Abe Takumi / nmea0813

NMEA0813フォーマットのGPSから情報を取り出すプログラムです。

Dependents:   GPS_test EM_Logger

nmea0813.cpp@0:42a334c405de, 2013-03-29 (annotated)

Committer:
YSB
Date:
Fri Mar 29 05:55:53 2013 +0000
Revision:
0:42a334c405de
Child:
1:f4d3c59a4917
Child:
2:7870c69fa58c
ver.1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YSB 0:42a334c405de 1 #include "nmea0813.h"
YSB 0:42a334c405de 2
YSB 0:42a334c405de 3 GPS::GPS(PinName tx,PinName rx) : Serial(tx,rx){
YSB 0:42a334c405de 4 //time_str[8] = {'0','0',':','0','0',':','0','0'};
YSB 0:42a334c405de 5 //latitude_str[9] = {'0','0','0','0','.','0','0','0','0'};
YSB 0:42a334c405de 6 //longitude_str[10]= {'0','0','0','0','0','.','0','0','0','0'};
YSB 0:42a334c405de 7 flg = 0;
YSB 0:42a334c405de 8 count = 0;
YSB 0:42a334c405de 9 attach(this, &GPS::rxHandler,Serial::RxIrq);
YSB 0:42a334c405de 10 T.attach(this,&GPS::update_infomation,1.0);
YSB 0:42a334c405de 11 }
YSB 0:42a334c405de 12
YSB 0:42a334c405de 13
YSB 0:42a334c405de 14 void GPS::rxHandler(void){
YSB 0:42a334c405de 15 char rxbuf;
YSB 0:42a334c405de 16 rxbuf = getc();
YSB 0:42a334c405de 17 GPSdata[count] = rxbuf;
YSB 0:42a334c405de 18 if(rxbuf == '$'){
YSB 0:42a334c405de 19 count++;
YSB 0:42a334c405de 20 }
YSB 0:42a334c405de 21 else if(rxbuf == LF){
YSB 0:42a334c405de 22 count++;
YSB 0:42a334c405de 23 flg++;
YSB 0:42a334c405de 24 }
YSB 0:42a334c405de 25 else{
YSB 0:42a334c405de 26 count++;
YSB 0:42a334c405de 27 }
YSB 0:42a334c405de 28 if(flg == 7){
YSB 0:42a334c405de 29 flg = 0;
YSB 0:42a334c405de 30 count=0;
YSB 0:42a334c405de 31 }
YSB 0:42a334c405de 32 }
YSB 0:42a334c405de 33
YSB 0:42a334c405de 34 void GPS::update_infomation() { //repeatedlly called function
YSB 0:42a334c405de 35 get_GGA_RMC(GPSdata);
YSB 0:42a334c405de 36 get_infomation(GPGGA,GPRMC);
YSB 0:42a334c405de 37 }
YSB 0:42a334c405de 38
YSB 0:42a334c405de 39 void GPS::get_GGA_RMC(char* str){
YSB 0:42a334c405de 40 int nullflg=0;
YSB 0:42a334c405de 41 char *sp;
YSB 0:42a334c405de 42
YSB 0:42a334c405de 43 sp = (char*) strstr(str,"$GPGGA");
YSB 0:42a334c405de 44 for(int i=0;i<80;i++){
YSB 0:42a334c405de 45 if(nullflg ==0){
YSB 0:42a334c405de 46 if(sp[i] != '\n'){
YSB 0:42a334c405de 47 GPGGA[i] = sp[i];
YSB 0:42a334c405de 48 }else{
YSB 0:42a334c405de 49 GPGGA[i] = '\n';
YSB 0:42a334c405de 50 nullflg = 1;
YSB 0:42a334c405de 51 }
YSB 0:42a334c405de 52 }else{
YSB 0:42a334c405de 53 GPGGA[i] = '\n';
YSB 0:42a334c405de 54 }
YSB 0:42a334c405de 55 }
YSB 0:42a334c405de 56 nullflg = 0;
YSB 0:42a334c405de 57 sp = (char*) strstr(str,"$GPRMC");
YSB 0:42a334c405de 58 for(int i=0;i<80;i++){
YSB 0:42a334c405de 59 if(nullflg ==0){
YSB 0:42a334c405de 60 if(sp[i] != '\n'){
YSB 0:42a334c405de 61 GPRMC[i] = sp[i];
YSB 0:42a334c405de 62 }else{
YSB 0:42a334c405de 63 GPRMC[i] = '\n';
YSB 0:42a334c405de 64 nullflg = 1;
YSB 0:42a334c405de 65 }
YSB 0:42a334c405de 66 }else{
YSB 0:42a334c405de 67 GPRMC[i] = '\n';
YSB 0:42a334c405de 68 }
YSB 0:42a334c405de 69 }
YSB 0:42a334c405de 70 nullflg = 0;
YSB 0:42a334c405de 71 }
YSB 0:42a334c405de 72
YSB 0:42a334c405de 73 void GPS::get_infomation(char* gga,char* rmc){
YSB 0:42a334c405de 74 if(gga[8]=='0'){
YSB 0:42a334c405de 75 time_str[0]=gga[7];
YSB 0:42a334c405de 76 time_str[1]=gga[8]+0x09;
YSB 0:42a334c405de 77 }else{
YSB 0:42a334c405de 78 time_str[0]=gga[7]+0x01;
YSB 0:42a334c405de 79 time_str[1]=gga[8]-0x01;
YSB 0:42a334c405de 80 }
YSB 0:42a334c405de 81 time_str[2]=':';
YSB 0:42a334c405de 82 time_str[3]=gga[9];
YSB 0:42a334c405de 83 time_str[4]=gga[10];
YSB 0:42a334c405de 84 time_str[5]=':';
YSB 0:42a334c405de 85 time_str[6]=gga[11];
YSB 0:42a334c405de 86 time_str[7]=gga[12];
YSB 0:42a334c405de 87
YSB 0:42a334c405de 88 states = rmc[18];
YSB 0:42a334c405de 89
YSB 0:42a334c405de 90 for(int i=0;i<9;i++){
YSB 0:42a334c405de 91 latitude_str[i]=gga[18+i];
YSB 0:42a334c405de 92 }
YSB 0:42a334c405de 93 for(int i=0;i<10;i++){
YSB 0:42a334c405de 94 longitude_str[i]=gga[30+i];
YSB 0:42a334c405de 95 }
YSB 0:42a334c405de 96 for(int i=0;i<5;i++){
YSB 0:42a334c405de 97 speed_str[i]=rmc[51+i];
YSB 0:42a334c405de 98 }
YSB 0:42a334c405de 99 speed = (float)(speed_str[0]-0x30)*100.0+\
YSB 0:42a334c405de 100 (float)(speed_str[1]-0x30)*10.0+\
YSB 0:42a334c405de 101 (float)(speed_str[2]-0x30)*1.0+\
YSB 0:42a334c405de 102 (float)(speed_str[4]-0x30)*0.1;
YSB 0:42a334c405de 103 latitude = (float)(latitude_str[0]-0x30)*10.0+ \
YSB 0:42a334c405de 104 (float)(latitude_str[1]-0x30)+ \
YSB 0:42a334c405de 105 ((float)(latitude_str[2]-0x30)*10.0+ \
YSB 0:42a334c405de 106 (float)(latitude_str[3]-0x30)+ \
YSB 0:42a334c405de 107 (float)(latitude_str[5]-0x30)*0.1+ \
YSB 0:42a334c405de 108 (float)(latitude_str[6]-0x30)*0.01+ \
YSB 0:42a334c405de 109 (float)(latitude_str[7]-0x30)*0.001+ \
YSB 0:42a334c405de 110 (float)(latitude_str[8]-0x30)*0.0001)/60.0;
YSB 0:42a334c405de 111 longitude = (float)(longitude_str[0]-0x30)*100.0+ \
YSB 0:42a334c405de 112 (float)(longitude_str[1]-0x30)*10.0+ \
YSB 0:42a334c405de 113 (float)(longitude_str[2]-0x30)+ \
YSB 0:42a334c405de 114 ((float)(longitude_str[3]-0x30)*10.0+ \
YSB 0:42a334c405de 115 (float)(longitude_str[4]-0x30)+ \
YSB 0:42a334c405de 116 (float)(longitude_str[6]-0x30)*0.1+ \
YSB 0:42a334c405de 117 (float)(longitude_str[7]-0x30)*0.01+ \
YSB 0:42a334c405de 118 (float)(longitude_str[8]-0x30)*0.001+ \
YSB 0:42a334c405de 119 (float)(longitude_str[9]-0x30)*0.0001)/60.0;
YSB 0:42a334c405de 120 }
YSB 0:42a334c405de 121
YSB 0:42a334c405de 122 char* GPS::get_time(){
YSB 0:42a334c405de 123 return time_str;
YSB 0:42a334c405de 124 }
YSB 0:42a334c405de 125
YSB 0:42a334c405de 126 float GPS::get_latitude(){
YSB 0:42a334c405de 127 return latitude;
YSB 0:42a334c405de 128 }
YSB 0:42a334c405de 129
YSB 0:42a334c405de 130 char* GPS::get_str_latitude(){
YSB 0:42a334c405de 131 return latitude_str;
YSB 0:42a334c405de 132 }
YSB 0:42a334c405de 133
YSB 0:42a334c405de 134 float GPS::get_longitude(){
YSB 0:42a334c405de 135 return longitude;
YSB 0:42a334c405de 136 }
YSB 0:42a334c405de 137
YSB 0:42a334c405de 138 char* GPS::get_str_longitude(){
YSB 0:42a334c405de 139 return longitude_str;
YSB 0:42a334c405de 140 }
YSB 0:42a334c405de 141
YSB 0:42a334c405de 142 char GPS::get_states(){
YSB 0:42a334c405de 143 return states;
YSB 0:42a334c405de 144 }
YSB 0:42a334c405de 145
YSB 0:42a334c405de 146 float GPS::get_speed(){
YSB 0:42a334c405de 147 return speed;
YSB 0:42a334c405de 148 }