projetlong
/
Projetlong_test
projet en 1 main.cpp
gps.h@2:7e718a1be318, 2017-01-27 (annotated)
- Committer:
- wallsow
- Date:
- Fri Jan 27 22:47:35 2017 +0000
- Revision:
- 2:7e718a1be318
- Parent:
- 1:352fcb35e812
- Child:
- 3:d2c57ab99c8e
projet long + acto
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jijou | 0:0e12a7930611 | 1 | #include "mbed.h" |
jijou | 0:0e12a7930611 | 2 | |
wallsow | 2:7e718a1be318 | 3 | char lati[20], longi[20]; |
wallsow | 2:7e718a1be318 | 4 | int Ilati, Ilongi; |
wallsow | 2:7e718a1be318 | 5 | |
jijou | 0:0e12a7930611 | 6 | Serial pc(PA_0,PA_1); // tx, rx |
jijou | 0:0e12a7930611 | 7 | |
jijou | 0:0e12a7930611 | 8 | char gpsString[1024]; |
jijou | 0:0e12a7930611 | 9 | char tmp[20] = {}; |
jijou | 0:0e12a7930611 | 10 | char tmp2[20] = {}; |
jijou | 0:0e12a7930611 | 11 | char gga1[1024]; |
jijou | 0:0e12a7930611 | 12 | char * gga2; |
jijou | 0:0e12a7930611 | 13 | char * fix; |
jijou | 0:0e12a7930611 | 14 | uint8_t sep; |
jijou | 0:0e12a7930611 | 15 | uint8_t mode = 2; //mode=1 fix information; mode=2 normal |
jijou | 0:0e12a7930611 | 16 | |
jijou | 0:0e12a7930611 | 17 | typedef struct { |
jijou | 0:0e12a7930611 | 18 | uint8_t heure; |
jijou | 0:0e12a7930611 | 19 | uint8_t minute; |
jijou | 0:0e12a7930611 | 20 | uint8_t seconde; |
jijou | 0:0e12a7930611 | 21 | } tim_t; |
jijou | 0:0e12a7930611 | 22 | |
jijou | 0:0e12a7930611 | 23 | typedef struct { |
jijou | 0:0e12a7930611 | 24 | uint8_t deg; |
jijou | 0:0e12a7930611 | 25 | uint8_t min; |
jijou | 0:0e12a7930611 | 26 | double sec; |
jijou | 0:0e12a7930611 | 27 | char azimute; |
jijou | 0:0e12a7930611 | 28 | } pos_t; |
jijou | 0:0e12a7930611 | 29 | |
jijou | 0:0e12a7930611 | 30 | typedef struct { |
jijou | 0:0e12a7930611 | 31 | tim_t tim; |
jijou | 0:0e12a7930611 | 32 | pos_t lat; |
jijou | 0:0e12a7930611 | 33 | pos_t lon; |
jijou | 0:0e12a7930611 | 34 | uint8_t sat; // Nombre de satellites utilisés pour calculer les coordonnées |
jijou | 0:0e12a7930611 | 35 | uint8_t fix; // Fix qualification : (0 = non valide, 1 = Fix GPS, 2 = Fix DGPS), Type de positionnement (le 1 est un positionnement GPS) |
jijou | 0:0e12a7930611 | 36 | float prs; // Précision horizontale ou HDOP (Horizontal dilution of precision) |
jijou | 0:0e12a7930611 | 37 | float alt; // Altitude, en Metres, au dessus du MSL (mean see level) niveau moyen des Océans. |
jijou | 0:0e12a7930611 | 38 | char unitAlt; // Unité de l'altitude (en mètre dans la majorité des trames) |
jijou | 0:0e12a7930611 | 39 | } gps_t; |
jijou | 0:0e12a7930611 | 40 | |
jijou | 0:0e12a7930611 | 41 | // structure contenant les données de la trame GGA à envoyer |
jijou | 0:0e12a7930611 | 42 | gps_t GPGGA; |
jijou | 0:0e12a7930611 | 43 | |
jijou | 0:0e12a7930611 | 44 | char * convert(char* ch, pos_t* pos) { |
jijou | 0:0e12a7930611 | 45 | |
jijou | 0:0e12a7930611 | 46 | double f = atof(ch); |
jijou | 0:0e12a7930611 | 47 | |
jijou | 0:0e12a7930611 | 48 | pos->deg = (uint8_t)(f / 100.0); |
jijou | 0:0e12a7930611 | 49 | pos->min = (uint8_t)(f - ((pos->deg) * 100.0)); |
jijou | 0:0e12a7930611 | 50 | pos->sec = 60.0*(f - ((pos->deg)*100.0) - (pos->min)); |
jijou | 0:0e12a7930611 | 51 | |
jijou | 0:0e12a7930611 | 52 | char *s = (char*)calloc(14,sizeof(char)); |
jijou | 0:0e12a7930611 | 53 | |
wallsow | 2:7e718a1be318 | 54 | sprintf(s,"%3d'%2d'%5.3f\"",pos->deg,pos->min,pos->sec); |
jijou | 0:0e12a7930611 | 55 | |
jijou | 0:0e12a7930611 | 56 | return s; |
jijou | 0:0e12a7930611 | 57 | } |
jijou | 0:0e12a7930611 | 58 | |
jijou | 0:0e12a7930611 | 59 | char * time(char* ch, tim_t* tim) { |
jijou | 0:0e12a7930611 | 60 | |
jijou | 0:0e12a7930611 | 61 | char hh[3], mm[3], ss[7]; |
jijou | 0:0e12a7930611 | 62 | //hhmmss.nnn |
jijou | 0:0e12a7930611 | 63 | memcpy(hh, &ch[0], 2); |
jijou | 0:0e12a7930611 | 64 | memcpy(mm, &ch[2], 2); |
jijou | 0:0e12a7930611 | 65 | memcpy(ss, &ch[4], 6); |
jijou | 0:0e12a7930611 | 66 | |
jijou | 0:0e12a7930611 | 67 | tim->heure = atoi(hh); |
jijou | 0:0e12a7930611 | 68 | tim->minute = atoi(mm); |
jijou | 0:0e12a7930611 | 69 | tim->seconde = atoi(ss); //cast de double vers intteger, on perd la précision des millisecondes |
jijou | 0:0e12a7930611 | 70 | tim->heure++; //convertion des heures de UTC vers UTC+1 |
jijou | 0:0e12a7930611 | 71 | |
jijou | 0:0e12a7930611 | 72 | char *s = (char*)calloc(14,sizeof(char)); |
jijou | 0:0e12a7930611 | 73 | |
jijou | 0:0e12a7930611 | 74 | sprintf(s,"%02d:%02d:%02d",tim->heure,tim->minute,tim->seconde); |
jijou | 0:0e12a7930611 | 75 | |
jijou | 0:0e12a7930611 | 76 | return s; |
jijou | 0:0e12a7930611 | 77 | } |
jijou | 0:0e12a7930611 | 78 | /**************************************/ |
jijou | 0:0e12a7930611 | 79 | |
jijou | 0:0e12a7930611 | 80 | uint8_t parseGGA() { |
jijou | 0:0e12a7930611 | 81 | gga2 = strtok(gga1, ","); |
jijou | 0:0e12a7930611 | 82 | while (gga2 != NULL) { |
jijou | 0:0e12a7930611 | 83 | sep++; |
jijou | 0:0e12a7930611 | 84 | switch (sep) { |
jijou | 0:0e12a7930611 | 85 | case 1: // heure d'envoi de la trame |
jijou | 0:0e12a7930611 | 86 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 87 | strcpy(tmp2,time( gga2,&(GPGGA.tim) )); |
jijou | 1:352fcb35e812 | 88 | pc.printf("\r\n-----Donnees GPS-----\r\nTim: %s\r\n",tmp2); |
jijou | 0:0e12a7930611 | 89 | } |
jijou | 0:0e12a7930611 | 90 | break; |
jijou | 0:0e12a7930611 | 91 | case 2 : // latitude |
jijou | 0:0e12a7930611 | 92 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 93 | strcpy(tmp,convert( gga2,&(GPGGA.lat) )); |
wallsow | 2:7e718a1be318 | 94 | sprintf(lati,"\r%s",tmp); |
wallsow | 2:7e718a1be318 | 95 | pc.printf("\r%s",lati); |
wallsow | 2:7e718a1be318 | 96 | //pc.printf("\rLat:%s",tmp); |
wallsow | 2:7e718a1be318 | 97 | // lati=tmp; |
wallsow | 2:7e718a1be318 | 98 | // Ilati=atoi(lati); |
jijou | 0:0e12a7930611 | 99 | } |
jijou | 0:0e12a7930611 | 100 | break; |
jijou | 0:0e12a7930611 | 101 | case 3 : // N: Nord, S : Sud |
jijou | 0:0e12a7930611 | 102 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 103 | GPGGA.lat.azimute = gga2[0]; |
jijou | 0:0e12a7930611 | 104 | //strcpy(GPGGA.lat.azimute,gga2); |
jijou | 0:0e12a7930611 | 105 | pc.printf("%s\n\r",gga2); |
jijou | 0:0e12a7930611 | 106 | wait(0.25); |
jijou | 0:0e12a7930611 | 107 | } |
jijou | 0:0e12a7930611 | 108 | break; |
jijou | 0:0e12a7930611 | 109 | case 4 : // longitude |
jijou | 0:0e12a7930611 | 110 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 111 | strcpy(tmp,convert( gga2,&(GPGGA.lat) )); |
wallsow | 2:7e718a1be318 | 112 | sprintf(longi,"\r%s",tmp); |
wallsow | 2:7e718a1be318 | 113 | pc.printf("\r%s",longi); |
wallsow | 2:7e718a1be318 | 114 | // longi=tmp; |
wallsow | 2:7e718a1be318 | 115 | // Ilongi=atoi(longi); |
jijou | 0:0e12a7930611 | 116 | } |
jijou | 0:0e12a7930611 | 117 | break; |
jijou | 0:0e12a7930611 | 118 | case 5 : // E: Est, W: Ouest |
jijou | 0:0e12a7930611 | 119 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 120 | GPGGA.lat.azimute = gga2[0]; |
jijou | 0:0e12a7930611 | 121 | //strcpy(GPGGA.lon.azimute,gga2); |
jijou | 1:352fcb35e812 | 122 | pc.printf("%s\n\r-----Donnees GPS-----\r\n",gga2); |
jijou | 0:0e12a7930611 | 123 | wait(0.25); |
jijou | 0:0e12a7930611 | 124 | } |
jijou | 0:0e12a7930611 | 125 | break; |
jijou | 0:0e12a7930611 | 126 | case 6: |
jijou | 0:0e12a7930611 | 127 | if (mode == 1) { |
jijou | 0:0e12a7930611 | 128 | if (gga2 == "0") { |
jijou | 0:0e12a7930611 | 129 | fix = "Invalid"; |
jijou | 0:0e12a7930611 | 130 | } |
jijou | 0:0e12a7930611 | 131 | if (gga2 == "1") { |
jijou | 0:0e12a7930611 | 132 | fix = "GPS Fix (SPS)"; |
jijou | 0:0e12a7930611 | 133 | } |
jijou | 0:0e12a7930611 | 134 | if (gga2 == "2") { |
jijou | 0:0e12a7930611 | 135 | fix = "DGPS Fix"; |
jijou | 0:0e12a7930611 | 136 | } |
jijou | 0:0e12a7930611 | 137 | if (gga2 == "3") { |
jijou | 0:0e12a7930611 | 138 | fix = "PPS Fix"; |
jijou | 0:0e12a7930611 | 139 | } |
jijou | 0:0e12a7930611 | 140 | if (gga2 == "4") { |
jijou | 0:0e12a7930611 | 141 | fix = "Real Time Kinematic"; |
jijou | 0:0e12a7930611 | 142 | } |
jijou | 0:0e12a7930611 | 143 | if (gga2 == "5") { |
jijou | 0:0e12a7930611 | 144 | fix = "Float RTK"; |
jijou | 0:0e12a7930611 | 145 | } |
jijou | 0:0e12a7930611 | 146 | if (gga2 == "6") { |
jijou | 0:0e12a7930611 | 147 | fix = "Estimated (Dead Reckoning)"; |
jijou | 0:0e12a7930611 | 148 | } |
jijou | 0:0e12a7930611 | 149 | if (gga2 == "7") { |
jijou | 0:0e12a7930611 | 150 | fix = "Manual Input Mode"; |
jijou | 0:0e12a7930611 | 151 | } |
jijou | 0:0e12a7930611 | 152 | if (gga2 == "8") { |
jijou | 0:0e12a7930611 | 153 | fix = "Simulation Mode"; |
jijou | 0:0e12a7930611 | 154 | } |
jijou | 0:0e12a7930611 | 155 | GPGGA.fix = atoi(gga2); |
jijou | 0:0e12a7930611 | 156 | pc.printf("FIX: %s_%s",gga2,fix); |
jijou | 0:0e12a7930611 | 157 | } |
jijou | 0:0e12a7930611 | 158 | break; |
jijou | 0:0e12a7930611 | 159 | case 7 : // Nombre de satellites |
jijou | 0:0e12a7930611 | 160 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 161 | GPGGA.sat = atoi(gga2); |
jijou | 0:0e12a7930611 | 162 | pc.printf("Inf: Sat:%s",gga2); |
jijou | 0:0e12a7930611 | 163 | } |
jijou | 0:0e12a7930611 | 164 | break; |
jijou | 0:0e12a7930611 | 165 | case 8 : // Precision |
jijou | 0:0e12a7930611 | 166 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 167 | GPGGA.prs = atof(gga2); |
jijou | 0:0e12a7930611 | 168 | pc.printf(" Prs:%s",gga2); |
jijou | 0:0e12a7930611 | 169 | } |
jijou | 0:0e12a7930611 | 170 | break; |
jijou | 0:0e12a7930611 | 171 | case 9 : // Altitude |
jijou | 0:0e12a7930611 | 172 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 173 | GPGGA.alt = atof(gga2); |
jijou | 0:0e12a7930611 | 174 | pc.printf(" Alt:%s",gga2); |
jijou | 0:0e12a7930611 | 175 | } |
jijou | 0:0e12a7930611 | 176 | break; |
jijou | 0:0e12a7930611 | 177 | case 10 : // Unité altitude |
jijou | 0:0e12a7930611 | 178 | if (mode == 2) { |
jijou | 0:0e12a7930611 | 179 | GPGGA.unitAlt = gga2[0]; |
jijou | 0:0e12a7930611 | 180 | pc.printf("%s\n\r",gga2); |
jijou | 0:0e12a7930611 | 181 | } |
jijou | 0:0e12a7930611 | 182 | break; |
jijou | 0:0e12a7930611 | 183 | } |
jijou | 0:0e12a7930611 | 184 | gga2 = strtok(NULL, ","); |
jijou | 0:0e12a7930611 | 185 | } |
jijou | 0:0e12a7930611 | 186 | sep = 0; |
jijou | 0:0e12a7930611 | 187 | return *gga2; |
jijou | 0:0e12a7930611 | 188 | } |
jijou | 0:0e12a7930611 | 189 | |
jijou | 0:0e12a7930611 | 190 | uint8_t getGPSstring(uint8_t str) { // str used to choose between GPS trame type, here we have only GPGGA wich is available |
jijou | 0:0e12a7930611 | 191 | if (pc.scanf("%s", &gpsString) ==1) { |
jijou | 0:0e12a7930611 | 192 | if(str==1) { |
jijou | 0:0e12a7930611 | 193 | if (sscanf(gpsString, "$GPGGA,%s",gga1) >=1) { |
jijou | 0:0e12a7930611 | 194 | sep = 0; |
jijou | 0:0e12a7930611 | 195 | parseGGA(); |
jijou | 0:0e12a7930611 | 196 | } |
jijou | 0:0e12a7930611 | 197 | return *gga2; |
jijou | 0:0e12a7930611 | 198 | } |
jijou | 0:0e12a7930611 | 199 | } |
jijou | 0:0e12a7930611 | 200 | else |
jijou | 0:0e12a7930611 | 201 | { |
jijou | 0:0e12a7930611 | 202 | pc.printf("NO GPGGA DATA RECEIVED\n\r"); |
jijou | 0:0e12a7930611 | 203 | return 0; |
jijou | 0:0e12a7930611 | 204 | } |
jijou | 0:0e12a7930611 | 205 | } |