PLANET-Q AE-GPS Library
Dependents: IZU2020_AVIONICS IZU2020_AVIONICS
PQAEGPS.cpp@4:340220a33272, 2019-12-18 (annotated)
- Committer:
- TsurunoYuma
- Date:
- Wed Dec 18 14:42:45 2019 +0000
- Revision:
- 4:340220a33272
- Parent:
- 2:c469139053eb
comment_corrected_02
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tanahashi | 0:55b72d6ab099 | 1 | #include "mbed.h" |
tanahashi | 0:55b72d6ab099 | 2 | #include "PQAEGPS.h" |
tanahashi | 0:55b72d6ab099 | 3 | |
tanahashi | 0:55b72d6ab099 | 4 | AEGPS::AEGPS(Serial &gps_serial) |
tanahashi | 0:55b72d6ab099 | 5 | { |
tanahashi | 0:55b72d6ab099 | 6 | _serial = &gps_serial; |
tanahashi | 0:55b72d6ab099 | 7 | _serial->attach(callback(this, &AEGPS::receive), Serial::RxIrq); |
tanahashi | 0:55b72d6ab099 | 8 | } |
tanahashi | 0:55b72d6ab099 | 9 | |
tanahashi | 0:55b72d6ab099 | 10 | void AEGPS::receive() |
tanahashi | 0:55b72d6ab099 | 11 | { |
tanahashi | 0:55b72d6ab099 | 12 | char c = _serial->getc(); |
tanahashi | 0:55b72d6ab099 | 13 | if(c == '$') { |
tanahashi | 0:55b72d6ab099 | 14 | index = 0; |
tanahashi | 0:55b72d6ab099 | 15 | flag = 1; |
tanahashi | 0:55b72d6ab099 | 16 | } |
tanahashi | 0:55b72d6ab099 | 17 | if(flag == 1) { |
tanahashi | 0:55b72d6ab099 | 18 | rx_buf[index] = c; |
tanahashi | 0:55b72d6ab099 | 19 | if(c == '\n') { |
tanahashi | 0:55b72d6ab099 | 20 | rx_buf[index + 1] = '\0'; |
tanahashi | 0:55b72d6ab099 | 21 | flag = 2; |
tanahashi | 0:55b72d6ab099 | 22 | } else { |
tanahashi | 0:55b72d6ab099 | 23 | index++; |
tanahashi | 0:55b72d6ab099 | 24 | } |
tanahashi | 0:55b72d6ab099 | 25 | } |
tanahashi | 0:55b72d6ab099 | 26 | if(flag == 2) { |
tanahashi | 0:55b72d6ab099 | 27 | sscanf(rx_buf, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f,M,%f,M", &sec, &lat, &ns, &lon, &ew, &fix, &sat, &hdop, &alt, &geoid); |
tanahashi | 2:c469139053eb | 28 | |
tanahashi | 0:55b72d6ab099 | 29 | hour = (int)(sec / 10000); |
tanahashi | 0:55b72d6ab099 | 30 | min = (int)(sec - hour * 10000) / 100; |
tanahashi | 0:55b72d6ab099 | 31 | sec = sec - hour * 10000 - min * 100; |
tanahashi | 2:c469139053eb | 32 | |
tanahashi | 0:55b72d6ab099 | 33 | int d; |
tanahashi | 0:55b72d6ab099 | 34 | float m; |
tanahashi | 0:55b72d6ab099 | 35 | |
tanahashi | 0:55b72d6ab099 | 36 | d = (int)lat / 100; |
tanahashi | 0:55b72d6ab099 | 37 | m = lat - (float)d * 100; |
tanahashi | 0:55b72d6ab099 | 38 | lat = (float)d + m / 60; |
tanahashi | 0:55b72d6ab099 | 39 | if(ns == 'S') { |
tanahashi | 0:55b72d6ab099 | 40 | lat = -lat; |
tanahashi | 0:55b72d6ab099 | 41 | } |
tanahashi | 0:55b72d6ab099 | 42 | |
tanahashi | 0:55b72d6ab099 | 43 | d = (int)lon / 100; |
tanahashi | 0:55b72d6ab099 | 44 | m = lon - (float)d * 100; |
tanahashi | 0:55b72d6ab099 | 45 | lon = (float)d + m / 60; |
tanahashi | 0:55b72d6ab099 | 46 | if(ns == 'W') { |
tanahashi | 0:55b72d6ab099 | 47 | lon = -lon; |
tanahashi | 0:55b72d6ab099 | 48 | } |
tanahashi | 2:c469139053eb | 49 | |
tanahashi | 0:55b72d6ab099 | 50 | flag = 0; |
tanahashi | 0:55b72d6ab099 | 51 | } |
tanahashi | 0:55b72d6ab099 | 52 | } |
tanahashi | 0:55b72d6ab099 | 53 | |
tanahashi | 2:c469139053eb | 54 | int AEGPS::get_hour() |
tanahashi | 2:c469139053eb | 55 | { |
tanahashi | 0:55b72d6ab099 | 56 | return hour; |
tanahashi | 0:55b72d6ab099 | 57 | } |
tanahashi | 0:55b72d6ab099 | 58 | |
tanahashi | 2:c469139053eb | 59 | int AEGPS::get_min() |
tanahashi | 2:c469139053eb | 60 | { |
tanahashi | 0:55b72d6ab099 | 61 | return min; |
tanahashi | 0:55b72d6ab099 | 62 | } |
tanahashi | 0:55b72d6ab099 | 63 | |
tanahashi | 2:c469139053eb | 64 | float AEGPS::get_sec() |
tanahashi | 2:c469139053eb | 65 | { |
tanahashi | 0:55b72d6ab099 | 66 | return sec; |
tanahashi | 0:55b72d6ab099 | 67 | } |
tanahashi | 0:55b72d6ab099 | 68 | |
tanahashi | 2:c469139053eb | 69 | float AEGPS::get_lat() |
tanahashi | 2:c469139053eb | 70 | { |
tanahashi | 0:55b72d6ab099 | 71 | return lat; |
tanahashi | 0:55b72d6ab099 | 72 | } |
tanahashi | 0:55b72d6ab099 | 73 | |
tanahashi | 2:c469139053eb | 74 | float AEGPS::get_lon() |
tanahashi | 2:c469139053eb | 75 | { |
tanahashi | 0:55b72d6ab099 | 76 | return lon; |
tanahashi | 0:55b72d6ab099 | 77 | } |
tanahashi | 0:55b72d6ab099 | 78 | |
tanahashi | 2:c469139053eb | 79 | int AEGPS::get_fix() |
tanahashi | 2:c469139053eb | 80 | { |
tanahashi | 0:55b72d6ab099 | 81 | return fix; |
tanahashi | 0:55b72d6ab099 | 82 | } |
tanahashi | 0:55b72d6ab099 | 83 | |
tanahashi | 2:c469139053eb | 84 | int AEGPS::get_sat() |
tanahashi | 2:c469139053eb | 85 | { |
tanahashi | 0:55b72d6ab099 | 86 | return sat; |
tanahashi | 0:55b72d6ab099 | 87 | } |
tanahashi | 0:55b72d6ab099 | 88 | |
tanahashi | 2:c469139053eb | 89 | float AEGPS::get_hdop() |
tanahashi | 2:c469139053eb | 90 | { |
tanahashi | 0:55b72d6ab099 | 91 | return hdop; |
tanahashi | 0:55b72d6ab099 | 92 | } |
tanahashi | 0:55b72d6ab099 | 93 | |
tanahashi | 2:c469139053eb | 94 | float AEGPS::get_alt() |
tanahashi | 2:c469139053eb | 95 | { |
tanahashi | 0:55b72d6ab099 | 96 | return alt; |
tanahashi | 0:55b72d6ab099 | 97 | } |
tanahashi | 0:55b72d6ab099 | 98 | |
tanahashi | 2:c469139053eb | 99 | float AEGPS::get_geoid() |
tanahashi | 2:c469139053eb | 100 | { |
tanahashi | 0:55b72d6ab099 | 101 | return geoid; |
tanahashi | 0:55b72d6ab099 | 102 | } |