2017年伊豆大島共同打ち上げ実験用電装モジュール搭載GPS測位プログラム
Dependents: Hybrid_interruptGPS Hybrid_main_FirstEdtion rocket_logger_sinkan2018_v1 HYBRYD2018_IZU_ROCKET ... more
GPS_interrupt.cpp@9:dab13bd20f43, 2017-10-25 (annotated)
- Committer:
- Gaku0606
- Date:
- Wed Oct 25 08:07:14 2017 +0000
- Revision:
- 9:dab13bd20f43
- Parent:
- 8:3f32df2b66c0
- Child:
- 10:a006445dc76d
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gaku0606 | 0:74d8e952a3bd | 1 | #include "mbed.h" |
Gaku0606 | 0:74d8e952a3bd | 2 | #include "GPS_interrupt.h" |
Gaku0606 | 4:758f97bee95a | 3 | |
Gaku0606 | 4:758f97bee95a | 4 | /*double GPS_interrupt::latitude; |
Gaku0606 | 0:74d8e952a3bd | 5 | double GPS_interrupt::longitude; |
Gaku0606 | 0:74d8e952a3bd | 6 | int GPS_interrupt::year; |
Gaku0606 | 0:74d8e952a3bd | 7 | int GPS_interrupt::month; |
Gaku0606 | 0:74d8e952a3bd | 8 | int GPS_interrupt::day; |
Gaku0606 | 0:74d8e952a3bd | 9 | int GPS_interrupt::hour; |
Gaku0606 | 0:74d8e952a3bd | 10 | int GPS_interrupt::minutes; |
Gaku0606 | 0:74d8e952a3bd | 11 | double GPS_interrupt::seconds; |
Gaku0606 | 0:74d8e952a3bd | 12 | double GPS_interrupt::degree = 0; |
Gaku0606 | 0:74d8e952a3bd | 13 | double GPS_interrupt::knot = 0; |
Gaku0606 | 0:74d8e952a3bd | 14 | double GPS_interrupt::height = 0; |
Gaku0606 | 0:74d8e952a3bd | 15 | double GPS_interrupt::geoid = 0; |
Gaku0606 | 0:74d8e952a3bd | 16 | int GPS_interrupt::number = 0; |
Gaku0606 | 8:3f32df2b66c0 | 17 | */ |
Gaku0606 | 8:3f32df2b66c0 | 18 | //char GPS_interrupt::gps_buffer_A[128] = {'\0'}; |
Gaku0606 | 8:3f32df2b66c0 | 19 | //char GPS_interrupt::gps_buffer_B[128] = {'\0'}; |
Gaku0606 | 8:3f32df2b66c0 | 20 | //char GPS_interrupt::gps_buffer_C[128] = {'\0'}; |
Gaku0606 | 8:3f32df2b66c0 | 21 | /* |
Gaku0606 | 0:74d8e952a3bd | 22 | char* GPS_interrupt::gps_read_buffer = gps_buffer_B; |
Gaku0606 | 4:758f97bee95a | 23 | bool GPS_interrupt::gps_readable = false;*/ |
Gaku0606 | 0:74d8e952a3bd | 24 | |
Gaku0606 | 4:758f97bee95a | 25 | //GPS_interrupt* GPS_interrupt::gps_irq; |
Gaku0606 | 0:74d8e952a3bd | 26 | |
Gaku0606 | 2:7be89bab6db9 | 27 | //Timeout timeout_clear; |
Gaku0606 | 2:7be89bab6db9 | 28 | |
Gaku0606 | 4:758f97bee95a | 29 | void GPS_interrupt::debug(bool tf){ |
Gaku0606 | 4:758f97bee95a | 30 | if(tf){ |
Gaku0606 | 4:758f97bee95a | 31 | debugFlag = true; |
Gaku0606 | 4:758f97bee95a | 32 | } |
Gaku0606 | 4:758f97bee95a | 33 | else{ |
Gaku0606 | 4:758f97bee95a | 34 | debugFlag = false; |
Gaku0606 | 4:758f97bee95a | 35 | } |
Gaku0606 | 2:7be89bab6db9 | 36 | } |
Gaku0606 | 2:7be89bab6db9 | 37 | |
Gaku0606 | 2:7be89bab6db9 | 38 | unsigned char GPS_interrupt::checkSum(char *str){ |
Gaku0606 | 2:7be89bab6db9 | 39 | int num = strlen(str); |
Gaku0606 | 2:7be89bab6db9 | 40 | unsigned char val = 0; |
Gaku0606 | 2:7be89bab6db9 | 41 | for(int i = 0; i< num; i++){ |
Gaku0606 | 2:7be89bab6db9 | 42 | val = val ^ str[i]; |
Gaku0606 | 2:7be89bab6db9 | 43 | } |
Gaku0606 | 2:7be89bab6db9 | 44 | return val; |
Gaku0606 | 2:7be89bab6db9 | 45 | } |
Gaku0606 | 6:2f91c71d64b1 | 46 | GPS_interrupt::GPS_interrupt(Serial *_gps){ |
Gaku0606 | 2:7be89bab6db9 | 47 | |
Gaku0606 | 6:2f91c71d64b1 | 48 | debugFlag = false; |
Gaku0606 | 6:2f91c71d64b1 | 49 | initialize(); |
Gaku0606 | 6:2f91c71d64b1 | 50 | baudrate = 115200;//_baudrate; |
Gaku0606 | 6:2f91c71d64b1 | 51 | frequency = 10; |
Gaku0606 | 6:2f91c71d64b1 | 52 | gps_irq = this; |
Gaku0606 | 6:2f91c71d64b1 | 53 | gps = _gps; |
Gaku0606 | 6:2f91c71d64b1 | 54 | gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq); |
Gaku0606 | 6:2f91c71d64b1 | 55 | } |
Gaku0606 | 6:2f91c71d64b1 | 56 | |
Gaku0606 | 6:2f91c71d64b1 | 57 | GPS_interrupt::GPS_interrupt(Serial *_gps, int _frequency){ |
Gaku0606 | 2:7be89bab6db9 | 58 | |
Gaku0606 | 4:758f97bee95a | 59 | debugFlag = false; |
Gaku0606 | 4:758f97bee95a | 60 | initialize(); |
Gaku0606 | 8:3f32df2b66c0 | 61 | baudrate = 9600;//_baudrate; |
Gaku0606 | 2:7be89bab6db9 | 62 | frequency = _frequency; |
Gaku0606 | 0:74d8e952a3bd | 63 | gps_irq = this; |
Gaku0606 | 0:74d8e952a3bd | 64 | gps = _gps; |
Gaku0606 | 4:758f97bee95a | 65 | gps->baud(9600); |
Gaku0606 | 4:758f97bee95a | 66 | if(baudrate == 9600){ |
Gaku0606 | 4:758f97bee95a | 67 | gps->printf("$PMTK251,9600*17\r\n"); |
Gaku0606 | 4:758f97bee95a | 68 | } |
Gaku0606 | 4:758f97bee95a | 69 | else if(baudrate == 19200){ |
Gaku0606 | 4:758f97bee95a | 70 | gps->printf("$PMTK251,19200*22\r\n"); |
Gaku0606 | 4:758f97bee95a | 71 | } |
Gaku0606 | 4:758f97bee95a | 72 | else if( baudrate == 38400){ |
Gaku0606 | 4:758f97bee95a | 73 | gps->printf("$PMTK251,38400*27\r\n"); |
Gaku0606 | 4:758f97bee95a | 74 | } |
Gaku0606 | 4:758f97bee95a | 75 | else if(baudrate == 56700){ |
Gaku0606 | 4:758f97bee95a | 76 | gps->printf("$PMTK251,57600*2C\r\n"); |
Gaku0606 | 4:758f97bee95a | 77 | } |
Gaku0606 | 4:758f97bee95a | 78 | else if(baudrate == 115200){ |
Gaku0606 | 4:758f97bee95a | 79 | gps->printf("$PMTK251,115200*1F\r\n"); |
Gaku0606 | 4:758f97bee95a | 80 | wait(0.1); |
Gaku0606 | 4:758f97bee95a | 81 | gps->printf("$PMTK251,115200*1F\r\n"); |
Gaku0606 | 4:758f97bee95a | 82 | wait(0.2); |
Gaku0606 | 4:758f97bee95a | 83 | gps->printf("$PMTK251,115200*1F\r\n"); |
Gaku0606 | 4:758f97bee95a | 84 | wait(0.2); |
Gaku0606 | 4:758f97bee95a | 85 | } |
Gaku0606 | 8:3f32df2b66c0 | 86 | gps->baud(9600); |
Gaku0606 | 8:3f32df2b66c0 | 87 | baudrate = 9600; |
Gaku0606 | 2:7be89bab6db9 | 88 | wait(0.1); |
Gaku0606 | 4:758f97bee95a | 89 | |
Gaku0606 | 4:758f97bee95a | 90 | //gps->printf("$PMTK351,1*28\r\n");//$PMTK351,1*28<CR><LF> :Enable QZSS NMEA format |
Gaku0606 | 2:7be89bab6db9 | 91 | unsigned char checksum = 0; |
Gaku0606 | 4:758f97bee95a | 92 | checksum = checkSum("PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0"); |
Gaku0606 | 2:7be89bab6db9 | 93 | //$PMTK314,GLL,RMC,VTG,GGA,GSA,GSV,0,0,0,0,0,0,0,0,0,0,0,ZDA,MCHN,チェックサム |
Gaku0606 | 4:758f97bee95a | 94 | gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum); |
Gaku0606 | 4:758f97bee95a | 95 | wait(0.2); |
Gaku0606 | 4:758f97bee95a | 96 | gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum); |
Gaku0606 | 4:758f97bee95a | 97 | wait(0.2); |
Gaku0606 | 4:758f97bee95a | 98 | gps->printf("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*%02X\r\n", checksum); |
Gaku0606 | 4:758f97bee95a | 99 | wait(0.2); |
Gaku0606 | 4:758f97bee95a | 100 | if(_frequency == 1) gps->printf("$PMTK220,1000*1F\r\n"); |
Gaku0606 | 4:758f97bee95a | 101 | else if(_frequency == 2) gps->printf("$PMTK220,500*2B\r\n"); |
Gaku0606 | 4:758f97bee95a | 102 | else if(_frequency == 3) gps->printf("$PMTK220,333*2D\r\n"); |
Gaku0606 | 4:758f97bee95a | 103 | else if(_frequency == 4) gps->printf("$PMTK220,250*29\r\n"); |
Gaku0606 | 4:758f97bee95a | 104 | else if(_frequency == 5) gps->printf("$PMTK220,200*2C\r\n"); |
Gaku0606 | 4:758f97bee95a | 105 | else if(_frequency == 10) gps->printf("$PMTK220,100*2F\r\n"); |
Gaku0606 | 4:758f97bee95a | 106 | wait(0.2); |
Gaku0606 | 0:74d8e952a3bd | 107 | gps->attach(gps_irq, &GPS_interrupt::gps_auto_receive, Serial::RxIrq); |
Gaku0606 | 0:74d8e952a3bd | 108 | } |
Gaku0606 | 0:74d8e952a3bd | 109 | |
Gaku0606 | 0:74d8e952a3bd | 110 | void GPS_interrupt::initialize(){ |
Gaku0606 | 0:74d8e952a3bd | 111 | latitude = 0.0f; |
Gaku0606 | 0:74d8e952a3bd | 112 | longitude = 0.0f; |
Gaku0606 | 0:74d8e952a3bd | 113 | year = 0; |
Gaku0606 | 0:74d8e952a3bd | 114 | month = 0; |
Gaku0606 | 0:74d8e952a3bd | 115 | day = 0; |
Gaku0606 | 0:74d8e952a3bd | 116 | hour = 0; |
Gaku0606 | 0:74d8e952a3bd | 117 | minutes = 0; |
Gaku0606 | 0:74d8e952a3bd | 118 | seconds = 0; |
Gaku0606 | 2:7be89bab6db9 | 119 | knot = 0; |
Gaku0606 | 2:7be89bab6db9 | 120 | degree = 0; |
Gaku0606 | 2:7be89bab6db9 | 121 | number = 0; |
Gaku0606 | 2:7be89bab6db9 | 122 | height = 0; |
Gaku0606 | 2:7be89bab6db9 | 123 | geoid = 0; |
Gaku0606 | 0:74d8e952a3bd | 124 | memset(gps_buffer_A, '\0', 128); |
Gaku0606 | 0:74d8e952a3bd | 125 | memset(gps_buffer_B, '\0', 128); |
Gaku0606 | 8:3f32df2b66c0 | 126 | // memset(gps_buffer_C, '\0', 128); |
Gaku0606 | 0:74d8e952a3bd | 127 | gps_readable = false; |
Gaku0606 | 0:74d8e952a3bd | 128 | } |
Gaku0606 | 2:7be89bab6db9 | 129 | void GPS_interrupt::rmc_initialize(){ |
Gaku0606 | 2:7be89bab6db9 | 130 | latitude = 0.0f; |
Gaku0606 | 2:7be89bab6db9 | 131 | longitude = 0.0f; |
Gaku0606 | 2:7be89bab6db9 | 132 | year = 0; |
Gaku0606 | 2:7be89bab6db9 | 133 | month = 0; |
Gaku0606 | 2:7be89bab6db9 | 134 | day = 0; |
Gaku0606 | 2:7be89bab6db9 | 135 | hour = 0; |
Gaku0606 | 2:7be89bab6db9 | 136 | minutes = 0; |
Gaku0606 | 2:7be89bab6db9 | 137 | seconds = 0; |
Gaku0606 | 2:7be89bab6db9 | 138 | knot = 0; |
Gaku0606 | 2:7be89bab6db9 | 139 | degree = 0; |
Gaku0606 | 2:7be89bab6db9 | 140 | } |
Gaku0606 | 2:7be89bab6db9 | 141 | void GPS_interrupt::gga_initialize(){ |
Gaku0606 | 2:7be89bab6db9 | 142 | latitude = 0.0f; |
Gaku0606 | 2:7be89bab6db9 | 143 | longitude = 0.0f; |
Gaku0606 | 2:7be89bab6db9 | 144 | /*year = 0; |
Gaku0606 | 2:7be89bab6db9 | 145 | month = 0; |
Gaku0606 | 2:7be89bab6db9 | 146 | day = 0; |
Gaku0606 | 2:7be89bab6db9 | 147 | hour = 0; |
Gaku0606 | 2:7be89bab6db9 | 148 | minutes = 0; |
Gaku0606 | 2:7be89bab6db9 | 149 | seconds = 0;*/ |
Gaku0606 | 2:7be89bab6db9 | 150 | number = 0; |
Gaku0606 | 2:7be89bab6db9 | 151 | height = 0; |
Gaku0606 | 2:7be89bab6db9 | 152 | geoid = 0; |
Gaku0606 | 2:7be89bab6db9 | 153 | } |
Gaku0606 | 9:dab13bd20f43 | 154 | |
Gaku0606 | 0:74d8e952a3bd | 155 | void GPS_interrupt::gps_auto_receive(){ |
Gaku0606 | 0:74d8e952a3bd | 156 | |
Gaku0606 | 0:74d8e952a3bd | 157 | static char str_temp[128] = {'\0'}; |
Gaku0606 | 8:3f32df2b66c0 | 158 | static unsigned char temp = 0; |
Gaku0606 | 0:74d8e952a3bd | 159 | static bool start_flag = false; |
Gaku0606 | 8:3f32df2b66c0 | 160 | static int current = 0; |
Gaku0606 | 8:3f32df2b66c0 | 161 | static char classify_ABC = 0; |
Gaku0606 | 0:74d8e952a3bd | 162 | static char* save_buffer = gps_buffer_A; |
Gaku0606 | 0:74d8e952a3bd | 163 | |
Gaku0606 | 0:74d8e952a3bd | 164 | temp = gps->getc(); |
Gaku0606 | 2:7be89bab6db9 | 165 | |
Gaku0606 | 9:dab13bd20f43 | 166 | //if(debugFlag) printf("%c", temp); |
Gaku0606 | 2:7be89bab6db9 | 167 | |
Gaku0606 | 0:74d8e952a3bd | 168 | if(temp == '$'){ |
Gaku0606 | 0:74d8e952a3bd | 169 | current = 1; |
Gaku0606 | 0:74d8e952a3bd | 170 | start_flag = true; |
Gaku0606 | 0:74d8e952a3bd | 171 | memset(save_buffer, '\0', 128);//初期化 |
Gaku0606 | 0:74d8e952a3bd | 172 | save_buffer[0] = '$'; |
Gaku0606 | 0:74d8e952a3bd | 173 | return; |
Gaku0606 | 0:74d8e952a3bd | 174 | } |
Gaku0606 | 0:74d8e952a3bd | 175 | if(start_flag){//1行スタート |
Gaku0606 | 0:74d8e952a3bd | 176 | if(temp == '\r'){//1行終了 |
Gaku0606 | 0:74d8e952a3bd | 177 | save_buffer[current] = '\0'; |
Gaku0606 | 0:74d8e952a3bd | 178 | start_flag = false; |
Gaku0606 | 0:74d8e952a3bd | 179 | current = 1; |
Gaku0606 | 0:74d8e952a3bd | 180 | gps_read_buffer = save_buffer; |
Gaku0606 | 2:7be89bab6db9 | 181 | |
Gaku0606 | 2:7be89bab6db9 | 182 | //debug(gps_read_buffer); |
Gaku0606 | 8:3f32df2b66c0 | 183 | //printf("%s\r\n", save_buffer); |
Gaku0606 | 8:3f32df2b66c0 | 184 | //printf("debug \"%s\"\r\n", gps_read_buffer); |
Gaku0606 | 2:7be89bab6db9 | 185 | |
Gaku0606 | 8:3f32df2b66c0 | 186 | /*switch(classify_ABC){ |
Gaku0606 | 8:3f32df2b66c0 | 187 | case 0: |
Gaku0606 | 8:3f32df2b66c0 | 188 | save_buffer = gps_buffer_B; |
Gaku0606 | 8:3f32df2b66c0 | 189 | classify_ABC = 1; |
Gaku0606 | 8:3f32df2b66c0 | 190 | break; |
Gaku0606 | 8:3f32df2b66c0 | 191 | |
Gaku0606 | 8:3f32df2b66c0 | 192 | case 1: |
Gaku0606 | 8:3f32df2b66c0 | 193 | save_buffer = gps_buffer_C;//バッファ切換 |
Gaku0606 | 8:3f32df2b66c0 | 194 | classify_ABC = 2; |
Gaku0606 | 8:3f32df2b66c0 | 195 | break; |
Gaku0606 | 8:3f32df2b66c0 | 196 | |
Gaku0606 | 8:3f32df2b66c0 | 197 | case 2: |
Gaku0606 | 8:3f32df2b66c0 | 198 | save_buffer = gps_buffer_A; |
Gaku0606 | 8:3f32df2b66c0 | 199 | classify_ABC = 0; |
Gaku0606 | 8:3f32df2b66c0 | 200 | }*/ |
Gaku0606 | 8:3f32df2b66c0 | 201 | if(classify_ABC == 0){ |
Gaku0606 | 8:3f32df2b66c0 | 202 | save_buffer = gps_buffer_B; |
Gaku0606 | 8:3f32df2b66c0 | 203 | classify_ABC = 1; |
Gaku0606 | 0:74d8e952a3bd | 204 | } |
Gaku0606 | 8:3f32df2b66c0 | 205 | else if(classify_ABC == 1){ |
Gaku0606 | 8:3f32df2b66c0 | 206 | save_buffer = gps_buffer_A;//バッファ切換 |
Gaku0606 | 8:3f32df2b66c0 | 207 | classify_ABC = 0; |
Gaku0606 | 0:74d8e952a3bd | 208 | } |
Gaku0606 | 8:3f32df2b66c0 | 209 | memset(save_buffer, '\0', 128); |
Gaku0606 | 7:4b893ac95ae1 | 210 | //if(debugFlag) printf("debug \"%s\"\r\n", gps_read_buffer); |
Gaku0606 | 6:2f91c71d64b1 | 211 | |
Gaku0606 | 3:8e66ec281888 | 212 | if((strncmp(gps_read_buffer, "$GPRMC", 6) == 0) || (strncmp(gps_read_buffer, "$GNRMC", 6) == 0)){ |
Gaku0606 | 2:7be89bab6db9 | 213 | memset(str_temp, '\0', 128); |
Gaku0606 | 0:74d8e952a3bd | 214 | strcpy(str_temp, gps_read_buffer); |
Gaku0606 | 2:7be89bab6db9 | 215 | if(processGPRMC(str_temp)){ |
Gaku0606 | 0:74d8e952a3bd | 216 | gps_readable = true; |
Gaku0606 | 4:758f97bee95a | 217 | return;//データが取得できればここで終了 |
Gaku0606 | 0:74d8e952a3bd | 218 | } |
Gaku0606 | 8:3f32df2b66c0 | 219 | else{ |
Gaku0606 | 8:3f32df2b66c0 | 220 | gps_readable = false; |
Gaku0606 | 8:3f32df2b66c0 | 221 | } |
Gaku0606 | 0:74d8e952a3bd | 222 | } |
Gaku0606 | 2:7be89bab6db9 | 223 | else if(strncmp(gps_read_buffer, "$GPGGA", 6) == 0){ |
Gaku0606 | 2:7be89bab6db9 | 224 | memset(str_temp, '\0', 128); |
Gaku0606 | 2:7be89bab6db9 | 225 | strcpy(str_temp, gps_read_buffer); |
Gaku0606 | 2:7be89bab6db9 | 226 | if(processGPGGA(str_temp)){ |
Gaku0606 | 2:7be89bab6db9 | 227 | gps_readable = true; |
Gaku0606 | 4:758f97bee95a | 228 | return;//データが取得できればここで終了 |
Gaku0606 | 4:758f97bee95a | 229 | } |
Gaku0606 | 8:3f32df2b66c0 | 230 | else{ |
Gaku0606 | 8:3f32df2b66c0 | 231 | gps_readable = false; |
Gaku0606 | 8:3f32df2b66c0 | 232 | return; |
Gaku0606 | 8:3f32df2b66c0 | 233 | } |
Gaku0606 | 2:7be89bab6db9 | 234 | } |
Gaku0606 | 2:7be89bab6db9 | 235 | //else if(strncmp(gps_read_buffer, "$GPGSV", 6) == 0){ |
Gaku0606 | 2:7be89bab6db9 | 236 | //printf("%s\r\n", gps_read_buffer); |
Gaku0606 | 2:7be89bab6db9 | 237 | //} |
Gaku0606 | 0:74d8e952a3bd | 238 | } |
Gaku0606 | 0:74d8e952a3bd | 239 | else{ |
Gaku0606 | 0:74d8e952a3bd | 240 | save_buffer[current] = temp; |
Gaku0606 | 0:74d8e952a3bd | 241 | current++; |
Gaku0606 | 0:74d8e952a3bd | 242 | if(current >= 127){ |
Gaku0606 | 0:74d8e952a3bd | 243 | current = 1; |
Gaku0606 | 0:74d8e952a3bd | 244 | start_flag = false; |
Gaku0606 | 8:3f32df2b66c0 | 245 | memset(save_buffer, '\0', 128); |
Gaku0606 | 0:74d8e952a3bd | 246 | } |
Gaku0606 | 0:74d8e952a3bd | 247 | } |
Gaku0606 | 0:74d8e952a3bd | 248 | } |
Gaku0606 | 0:74d8e952a3bd | 249 | } |
Gaku0606 | 0:74d8e952a3bd | 250 | |
Gaku0606 | 2:7be89bab6db9 | 251 | bool GPS_interrupt::processGPRMC(char *line){ |
Gaku0606 | 0:74d8e952a3bd | 252 | |
Gaku0606 | 0:74d8e952a3bd | 253 | char *tok; //strtokで帰ってくる文字列のポインター |
Gaku0606 | 0:74d8e952a3bd | 254 | bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue |
Gaku0606 | 0:74d8e952a3bd | 255 | //bool result = false; |
Gaku0606 | 0:74d8e952a3bd | 256 | //char num[4] = "";//衛星数の文字データ |
Gaku0606 | 0:74d8e952a3bd | 257 | //char kaibatsu[8], g_height[8]; |
Gaku0606 | 0:74d8e952a3bd | 258 | //char data_GPS[256] =""; |
Gaku0606 | 0:74d8e952a3bd | 259 | char angle[8], speed[8]; |
Gaku0606 | 0:74d8e952a3bd | 260 | char ido[16] = "", keido[16] = ""; |
Gaku0606 | 0:74d8e952a3bd | 261 | |
Gaku0606 | 2:7be89bab6db9 | 262 | double X = 0, Y = 0; |
Gaku0606 | 0:74d8e952a3bd | 263 | double X_m = 0, Y_m = 0;//GPS座標の"分"の部分 |
Gaku0606 | 0:74d8e952a3bd | 264 | char zikann[11], hizuke[7]; |
Gaku0606 | 0:74d8e952a3bd | 265 | |
Gaku0606 | 0:74d8e952a3bd | 266 | //bool gga_flag = false; |
Gaku0606 | 0:74d8e952a3bd | 267 | bool rmc_flag = false; |
Gaku0606 | 2:7be89bab6db9 | 268 | char tok_count = 0; |
Gaku0606 | 0:74d8e952a3bd | 269 | |
Gaku0606 | 4:758f97bee95a | 270 | //rmc_initialize(); |
Gaku0606 | 0:74d8e952a3bd | 271 | |
Gaku0606 | 0:74d8e952a3bd | 272 | //_____GPRMC___________________________________ |
Gaku0606 | 0:74d8e952a3bd | 273 | //データ文字列の先頭から6文字目までが$GPRMCなら0が返ってくる |
Gaku0606 | 2:7be89bab6db9 | 274 | //if (strncmp(line, "$GPRMC", 6) == 0){ |
Gaku0606 | 0:74d8e952a3bd | 275 | |
Gaku0606 | 0:74d8e952a3bd | 276 | tok = strtok(line, ","); |
Gaku0606 | 2:7be89bab6db9 | 277 | tok_count = 0; |
Gaku0606 | 0:74d8e952a3bd | 278 | |
Gaku0606 | 0:74d8e952a3bd | 279 | //$GPRMC, 002519.799, V, , , , , 0.00, 0.00, 060180, , , N * 4A |
Gaku0606 | 0:74d8e952a3bd | 280 | |
Gaku0606 | 0:74d8e952a3bd | 281 | // 0 , 1 , 2,3,4,5,6, 7 , 8 , 9 ,10,11 ,12 |
Gaku0606 | 0:74d8e952a3bd | 282 | //$GPRMC,233514.000,A,3022.5291,N,13057.6141,E,0.41,335.09,030316,,,A*6C |
Gaku0606 | 0:74d8e952a3bd | 283 | |
Gaku0606 | 0:74d8e952a3bd | 284 | // 0 , 1 ,2, 3 ,4, 5 ,6, 7 , 8 , 9 ,1, 1 ,1 |
Gaku0606 | 0:74d8e952a3bd | 285 | // 0 1 2 |
Gaku0606 | 0:74d8e952a3bd | 286 | while (1){ |
Gaku0606 | 2:7be89bab6db9 | 287 | switch (tok_count){ |
Gaku0606 | 2:7be89bab6db9 | 288 | case 1://時分秒 |
Gaku0606 | 2:7be89bab6db9 | 289 | strcpy(zikann, tok);//zikann = "233514.000\0" |
Gaku0606 | 2:7be89bab6db9 | 290 | break; |
Gaku0606 | 2:7be89bab6db9 | 291 | case 2://有効か無効か判定 |
Gaku0606 | 2:7be89bab6db9 | 292 | if (strncmp(tok, "V", 1) == 0) return false; |
Gaku0606 | 2:7be89bab6db9 | 293 | else if (strcmp(tok, "A") == 0) rmc_flag = true; |
Gaku0606 | 2:7be89bab6db9 | 294 | break; |
Gaku0606 | 2:7be89bab6db9 | 295 | case 3://緯度 |
Gaku0606 | 2:7be89bab6db9 | 296 | strcpy(ido, tok); |
Gaku0606 | 2:7be89bab6db9 | 297 | break; |
Gaku0606 | 2:7be89bab6db9 | 298 | case 4://北緯か南緯か |
Gaku0606 | 2:7be89bab6db9 | 299 | if (strcmp(tok, "S") == 0) latSign = true; |
Gaku0606 | 2:7be89bab6db9 | 300 | break; |
Gaku0606 | 2:7be89bab6db9 | 301 | case 5://経度 |
Gaku0606 | 2:7be89bab6db9 | 302 | strcpy(keido, tok); |
Gaku0606 | 2:7be89bab6db9 | 303 | break; |
Gaku0606 | 2:7be89bab6db9 | 304 | case 6://東経か西経か |
Gaku0606 | 2:7be89bab6db9 | 305 | if (strcmp(tok, "W") == 0) lonSign = true; |
Gaku0606 | 2:7be89bab6db9 | 306 | break; |
Gaku0606 | 2:7be89bab6db9 | 307 | case 7://速度(キロノット) |
Gaku0606 | 2:7be89bab6db9 | 308 | strcpy(speed, tok); |
Gaku0606 | 2:7be89bab6db9 | 309 | break; |
Gaku0606 | 2:7be89bab6db9 | 310 | case 8://角度 |
Gaku0606 | 2:7be89bab6db9 | 311 | strcpy(angle, tok); |
Gaku0606 | 2:7be89bab6db9 | 312 | break; |
Gaku0606 | 2:7be89bab6db9 | 313 | case 9://日付 |
Gaku0606 | 2:7be89bab6db9 | 314 | strcpy(hizuke, tok);//hizuke = "030316\0" |
Gaku0606 | 2:7be89bab6db9 | 315 | break; |
Gaku0606 | 0:74d8e952a3bd | 316 | } |
Gaku0606 | 2:7be89bab6db9 | 317 | |
Gaku0606 | 0:74d8e952a3bd | 318 | tok = strtok(NULL, ",");//comma = ",\0" |
Gaku0606 | 0:74d8e952a3bd | 319 | tok_count++; |
Gaku0606 | 0:74d8e952a3bd | 320 | if (tok == NULL) break; |
Gaku0606 | 0:74d8e952a3bd | 321 | } |
Gaku0606 | 0:74d8e952a3bd | 322 | if (rmc_flag){ |
Gaku0606 | 0:74d8e952a3bd | 323 | rmc_flag = false; |
Gaku0606 | 0:74d8e952a3bd | 324 | //ddmmyy |
Gaku0606 | 0:74d8e952a3bd | 325 | int dmy = 0; |
Gaku0606 | 0:74d8e952a3bd | 326 | dmy = atoi(hizuke); |
Gaku0606 | 0:74d8e952a3bd | 327 | day = dmy / 10000; //030316 / 10000 = 3 |
Gaku0606 | 0:74d8e952a3bd | 328 | month = (dmy - day * 10000) / 100;//30316 - 30000 = 316, 316/100= 3 |
Gaku0606 | 0:74d8e952a3bd | 329 | year = dmy - month * 100 - day * 10000 + 2000; |
Gaku0606 | 0:74d8e952a3bd | 330 | |
Gaku0606 | 0:74d8e952a3bd | 331 | //hhmmss.ss |
Gaku0606 | 0:74d8e952a3bd | 332 | seconds = atof(zikann);//sec = 233514.000 |
Gaku0606 | 0:74d8e952a3bd | 333 | hour = (int)(seconds / 10000.0); //233514/10000=(int)23 |
Gaku0606 | 0:74d8e952a3bd | 334 | minutes = (seconds - hour * 10000) / 100;//233514.0-230000=3514.0,3514.0/100=35 |
Gaku0606 | 0:74d8e952a3bd | 335 | seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0); |
Gaku0606 | 0:74d8e952a3bd | 336 | |
Gaku0606 | 0:74d8e952a3bd | 337 | // getLonLatのとき有効 |
Gaku0606 | 0:74d8e952a3bd | 338 | Y_m = atof(ido);//*Y_m = 3457.5571 |
Gaku0606 | 0:74d8e952a3bd | 339 | Y = (int)(Y_m / 100.0);//Y = 34.0 |
Gaku0606 | 0:74d8e952a3bd | 340 | Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571 |
Gaku0606 | 0:74d8e952a3bd | 341 | |
Gaku0606 | 0:74d8e952a3bd | 342 | X_m = atof(keido);//*X = 13057.6142 |
Gaku0606 | 0:74d8e952a3bd | 343 | X = (int)(X_m / 100.0);//X = 130.0 |
Gaku0606 | 0:74d8e952a3bd | 344 | X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142 |
Gaku0606 | 0:74d8e952a3bd | 345 | |
Gaku0606 | 0:74d8e952a3bd | 346 | //GPS calculation |
Gaku0606 | 0:74d8e952a3bd | 347 | longitude = X + X_m / 60.0;// 34.959285 |
Gaku0606 | 0:74d8e952a3bd | 348 | latitude = Y + Y_m / 60.0;//137.090290 |
Gaku0606 | 0:74d8e952a3bd | 349 | |
Gaku0606 | 2:7be89bab6db9 | 350 | if (lonSign) longitude *= (-1);//西経なら経度を負に |
Gaku0606 | 2:7be89bab6db9 | 351 | if (latSign) latitude *= (-1);//南緯なら緯度を負に |
Gaku0606 | 0:74d8e952a3bd | 352 | knot = atof(speed); |
Gaku0606 | 0:74d8e952a3bd | 353 | degree = atof(angle); |
Gaku0606 | 8:3f32df2b66c0 | 354 | if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){ |
Gaku0606 | 8:3f32df2b66c0 | 355 | return true; |
Gaku0606 | 8:3f32df2b66c0 | 356 | } |
Gaku0606 | 8:3f32df2b66c0 | 357 | else return false; |
Gaku0606 | 0:74d8e952a3bd | 358 | } |
Gaku0606 | 4:758f97bee95a | 359 | else{ |
Gaku0606 | 4:758f97bee95a | 360 | return false; |
Gaku0606 | 4:758f97bee95a | 361 | } |
Gaku0606 | 2:7be89bab6db9 | 362 | //} |
Gaku0606 | 2:7be89bab6db9 | 363 | //else return false; |
Gaku0606 | 0:74d8e952a3bd | 364 | } |
Gaku0606 | 0:74d8e952a3bd | 365 | |
Gaku0606 | 2:7be89bab6db9 | 366 | bool GPS_interrupt::processGPGGA(char *line){ |
Gaku0606 | 2:7be89bab6db9 | 367 | |
Gaku0606 | 2:7be89bab6db9 | 368 | char *tok; //strtokで帰ってくる文字列のポインター |
Gaku0606 | 2:7be89bab6db9 | 369 | bool latSign = false, lonSign = false;//N,Eならfalse, S,Wならtrue |
Gaku0606 | 2:7be89bab6db9 | 370 | //bool result = false; |
Gaku0606 | 2:7be89bab6db9 | 371 | char num[4] = "";//衛星数の文字データ |
Gaku0606 | 2:7be89bab6db9 | 372 | char kaibatsu[8], g_height[8]; |
Gaku0606 | 2:7be89bab6db9 | 373 | //char data_GPS[256] =""; |
Gaku0606 | 2:7be89bab6db9 | 374 | //char angle[8], speed[8]; |
Gaku0606 | 2:7be89bab6db9 | 375 | char ido[16] = "", keido[16] = ""; |
Gaku0606 | 2:7be89bab6db9 | 376 | |
Gaku0606 | 2:7be89bab6db9 | 377 | double X = 0, Y = 0; |
Gaku0606 | 2:7be89bab6db9 | 378 | double X_m = 0, Y_m = 0;//GPS座標の"分"の部分 |
Gaku0606 | 2:7be89bab6db9 | 379 | //char zikann[11], hizuke[7]; |
Gaku0606 | 2:7be89bab6db9 | 380 | char status[2]; |
Gaku0606 | 2:7be89bab6db9 | 381 | |
Gaku0606 | 2:7be89bab6db9 | 382 | bool gga_flag = false; |
Gaku0606 | 2:7be89bab6db9 | 383 | //bool rmc_flag = false; |
Gaku0606 | 2:7be89bab6db9 | 384 | char tok_count = 0; |
Gaku0606 | 2:7be89bab6db9 | 385 | |
Gaku0606 | 4:758f97bee95a | 386 | //gga_initialize(); |
Gaku0606 | 2:7be89bab6db9 | 387 | |
Gaku0606 | 2:7be89bab6db9 | 388 | //データ文字列の先頭から6文字目までが$GPGLLなら0が返ってくる |
Gaku0606 | 2:7be89bab6db9 | 389 | //if (strncmp(data_GPS, "$GPGGA", 6) == 0){ |
Gaku0606 | 2:7be89bab6db9 | 390 | |
Gaku0606 | 2:7be89bab6db9 | 391 | tok = strtok(line, ","); |
Gaku0606 | 2:7be89bab6db9 | 392 | tok_count = 0; |
Gaku0606 | 2:7be89bab6db9 | 393 | |
Gaku0606 | 2:7be89bab6db9 | 394 | //$GPGGA, 002519.799, , , , , 0, 0, , , M, , M, , *40 |
Gaku0606 | 2:7be89bab6db9 | 395 | |
Gaku0606 | 2:7be89bab6db9 | 396 | // 0 , 1 , , , , , 2, 3, , , 4, , 5, , 6 |
Gaku0606 | 2:7be89bab6db9 | 397 | |
Gaku0606 | 2:7be89bab6db9 | 398 | //$GPGGA,233515.000,3022.5292,N,13057.6142,E,1,9,0.88,11.3,M,29.3,M,,*63 |
Gaku0606 | 2:7be89bab6db9 | 399 | |
Gaku0606 | 2:7be89bab6db9 | 400 | // 0 , 1 , 2 ,3, 4 ,5,6,7, 8 , 9 ,1, 11 ,1 |
Gaku0606 | 2:7be89bab6db9 | 401 | // 0 2 |
Gaku0606 | 2:7be89bab6db9 | 402 | while (1){ |
Gaku0606 | 2:7be89bab6db9 | 403 | switch (tok_count){ |
Gaku0606 | 2:7be89bab6db9 | 404 | case 2://緯度 |
Gaku0606 | 2:7be89bab6db9 | 405 | strcpy(ido, tok);//ido = "30" |
Gaku0606 | 2:7be89bab6db9 | 406 | if (strcmp(ido, "0") == 0) return false;//GPS無効 |
Gaku0606 | 2:7be89bab6db9 | 407 | break; |
Gaku0606 | 2:7be89bab6db9 | 408 | case 3://北緯か南緯か |
Gaku0606 | 2:7be89bab6db9 | 409 | if (strcmp(tok, "S") == 0) latSign = true; |
Gaku0606 | 2:7be89bab6db9 | 410 | break; |
Gaku0606 | 2:7be89bab6db9 | 411 | case 4: |
Gaku0606 | 2:7be89bab6db9 | 412 | strcpy(keido, tok);//keido = "130" |
Gaku0606 | 2:7be89bab6db9 | 413 | break; |
Gaku0606 | 2:7be89bab6db9 | 414 | case 5://東経か西経か |
Gaku0606 | 2:7be89bab6db9 | 415 | if (strcmp(tok, "W") == 0) lonSign = true; |
Gaku0606 | 2:7be89bab6db9 | 416 | break; |
Gaku0606 | 2:7be89bab6db9 | 417 | case 6: |
Gaku0606 | 2:7be89bab6db9 | 418 | strcpy(status, tok); |
Gaku0606 | 2:7be89bab6db9 | 419 | if (strcmp(status, "0") != 0) gga_flag = true;//GPS有効 |
Gaku0606 | 2:7be89bab6db9 | 420 | break; |
Gaku0606 | 2:7be89bab6db9 | 421 | case 7: |
Gaku0606 | 2:7be89bab6db9 | 422 | strcpy(num, tok); |
Gaku0606 | 2:7be89bab6db9 | 423 | break; |
Gaku0606 | 2:7be89bab6db9 | 424 | case 9: |
Gaku0606 | 2:7be89bab6db9 | 425 | strcpy(kaibatsu, tok); |
Gaku0606 | 2:7be89bab6db9 | 426 | break; |
Gaku0606 | 2:7be89bab6db9 | 427 | case 11: |
Gaku0606 | 2:7be89bab6db9 | 428 | strcpy(g_height, tok); |
Gaku0606 | 2:7be89bab6db9 | 429 | break; |
Gaku0606 | 2:7be89bab6db9 | 430 | } |
Gaku0606 | 2:7be89bab6db9 | 431 | tok = strtok(NULL, ",");//comma = ",\0" |
Gaku0606 | 2:7be89bab6db9 | 432 | tok_count++; |
Gaku0606 | 2:7be89bab6db9 | 433 | if (tok == NULL) break; |
Gaku0606 | 2:7be89bab6db9 | 434 | } |
Gaku0606 | 2:7be89bab6db9 | 435 | if (gga_flag){ |
Gaku0606 | 2:7be89bab6db9 | 436 | |
Gaku0606 | 2:7be89bab6db9 | 437 | height = atof(kaibatsu); |
Gaku0606 | 2:7be89bab6db9 | 438 | geoid = atof(g_height); |
Gaku0606 | 2:7be89bab6db9 | 439 | number = atoi(num); |
Gaku0606 | 2:7be89bab6db9 | 440 | /* |
Gaku0606 | 2:7be89bab6db9 | 441 | //ddmmyy |
Gaku0606 | 2:7be89bab6db9 | 442 | long dmy = 0; |
Gaku0606 | 2:7be89bab6db9 | 443 | dmy = atol(hizuke); |
Gaku0606 | 2:7be89bab6db9 | 444 | day = (int)(dmy / 10000); //030316 / 10000 = 3 |
Gaku0606 | 2:7be89bab6db9 | 445 | month = (int)(dmy / 100 - day * 100);//30316 - 30000 = 316, 316/100= 3 |
Gaku0606 | 2:7be89bab6db9 | 446 | year = dmy - month * 100 - (long)day * 10000 + 2000; |
Gaku0606 | 2:7be89bab6db9 | 447 | |
Gaku0606 | 2:7be89bab6db9 | 448 | //hhmmss.ss |
Gaku0606 | 2:7be89bab6db9 | 449 | seconds = atof(zikann);//sec = 233514.000 |
Gaku0606 | 2:7be89bab6db9 | 450 | hour = (int)(seconds / 10000.0); //233514/10000=(int)23 |
Gaku0606 | 2:7be89bab6db9 | 451 | minutes = (int)(seconds / 100.0 - hour * 100.0);//233514.0-230000=3514.0,3514.0/100=35 |
Gaku0606 | 2:7be89bab6db9 | 452 | seconds = seconds - ((double)minutes * 100.0 + (double)hour * 10000.0); |
Gaku0606 | 2:7be89bab6db9 | 453 | */ |
Gaku0606 | 2:7be89bab6db9 | 454 | // getLonLatのとき有効 |
Gaku0606 | 2:7be89bab6db9 | 455 | Y_m = atof(ido);//Y_m = 3457.5571 |
Gaku0606 | 2:7be89bab6db9 | 456 | Y = (int)(Y_m / 100.0);//Y = 34.0 |
Gaku0606 | 2:7be89bab6db9 | 457 | Y_m = Y_m - Y * 100.0;//Y_m = 3457.5571 - 34*100 = 57.5571 |
Gaku0606 | 2:7be89bab6db9 | 458 | |
Gaku0606 | 2:7be89bab6db9 | 459 | X_m = atof(keido);//X = 13057.6142 |
Gaku0606 | 2:7be89bab6db9 | 460 | X = (int)(X_m / 100.0);//X = 130.0 |
Gaku0606 | 2:7be89bab6db9 | 461 | X_m = X_m - X * 100.0;//X_m = 13057.6142 - 13000.0 = 57.6142 |
Gaku0606 | 2:7be89bab6db9 | 462 | |
Gaku0606 | 2:7be89bab6db9 | 463 | //GPS calculation |
Gaku0606 | 2:7be89bab6db9 | 464 | longitude = X + X_m / 60.0;// 34.959285 |
Gaku0606 | 2:7be89bab6db9 | 465 | latitude = Y + Y_m / 60.0;//137.090290 |
Gaku0606 | 2:7be89bab6db9 | 466 | if (lonSign == true) longitude = longitude * (-1);//西経なら経度を負に |
Gaku0606 | 2:7be89bab6db9 | 467 | if (latSign == true) latitude = latitude * (-1);//南緯なら緯度を負に |
Gaku0606 | 2:7be89bab6db9 | 468 | |
Gaku0606 | 8:3f32df2b66c0 | 469 | if(longitude > 100.0 && longitude < 150.0 && latitude > 30.0 && latitude < 50.0){ |
Gaku0606 | 8:3f32df2b66c0 | 470 | return true; |
Gaku0606 | 8:3f32df2b66c0 | 471 | } |
Gaku0606 | 8:3f32df2b66c0 | 472 | else{ |
Gaku0606 | 8:3f32df2b66c0 | 473 | return false; |
Gaku0606 | 8:3f32df2b66c0 | 474 | } |
Gaku0606 | 2:7be89bab6db9 | 475 | } |
Gaku0606 | 4:758f97bee95a | 476 | else{ |
Gaku0606 | 4:758f97bee95a | 477 | return false; |
Gaku0606 | 4:758f97bee95a | 478 | } |
Gaku0606 | 8:3f32df2b66c0 | 479 | return false; |
Gaku0606 | 8:3f32df2b66c0 | 480 | } |
Gaku0606 | 8:3f32df2b66c0 | 481 | |
Gaku0606 | 8:3f32df2b66c0 | 482 | double GPS_interrupt::Distance(double x, double y){ |
Gaku0606 | 2:7be89bab6db9 | 483 | |
Gaku0606 | 8:3f32df2b66c0 | 484 | double dLat = x - longitude;//相対経度 |
Gaku0606 | 8:3f32df2b66c0 | 485 | double dLng = y - latitude;//相対緯度 |
Gaku0606 | 8:3f32df2b66c0 | 486 | double radLat = latitude * GPS_PI / 180.0;//今の緯度をラジアンにしたもの |
Gaku0606 | 8:3f32df2b66c0 | 487 | double F = EIRTH_AspectRatioInverse; |
Gaku0606 | 8:3f32df2b66c0 | 488 | // 離心率の2乗 |
Gaku0606 | 8:3f32df2b66c0 | 489 | double E = ((2.0 * F) - 1.0) / (F * F); |
Gaku0606 | 8:3f32df2b66c0 | 490 | // π * 赤道半径 |
Gaku0606 | 8:3f32df2b66c0 | 491 | double PI_ER = GPS_PI * EARTH_EQUATOR_RADIUS; |
Gaku0606 | 8:3f32df2b66c0 | 492 | // 1 - e^2 sin^2 (θ) |
Gaku0606 | 8:3f32df2b66c0 | 493 | double TMP = 1.0 - E * sin(radLat) * sin(radLat); |
Gaku0606 | 8:3f32df2b66c0 | 494 | // 経度1°あたりの長さ |
Gaku0606 | 8:3f32df2b66c0 | 495 | double arc_lat = (PI_ER * (1.0 - E)) / ( 180.0 * pow(TMP, 1.5)); |
Gaku0606 | 8:3f32df2b66c0 | 496 | // 緯度1°あたりの長さ |
Gaku0606 | 8:3f32df2b66c0 | 497 | double arc_lng = (PI_ER * cos(radLat)) / (180.0 * pow(TMP, 0.5)); |
Gaku0606 | 8:3f32df2b66c0 | 498 | |
Gaku0606 | 8:3f32df2b66c0 | 499 | dLat *= arc_lat; |
Gaku0606 | 8:3f32df2b66c0 | 500 | dLng *= arc_lng; |
Gaku0606 | 8:3f32df2b66c0 | 501 | return sqrt(dLat * dLat + dLng * dLng); |
Gaku0606 | 2:7be89bab6db9 | 502 | } |