Diff: gps.txt

Revision:

63:4ec1808fb547

Parent:

62:89df9529dbb0

Child:

64:ed68ddac6360

--- a/gps.txt	Fri Feb 26 17:07:12 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,704 +0,0 @@
-
-#define  SYNC1       0xB5
-#define  SYNC2       0x62
-
-//GPS DEclaration
-SPI spi_2(P0_5, P0_7, P0_11); // mosi, miso, sclk
-DigitalOut cs(P0_30);
-DigitalOut gps_reset(P1_2);
-DigitalOut gps_int (P0_23);
-DigitalOut gps_DSEL (P0_27);
-
-
-
-
-
-typedef struct
-{
-    uint8_t cls;
-    uint8_t id;
-    uint16_t len;          //Length of the payload. Does not include cls, id, or checksum bytes
-    uint8_t *payload;
-    uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
-    uint8_t checksumB;
-} gps_ubxPacket;
-
-typedef struct
-{
-    uint32_t iTOW=0;
-    uint16_t year=0;
-    uint8_t month=0;
-    uint8_t day=0;
-    uint8_t hour=0;
-    uint8_t min=0;
-    uint8_t sec=0;
-    int8_t valid=0;
-    uint32_t tAcc=0;
-    int32_t nano=0;
-    uint8_t fixtype=0;
-    int8_t flags=0;
-    int8_t flags2=0;
-    uint8_t numSV=0;
-    int32_t lon=0;
-    int32_t lat=0;
-    int32_t height=0;
-    int32_t hMSL=0;
-    uint32_t hAcc=0;
-    uint32_t vAcc=0;
-    int32_t velN=0;
-    int32_t velE=0;
-    int32_t velD=0;
-    int32_t gSpeed=0;
-    int32_t headMot=0;
-    uint32_t sAcc=0;
-    uint32_t headAcc=0;
-    uint16_t pDOP=0;
-    int32_t headVeh;
-    int16_t magDec;
-    uint16_t magAcc;
-
-    
-} gps_navPVT;
-
-
-void gps_leBootMsg(){
-
-    #define MAXIMUM_PACKET_SIZE 60
-    int packet_size;
-    uint8_t packet[MAXIMUM_PACKET_SIZE];
-    uint8_t value;
-    int cont;
-    value = spi_2.write(0x00);
-
-    while (value  != '$' ){ //wait start boot msg
-        value = spi_2.write(0x00);
-        wait_ms(5);
-        cont++;
-        if (cont > 100){
-            printf("\n no response \n"); 
-            return;
-            }
-    }
-    packet[0] = value;
-        value = spi_2.write(0x00);
-        for (packet_size = 1 ; packet_size <= MAXIMUM_PACKET_SIZE ;packet_size++) {
-            if (value  != '\n' ){
-                packet [packet_size]= value;
-                value = spi_2.write(0x00);
-            }
-            else {
-              //lora_send_packet (packet , (uint8_t) packet_size+1); // manda atraves do lora a mensagem de boot do gps
-              printf("Boot msg: %s \n", packet);
-              return;
-            } 
-        
-        }
-
-}
-
-void gps_le_envia_linha(){
-    
-    uint8_t packet[150];
-    uint8_t value;
-
-    for (int i=0;i < 149; i++){
-        if (value == '\n'){
-            //lora_send_packet (packet , (uint8_t) i);
-            return;
-        }
-        else packet [i] =value;
-    }
-    //lora_send_packet (packet , (uint8_t) 99);
-    
-}
-                               
-
-gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet) {
- 
-    uint8_t Buffer[Packet.len + 4];
-    uint8_t CK_A=0;
-    uint8_t CK_B=0;
-
-    Buffer[0]= Packet.cls;
-    Buffer[1]= Packet.id;
-    Buffer[2]= Packet.len & 0xFF;
-    Buffer[3]= (Packet.len >> 8)& 0xFF;;
-
-    //send_packet (Buffer, (uint8_t) 4 );
-        
-    for (uint16_t i = 0; i < Packet.len; i++) {
-        Buffer [i+4] = Packet.payload[i] ;
-    }
-    
-    //send_packet (Buffer, (uint8_t) Packet.len + 4 );
-
-    for(int i=0 ; i < Packet.len + 4 ; i++) {
-        CK_A = CK_A + Buffer[i];
-        CK_B = CK_B + CK_A;
-        CK_A = CK_A & 0xFF;
-        CK_B = CK_B & 0xFF;
-        //uint8_t packet_check[5] ={Buffer[i],(uint8_t) (i+1),CK_A,CK_B,'#'};
-//        send_packet (packet_check , (uint8_t) 5);
-    }
-    
-    
-//    uint8_t packet_check[2] ={CK_A, CK_B};
-//    send_packet (packet_check , (uint8_t) 2);
-
-    Packet.checksumA = CK_A;
-    Packet.checksumB = CK_B;
-    
-    return Packet;
-    
-}
-
-void send_gps_packet(gps_ubxPacket packet){
-    
-    spi_2.write(SYNC1);
-    spi_2.write(SYNC2);
-    spi_2.write(packet.cls);
-    spi_2.write(packet.id);
-    spi_2.write(packet.len & 0xFF);
-    spi_2.write((packet.len >> 8)& 0xFF);
-    
-    for (uint16_t i = 0; i < packet.len; i++) {
-        spi_2.write(packet.payload[i]);
-    }
-    spi_2.write(packet.checksumA);
-    spi_2.write(packet.checksumB);
-    
-    //=============imprime resposta
-    wait_ms(50);
-    gps_le_envia_linha();
-    gps_le_envia_linha();
-
-}
-
-gps_navPVT le_nav_pvt () {
-    
-    gps_navPVT Pac;
-    
-    char state = 0;
-    int cont =0;
-    int numb=0;
-    
-    while (1){ //começou mensagem
-        if (cont > 100) {
-           // BMX160_read_acc();
-            return Pac;
-            }
-        if (state == 0 ){
-            
-            if ( spi_2.write(0x00) == 0xB5){
-                state =1;
-                }
-            else {
-                cont++;
-                wait_ms(40);
-            }
-                    
-        }
-        else if (state == 1){ // read 0xb5  
-            if (spi_2.write(0x00) == 0x62){
-                state =2;
-                //wait_ms(30);
-            }
-            else state =0;
-        }
-        else if (state == 2) {// read 0xb5 0x62
-            if (spi_2.write(0x00) == 0x01){
-                //printf("le_nav_pvt going to state 3");
-                state =3;
-                //wait_ms(30);
-            }
-            else state =0;
-        }
-        else if (state == 3) {// read 0xb5 0x62 0x01
-            if (spi_2.write(0x00) == 0x07){
-                state =4;
-                //printf("le_nav_pvt going to state 4");
-                //wait_ms(30);
-            }
-            else state =0;
-        }
-        else if (state == 4) {// read 0xb5 0x62 0x01 0x07
-            if (spi_2.write(0x00) == 0x5c){
-                state =5;
-                //printf("le_nav_pvt going to state 5");
-                //wait_ms(30);
-            }
-            else state =0;
-        }
-        else if (state == 5) {// read 0xb5 0x62 0x01 0x07 0x5c
-            if (spi_2.write(0x00) == 0x00){
-                state =6;
-                //printf("le_nav_pvt going to state 6");
-                //wait_ms(30);
-            }
-            else state =0;
-        }
-        else if (state == 6){ // read 0xb5 0x62 0x01 0x07 0x5c 0x00
-            uint8_t value1,value2,value3,value4;
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.iTOW =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            Pac.year = (value2 << 8) + value1;
-            
-            Pac.month = 0xff & spi_2.write(0x00);
-            Pac.day = 0xff & spi_2.write(0x00);
-            Pac.hour = 0xff & spi_2.write(0x00);
-            Pac.min = 0xff & spi_2.write(0x00);
-            Pac.sec = 0xff & spi_2.write(0x00);
-            Pac.valid = 0xff & spi_2.write(0x00);
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.tAcc =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.nano =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            Pac.fixtype = 0xff & spi_2.write(0x00);
-            Pac.flags = 0xff & spi_2.write(0x00);
-            Pac.flags2 = 0xff & spi_2.write(0x00);
-            Pac.numSV = 0xff & spi_2.write(0x00);
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.lon =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            lon=  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            //printf("Long Data %d \n ", lon);
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.lat =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            lat =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            //printf("Lat Data %d", lat);
-            
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.height =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.hMSL  =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.hAcc  =  (value4 << 24) + (value3 <<16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.vAcc  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.velN  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.velE  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.velD  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.gSpeed  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.headMot  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.sAcc  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.headAcc =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);                
-            Pac.pDOP  = (value2 << 8) + value1;
-            
-            for (int i=0; i < 6; i++)spi_2.write(0x00); 
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.headAcc  =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);
-            value3 = 0xff & spi_2.write(0x00);
-            value4 = 0xff & spi_2.write(0x00);                   
-            Pac.headAcc =  (value4 << 24) + (value3 << 16) + (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);                
-            Pac.magDec = (value2 << 8) + value1;
-            
-            value1 = 0xff & spi_2.write(0x00);
-            value2 = 0xff & spi_2.write(0x00);                
-            Pac.magAcc = (value2 << 8) + value1;
-
-                              
-            return Pac;
-        }
-    }
-        wait_ms(100);  
-}
-
-void send_nav_pvt (){
-    uint8_t packet_nav_pvt[] = {    0xB5,   0x62,   0x01,   0x07,   0x00,   0x00,   0x08,   0x19};
-    
-    //=============envia pacote nav pvt
-    for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
-        spi_2.write(packet_nav_pvt[i]);
-        wait_ms(5);
-    }
-
-    gps_navPVT Data = le_nav_pvt();
-
-    uint8_t packet [100];
-    
-    packet [0]= (Data.lon >> 24)& 0xff;
-    packet [1]= (Data.lon >> 16) & 0xff ;
-    packet [2]= (Data.lon >> 8) & 0xff;
-    packet [3]= Data.lon  & 0xff;
-    packet [4]= (Data.lat >> 24)& 0xff;
-    packet [5]= (Data.lat >> 16) & 0xff ;
-    packet [6]= (Data.lat >> 8) & 0xff;
-    packet [7]= Data.lat  & 0xff;
-    packet [8]= (Data.hMSL >> 24)& 0xff;
-    packet [9]= (Data.hMSL >> 16) & 0xff ;
-    packet [10]= (Data.hMSL >> 8) & 0xff;
-    packet [11]= Data.hMSL  & 0xff;
-    
-    if (Data.lon !=0 || Data.lat !=0  ){
-        //lora_send_packet (packet , (uint8_t) 12);
-    }
-}
-
-void send_gps_data(uint8_t *packet, uint8_t size){
-    uint8_t packet_rec[size]; 
-    for ( int i=0; i< size  ; i++){
-        spi_2.write(packet[i]);
-
-        //wait_ms(5);
-    }
-    //send_packet (packet_rec ,size);
-}
-
-/*
-void wait_packet (uint8_t *header) {
-    
-    char state = 0;
-    int cont =0;
-    
-    while (1){ //começou mensagem
-        if (cont > 250) {
-            //led2=!led2;
-            return;
-        }
-        if (state == 0 ){
-            if (spi_2.write(0x00) == header[0])
-                state =1;
-            else {
-                cont++;
-                wait_ms(10);
-            }
-        
-            
-        }
-        else if (state == 1){ // read 0xb5  
-            if (spi_2.write(0x00) == header[1]){
-                state =2;
-            }
-            else state =0;
-        }
-        else if (state == 2) {// read 0xb5 0x62
-            if (spi_2.write(0x00) == header[2]){
-                state =3;
-            }
-            else state =0;
-        }
-        else if (state == 3) {// read 0xb5 0x62 0x06
-            if (spi_2.write(0x00) == header[3]){
-                state =4;
-            }
-            else state =0;
-        }
-        else if (state == 4) {// read 0xb5 0x62 0x06 0x013
-        
-            uint8_t packet[100];
-            uint8_t value = spi_2.write(0x00);
-            uint8_t packet_size;
-             
-            for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
-                if (value  != '\n' ){
-                    packet [packet_size]= value;
-                    value = spi_2.write(0x00);
-                }
-                else {
-                  lora_send_packet (packet , (uint8_t) packet_size+1);
-                  //packet_size = MAXIMUM_PACKET_SIZE +1;
-                  return;
-                }             
-            }
-        
-        }
-    }
-}*/
-
-void wait_packet_byte (uint8_t *header, uint8_t byte) {
-    
-    char state = 0;
-    int cont =0;
-    
-    while (1){ //começou mensagem
-        if (cont > 250) {
-            //led2=!led2;
-            return;
-        }
-        if (state == 0 ){
-            if (spi_2.write(0x00) == header[0])
-                state =1;
-            else {
-                cont++;
-                wait_ms(10);
-            }
-        
-            
-        }
-        else if (state == 1){ // read 0xb5  
-            if (spi_2.write(0x00) == header[1]){
-                state =2;
-            }
-            else state =0;
-        }
-        else if (state == 2) {// read 0xb5 0x62
-            if (spi_2.write(0x00) == header[2]){
-                state =3;
-            }
-            else state =0;
-        }
-        else if (state == 3) {// read 0xb5 0x62 0x06
-            if (spi_2.write(0x00) == header[3]){
-                state =4;
-            }
-            else state =0;
-        }
-        else if (state == 4) {// read 0xb5 0x62 0x06 0x013
-            
-            if (byte == 0){//mostrar todo o pacote
-                uint8_t packet[100];
-                uint8_t value = spi_2.write(0x00);
-                uint8_t packet_size;
-                 
-                for (packet_size = 0 ; packet_size < 100 ;packet_size++) {
-                    if (value  != '\n' ){
-                        packet [packet_size]= value;
-                        value = spi_2.write(0x00);
-                    }
-                    else {
-                      //lora_send_packet (packet , (uint8_t) packet_size+1);
-                      //packet_size = MAXIMUM_PACKET_SIZE +1;
-                      return;
-                    }             
-                }//fim for
-            }//fim if byte
-            
-            else {//mostrar apenas um byte
-            
-             
-                for (int i = 0 ; i < byte-1 ;i++)
-                    spi_2.write(0x00);
-                    
-                uint8_t packet[]={(uint8_t)99,(uint8_t)spi_2.write(0x00)};            
-                //lora_send_packet (packet , (uint8_t) 2);
-                   
-                    
-                for (int i = 0 ; i < 100 ;i++)
-                    if (spi_2.write(0x00) == '\n') 
-                        return;
-    
-                return;
-                
-            }//fim else byte
-         
-         }
-        
-      }
-    
-}
-
-
-void gps_wait_same_packet () {
-    
-    char state = 0;
-    int cont =0;
-    
-    while (1){ //começou mensagem
-        if (cont > 250) {
-            //led2=!led2;
-            return;
-        }
-        if (state == 0 ){
-            if (spi_2.write(0x00) == 0xb5)
-                state =1;
-            else {
-                cont++;
-                wait_ms(10);
-            }
-        
-            
-        }
-        else if (state == 1){ // read 0xb5  
-            if (spi_2.write(0x00) == 0x62){
-                state =2;
-            }
-            else state =0;
-        }
-        else if (state == 2){
-                uint8_t packet[200];
-                uint8_t value = spi_2.write(0x00);
-                uint8_t packet_size;
-                 
-                for (packet_size = 0 ; packet_size < 200 ;packet_size++) {
-                    if (value  != '\n' ){
-                        packet [packet_size]= value;
-                        value = spi_2.write(0x00);
-                    }
-                    else {
-                      //lora_send_packet (packet , (uint8_t) packet_size+1);
-                      //packet_size = MAXIMUM_PACKET_SIZE +1;
-                      return;
-                    }
-                             
-                }//fim for   
-               // lora_send_packet (packet , 200);       
-        }
-    }
-}
-
-void gps_config_gnss (){
-    
-    uint8_t packet_cfg_gnss[] = {
-      0xB5, 0x62, // Header
-      0x03, 0x3E, // Class ID = CFG, Msg ID = UBX-CFG-GNSS
-      0x3C, 0x00, // Payload Length = 60 bytes
-      0x00, 0x00, 0x20, 0x07, // msgVer=0, numTrkChHw=32, numTrkChUse=32, numConfigBlocks=7
-      0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // gnssId=0 (GPS), resTrkCh=8, maxTrkCh=12, ENABLE
-      0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=1 (SBAS), resTrkCh=1, maxTrkCh=2, ENABLE
-      0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=2 (Galileo), resTrkCh=4, maxTrkCh=10, ENABLE 
-      0x03, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=3 (BeiDou), resTrkCh=4, maxTrkCh=8, DISABLE 
-      0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=4 (IMES), resTrkCh=0, maxTrkCh=8, DISABLE
-      0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=5 (QZSS), resTrkCh=0, maxTrkCh=3, DISABLE
-      0x06, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=6 (GLONASS), resTrkCh=4, maxTrkCh=8, ENABLE
-      0x00, 0x00 //checksums A &amp; B
-    };
-    uint8_t pos_ck = sizeof(packet_cfg_gnss)-2;
-    printf("gnss config finish");
-    uint8_t ubxi;
-    //calcula checksum
-    for (ubxi=2; ubxi<pos_ck ; ubxi++) {
-        packet_cfg_gnss[pos_ck] = packet_cfg_gnss[pos_ck] + packet_cfg_gnss[ubxi];
-        packet_cfg_gnss[pos_ck+1] = packet_cfg_gnss[pos_ck+1] + packet_cfg_gnss[pos_ck];
-    }
-    
-}
-
-
-void gps_print_local (){
-    uint8_t packet_nav_pvt[] = {    0xB5,   0x62,   0x01,   0x07,   0x00,   0x00,   0x08,   0x19};
-    
-    //=============envia pacote nav pvt
-    for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
-        spi_2.write(packet_nav_pvt[i]);
-        wait_ms(20);
-    }
-    
-    gps_navPVT Data = le_nav_pvt();  
-   
-    //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
-    //lat=Data.lat;
-    //lon=Data.lon;
-}
-
-void gps_get_lat_lon(int *latitude, int *logitude){
-    uint8_t packet_nav_pvt[] = {    0xB5,   0x62,   0x01,   0x07,   0x00,   0x00,   0x08,   0x19};
-    
-    //=============envia pacote nav pvt
-    for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){
-        spi_2.write(packet_nav_pvt[i]);
-        wait_ms(20);
-    }
-    
-    gps_navPVT Data = le_nav_pvt();  
-   
-    //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon );
-    latitude = &(int)Data.lat;
-    longitude = &(int)Data.lon;
-    return;
-}
-
-void gps_config (){
-    gps_DSEL = 0;
-    //spi gps configuration
-    spi_2.format(8,0);
-    spi_2.frequency(1000000); //1MHz
-    cs=1;
-    wait(0.1);
-    cs=0;
-    wait(0.1);
-    
-    gps_int = 0;
-    
-    //gps reset
-    gps_reset = 1;    
-    wait_ms(50);
-    //gps_reset = 0;    
-    //wait(1.5);
-}
-