projetlong
projet en 1 main.cpp
Diff: gps.h
- Revision:
- 0:0e12a7930611
- Child:
- 1:352fcb35e812
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.h Fri Jan 20 22:30:12 2017 +0000
@@ -0,0 +1,195 @@
+#include "mbed.h"
+
+Serial pc(PA_0,PA_1); // tx, rx
+
+char gpsString[1024];
+char tmp[20] = {};
+char tmp2[20] = {};
+char gga1[1024];
+char * gga2;
+char * fix;
+uint8_t sep;
+uint8_t mode = 2; //mode=1 fix information; mode=2 normal
+
+typedef struct {
+ uint8_t heure;
+ uint8_t minute;
+ uint8_t seconde;
+} tim_t;
+
+typedef struct {
+uint8_t deg;
+uint8_t min;
+double sec;
+char azimute;
+} pos_t;
+
+typedef struct {
+ tim_t tim;
+ pos_t lat;
+ pos_t lon;
+ uint8_t sat; // Nombre de satellites utilisés pour calculer les coordonnées
+ uint8_t fix; // Fix qualification : (0 = non valide, 1 = Fix GPS, 2 = Fix DGPS), Type de positionnement (le 1 est un positionnement GPS)
+ float prs; // Précision horizontale ou HDOP (Horizontal dilution of precision)
+ float alt; // Altitude, en Metres, au dessus du MSL (mean see level) niveau moyen des Océans.
+ char unitAlt; // Unité de l'altitude (en mètre dans la majorité des trames)
+} gps_t;
+
+// structure contenant les données de la trame GGA à envoyer
+gps_t GPGGA;
+
+char * convert(char* ch, pos_t* pos) {
+
+ double f = atof(ch);
+
+ pos->deg = (uint8_t)(f / 100.0);
+ pos->min = (uint8_t)(f - ((pos->deg) * 100.0));
+ pos->sec = 60.0*(f - ((pos->deg)*100.0) - (pos->min));
+
+ char *s = (char*)calloc(14,sizeof(char));
+
+ sprintf(s,"%3d°%2d'%5.3f\"",pos->deg,pos->min,pos->sec);
+
+ return s;
+}
+
+char * time(char* ch, tim_t* tim) {
+
+ char hh[3], mm[3], ss[7];
+ //hhmmss.nnn
+ memcpy(hh, &ch[0], 2);
+ memcpy(mm, &ch[2], 2);
+ memcpy(ss, &ch[4], 6);
+
+ tim->heure = atoi(hh);
+ tim->minute = atoi(mm);
+ tim->seconde = atoi(ss); //cast de double vers intteger, on perd la précision des millisecondes
+ tim->heure++; //convertion des heures de UTC vers UTC+1
+
+ char *s = (char*)calloc(14,sizeof(char));
+
+ sprintf(s,"%02d:%02d:%02d",tim->heure,tim->minute,tim->seconde);
+
+ return s;
+}
+/**************************************/
+
+uint8_t parseGGA() {
+ gga2 = strtok(gga1, ",");
+ while (gga2 != NULL) {
+ sep++;
+ switch (sep) {
+ case 1: // heure d'envoi de la trame
+ if (mode == 2) {
+ strcpy(tmp2,time( gga2,&(GPGGA.tim) ));
+ pc.printf("\nTim: %s\n\r",tmp2);
+ }
+ break;
+ case 2 : // latitude
+ if (mode == 2) {
+ strcpy(tmp,convert( gga2,&(GPGGA.lat) ));
+ pc.printf("Lat:%s",tmp);
+ }
+ break;
+ case 3 : // N: Nord, S : Sud
+ if (mode == 2) {
+ GPGGA.lat.azimute = gga2[0];
+ //strcpy(GPGGA.lat.azimute,gga2);
+ pc.printf("%s\n\r",gga2);
+ wait(0.25);
+ }
+ break;
+ case 4 : // longitude
+ if (mode == 2) {
+ strcpy(tmp,convert( gga2,&(GPGGA.lat) ));
+ pc.printf("Lon:%s",tmp);
+ }
+ break;
+ case 5 : // E: Est, W: Ouest
+ if (mode == 2) {
+ GPGGA.lat.azimute = gga2[0];
+ //strcpy(GPGGA.lon.azimute,gga2);
+ pc.printf("%s\n\r",gga2);
+ wait(0.25);
+ }
+ break;
+ case 6:
+ if (mode == 1) {
+ if (gga2 == "0") {
+ fix = "Invalid";
+ }
+ if (gga2 == "1") {
+ fix = "GPS Fix (SPS)";
+ }
+ if (gga2 == "2") {
+ fix = "DGPS Fix";
+ }
+ if (gga2 == "3") {
+ fix = "PPS Fix";
+ }
+ if (gga2 == "4") {
+ fix = "Real Time Kinematic";
+ }
+ if (gga2 == "5") {
+ fix = "Float RTK";
+ }
+ if (gga2 == "6") {
+ fix = "Estimated (Dead Reckoning)";
+ }
+ if (gga2 == "7") {
+ fix = "Manual Input Mode";
+ }
+ if (gga2 == "8") {
+ fix = "Simulation Mode";
+ }
+ GPGGA.fix = atoi(gga2);
+ pc.printf("FIX: %s_%s",gga2,fix);
+ }
+ break;
+ case 7 : // Nombre de satellites
+ if (mode == 2) {
+ GPGGA.sat = atoi(gga2);
+ pc.printf("Inf: Sat:%s",gga2);
+ }
+ break;
+ case 8 : // Precision
+ if (mode == 2) {
+ GPGGA.prs = atof(gga2);
+ pc.printf(" Prs:%s",gga2);
+ }
+ break;
+ case 9 : // Altitude
+ if (mode == 2) {
+ GPGGA.alt = atof(gga2);
+ pc.printf(" Alt:%s",gga2);
+ }
+ break;
+ case 10 : // Unité altitude
+ if (mode == 2) {
+ GPGGA.unitAlt = gga2[0];
+ pc.printf("%s\n\r",gga2);
+ }
+ break;
+ }
+ gga2 = strtok(NULL, ",");
+ }
+ sep = 0;
+ return *gga2;
+}
+
+uint8_t getGPSstring(uint8_t str) { // str used to choose between GPS trame type, here we have only GPGGA wich is available
+ if (pc.scanf("%s", &gpsString) ==1) {
+ if(str==1) {
+ if (sscanf(gpsString, "$GPGGA,%s",gga1) >=1) {
+ sep = 0;
+ parseGGA();
+ }
+ return *gga2;
+ }
+ }
+ else
+ {
+ pc.printf("NO GPGGA DATA RECEIVED\n\r");
+ return 0;
+ }
+}