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Dependencies: mbed CameraUS015sb612-3
getGPS.cpp@4:1354e56c7dd3, 2019-11-20 (annotated)
- Committer:
- YUPPY
- Date:
- Wed Nov 20 08:06:46 2019 +0000
- Revision:
- 4:1354e56c7dd3
class_before_loading;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YUPPY | 4:1354e56c7dd3 | 1 | #include "mbed.h" |
YUPPY | 4:1354e56c7dd3 | 2 | #include "getGPS.h" |
YUPPY | 4:1354e56c7dd3 | 3 | |
YUPPY | 4:1354e56c7dd3 | 4 | GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx) |
YUPPY | 4:1354e56c7dd3 | 5 | { |
YUPPY | 4:1354e56c7dd3 | 6 | latitude = 0; |
YUPPY | 4:1354e56c7dd3 | 7 | longitude = 0; |
YUPPY | 4:1354e56c7dd3 | 8 | _gps.baud(GPSBAUD); |
YUPPY | 4:1354e56c7dd3 | 9 | _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"); |
YUPPY | 4:1354e56c7dd3 | 10 | } |
YUPPY | 4:1354e56c7dd3 | 11 | |
YUPPY | 4:1354e56c7dd3 | 12 | bool GPS::getgps() |
YUPPY | 4:1354e56c7dd3 | 13 | { |
YUPPY | 4:1354e56c7dd3 | 14 | char gps_data[256]; |
YUPPY | 4:1354e56c7dd3 | 15 | int i; |
YUPPY | 4:1354e56c7dd3 | 16 | |
YUPPY | 4:1354e56c7dd3 | 17 | do { |
YUPPY | 4:1354e56c7dd3 | 18 | while(_gps.getc() != '$'); //$マークまで読み飛ばし |
YUPPY | 4:1354e56c7dd3 | 19 | i = 0; |
YUPPY | 4:1354e56c7dd3 | 20 | |
YUPPY | 4:1354e56c7dd3 | 21 | /* gpa_data初期化 */ |
YUPPY | 4:1354e56c7dd3 | 22 | for(int j = 0; j < 256; j++) |
YUPPY | 4:1354e56c7dd3 | 23 | gps_data[j] = '\0'; |
YUPPY | 4:1354e56c7dd3 | 24 | |
YUPPY | 4:1354e56c7dd3 | 25 | /* NMEAから一行読み込み */ |
YUPPY | 4:1354e56c7dd3 | 26 | while((gps_data[i] = _gps.getc()) != '\r') { |
YUPPY | 4:1354e56c7dd3 | 27 | i++; |
YUPPY | 4:1354e56c7dd3 | 28 | if(i == 256) { |
YUPPY | 4:1354e56c7dd3 | 29 | i = 255; |
YUPPY | 4:1354e56c7dd3 | 30 | break; |
YUPPY | 4:1354e56c7dd3 | 31 | } |
YUPPY | 4:1354e56c7dd3 | 32 | } |
YUPPY | 4:1354e56c7dd3 | 33 | } while(strstr(gps_data, "GPGGA") == NULL); //GGAセンテンスまで一行ずつ読み込み続ける |
YUPPY | 4:1354e56c7dd3 | 34 | |
YUPPY | 4:1354e56c7dd3 | 35 | int rlock; |
YUPPY | 4:1354e56c7dd3 | 36 | char ns,ew; |
YUPPY | 4:1354e56c7dd3 | 37 | double w_time, raw_longitude, raw_latitude; |
YUPPY | 4:1354e56c7dd3 | 38 | int satnum; |
YUPPY | 4:1354e56c7dd3 | 39 | double hdop; |
YUPPY | 4:1354e56c7dd3 | 40 | |
YUPPY | 4:1354e56c7dd3 | 41 | if(sscanf(gps_data, "GPGGA, %lf, %lf, %c, %lf, %c, %d, %d, %lf", &w_time, &raw_latitude, &ns, &raw_longitude, &ew, &rlock, &satnum, &hdop) > 1) { |
YUPPY | 4:1354e56c7dd3 | 42 | /* 座標1(度部分) */ |
YUPPY | 4:1354e56c7dd3 | 43 | double latitude_dd = (double)(raw_latitude / 100); |
YUPPY | 4:1354e56c7dd3 | 44 | double longitude_dd = (double)(raw_longitude / 100); |
YUPPY | 4:1354e56c7dd3 | 45 | |
YUPPY | 4:1354e56c7dd3 | 46 | /* 座標2(分部分 → 度) */ |
YUPPY | 4:1354e56c7dd3 | 47 | double latitude_md = (raw_latitude - latitude_dd * 100) / 60; |
YUPPY | 4:1354e56c7dd3 | 48 | double longitude_md = (raw_longitude - longitude_dd * 100) / 60; |
YUPPY | 4:1354e56c7dd3 | 49 | |
YUPPY | 4:1354e56c7dd3 | 50 | /* 座標1 + 2 */ |
YUPPY | 4:1354e56c7dd3 | 51 | latitude = latitude_dd + latitude_md; |
YUPPY | 4:1354e56c7dd3 | 52 | longitude = longitude_dd + longitude_md; |
YUPPY | 4:1354e56c7dd3 | 53 | |
YUPPY | 4:1354e56c7dd3 | 54 | return true; |
YUPPY | 4:1354e56c7dd3 | 55 | } else |
YUPPY | 4:1354e56c7dd3 | 56 | return false; //GGAセンテンスの情報が欠けている時 |
YUPPY | 4:1354e56c7dd3 | 57 | } |
YUPPY | 4:1354e56c7dd3 | 58 |