Matteus Car / mbed-lorawan-pulga-stack_copy2_for_tests

Teste Flash

Dependencies:   pulga-lorawan-drv Si1133 BME280

gps.cpp@65:4090220e19d2, 2021-03-02 (annotated)

Committer:
ruschigo
Date:
Tue Mar 02 18:22:16 2021 +0000
Revision:
65:4090220e19d2
Parent:
63:4ec1808fb547
Child:
67:17addc7bf8c2
Test ok

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruschigo 63:4ec1808fb547 1 #include "gps.h"
ruschigo 63:4ec1808fb547 2
ruschigo 63:4ec1808fb547 3 //GPS DEclaration
ruschigo 63:4ec1808fb547 4 SPI spi_2(P0_5, P0_7, P0_11); // mosi, miso, sclk
ruschigo 63:4ec1808fb547 5 DigitalOut cs(P0_30);
ruschigo 63:4ec1808fb547 6 DigitalOut gps_reset(P1_2);
ruschigo 63:4ec1808fb547 7 DigitalOut gps_int (P0_23);
ruschigo 63:4ec1808fb547 8 DigitalOut gps_DSEL (P0_27);
ruschigo 63:4ec1808fb547 9
ruschigo 63:4ec1808fb547 10 void gps_leBootMsg(){
ruschigo 63:4ec1808fb547 11
ruschigo 63:4ec1808fb547 12 #define MAXIMUM_PACKET_SIZE 60
ruschigo 63:4ec1808fb547 13 int packet_size;
ruschigo 63:4ec1808fb547 14 uint8_t packet[MAXIMUM_PACKET_SIZE];
ruschigo 63:4ec1808fb547 15 uint8_t value;
ruschigo 63:4ec1808fb547 16 int cont;
ruschigo 63:4ec1808fb547 17 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 18
ruschigo 63:4ec1808fb547 19 while (value != '$' ){ //wait start boot msg
ruschigo 63:4ec1808fb547 20 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 21 wait_ms(5);
ruschigo 63:4ec1808fb547 22 cont++;
ruschigo 63:4ec1808fb547 23 if (cont > 100){
ruschigo 65:4090220e19d2 24 pc.printf("\n no response \n");
ruschigo 63:4ec1808fb547 25 return;
ruschigo 63:4ec1808fb547 26 }
ruschigo 63:4ec1808fb547 27 }
ruschigo 63:4ec1808fb547 28 packet[0] = value;
ruschigo 63:4ec1808fb547 29 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 30 for (packet_size = 1 ; packet_size <= MAXIMUM_PACKET_SIZE ;packet_size++) {
ruschigo 63:4ec1808fb547 31 if (value != '\n' ){
ruschigo 63:4ec1808fb547 32 packet [packet_size]= value;
ruschigo 63:4ec1808fb547 33 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 34 }
ruschigo 63:4ec1808fb547 35 else {
ruschigo 63:4ec1808fb547 36 //lora_send_packet (packet , (uint8_t) packet_size+1); // manda atraves do lora a mensagem de boot do gps
ruschigo 65:4090220e19d2 37 pc.printf("Boot msg: %s \n", packet);
ruschigo 63:4ec1808fb547 38 return;
ruschigo 63:4ec1808fb547 39 }
ruschigo 63:4ec1808fb547 40
ruschigo 63:4ec1808fb547 41 }
ruschigo 63:4ec1808fb547 42
ruschigo 63:4ec1808fb547 43 }
ruschigo 63:4ec1808fb547 44
ruschigo 63:4ec1808fb547 45 void gps_le_envia_linha(){
ruschigo 63:4ec1808fb547 46
ruschigo 63:4ec1808fb547 47 uint8_t packet[150];
ruschigo 63:4ec1808fb547 48 uint8_t value;
ruschigo 63:4ec1808fb547 49
ruschigo 63:4ec1808fb547 50 for (int i=0;i < 149; i++){
ruschigo 63:4ec1808fb547 51 if (value == '\n'){
ruschigo 63:4ec1808fb547 52 //lora_send_packet (packet , (uint8_t) i);
ruschigo 63:4ec1808fb547 53 return;
ruschigo 63:4ec1808fb547 54 }
ruschigo 63:4ec1808fb547 55 else packet [i] =value;
ruschigo 63:4ec1808fb547 56 }
ruschigo 63:4ec1808fb547 57 //lora_send_packet (packet , (uint8_t) 99);
ruschigo 63:4ec1808fb547 58
ruschigo 63:4ec1808fb547 59 }
ruschigo 63:4ec1808fb547 60
ruschigo 63:4ec1808fb547 61
ruschigo 63:4ec1808fb547 62 gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet) {
ruschigo 63:4ec1808fb547 63
ruschigo 63:4ec1808fb547 64 uint8_t Buffer[Packet.len + 4];
ruschigo 63:4ec1808fb547 65 uint8_t CK_A=0;
ruschigo 63:4ec1808fb547 66 uint8_t CK_B=0;
ruschigo 63:4ec1808fb547 67
ruschigo 63:4ec1808fb547 68 Buffer[0]= Packet.cls;
ruschigo 63:4ec1808fb547 69 Buffer[1]= Packet.id;
ruschigo 63:4ec1808fb547 70 Buffer[2]= Packet.len & 0xFF;
ruschigo 63:4ec1808fb547 71 Buffer[3]= (Packet.len >> 8)& 0xFF;;
ruschigo 63:4ec1808fb547 72
ruschigo 63:4ec1808fb547 73 //send_packet (Buffer, (uint8_t) 4 );
ruschigo 63:4ec1808fb547 74
ruschigo 63:4ec1808fb547 75 for (uint16_t i = 0; i < Packet.len; i++) {
ruschigo 63:4ec1808fb547 76 Buffer [i+4] = Packet.payload[i] ;
ruschigo 63:4ec1808fb547 77 }
ruschigo 63:4ec1808fb547 78
ruschigo 63:4ec1808fb547 79 //send_packet (Buffer, (uint8_t) Packet.len + 4 );
ruschigo 63:4ec1808fb547 80
ruschigo 63:4ec1808fb547 81 for(int i=0 ; i < Packet.len + 4 ; i++) {
ruschigo 63:4ec1808fb547 82 CK_A = CK_A + Buffer[i];
ruschigo 63:4ec1808fb547 83 CK_B = CK_B + CK_A;
ruschigo 63:4ec1808fb547 84 CK_A = CK_A & 0xFF;
ruschigo 63:4ec1808fb547 85 CK_B = CK_B & 0xFF;
ruschigo 63:4ec1808fb547 86 //uint8_t packet_check[5] ={Buffer[i],(uint8_t) (i+1),CK_A,CK_B,'#'};
ruschigo 63:4ec1808fb547 87 // send_packet (packet_check , (uint8_t) 5);
ruschigo 63:4ec1808fb547 88 }
ruschigo 63:4ec1808fb547 89
ruschigo 63:4ec1808fb547 90
ruschigo 63:4ec1808fb547 91 // uint8_t packet_check[2] ={CK_A, CK_B};
ruschigo 63:4ec1808fb547 92 // send_packet (packet_check , (uint8_t) 2);
ruschigo 63:4ec1808fb547 93
ruschigo 63:4ec1808fb547 94 Packet.checksumA = CK_A;
ruschigo 63:4ec1808fb547 95 Packet.checksumB = CK_B;
ruschigo 63:4ec1808fb547 96
ruschigo 63:4ec1808fb547 97 return Packet;
ruschigo 63:4ec1808fb547 98
ruschigo 63:4ec1808fb547 99 }
ruschigo 63:4ec1808fb547 100
ruschigo 63:4ec1808fb547 101 void send_gps_packet(gps_ubxPacket packet){
ruschigo 63:4ec1808fb547 102
ruschigo 63:4ec1808fb547 103 spi_2.write(SYNC1);
ruschigo 63:4ec1808fb547 104 spi_2.write(SYNC2);
ruschigo 63:4ec1808fb547 105 spi_2.write(packet.cls);
ruschigo 63:4ec1808fb547 106 spi_2.write(packet.id);
ruschigo 63:4ec1808fb547 107 spi_2.write(packet.len & 0xFF);
ruschigo 63:4ec1808fb547 108 spi_2.write((packet.len >> 8)& 0xFF);
ruschigo 63:4ec1808fb547 109
ruschigo 63:4ec1808fb547 110 for (uint16_t i = 0; i < packet.len; i++) {
ruschigo 63:4ec1808fb547 111 spi_2.write(packet.payload[i]);
ruschigo 63:4ec1808fb547 112 }
ruschigo 63:4ec1808fb547 113 spi_2.write(packet.checksumA);
ruschigo 63:4ec1808fb547 114 spi_2.write(packet.checksumB);
ruschigo 63:4ec1808fb547 115
ruschigo 63:4ec1808fb547 116 //=============imprime resposta
ruschigo 63:4ec1808fb547 117 wait_ms(50);
ruschigo 63:4ec1808fb547 118 gps_le_envia_linha();
ruschigo 63:4ec1808fb547 119 gps_le_envia_linha();
ruschigo 63:4ec1808fb547 120
ruschigo 63:4ec1808fb547 121 }
ruschigo 63:4ec1808fb547 122
ruschigo 63:4ec1808fb547 123 gps_navPVT le_nav_pvt () {
ruschigo 63:4ec1808fb547 124
ruschigo 63:4ec1808fb547 125 gps_navPVT Pac;
ruschigo 63:4ec1808fb547 126
ruschigo 63:4ec1808fb547 127 char state = 0;
ruschigo 63:4ec1808fb547 128 int cont =0;
ruschigo 63:4ec1808fb547 129 int numb=0;
ruschigo 63:4ec1808fb547 130
ruschigo 63:4ec1808fb547 131 while (1){ //começou mensagem
ruschigo 63:4ec1808fb547 132 if (cont > 100) {
ruschigo 63:4ec1808fb547 133 // BMX160_read_acc();
ruschigo 63:4ec1808fb547 134 return Pac;
ruschigo 63:4ec1808fb547 135 }
ruschigo 63:4ec1808fb547 136 if (state == 0 ){
ruschigo 63:4ec1808fb547 137
ruschigo 63:4ec1808fb547 138 if ( spi_2.write(0x00) == 0xB5){
ruschigo 63:4ec1808fb547 139 state =1;
ruschigo 63:4ec1808fb547 140 }
ruschigo 63:4ec1808fb547 141 else {
ruschigo 63:4ec1808fb547 142 cont++;
ruschigo 63:4ec1808fb547 143 wait_ms(40);
ruschigo 63:4ec1808fb547 144 }
ruschigo 63:4ec1808fb547 145
ruschigo 63:4ec1808fb547 146 }
ruschigo 63:4ec1808fb547 147 else if (state == 1){ // read 0xb5
ruschigo 63:4ec1808fb547 148 if (spi_2.write(0x00) == 0x62){
ruschigo 63:4ec1808fb547 149 state =2;
ruschigo 63:4ec1808fb547 150 //wait_ms(30);
ruschigo 63:4ec1808fb547 151 }
ruschigo 63:4ec1808fb547 152 else state =0;
ruschigo 63:4ec1808fb547 153 }
ruschigo 63:4ec1808fb547 154 else if (state == 2) {// read 0xb5 0x62
ruschigo 63:4ec1808fb547 155 if (spi_2.write(0x00) == 0x01){
ruschigo 63:4ec1808fb547 156 //printf("le_nav_pvt going to state 3");
ruschigo 63:4ec1808fb547 157 state =3;
ruschigo 63:4ec1808fb547 158 //wait_ms(30);
ruschigo 63:4ec1808fb547 159 }
ruschigo 63:4ec1808fb547 160 else state =0;
ruschigo 63:4ec1808fb547 161 }
ruschigo 63:4ec1808fb547 162 else if (state == 3) {// read 0xb5 0x62 0x01
ruschigo 63:4ec1808fb547 163 if (spi_2.write(0x00) == 0x07){
ruschigo 63:4ec1808fb547 164 state =4;
ruschigo 63:4ec1808fb547 165 //printf("le_nav_pvt going to state 4");
ruschigo 63:4ec1808fb547 166 //wait_ms(30);
ruschigo 63:4ec1808fb547 167 }
ruschigo 63:4ec1808fb547 168 else state =0;
ruschigo 63:4ec1808fb547 169 }
ruschigo 63:4ec1808fb547 170 else if (state == 4) {// read 0xb5 0x62 0x01 0x07
ruschigo 63:4ec1808fb547 171 if (spi_2.write(0x00) == 0x5c){
ruschigo 63:4ec1808fb547 172 state =5;
ruschigo 63:4ec1808fb547 173 //printf("le_nav_pvt going to state 5");
ruschigo 63:4ec1808fb547 174 //wait_ms(30);
ruschigo 63:4ec1808fb547 175 }
ruschigo 63:4ec1808fb547 176 else state =0;
ruschigo 63:4ec1808fb547 177 }
ruschigo 63:4ec1808fb547 178 else if (state == 5) {// read 0xb5 0x62 0x01 0x07 0x5c
ruschigo 63:4ec1808fb547 179 if (spi_2.write(0x00) == 0x00){
ruschigo 63:4ec1808fb547 180 state =6;
ruschigo 63:4ec1808fb547 181 //printf("le_nav_pvt going to state 6");
ruschigo 63:4ec1808fb547 182 //wait_ms(30);
ruschigo 63:4ec1808fb547 183 }
ruschigo 63:4ec1808fb547 184 else state =0;
ruschigo 63:4ec1808fb547 185 }
ruschigo 63:4ec1808fb547 186 else if (state == 6){ // read 0xb5 0x62 0x01 0x07 0x5c 0x00
ruschigo 63:4ec1808fb547 187 uint8_t value1,value2,value3,value4;
ruschigo 63:4ec1808fb547 188 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 189 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 190 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 191 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 192 Pac.iTOW = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 193
ruschigo 63:4ec1808fb547 194 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 195 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 196 Pac.year = (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 197
ruschigo 63:4ec1808fb547 198 Pac.month = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 199 Pac.day = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 200 Pac.hour = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 201 Pac.min = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 202 Pac.sec = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 203 Pac.valid = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 204
ruschigo 63:4ec1808fb547 205 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 206 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 207 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 208 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 209 Pac.tAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 210
ruschigo 63:4ec1808fb547 211 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 212 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 213 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 214 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 215 Pac.nano = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 216
ruschigo 63:4ec1808fb547 217 Pac.fixtype = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 218 Pac.flags = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 219 Pac.flags2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 220 Pac.numSV = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 221
ruschigo 63:4ec1808fb547 222 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 223 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 224 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 225 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 226 Pac.lon = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 227 lon= (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 228 //printf("Long Data %d \n ", lon);
ruschigo 63:4ec1808fb547 229
ruschigo 63:4ec1808fb547 230 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 231 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 232 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 233 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 234 Pac.lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 235 lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 236 //printf("Lat Data %d", lat);
ruschigo 63:4ec1808fb547 237
ruschigo 63:4ec1808fb547 238
ruschigo 63:4ec1808fb547 239 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 240 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 241 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 242 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 243 Pac.height = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 244
ruschigo 63:4ec1808fb547 245 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 246 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 247 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 248 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 249 Pac.hMSL = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 250
ruschigo 63:4ec1808fb547 251 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 252 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 253 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 254 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 255 Pac.hAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 256
ruschigo 63:4ec1808fb547 257 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 258 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 259 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 260 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 261 Pac.vAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 262
ruschigo 63:4ec1808fb547 263 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 264 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 265 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 266 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 267 Pac.velN = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 268
ruschigo 63:4ec1808fb547 269 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 270 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 271 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 272 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 273 Pac.velE = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 274
ruschigo 63:4ec1808fb547 275 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 276 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 277 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 278 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 279 Pac.velD = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 280
ruschigo 63:4ec1808fb547 281 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 282 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 283 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 284 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 285 Pac.gSpeed = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 286
ruschigo 63:4ec1808fb547 287 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 288 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 289 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 290 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 291 Pac.headMot = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 292
ruschigo 63:4ec1808fb547 293 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 294 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 295 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 296 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 297 Pac.sAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 298
ruschigo 63:4ec1808fb547 299 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 300 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 301 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 302 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 303 Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 304
ruschigo 63:4ec1808fb547 305 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 306 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 307 Pac.pDOP = (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 308
ruschigo 63:4ec1808fb547 309 for (int i=0; i < 6; i++)spi_2.write(0x00);
ruschigo 63:4ec1808fb547 310
ruschigo 63:4ec1808fb547 311 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 312 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 313 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 314 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 315 Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 316
ruschigo 63:4ec1808fb547 317 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 318 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 319 value3 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 320 value4 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 321 Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 322
ruschigo 63:4ec1808fb547 323 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 324 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 325 Pac.magDec = (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 326
ruschigo 63:4ec1808fb547 327 value1 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 328 value2 = 0xff & spi_2.write(0x00);
ruschigo 63:4ec1808fb547 329 Pac.magAcc = (value2 << 8) + value1;
ruschigo 63:4ec1808fb547 330
ruschigo 63:4ec1808fb547 331
ruschigo 63:4ec1808fb547 332 return Pac;
ruschigo 63:4ec1808fb547 333 }
ruschigo 63:4ec1808fb547 334 }
ruschigo 63:4ec1808fb547 335 wait_ms(100);
ruschigo 63:4ec1808fb547 336 }
ruschigo 63:4ec1808fb547 337
ruschigo 63:4ec1808fb547 338 void send_nav_pvt (){
ruschigo 63:4ec1808fb547 339 uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
ruschigo 63:4ec1808fb547 340
ruschigo 63:4ec1808fb547 341 //=============envia pacote nav pvt
ruschigo 63:4ec1808fb547 342 for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
ruschigo 63:4ec1808fb547 343 spi_2.write(packet_nav_pvt[i]);
ruschigo 63:4ec1808fb547 344 wait_ms(5);
ruschigo 63:4ec1808fb547 345 }
ruschigo 63:4ec1808fb547 346
ruschigo 63:4ec1808fb547 347 gps_navPVT Data = le_nav_pvt();
ruschigo 63:4ec1808fb547 348
ruschigo 63:4ec1808fb547 349 uint8_t packet [100];
ruschigo 63:4ec1808fb547 350
ruschigo 63:4ec1808fb547 351 packet [0]= (Data.lon >> 24)& 0xff;
ruschigo 63:4ec1808fb547 352 packet [1]= (Data.lon >> 16) & 0xff ;
ruschigo 63:4ec1808fb547 353 packet [2]= (Data.lon >> 8) & 0xff;
ruschigo 63:4ec1808fb547 354 packet [3]= Data.lon & 0xff;
ruschigo 63:4ec1808fb547 355 packet [4]= (Data.lat >> 24)& 0xff;
ruschigo 63:4ec1808fb547 356 packet [5]= (Data.lat >> 16) & 0xff ;
ruschigo 63:4ec1808fb547 357 packet [6]= (Data.lat >> 8) & 0xff;
ruschigo 63:4ec1808fb547 358 packet [7]= Data.lat & 0xff;
ruschigo 63:4ec1808fb547 359 packet [8]= (Data.hMSL >> 24)& 0xff;
ruschigo 63:4ec1808fb547 360 packet [9]= (Data.hMSL >> 16) & 0xff ;
ruschigo 63:4ec1808fb547 361 packet [10]= (Data.hMSL >> 8) & 0xff;
ruschigo 63:4ec1808fb547 362 packet [11]= Data.hMSL & 0xff;
ruschigo 63:4ec1808fb547 363
ruschigo 63:4ec1808fb547 364 if (Data.lon !=0 || Data.lat !=0 ){
ruschigo 63:4ec1808fb547 365 //lora_send_packet (packet , (uint8_t) 12);
ruschigo 63:4ec1808fb547 366 }
ruschigo 63:4ec1808fb547 367 }
ruschigo 63:4ec1808fb547 368
ruschigo 63:4ec1808fb547 369 void send_gps_data(uint8_t *packet, uint8_t size){
ruschigo 63:4ec1808fb547 370 uint8_t packet_rec[size];
ruschigo 63:4ec1808fb547 371 for ( int i=0; i< size ; i++){
ruschigo 63:4ec1808fb547 372 spi_2.write(packet[i]);
ruschigo 63:4ec1808fb547 373
ruschigo 63:4ec1808fb547 374 //wait_ms(5);
ruschigo 63:4ec1808fb547 375 }
ruschigo 63:4ec1808fb547 376 //send_packet (packet_rec ,size);
ruschigo 63:4ec1808fb547 377 }
ruschigo 63:4ec1808fb547 378
ruschigo 63:4ec1808fb547 379 /*
ruschigo 63:4ec1808fb547 380 void wait_packet (uint8_t *header) {
ruschigo 63:4ec1808fb547 381
ruschigo 63:4ec1808fb547 382 char state = 0;
ruschigo 63:4ec1808fb547 383 int cont =0;
ruschigo 63:4ec1808fb547 384
ruschigo 63:4ec1808fb547 385 while (1){ //começou mensagem
ruschigo 63:4ec1808fb547 386 if (cont > 250) {
ruschigo 63:4ec1808fb547 387 //led2=!led2;
ruschigo 63:4ec1808fb547 388 return;
ruschigo 63:4ec1808fb547 389 }
ruschigo 63:4ec1808fb547 390 if (state == 0 ){
ruschigo 63:4ec1808fb547 391 if (spi_2.write(0x00) == header[0])
ruschigo 63:4ec1808fb547 392 state =1;
ruschigo 63:4ec1808fb547 393 else {
ruschigo 63:4ec1808fb547 394 cont++;
ruschigo 63:4ec1808fb547 395 wait_ms(10);
ruschigo 63:4ec1808fb547 396 }
ruschigo 63:4ec1808fb547 397
ruschigo 63:4ec1808fb547 398
ruschigo 63:4ec1808fb547 399 }
ruschigo 63:4ec1808fb547 400 else if (state == 1){ // read 0xb5
ruschigo 63:4ec1808fb547 401 if (spi_2.write(0x00) == header[1]){
ruschigo 63:4ec1808fb547 402 state =2;
ruschigo 63:4ec1808fb547 403 }
ruschigo 63:4ec1808fb547 404 else state =0;
ruschigo 63:4ec1808fb547 405 }
ruschigo 63:4ec1808fb547 406 else if (state == 2) {// read 0xb5 0x62
ruschigo 63:4ec1808fb547 407 if (spi_2.write(0x00) == header[2]){
ruschigo 63:4ec1808fb547 408 state =3;
ruschigo 63:4ec1808fb547 409 }
ruschigo 63:4ec1808fb547 410 else state =0;
ruschigo 63:4ec1808fb547 411 }
ruschigo 63:4ec1808fb547 412 else if (state == 3) {// read 0xb5 0x62 0x06
ruschigo 63:4ec1808fb547 413 if (spi_2.write(0x00) == header[3]){
ruschigo 63:4ec1808fb547 414 state =4;
ruschigo 63:4ec1808fb547 415 }
ruschigo 63:4ec1808fb547 416 else state =0;
ruschigo 63:4ec1808fb547 417 }
ruschigo 63:4ec1808fb547 418 else if (state == 4) {// read 0xb5 0x62 0x06 0x013
ruschigo 63:4ec1808fb547 419
ruschigo 63:4ec1808fb547 420 uint8_t packet[100];
ruschigo 63:4ec1808fb547 421 uint8_t value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 422 uint8_t packet_size;
ruschigo 63:4ec1808fb547 423
ruschigo 63:4ec1808fb547 424 for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
ruschigo 63:4ec1808fb547 425 if (value != '\n' ){
ruschigo 63:4ec1808fb547 426 packet [packet_size]= value;
ruschigo 63:4ec1808fb547 427 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 428 }
ruschigo 63:4ec1808fb547 429 else {
ruschigo 63:4ec1808fb547 430 lora_send_packet (packet , (uint8_t) packet_size+1);
ruschigo 63:4ec1808fb547 431 //packet_size = MAXIMUM_PACKET_SIZE +1;
ruschigo 63:4ec1808fb547 432 return;
ruschigo 63:4ec1808fb547 433 }
ruschigo 63:4ec1808fb547 434 }
ruschigo 63:4ec1808fb547 435
ruschigo 63:4ec1808fb547 436 }
ruschigo 63:4ec1808fb547 437 }
ruschigo 63:4ec1808fb547 438 }*/
ruschigo 63:4ec1808fb547 439
ruschigo 63:4ec1808fb547 440 void wait_packet_byte (uint8_t *header, uint8_t byte) {
ruschigo 63:4ec1808fb547 441
ruschigo 63:4ec1808fb547 442 char state = 0;
ruschigo 63:4ec1808fb547 443 int cont =0;
ruschigo 63:4ec1808fb547 444
ruschigo 63:4ec1808fb547 445 while (1){ //começou mensagem
ruschigo 63:4ec1808fb547 446 if (cont > 250) {
ruschigo 63:4ec1808fb547 447 //led2=!led2;
ruschigo 63:4ec1808fb547 448 return;
ruschigo 63:4ec1808fb547 449 }
ruschigo 63:4ec1808fb547 450 if (state == 0 ){
ruschigo 63:4ec1808fb547 451 if (spi_2.write(0x00) == header[0])
ruschigo 63:4ec1808fb547 452 state =1;
ruschigo 63:4ec1808fb547 453 else {
ruschigo 63:4ec1808fb547 454 cont++;
ruschigo 63:4ec1808fb547 455 wait_ms(10);
ruschigo 63:4ec1808fb547 456 }
ruschigo 63:4ec1808fb547 457
ruschigo 63:4ec1808fb547 458
ruschigo 63:4ec1808fb547 459 }
ruschigo 63:4ec1808fb547 460 else if (state == 1){ // read 0xb5
ruschigo 63:4ec1808fb547 461 if (spi_2.write(0x00) == header[1]){
ruschigo 63:4ec1808fb547 462 state =2;
ruschigo 63:4ec1808fb547 463 }
ruschigo 63:4ec1808fb547 464 else state =0;
ruschigo 63:4ec1808fb547 465 }
ruschigo 63:4ec1808fb547 466 else if (state == 2) {// read 0xb5 0x62
ruschigo 63:4ec1808fb547 467 if (spi_2.write(0x00) == header[2]){
ruschigo 63:4ec1808fb547 468 state =3;
ruschigo 63:4ec1808fb547 469 }
ruschigo 63:4ec1808fb547 470 else state =0;
ruschigo 63:4ec1808fb547 471 }
ruschigo 63:4ec1808fb547 472 else if (state == 3) {// read 0xb5 0x62 0x06
ruschigo 63:4ec1808fb547 473 if (spi_2.write(0x00) == header[3]){
ruschigo 63:4ec1808fb547 474 state =4;
ruschigo 63:4ec1808fb547 475 }
ruschigo 63:4ec1808fb547 476 else state =0;
ruschigo 63:4ec1808fb547 477 }
ruschigo 63:4ec1808fb547 478 else if (state == 4) {// read 0xb5 0x62 0x06 0x013
ruschigo 63:4ec1808fb547 479
ruschigo 63:4ec1808fb547 480 if (byte == 0){//mostrar todo o pacote
ruschigo 63:4ec1808fb547 481 uint8_t packet[100];
ruschigo 63:4ec1808fb547 482 uint8_t value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 483 uint8_t packet_size;
ruschigo 63:4ec1808fb547 484
ruschigo 63:4ec1808fb547 485 for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
ruschigo 63:4ec1808fb547 486 if (value != '\n' ){
ruschigo 63:4ec1808fb547 487 packet [packet_size]= value;
ruschigo 63:4ec1808fb547 488 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 489 }
ruschigo 63:4ec1808fb547 490 else {
ruschigo 63:4ec1808fb547 491 //lora_send_packet (packet , (uint8_t) packet_size+1);
ruschigo 63:4ec1808fb547 492 //packet_size = MAXIMUM_PACKET_SIZE +1;
ruschigo 63:4ec1808fb547 493 return;
ruschigo 63:4ec1808fb547 494 }
ruschigo 63:4ec1808fb547 495 }//fim for
ruschigo 63:4ec1808fb547 496 }//fim if byte
ruschigo 63:4ec1808fb547 497
ruschigo 63:4ec1808fb547 498 else {//mostrar apenas um byte
ruschigo 63:4ec1808fb547 499
ruschigo 63:4ec1808fb547 500
ruschigo 63:4ec1808fb547 501 for (int i = 0 ; i < byte-1 ;i++)
ruschigo 63:4ec1808fb547 502 spi_2.write(0x00);
ruschigo 63:4ec1808fb547 503
ruschigo 63:4ec1808fb547 504 uint8_t packet[]={(uint8_t)99,(uint8_t)spi_2.write(0x00)};
ruschigo 63:4ec1808fb547 505 //lora_send_packet (packet , (uint8_t) 2);
ruschigo 63:4ec1808fb547 506
ruschigo 63:4ec1808fb547 507
ruschigo 63:4ec1808fb547 508 for (int i = 0 ; i < 100 ;i++)
ruschigo 63:4ec1808fb547 509 if (spi_2.write(0x00) == '\n')
ruschigo 63:4ec1808fb547 510 return;
ruschigo 63:4ec1808fb547 511
ruschigo 63:4ec1808fb547 512 return;
ruschigo 63:4ec1808fb547 513
ruschigo 63:4ec1808fb547 514 }//fim else byte
ruschigo 63:4ec1808fb547 515
ruschigo 63:4ec1808fb547 516 }
ruschigo 63:4ec1808fb547 517
ruschigo 63:4ec1808fb547 518 }
ruschigo 63:4ec1808fb547 519
ruschigo 63:4ec1808fb547 520 }
ruschigo 63:4ec1808fb547 521
ruschigo 63:4ec1808fb547 522
ruschigo 63:4ec1808fb547 523 void gps_wait_same_packet () {
ruschigo 63:4ec1808fb547 524
ruschigo 63:4ec1808fb547 525 char state = 0;
ruschigo 63:4ec1808fb547 526 int cont =0;
ruschigo 63:4ec1808fb547 527
ruschigo 63:4ec1808fb547 528 while (1){ //começou mensagem
ruschigo 63:4ec1808fb547 529 if (cont > 250) {
ruschigo 63:4ec1808fb547 530 //led2=!led2;
ruschigo 63:4ec1808fb547 531 return;
ruschigo 63:4ec1808fb547 532 }
ruschigo 63:4ec1808fb547 533 if (state == 0 ){
ruschigo 63:4ec1808fb547 534 if (spi_2.write(0x00) == 0xb5)
ruschigo 63:4ec1808fb547 535 state =1;
ruschigo 63:4ec1808fb547 536 else {
ruschigo 63:4ec1808fb547 537 cont++;
ruschigo 63:4ec1808fb547 538 wait_ms(10);
ruschigo 63:4ec1808fb547 539 }
ruschigo 63:4ec1808fb547 540
ruschigo 63:4ec1808fb547 541
ruschigo 63:4ec1808fb547 542 }
ruschigo 63:4ec1808fb547 543 else if (state == 1){ // read 0xb5
ruschigo 63:4ec1808fb547 544 if (spi_2.write(0x00) == 0x62){
ruschigo 63:4ec1808fb547 545 state =2;
ruschigo 63:4ec1808fb547 546 }
ruschigo 63:4ec1808fb547 547 else state =0;
ruschigo 63:4ec1808fb547 548 }
ruschigo 63:4ec1808fb547 549 else if (state == 2){
ruschigo 63:4ec1808fb547 550 uint8_t packet[200];
ruschigo 63:4ec1808fb547 551 uint8_t value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 552 uint8_t packet_size;
ruschigo 63:4ec1808fb547 553
ruschigo 63:4ec1808fb547 554 for (packet_size = 0 ; packet_size < 200 ;packet_size++) {
ruschigo 63:4ec1808fb547 555 if (value != '\n' ){
ruschigo 63:4ec1808fb547 556 packet [packet_size]= value;
ruschigo 63:4ec1808fb547 557 value = spi_2.write(0x00);
ruschigo 63:4ec1808fb547 558 }
ruschigo 63:4ec1808fb547 559 else {
ruschigo 63:4ec1808fb547 560 //lora_send_packet (packet , (uint8_t) packet_size+1);
ruschigo 63:4ec1808fb547 561 //packet_size = MAXIMUM_PACKET_SIZE +1;
ruschigo 63:4ec1808fb547 562 return;
ruschigo 63:4ec1808fb547 563 }
ruschigo 63:4ec1808fb547 564
ruschigo 63:4ec1808fb547 565 }//fim for
ruschigo 63:4ec1808fb547 566 // lora_send_packet (packet , 200);
ruschigo 63:4ec1808fb547 567 }
ruschigo 63:4ec1808fb547 568 }
ruschigo 63:4ec1808fb547 569 }
ruschigo 63:4ec1808fb547 570
ruschigo 63:4ec1808fb547 571 void gps_config_gnss (){
ruschigo 63:4ec1808fb547 572
ruschigo 63:4ec1808fb547 573 uint8_t packet_cfg_gnss[] = {
ruschigo 63:4ec1808fb547 574 0xB5, 0x62, // Header
ruschigo 63:4ec1808fb547 575 0x03, 0x3E, // Class ID = CFG, Msg ID = UBX-CFG-GNSS
ruschigo 63:4ec1808fb547 576 0x3C, 0x00, // Payload Length = 60 bytes
ruschigo 63:4ec1808fb547 577 0x00, 0x00, 0x20, 0x07, // msgVer=0, numTrkChHw=32, numTrkChUse=32, numConfigBlocks=7
ruschigo 63:4ec1808fb547 578 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // gnssId=0 (GPS), resTrkCh=8, maxTrkCh=12, ENABLE
ruschigo 63:4ec1808fb547 579 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=1 (SBAS), resTrkCh=1, maxTrkCh=2, ENABLE
ruschigo 63:4ec1808fb547 580 0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=2 (Galileo), resTrkCh=4, maxTrkCh=10, ENABLE
ruschigo 63:4ec1808fb547 581 0x03, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=3 (BeiDou), resTrkCh=4, maxTrkCh=8, DISABLE
ruschigo 63:4ec1808fb547 582 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=4 (IMES), resTrkCh=0, maxTrkCh=8, DISABLE
ruschigo 63:4ec1808fb547 583 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=5 (QZSS), resTrkCh=0, maxTrkCh=3, DISABLE
ruschigo 63:4ec1808fb547 584 0x06, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=6 (GLONASS), resTrkCh=4, maxTrkCh=8, ENABLE
ruschigo 63:4ec1808fb547 585 0x00, 0x00 //checksums A &amp; B
ruschigo 63:4ec1808fb547 586 };
ruschigo 63:4ec1808fb547 587 uint8_t pos_ck = sizeof(packet_cfg_gnss)-2;
ruschigo 65:4090220e19d2 588 pc.printf("gnss config finish");
ruschigo 63:4ec1808fb547 589 uint8_t ubxi;
ruschigo 63:4ec1808fb547 590 //calcula checksum
ruschigo 63:4ec1808fb547 591 for (ubxi=2; ubxi<pos_ck ; ubxi++) {
ruschigo 63:4ec1808fb547 592 packet_cfg_gnss[pos_ck] = packet_cfg_gnss[pos_ck] + packet_cfg_gnss[ubxi];
ruschigo 63:4ec1808fb547 593 packet_cfg_gnss[pos_ck+1] = packet_cfg_gnss[pos_ck+1] + packet_cfg_gnss[pos_ck];
ruschigo 63:4ec1808fb547 594 }
ruschigo 63:4ec1808fb547 595
ruschigo 63:4ec1808fb547 596 }
ruschigo 63:4ec1808fb547 597
ruschigo 63:4ec1808fb547 598
ruschigo 63:4ec1808fb547 599 void gps_print_local (){
ruschigo 63:4ec1808fb547 600 uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
ruschigo 63:4ec1808fb547 601
ruschigo 63:4ec1808fb547 602 //=============envia pacote nav pvt
ruschigo 63:4ec1808fb547 603 for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
ruschigo 63:4ec1808fb547 604 spi_2.write(packet_nav_pvt[i]);
ruschigo 63:4ec1808fb547 605 wait_ms(20);
ruschigo 63:4ec1808fb547 606 }
ruschigo 63:4ec1808fb547 607
ruschigo 63:4ec1808fb547 608 gps_navPVT Data = le_nav_pvt();
ruschigo 63:4ec1808fb547 609
ruschigo 63:4ec1808fb547 610 //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
ruschigo 63:4ec1808fb547 611 //lat=Data.lat;
ruschigo 63:4ec1808fb547 612 //lon=Data.lon;
ruschigo 63:4ec1808fb547 613 }
ruschigo 63:4ec1808fb547 614
ruschigo 63:4ec1808fb547 615 void gps_get_lat_lon(int *latitude, int *logitude){
ruschigo 63:4ec1808fb547 616 uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19};
ruschigo 63:4ec1808fb547 617
ruschigo 63:4ec1808fb547 618 //=============envia pacote nav pvt
ruschigo 63:4ec1808fb547 619 for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
ruschigo 63:4ec1808fb547 620 spi_2.write(packet_nav_pvt[i]);
ruschigo 63:4ec1808fb547 621 wait_ms(20);
ruschigo 63:4ec1808fb547 622 }
ruschigo 63:4ec1808fb547 623
ruschigo 63:4ec1808fb547 624 gps_navPVT Data = le_nav_pvt();
ruschigo 63:4ec1808fb547 625
ruschigo 63:4ec1808fb547 626 //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
ruschigo 63:4ec1808fb547 627 //latitude = &(int)Data.lat;
ruschigo 63:4ec1808fb547 628 //longitude = &(int)Data.lon;
ruschigo 63:4ec1808fb547 629 return;
ruschigo 63:4ec1808fb547 630 }
ruschigo 63:4ec1808fb547 631
ruschigo 63:4ec1808fb547 632 void gps_config (){
ruschigo 63:4ec1808fb547 633 gps_DSEL = 0;
ruschigo 63:4ec1808fb547 634 //spi gps configuration
ruschigo 63:4ec1808fb547 635 spi_2.format(8,0);
ruschigo 63:4ec1808fb547 636 spi_2.frequency(1000000); //1MHz
ruschigo 63:4ec1808fb547 637 cs=1;
ruschigo 63:4ec1808fb547 638 wait(0.1);
ruschigo 63:4ec1808fb547 639 cs=0;
ruschigo 63:4ec1808fb547 640 wait(0.1);
ruschigo 63:4ec1808fb547 641
ruschigo 63:4ec1808fb547 642 gps_int = 0;
ruschigo 63:4ec1808fb547 643
ruschigo 63:4ec1808fb547 644 //gps reset
ruschigo 63:4ec1808fb547 645 gps_reset = 1;
ruschigo 63:4ec1808fb547 646 wait_ms(50);
ruschigo 63:4ec1808fb547 647 //gps_reset = 0;
ruschigo 63:4ec1808fb547 648 //wait(1.5);
ruschigo 63:4ec1808fb547 649 }
ruschigo 63:4ec1808fb547 650
ruschigo 63:4ec1808fb547 651 int get_latitude(){
ruschigo 63:4ec1808fb547 652 return lat;
ruschigo 63:4ec1808fb547 653 }
ruschigo 63:4ec1808fb547 654
ruschigo 63:4ec1808fb547 655 int get_longitude(){
ruschigo 63:4ec1808fb547 656 return lon;
ruschigo 63:4ec1808fb547 657 }