HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.hpp@9:874d7633e358, 2021-09-20 (annotated)

Committer:
cocorlow
Date:
Mon Sep 20 14:42:08 2021 +0000
Revision:
9:874d7633e358
Parent:
8:1eb5f701a0d0
Child:
10:a90d07e4c34d
API modified;

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 1:71f5168e48c8 15 #define RECEIVE_SIZE 1024
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 4:59f0f651296c 106
cocorlow 0:cf7c726ec8a1 107
cocorlow 5:a92850395dcb 108 /**GPS/GNSS library for UART (UBX protocol)
cocorlow 5:a92850395dcb 109 * RX pin is required.
cocorlow 8:1eb5f701a0d0 110 @code
cocorlow 8:1eb5f701a0d0 111 #include "mbed.h"
cocorlow 8:1eb5f701a0d0 112 #include "GPSUBX_UART.cpp"
cocorlow 8:1eb5f701a0d0 113
cocorlow 8:1eb5f701a0d0 114 Serial pc(USBTX, USBRX, 115200);
cocorlow 8:1eb5f701a0d0 115
cocorlow 8:1eb5f701a0d0 116 GPSUBX_UART gps(PD_1, PD_0); // mbed Nucleo 767
cocorlow 8:1eb5f701a0d0 117
cocorlow 8:1eb5f701a0d0 118 void Display()
cocorlow 8:1eb5f701a0d0 119 {
cocorlow 8:1eb5f701a0d0 120 pc.printf("POSLLH: %d, %f, %f, %f\r\n", gps.iTOW_POSLLH, gps.Longitude, gps.Latitude, gps.Height);
cocorlow 8:1eb5f701a0d0 121 pc.printf("VELNED: %d, %f, %f, %f\r\n", gps.iTOW_VELNED, gps.VelocityNED.x, gps.VelocityNED.y, gps.VelocityNED.z);
cocorlow 8:1eb5f701a0d0 122 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 123 }
cocorlow 8:1eb5f701a0d0 124
cocorlow 8:1eb5f701a0d0 125 int main()
cocorlow 8:1eb5f701a0d0 126 {
cocorlow 8:1eb5f701a0d0 127 gps.Attach();
cocorlow 8:1eb5f701a0d0 128 int timer = 0;
cocorlow 8:1eb5f701a0d0 129 while (1)
cocorlow 8:1eb5f701a0d0 130 {
cocorlow 8:1eb5f701a0d0 131 gps.Update();
cocorlow 8:1eb5f701a0d0 132 wait(0.1);
cocorlow 8:1eb5f701a0d0 133 timer++;
cocorlow 8:1eb5f701a0d0 134 if (timer >= 5)
cocorlow 8:1eb5f701a0d0 135 {
cocorlow 8:1eb5f701a0d0 136 Display();
cocorlow 8:1eb5f701a0d0 137 timer = 0;
cocorlow 8:1eb5f701a0d0 138 }
cocorlow 8:1eb5f701a0d0 139 }
cocorlow 8:1eb5f701a0d0 140 }
cocorlow 8:1eb5f701a0d0 141 @endcode
cocorlow 5:a92850395dcb 142 */
cocorlow 0:cf7c726ec8a1 143 class GPSUBX_UART
cocorlow 0:cf7c726ec8a1 144 {
cocorlow 0:cf7c726ec8a1 145 private:
cocorlow 2:6218fe8e54f4 146
cocorlow 1:71f5168e48c8 147 RawSerial serial;
cocorlow 0:cf7c726ec8a1 148 char receive_buffer[RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 149 char sentence_buffer[SENTENCE_SIZE];
cocorlow 0:cf7c726ec8a1 150 static const float Radius = 6378136.6f;
cocorlow 2:6218fe8e54f4 151 volatile int receive_index;
cocorlow 0:cf7c726ec8a1 152
cocorlow 1:71f5168e48c8 153 void Receive();
cocorlow 1:71f5168e48c8 154 void Decode(char buffer[], int mc, int mi);
cocorlow 0:cf7c726ec8a1 155
cocorlow 0:cf7c726ec8a1 156 public:
cocorlow 2:6218fe8e54f4 157
cocorlow 2:6218fe8e54f4 158 int dummy; // Compiler bug? If "dummy" does not exist, the value of "Year" (under "public:") may include bugs.
cocorlow 5:a92850395dcb 159 /**Year*/
cocorlow 2:6218fe8e54f4 160 volatile int Year;
cocorlow 5:a92850395dcb 161 /**Month*/
cocorlow 2:6218fe8e54f4 162 volatile int Month;
cocorlow 5:a92850395dcb 163 /**Day*/
cocorlow 2:6218fe8e54f4 164 volatile int Day;
cocorlow 5:a92850395dcb 165 /**Hours*/
cocorlow 2:6218fe8e54f4 166 volatile int Hours;
cocorlow 5:a92850395dcb 167 /**Minutes*/
cocorlow 2:6218fe8e54f4 168 volatile int Minutes;
cocorlow 5:a92850395dcb 169 /**Seconds*/
cocorlow 2:6218fe8e54f4 170 volatile int Seconds;
cocorlow 5:a92850395dcb 171 /**Longitude (deg)*/
cocorlow 5:a92850395dcb 172 volatile float Longitude;
cocorlow 5:a92850395dcb 173 /**Latitude (deg)*/
cocorlow 2:6218fe8e54f4 174 volatile float Latitude;
cocorlow 5:a92850395dcb 175 /**Height [m]*/
cocorlow 2:6218fe8e54f4 176 volatile float Height;
cocorlow 5:a92850395dcb 177 /**iTOW of POSLLH [ms]*/
cocorlow 2:6218fe8e54f4 178 volatile int iTOW_POSLLH;
cocorlow 9:874d7633e358 179 /**Velocity NED [m/s]*/
cocorlow 2:6218fe8e54f4 180 volatile Vector3 VelocityNED;
cocorlow 5:a92850395dcb 181 /**Speed [m/s]*/
cocorlow 2:6218fe8e54f4 182 volatile float Speed;
cocorlow 5:a92850395dcb 183 /**Ground speed [m/s]*/
cocorlow 2:6218fe8e54f4 184 volatile float GroundSpeed;
cocorlow 5:a92850395dcb 185 /**Heading angle (deg) */
cocorlow 2:6218fe8e54f4 186 volatile float Heading;
cocorlow 5:a92850395dcb 187 /**iTOW of VELNED [ms]*/
cocorlow 2:6218fe8e54f4 188 volatile int iTOW_VELNED;
cocorlow 1:71f5168e48c8 189
cocorlow 5:a92850395dcb 190 /**Time zone*/
cocorlow 2:6218fe8e54f4 191 volatile int TimeZone;
cocorlow 0:cf7c726ec8a1 192
cocorlow 0:cf7c726ec8a1 193 Vector3 UniversalZeroPosition;
cocorlow 0:cf7c726ec8a1 194 Vector3 UniversalZeroUnitN;
cocorlow 0:cf7c726ec8a1 195 Vector3 UniversalZeroUnitE;
cocorlow 0:cf7c726ec8a1 196 Vector3 UniversalZeroUnitD;
cocorlow 0:cf7c726ec8a1 197 Vector3 UniversalPosition;
cocorlow 5:a92850395dcb 198 /**Position NED [m]*/
cocorlow 0:cf7c726ec8a1 199 Vector3 PositionNED;
cocorlow 3:6c8715574bb8 200
cocorlow 5:a92850395dcb 201 /**Constructor
cocorlow 3:6c8715574bb8 202 *@param tx UART TX pin
cocorlow 3:6c8715574bb8 203 *@param rx UART RX pin
cocorlow 3:6c8715574bb8 204 *@param baud UART baud rate (default: 38400)
cocorlow 3:6c8715574bb8 205 *@param timezone Time zone (default: +9)
cocorlow 3:6c8715574bb8 206 */
cocorlow 3:6c8715574bb8 207 GPSUBX_UART(PinName tx, PinName rx, int baud = 38400, int timezone = +9);
cocorlow 5:a92850395dcb 208 /**call Update() regularly in the main loop
cocorlow 5:a92850395dcb 209 */
cocorlow 1:71f5168e48c8 210 void Update();
cocorlow 5:a92850395dcb 211 /**call Attach() once before measuring position
cocorlow 5:a92850395dcb 212 */
cocorlow 0:cf7c726ec8a1 213 void Attach();
cocorlow 0:cf7c726ec8a1 214
cocorlow 0:cf7c726ec8a1 215 Vector3 ToUniversalUnit();
cocorlow 0:cf7c726ec8a1 216 Vector3 ToUniversal();
cocorlow 0:cf7c726ec8a1 217 void CalculateUnit();
cocorlow 5:a92850395dcb 218 /**call Calculate() before calculating PositionNED
cocorlow 5:a92850395dcb 219 */
cocorlow 0:cf7c726ec8a1 220 void Calculate();
cocorlow 0:cf7c726ec8a1 221 Vector3 Calculate(Vector3 position);
cocorlow 0:cf7c726ec8a1 222
cocorlow 0:cf7c726ec8a1 223 static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
cocorlow 0:cf7c726ec8a1 224 };
cocorlow 0:cf7c726ec8a1 225 #endif