HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.hpp@0:cf7c726ec8a1, 2021-09-13 (annotated)

Committer:
cocorlow
Date:
Mon Sep 13 16:04:40 2021 +0000
Revision:
0:cf7c726ec8a1
Child:
1:71f5168e48c8
uart bug

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 0:cf7c726ec8a1 9 #define TIMEUTC_LEN 20
cocorlow 0:cf7c726ec8a1 10 #define VELECEF_LEN 20
cocorlow 0:cf7c726ec8a1 11 #define VELNED_LEN 36
cocorlow 0:cf7c726ec8a1 12
cocorlow 0:cf7c726ec8a1 13 #define UBX_SYNC 0x62 << 8 | 0xb5
cocorlow 0:cf7c726ec8a1 14
cocorlow 0:cf7c726ec8a1 15 #define RECEIVE_SIZE 512
cocorlow 0:cf7c726ec8a1 16 #define SENTENCE_SIZE 64
cocorlow 0:cf7c726ec8a1 17
cocorlow 0:cf7c726ec8a1 18 extern Serial pc;
cocorlow 0:cf7c726ec8a1 19
cocorlow 0:cf7c726ec8a1 20 //// 0x01 0x01
cocorlow 0:cf7c726ec8a1 21 //union POSECEF
cocorlow 0:cf7c726ec8a1 22 //{
cocorlow 0:cf7c726ec8a1 23 // char byte_data[POSECEF_LEN+8];
cocorlow 0:cf7c726ec8a1 24 // struct
cocorlow 0:cf7c726ec8a1 25 // {
cocorlow 0:cf7c726ec8a1 26 // unsigned short sync;
cocorlow 0:cf7c726ec8a1 27 // char m_class;
cocorlow 0:cf7c726ec8a1 28 // char m_id;
cocorlow 0:cf7c726ec8a1 29 // unsigned short pay_len;
cocorlow 0:cf7c726ec8a1 30 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 31 // int ecefX;
cocorlow 0:cf7c726ec8a1 32 // int ecefY;
cocorlow 0:cf7c726ec8a1 33 // int ecefZ;
cocorlow 0:cf7c726ec8a1 34 // unsigned int pAcc;
cocorlow 0:cf7c726ec8a1 35 // char check_a;
cocorlow 0:cf7c726ec8a1 36 // char check_b;
cocorlow 0:cf7c726ec8a1 37 // } data;
cocorlow 0:cf7c726ec8a1 38 //};
cocorlow 0:cf7c726ec8a1 39
cocorlow 0:cf7c726ec8a1 40 // 0x01 0x02
cocorlow 0:cf7c726ec8a1 41 union POSLLH
cocorlow 0:cf7c726ec8a1 42 {
cocorlow 0:cf7c726ec8a1 43 char byte_data[POSLLH_LEN];
cocorlow 0:cf7c726ec8a1 44 struct
cocorlow 0:cf7c726ec8a1 45 {
cocorlow 0:cf7c726ec8a1 46 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 47 int lon;
cocorlow 0:cf7c726ec8a1 48 int lat;
cocorlow 0:cf7c726ec8a1 49 int height;
cocorlow 0:cf7c726ec8a1 50 int hMSL;
cocorlow 0:cf7c726ec8a1 51 unsigned int hAcc;
cocorlow 0:cf7c726ec8a1 52 unsigned int vAcc;
cocorlow 0:cf7c726ec8a1 53 } data;
cocorlow 0:cf7c726ec8a1 54 };
cocorlow 0:cf7c726ec8a1 55
cocorlow 0:cf7c726ec8a1 56 // 0x01 0x21
cocorlow 0:cf7c726ec8a1 57 union TIMEUTC
cocorlow 0:cf7c726ec8a1 58 {
cocorlow 0:cf7c726ec8a1 59 char byte_data[TIMEUTC_LEN];
cocorlow 0:cf7c726ec8a1 60 struct
cocorlow 0:cf7c726ec8a1 61 {
cocorlow 0:cf7c726ec8a1 62 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 63 unsigned int tAcc;
cocorlow 0:cf7c726ec8a1 64 int nano;
cocorlow 0:cf7c726ec8a1 65 unsigned short year;
cocorlow 0:cf7c726ec8a1 66 unsigned char month;
cocorlow 0:cf7c726ec8a1 67 unsigned char day;
cocorlow 0:cf7c726ec8a1 68 unsigned char hour;
cocorlow 0:cf7c726ec8a1 69 unsigned char min;
cocorlow 0:cf7c726ec8a1 70 unsigned char sec;
cocorlow 0:cf7c726ec8a1 71 unsigned char valid;
cocorlow 0:cf7c726ec8a1 72 } data;
cocorlow 0:cf7c726ec8a1 73 };
cocorlow 0:cf7c726ec8a1 74
cocorlow 0:cf7c726ec8a1 75 //// 0x01 0x11
cocorlow 0:cf7c726ec8a1 76 //union VELECEF
cocorlow 0:cf7c726ec8a1 77 //{
cocorlow 0:cf7c726ec8a1 78 // char byte_data[VELECEF_LEN];
cocorlow 0:cf7c726ec8a1 79 // struct
cocorlow 0:cf7c726ec8a1 80 // {
cocorlow 0:cf7c726ec8a1 81 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 82 // int ecefVX;
cocorlow 0:cf7c726ec8a1 83 // int ecefVY;
cocorlow 0:cf7c726ec8a1 84 // int ecefVZ;
cocorlow 0:cf7c726ec8a1 85 // unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 86 // } data;
cocorlow 0:cf7c726ec8a1 87 //};
cocorlow 0:cf7c726ec8a1 88
cocorlow 0:cf7c726ec8a1 89 // 0x01 0x12
cocorlow 0:cf7c726ec8a1 90 union VELNED
cocorlow 0:cf7c726ec8a1 91 {
cocorlow 0:cf7c726ec8a1 92 char byte_data[VELNED_LEN];
cocorlow 0:cf7c726ec8a1 93 struct
cocorlow 0:cf7c726ec8a1 94 {
cocorlow 0:cf7c726ec8a1 95 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 96 int velN;
cocorlow 0:cf7c726ec8a1 97 int velE;
cocorlow 0:cf7c726ec8a1 98 int velD;
cocorlow 0:cf7c726ec8a1 99 unsigned int speed;
cocorlow 0:cf7c726ec8a1 100 unsigned int gSpeed;
cocorlow 0:cf7c726ec8a1 101 signed int heading;
cocorlow 0:cf7c726ec8a1 102 unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 103 unsigned int cAcc;
cocorlow 0:cf7c726ec8a1 104 } data;
cocorlow 0:cf7c726ec8a1 105 };
cocorlow 0:cf7c726ec8a1 106
cocorlow 0:cf7c726ec8a1 107 class GPSUBX_UART
cocorlow 0:cf7c726ec8a1 108 {
cocorlow 0:cf7c726ec8a1 109 private:
cocorlow 0:cf7c726ec8a1 110 Serial serial;
cocorlow 0:cf7c726ec8a1 111 char receive_buffer[RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 112 char sentence_buffer[SENTENCE_SIZE];
cocorlow 0:cf7c726ec8a1 113 static const float Radius = 6378136.6f;
cocorlow 0:cf7c726ec8a1 114
cocorlow 0:cf7c726ec8a1 115 void Punctuate();
cocorlow 0:cf7c726ec8a1 116
cocorlow 0:cf7c726ec8a1 117 public:
cocorlow 0:cf7c726ec8a1 118 int TimeZone;
cocorlow 0:cf7c726ec8a1 119 int Year;
cocorlow 0:cf7c726ec8a1 120 int Month;
cocorlow 0:cf7c726ec8a1 121 int Day;
cocorlow 0:cf7c726ec8a1 122 int Hours;
cocorlow 0:cf7c726ec8a1 123 int Minutes;
cocorlow 0:cf7c726ec8a1 124 int Seconds;
cocorlow 0:cf7c726ec8a1 125 float Latitude;
cocorlow 0:cf7c726ec8a1 126 float Longitude;
cocorlow 0:cf7c726ec8a1 127 float Height;
cocorlow 0:cf7c726ec8a1 128 int iTOW_POSLLH;
cocorlow 0:cf7c726ec8a1 129 Vector3 VelocityNED;
cocorlow 0:cf7c726ec8a1 130 float Speed;
cocorlow 0:cf7c726ec8a1 131 float GroundSpeed;
cocorlow 0:cf7c726ec8a1 132 float Heading;
cocorlow 0:cf7c726ec8a1 133 int iTOW_VELNED;
cocorlow 0:cf7c726ec8a1 134
cocorlow 0:cf7c726ec8a1 135 Vector3 UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 136 Vector3 UniversalZeroUnitN;
cocorlow 0:cf7c726ec8a1 137 Vector3 UniversalZeroUnitE;
cocorlow 0:cf7c726ec8a1 138 Vector3 UniversalZeroUnitD;
cocorlow 0:cf7c726ec8a1 139 Vector3 UniversalPosition;
cocorlow 0:cf7c726ec8a1 140 Vector3 PositionNED;
cocorlow 0:cf7c726ec8a1 141
cocorlow 0:cf7c726ec8a1 142 GPSUBX_UART(PinName tx, PinName rx, int baud, int timezone);
cocorlow 0:cf7c726ec8a1 143 void Receive();
cocorlow 0:cf7c726ec8a1 144 void Attach();
cocorlow 0:cf7c726ec8a1 145 void Decode(char buffer[], int mc, int mi);
cocorlow 0:cf7c726ec8a1 146
cocorlow 0:cf7c726ec8a1 147 // Position Calculation
cocorlow 0:cf7c726ec8a1 148 Vector3 ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 149 Vector3 ToUniversal();
cocorlow 0:cf7c726ec8a1 150 void CalculateUnit();
cocorlow 0:cf7c726ec8a1 151 void Calculate();
cocorlow 0:cf7c726ec8a1 152 Vector3 Calculate(Vector3 position);
cocorlow 0:cf7c726ec8a1 153
cocorlow 0:cf7c726ec8a1 154 static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
cocorlow 0:cf7c726ec8a1 155 };
cocorlow 0:cf7c726ec8a1 156 #endif