HAPSRG / GPSUBX_UART

GPS/GNSS UBX library for UART

Dependencies:   Vector3

Dependents:   GPS_0002

GPSUBX_UART.hpp@19:ae1a294cb30b, 2021-12-01 (annotated)

Committer:
NaotoMorita
Date:
Wed Dec 01 05:29:32 2021 +0000
Revision:
19:ae1a294cb30b
Parent:
13:facd8e54f2eb 
ECEF

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
NaotoMorita 19:ae1a294cb30b 21 // 0x01 0x01
NaotoMorita 19:ae1a294cb30b 22 union POSECEF
NaotoMorita 19:ae1a294cb30b 23 {
NaotoMorita 19:ae1a294cb30b 24 char byte_data[POSECEF_LEN];
NaotoMorita 19:ae1a294cb30b 25 struct
NaotoMorita 19:ae1a294cb30b 26 {
NaotoMorita 19:ae1a294cb30b 27 unsigned int iTOW;
NaotoMorita 19:ae1a294cb30b 28 int ecefX;
NaotoMorita 19:ae1a294cb30b 29 int ecefY;
NaotoMorita 19:ae1a294cb30b 30 int ecefZ;
NaotoMorita 19:ae1a294cb30b 31 unsigned int pAcc;
NaotoMorita 19:ae1a294cb30b 32 } data;
NaotoMorita 19:ae1a294cb30b 33 };
cocorlow 0:cf7c726ec8a1 34
cocorlow 0:cf7c726ec8a1 35 // 0x01 0x02
cocorlow 0:cf7c726ec8a1 36 union POSLLH
cocorlow 0:cf7c726ec8a1 37 {
cocorlow 0:cf7c726ec8a1 38 char byte_data[POSLLH_LEN];
cocorlow 0:cf7c726ec8a1 39 struct
cocorlow 0:cf7c726ec8a1 40 {
cocorlow 0:cf7c726ec8a1 41 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 42 int lon;
cocorlow 0:cf7c726ec8a1 43 int lat;
cocorlow 0:cf7c726ec8a1 44 int height;
cocorlow 0:cf7c726ec8a1 45 int hMSL;
cocorlow 0:cf7c726ec8a1 46 unsigned int hAcc;
cocorlow 0:cf7c726ec8a1 47 unsigned int vAcc;
cocorlow 0:cf7c726ec8a1 48 } data;
cocorlow 0:cf7c726ec8a1 49 };
cocorlow 0:cf7c726ec8a1 50
NaotoMorita 13:facd8e54f2eb 51 // 0x01 0x03
NaotoMorita 13:facd8e54f2eb 52 union STATUS
cocorlow 10:a90d07e4c34d 53 {
NaotoMorita 13:facd8e54f2eb 54 char byte_data[STATUS_LEN];
cocorlow 10:a90d07e4c34d 55 struct
cocorlow 10:a90d07e4c34d 56 {
cocorlow 10:a90d07e4c34d 57 unsigned int iTOW;
NaotoMorita 13:facd8e54f2eb 58 unsigned char gpsFix;
NaotoMorita 13:facd8e54f2eb 59 unsigned char flags;
NaotoMorita 13:facd8e54f2eb 60 unsigned char fixStat;
NaotoMorita 13:facd8e54f2eb 61 unsigned char flags2;
NaotoMorita 13:facd8e54f2eb 62 unsigned int ttff;
NaotoMorita 13:facd8e54f2eb 63 unsigned int msss;
cocorlow 10:a90d07e4c34d 64 } data;
cocorlow 10:a90d07e4c34d 65 };
cocorlow 10:a90d07e4c34d 66
cocorlow 0:cf7c726ec8a1 67 // 0x01 0x21
cocorlow 0:cf7c726ec8a1 68 union TIMEUTC
cocorlow 0:cf7c726ec8a1 69 {
cocorlow 0:cf7c726ec8a1 70 char byte_data[TIMEUTC_LEN];
cocorlow 0:cf7c726ec8a1 71 struct
cocorlow 0:cf7c726ec8a1 72 {
cocorlow 0:cf7c726ec8a1 73 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 74 unsigned int tAcc;
cocorlow 0:cf7c726ec8a1 75 int nano;
cocorlow 0:cf7c726ec8a1 76 unsigned short year;
cocorlow 0:cf7c726ec8a1 77 unsigned char month;
cocorlow 0:cf7c726ec8a1 78 unsigned char day;
cocorlow 0:cf7c726ec8a1 79 unsigned char hour;
cocorlow 0:cf7c726ec8a1 80 unsigned char min;
cocorlow 0:cf7c726ec8a1 81 unsigned char sec;
cocorlow 0:cf7c726ec8a1 82 unsigned char valid;
cocorlow 0:cf7c726ec8a1 83 } data;
cocorlow 0:cf7c726ec8a1 84 };
cocorlow 0:cf7c726ec8a1 85
cocorlow 0:cf7c726ec8a1 86 //// 0x01 0x11
cocorlow 0:cf7c726ec8a1 87 //union VELECEF
cocorlow 0:cf7c726ec8a1 88 //{
cocorlow 0:cf7c726ec8a1 89 // char byte_data[VELECEF_LEN];
cocorlow 0:cf7c726ec8a1 90 // struct
cocorlow 0:cf7c726ec8a1 91 // {
cocorlow 0:cf7c726ec8a1 92 // unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 93 // int ecefVX;
cocorlow 0:cf7c726ec8a1 94 // int ecefVY;
cocorlow 0:cf7c726ec8a1 95 // int ecefVZ;
cocorlow 0:cf7c726ec8a1 96 // unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 97 // } data;
cocorlow 0:cf7c726ec8a1 98 //};
cocorlow 0:cf7c726ec8a1 99
cocorlow 0:cf7c726ec8a1 100 // 0x01 0x12
cocorlow 0:cf7c726ec8a1 101 union VELNED
cocorlow 0:cf7c726ec8a1 102 {
cocorlow 0:cf7c726ec8a1 103 char byte_data[VELNED_LEN];
cocorlow 0:cf7c726ec8a1 104 struct
cocorlow 0:cf7c726ec8a1 105 {
cocorlow 0:cf7c726ec8a1 106 unsigned int iTOW;
cocorlow 0:cf7c726ec8a1 107 int velN;
cocorlow 0:cf7c726ec8a1 108 int velE;
cocorlow 0:cf7c726ec8a1 109 int velD;
cocorlow 0:cf7c726ec8a1 110 unsigned int speed;
cocorlow 0:cf7c726ec8a1 111 unsigned int gSpeed;
cocorlow 0:cf7c726ec8a1 112 signed int heading;
cocorlow 0:cf7c726ec8a1 113 unsigned int sAcc;
cocorlow 0:cf7c726ec8a1 114 unsigned int cAcc;
cocorlow 0:cf7c726ec8a1 115 } data;
cocorlow 0:cf7c726ec8a1 116 };
cocorlow 4:59f0f651296c 117
cocorlow 0:cf7c726ec8a1 118
cocorlow 5:a92850395dcb 119 /**GPS/GNSS library for UART (UBX protocol)
cocorlow 5:a92850395dcb 120 * RX pin is required.
cocorlow 8:1eb5f701a0d0 121 @code
cocorlow 8:1eb5f701a0d0 122 #include "mbed.h"
cocorlow 8:1eb5f701a0d0 123 #include "GPSUBX_UART.cpp"
cocorlow 8:1eb5f701a0d0 124
cocorlow 8:1eb5f701a0d0 125 Serial pc(USBTX, USBRX, 115200);
cocorlow 8:1eb5f701a0d0 126
cocorlow 8:1eb5f701a0d0 127 GPSUBX_UART gps(PD_1, PD_0); // mbed Nucleo 767
cocorlow 8:1eb5f701a0d0 128
cocorlow 8:1eb5f701a0d0 129 void Display()
cocorlow 8:1eb5f701a0d0 130 {
cocorlow 8:1eb5f701a0d0 131 pc.printf("POSLLH: %d, %f, %f, %f\r\n", gps.iTOW_POSLLH, gps.Longitude, gps.Latitude, gps.Height);
cocorlow 8:1eb5f701a0d0 132 pc.printf("VELNED: %d, %f, %f, %f\r\n", gps.iTOW_VELNED, gps.VelocityNED.x, gps.VelocityNED.y, gps.VelocityNED.z);
cocorlow 8:1eb5f701a0d0 133 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 134 }
cocorlow 8:1eb5f701a0d0 135
cocorlow 8:1eb5f701a0d0 136 int main()
cocorlow 8:1eb5f701a0d0 137 {
cocorlow 8:1eb5f701a0d0 138 gps.Attach();
cocorlow 8:1eb5f701a0d0 139 int timer = 0;
cocorlow 8:1eb5f701a0d0 140 while (1)
cocorlow 8:1eb5f701a0d0 141 {
cocorlow 8:1eb5f701a0d0 142 gps.Update();
cocorlow 8:1eb5f701a0d0 143 wait(0.1);
cocorlow 8:1eb5f701a0d0 144 timer++;
cocorlow 8:1eb5f701a0d0 145 if (timer >= 5)
cocorlow 8:1eb5f701a0d0 146 {
cocorlow 8:1eb5f701a0d0 147 Display();
cocorlow 8:1eb5f701a0d0 148 timer = 0;
cocorlow 8:1eb5f701a0d0 149 }
cocorlow 8:1eb5f701a0d0 150 }
cocorlow 8:1eb5f701a0d0 151 }
cocorlow 8:1eb5f701a0d0 152 @endcode
cocorlow 5:a92850395dcb 153 */
cocorlow 0:cf7c726ec8a1 154 class GPSUBX_UART
cocorlow 0:cf7c726ec8a1 155 {
cocorlow 0:cf7c726ec8a1 156 private:
cocorlow 2:6218fe8e54f4 157
cocorlow 1:71f5168e48c8 158 RawSerial serial;
cocorlow 0:cf7c726ec8a1 159 char receive_buffer[RECEIVE_SIZE];
cocorlow 0:cf7c726ec8a1 160 char sentence_buffer[SENTENCE_SIZE];
cocorlow 0:cf7c726ec8a1 161 static const float Radius = 6378136.6f;
cocorlow 2:6218fe8e54f4 162 volatile int receive_index;
cocorlow 0:cf7c726ec8a1 163
cocorlow 1:71f5168e48c8 164 void Receive();
cocorlow 1:71f5168e48c8 165 void Decode(char buffer[], int mc, int mi);
cocorlow 0:cf7c726ec8a1 166
cocorlow 0:cf7c726ec8a1 167 public:
cocorlow 2:6218fe8e54f4 168
cocorlow 2:6218fe8e54f4 169 int dummy; // Compiler bug? If "dummy" does not exist, the value of "Year" (under "public:") may include bugs.
cocorlow 5:a92850395dcb 170 /**Year*/
cocorlow 2:6218fe8e54f4 171 volatile int Year;
cocorlow 5:a92850395dcb 172 /**Month*/
cocorlow 2:6218fe8e54f4 173 volatile int Month;
cocorlow 5:a92850395dcb 174 /**Day*/
cocorlow 2:6218fe8e54f4 175 volatile int Day;
cocorlow 5:a92850395dcb 176 /**Hours*/
cocorlow 2:6218fe8e54f4 177 volatile int Hours;
cocorlow 5:a92850395dcb 178 /**Minutes*/
cocorlow 2:6218fe8e54f4 179 volatile int Minutes;
cocorlow 5:a92850395dcb 180 /**Seconds*/
cocorlow 2:6218fe8e54f4 181 volatile int Seconds;
cocorlow 5:a92850395dcb 182 /**Longitude (deg)*/
cocorlow 5:a92850395dcb 183 volatile float Longitude;
cocorlow 5:a92850395dcb 184 /**Latitude (deg)*/
cocorlow 2:6218fe8e54f4 185 volatile float Latitude;
cocorlow 5:a92850395dcb 186 /**Height [m]*/
cocorlow 2:6218fe8e54f4 187 volatile float Height;
cocorlow 5:a92850395dcb 188 /**iTOW of POSLLH [ms]*/
NaotoMorita 19:ae1a294cb30b 189 volatile int iTOW_POSECEF;
NaotoMorita 19:ae1a294cb30b 190 /**Velocity NED [m/s]*/
NaotoMorita 19:ae1a294cb30b 191 volatile Vector3 PositionECEF;
NaotoMorita 19:ae1a294cb30b 192 /**Speed [m/s]*/
cocorlow 2:6218fe8e54f4 193 volatile int iTOW_POSLLH;
cocorlow 9:874d7633e358 194 /**Velocity NED [m/s]*/
cocorlow 2:6218fe8e54f4 195 volatile Vector3 VelocityNED;
cocorlow 5:a92850395dcb 196 /**Speed [m/s]*/
cocorlow 2:6218fe8e54f4 197 volatile float Speed;
cocorlow 5:a92850395dcb 198 /**Ground speed [m/s]*/
cocorlow 2:6218fe8e54f4 199 volatile float GroundSpeed;
cocorlow 5:a92850395dcb 200 /**Heading angle (deg) */
cocorlow 2:6218fe8e54f4 201 volatile float Heading;
cocorlow 5:a92850395dcb 202 /**iTOW of VELNED [ms]*/
cocorlow 2:6218fe8e54f4 203 volatile int iTOW_VELNED;
cocorlow 1:71f5168e48c8 204
NaotoMorita 13:facd8e54f2eb 205 /**iTOW of STATUS [ms]*/
NaotoMorita 13:facd8e54f2eb 206 volatile int iTOW_STATUS;
NaotoMorita 13:facd8e54f2eb 207 /**gpsFix Status*/
NaotoMorita 13:facd8e54f2eb 208 volatile char gpsFix;
cocorlow 10:a90d07e4c34d 209
cocorlow 10:a90d07e4c34d 210
cocorlow 5:a92850395dcb 211 /**Time zone*/
cocorlow 2:6218fe8e54f4 212 volatile int TimeZone;
cocorlow 0:cf7c726ec8a1 213
cocorlow 0:cf7c726ec8a1 214 Vector3 UniversalZeroPosition;
NaotoMorita 19:ae1a294cb30b 215 float UniversalLatitude;
NaotoMorita 19:ae1a294cb30b 216 float UniversalLongitude;
NaotoMorita 19:ae1a294cb30b 217 Vector3 UniversalZeroUnit1;
NaotoMorita 19:ae1a294cb30b 218 Vector3 UniversalZeroUnit2;
NaotoMorita 19:ae1a294cb30b 219 Vector3 UniversalZeroUnit3;
cocorlow 5:a92850395dcb 220 /**Position NED [m]*/
cocorlow 0:cf7c726ec8a1 221 Vector3 PositionNED;
cocorlow 3:6c8715574bb8 222
cocorlow 5:a92850395dcb 223 /**Constructor
cocorlow 3:6c8715574bb8 224 *@param tx UART TX pin
cocorlow 3:6c8715574bb8 225 *@param rx UART RX pin
cocorlow 3:6c8715574bb8 226 *@param baud UART baud rate (default: 38400)
cocorlow 3:6c8715574bb8 227 *@param timezone Time zone (default: +9)
cocorlow 3:6c8715574bb8 228 */
cocorlow 3:6c8715574bb8 229 GPSUBX_UART(PinName tx, PinName rx, int baud = 38400, int timezone = +9);
cocorlow 5:a92850395dcb 230 /**call Update() regularly in the main loop
cocorlow 5:a92850395dcb 231 */
cocorlow 1:71f5168e48c8 232 void Update();
cocorlow 5:a92850395dcb 233 /**call Attach() once before measuring position
cocorlow 5:a92850395dcb 234 */
cocorlow 0:cf7c726ec8a1 235 void Attach();
cocorlow 0:cf7c726ec8a1 236
NaotoMorita 19:ae1a294cb30b 237 //Vector3 ToUniversalUnit();
NaotoMorita 19:ae1a294cb30b 238 //Vector3 ToUniversal();
cocorlow 0:cf7c726ec8a1 239 void CalculateUnit();
cocorlow 5:a92850395dcb 240 /**call Calculate() before calculating PositionNED
cocorlow 5:a92850395dcb 241 */
cocorlow 0:cf7c726ec8a1 242 void Calculate();
NaotoMorita 19:ae1a294cb30b 243 //Vector3 Calculate(Vector3 position);
cocorlow 0:cf7c726ec8a1 244
cocorlow 0:cf7c726ec8a1 245 static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
cocorlow 0:cf7c726ec8a1 246 };
cocorlow 0:cf7c726ec8a1 247 #endif