW_POSLLH;
cocorlow 9:874d7633e358 198 /**Velocity NED [m/s]*/
cocorlow 2:6218fe8e54f4 199 volatile Vector3 VelocityNED;
cocorlow 5:a92850395dcb 200 /**Speed [m/s]*/
cocorlow 2:6218fe8e54f4 201 volatile float Speed;
cocorlow 5:a92850395dcb 202 /**Ground speed [m/s]*/
cocorlow 2:6218fe8e54f4 203 volatile float GroundSpeed;
cocorlow 5:a92850395dcb 204 /**Heading angle (deg) */
cocorlow 2:6218fe8e54f4 205 volatile float Heading;
cocorlow 5:a92850395dcb 206 /**iTOW of VELNED [ms]*/
cocorlow 2:6218fe8e54f4 207 volatile int iTOW_VELNED;
cocorlow 1:71f5168e48c8 208
NaotoMorita 13:facd8e54f2eb 209 /**iTOW of STATUS [ms]*/
NaotoMorita 13:facd8e54f2eb 210 volatile int iTOW_STATUS;
NaotoMorita 13:facd8e54f2eb 211 /**gpsFix Status*/
NaotoMorita 13:facd8e54f2eb 212 volatile char gpsFix;
cocorlow 10:a90d07e4c34d 213
cocorlow 10:a90d07e4c34d 214
cocorlow 5:a92850395dcb 215 /**Time zone*/
cocorlow 2:6218fe8e54f4 216 volatile int TimeZone;
cocorlow 0:cf7c726ec8a1 217
cocorlow 0:cf7c726ec8a1 218 Vector3 UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 219 Vector3 UniversalZeroUnitN;
cocorlow 0:cf7c726ec8a1 220 Vector3 UniversalZeroUnitE;
cocorlow 0:cf7c726ec8a1 221 Vector3 UniversalZeroUnitD;
cocorlow 0:cf7c726ec8a1 222 Vector3 UniversalPosition;
cocorlow 5:a92850395dcb 223 /**Position NED [m]*/
cocorlow 0:cf7c726ec8a1 224 Vector3 PositionNED;
cocorlow 3:6c8715574bb8 225
cocorlow 5:a92850395dcb 226 /**Constructor
cocorlow 3:6c8715574bb8 227 *@param tx UART TX pin
cocorlow 3:6c8715574bb8 228 *@param rx UART RX pin
cocorlow 3:6c8715574bb8 229 *@param baud UART baud rate (default: 38400)
cocorlow 3:6c8715574bb8 230 *@param timezone Time zone (default: +9)
cocorlow 3:6c8715574bb8 231 */
cocorlow 3:6c8715574bb8 232 GPSUBX_UART(PinName tx, PinName rx, int baud = 38400, int timezone = +9);
cocorlow 5:a92850395dcb 233 /**call Update() regularly in the main loop
cocorlow 5:a92850395dcb 234 */
cocorlow 1:71f5168e48c8 235 void Update();
cocorlow 5:a92850395dcb 236 /**call Attach() once before measuring position
cocorlow 5:a92850395dcb 237 */
cocorlow 0:cf7c726ec8a1 238 void Attach();
cocorlow 0:cf7c726ec8a1 239
cocorlow 0:cf7c726ec8a1 240 Vector3 ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 241 Vector3 ToUniversal();
cocorlow 0:cf7c726ec8a1 242 void CalculateUnit();
cocorlow 5:a92850395dcb 243 /**call Calculate() before calculating PositionNED
cocorlow 5:a92850395dcb 244 */
cocorlow 0:cf7c726ec8a1 245 void Calculate();
cocorlow 0:cf7c726ec8a1 246 Vector3 Calculate(Vector3 position);
cocorlow 0:cf7c726ec8a1 247
cocorlow 0:cf7c726ec8a1 248 static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
cocorlow 0:cf7c726ec8a1 249 };
cocorlow 0:cf7c726ec8a1 250 #endif