Revision 0:a892d87fe2c9, committed 2019-03-12

Comitter:

3311smtwtfs

Date:

Tue Mar 12 14:25:30 2019 +0000

Commit message:

wowwow!!

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 12 14:25:30 2019 +0000
@@ -0,0 +1,84 @@
+#include "mbed.h"
+#include "math.h"
+#define PAI 3.141592653589
+/*mbedの設定*/
+Serial pc(USBTX, USBRX);
+Serial gps(p9 , p10);
+Serial musen(p28 , p27);
+Ticker tic_gps;
+/*グローバル変数*/
+int cnt_gps = 0;
+float now_lat,now_lon,goal_lat,goal_lon,MAX_ALT;
+/*プロトタイプ宣言*/
+void  _SendGPS();
+char c[256];
+float _DMS2DEG(float raw_data);
+/*main関数*/
+int main(){
+    pc.baud(115200);
+    pc.printf("Hello OSHIMA\r\n");
+    tic_gps.attach(&_SendGPS, 1.0);
+    int i = 0;
+    while(1){
+        c[i] = musen.getc();
+        if(c[i] == '\n'){
+            break;
+        }
+    }
+    sscanf(c,"Lat:%f,Lon:%f,MAX_ALT:%f",&goal_lat,&goal_lon,&MAX_ALT);     
+    //度をradに変換
+    float delta_lon = (PAI * (goal_lon - now_lon)/180);
+    now_lat = (PAI * (now_lat)/180);
+    now_lon = (PAI * (now_lon)/180);
+    goal_lat = (PAI * (goal_lat)/180);
+    goal_lon = (PAI * (goal_lon)/180);
+    //距離方位角計算
+    float dist = 6378.137 * acos( sin(goal_lat) * sin(now_lat) + cos(goal_lat) * cos(now_lat) * cos(delta_lon));
+    float azi = (180.0/3.1415926535)*atan2(sin(delta_lon), cos(now_lat) * tan(goal_lat) - sin(now_lat)*cos(delta_lon));
+    if (azi < 0){
+        azi = azi + 360.0;
+    }
+    pc.printf("距離：%f,方位：%f,/r/n",dist,azi);    
+}
+void _SendGPS(){
+    char gps_data[256];
+    while(1){
+        if(gps.readable()){
+            gps_data[cnt_gps] = gps.getc();
+            if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
+                cnt_gps = 0;
+                memset(gps_data,'\0',256);
+            }else if(gps_data[cnt_gps] == '\r'){
+                float world_time, lon_east, lat_north;
+                int rlock, sat_num;
+                char lat,lon;
+                if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){
+                    if(rlock==1){
+                        now_lat = _DMS2DEG(lat_north);
+                        now_lon = _DMS2DEG(lon_east);
+                        //pc.printf("%s\r\n",gps_data);
+                        //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",now_lat,now_lon,world_time,sat_num);
+                        int japan_time = int(world_time) - 9;
+                        pc.printf("Lat:%f,Lon:%f\r\n",now_lat,now_lon);
+                        break;
+                    }
+                    else{
+                        //pc.printf("%s\r\n",gps_data);
+                        pc.printf("NoGPSSignal\r\n");
+                        break;
+                    }
+                }else{
+                    //ffpc.printf("No_Satellite_signal\r\n");
+                }
+            }else{
+                cnt_gps++;
+            }
+        }
+    }
+}
+float _DMS2DEG(float raw_data){
+    int d=(int)(raw_data/100);
+    float m=(raw_data-(float)d*100);
+    return (float)d+m/60;
+}   
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Mar 12 14:25:30 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file