Diff: GPS_HAPS.hpp

Revision:

0:6c7f7ed85f2c

Child:

3:b0d594e5d9e2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GPS_HAPS.hpp	Tue Sep 07 05:30:59 2021 +0000
@@ -0,0 +1,99 @@
+#ifndef __GPS_HAPS_HPP__
+#define __GPS_HAPS_HPP__
+
+#include "mbed.h"
+#include "Vector3.hpp"
+
+/*
+$GNRMC,090439.00,A,3542.93385,N,13945.73884,E,0.444,,060921,,,A,V*15
+$GNVTG,,T,,M,0.444,N,0.822,K,A*31
+$GNGGA,090439.00,3542.93385,N,13945.73884,E,1,08,1.32,76.5,M,39.4,M,,*79
+$GNGSA,A,3,13,15,18,24,10,23,,,,,,,2.11,1.32,1.65,1*08
+$GNGSA,A,3,,,,,,,,,,,,,2.11,1.32,1.65,2*02
+$GNGSA,A,3,07,08,,,,,,,,,,,2.11,1.32,1.65,3*0C
+$GNGSA,A,3,,,,,,,,,,,,,2.11,1.32,1.65,4*04
+$GPGSV,2,1,06,10,33,315,22,13,19,081,10,15,49,080,12,18,24,231,12,1*6B
+$GPGSV,2,2,06,23,68,294,22,24,77,009,24,1*6B
+$GPGSV,2,1,05,05,15,148,,12,32,157,,14,00,031,,25,13,184,,0*61
+$GPGSV,2,2,05,25,13,184,,0*58
+$GLGSV,1,1,00,0*79
+$GAGSV,2,1,05,02,47,068,25,03,15,100,17,07,50,316,29,08,61,066,23,7*7E
+$GAGSV,2,2,05,25,08,035,12,7*4C
+$GAGSV,2,1,05,13,12,222,,26,19,275,,27,08,195,,30,50,155,,0*7A
+$GAGSV,2,2,05,30,50,155,,0*46
+$GBGSV,1,1,00,0*77
+$GNGLL,3542.93385,N,13945.73884,E,090439.00,A,A*7E
+*/
+
+#define RECEIVE_SIZE 1024
+#define SENTENCE_SIZE 256
+
+extern Serial pc;
+
+class GPS_HAPS
+{
+private:
+    Serial serial;
+    char receive_buffer[RECEIVE_SIZE];
+    char sentence_buffer[SENTENCE_SIZE];
+    int receive_start;
+    int receive_index;
+    int receive_request;
+    static const float Radius = 6378136.6f;
+    
+    void Receive();
+    void Punctuate();
+    
+public:
+    // GPGGA
+    volatile int Quality;
+    volatile int Satellites;
+    volatile float HDOP;
+    volatile float Elevation;
+    volatile char UnitElevation;
+    volatile float GeoidElevation;
+    volatile char UnitGeoidElevation;
+    
+    // GPRMC
+    volatile int Hours;
+    volatile int Minutes;
+    volatile int Seconds;
+    volatile int Milliseconds;
+    volatile char Status;
+    volatile float Latitude;
+    volatile char N_S;
+    volatile float Longitude;
+    volatile char E_W;
+    volatile float Speed;
+    volatile float Direction;
+    volatile int Day;
+    volatile int Month;
+    volatile int Year;
+    volatile float GeomagneticDeclination ;
+    volatile char GeomagneticE_W; 
+    volatile char Mode;
+    volatile float Altitude;
+    volatile int Time;
+    
+    Vector3 UniversalZeroPosition;
+    Vector3 UniversalZeroUnitN;
+    Vector3 UniversalZeroUnitE;
+    Vector3 UniversalZeroUnitD;
+    Vector3 UniversalPosition;
+    Vector3 Position;
+    Vector3 Velocity;
+
+    GPS_HAPS(PinName tx, PinName rx, int baud);
+    void Attach();
+    void Update();
+    void Loop();
+    void Parse(char *cmd);
+    void Initialize();
+    Vector3 ToUniversalUnit();
+    Vector3 ToUniversal();
+    void CalcurateUnit();
+    void Calcurate();
+    Vector3 Calcurate(Vector3 position);
+};
+
+#endif
\ No newline at end of file