Diff: getGPS.cpp

Revision:

2:4a3a10bc7309

Parent:

0:030ffb18f36d

Child:

3:0ad6cc87d7cd

--- a/getGPS.cpp	Sat Jul 07 08:06:16 2018 +0000
+++ b/getGPS.cpp	Sat Jun 12 21:16:25 2021 +0000
@@ -3,8 +3,14 @@
 
 GPS::GPS(PinName gpstx,PinName gpsrx): _gps(gpstx,gpsrx)
 {
-    latitude = 0;
-    longitude = 0;
+    gpstime =0; //GPSから取得した時刻。
+    longitude =0;
+    latitude =0;
+    hdop =0; //位置情報精度
+    hight =0; //海抜高度
+    //GPVTG
+    direction =0; //進行方向(真北基準)
+    speed =0; //対地速度kmph
     _gps.baud(GPSBAUD);
     _gps.printf("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29");
 }
@@ -12,9 +18,13 @@
 bool GPS::getgps()
 {
     char gps_data[256];
-    int i;
+    char gpgga_data[256];
+    char gpvtg_data[256];
     
-    do {
+    int i;
+    int flag1 = 0; //GPGGA
+    int flag2 = 0; //GPVTG
+    for (int p=0; p<50; p++){
         while(_gps.getc() != '$'); //$マークまで読み飛ばし
         i = 0;
 
@@ -30,28 +40,53 @@
                 break;
             }
         }
-    } while(strstr(gps_data, "GPGGA") == NULL); //GGAセンテンスまで一行ずつ読み込み続ける
-    
+        if (strstr(gps_data, "GPGGA") != NULL){
+            strcpy(gpgga_data,gps_data);
+            flag1=1;
+        }
+        if(strstr(gps_data, "GPVTG") != NULL){
+            strcpy(gpvtg_data,gps_data);
+            flag2=1;
+        }
+        if (flag1 * flag2== 0){
+            break;
+        }
+    } //GPGGAとGPVTGが取得できるまで1行ずつ読む
+    //For GPGGA================================================================
     int rlock;
     char ns,ew;
     double w_time, raw_longitude, raw_latitude;
     int satnum;
-    double hdop;
 
-    if(sscanf(gps_data, "GPGGA, %lf, %lf, %c, %lf, %c, %d, %d, %lf", &w_time, &raw_latitude, &ns, &raw_longitude, &ew, &rlock, &satnum, &hdop) > 1) {
-        /* 座標1（度部分） */
+    if(sscanf(gpgga_data, "GPGGA,%lf,%lf,%c,%lf,%c,%d,%d,%lf,%lf", &w_time, &raw_latitude, &ns, &raw_longitude, &ew, &rlock, &satnum, &hdop, &hight) > 1) {
+        /* 座標を求める (度と分で分割して度にする。intは切り捨て)*/
         int latitude_dd = (int)(raw_latitude / 100);
         int longitude_dd = (int)(raw_longitude / 100);
-
-        /* 座標2（分部分 → 度） */
         int latitude_md = (raw_latitude - latitude_dd * 100) / 60;
         int longitude_md = (raw_longitude - longitude_dd * 100) / 60;
-
-        /* 座標1 + 2 */
         latitude = latitude_dd + latitude_md;
         longitude = longitude_dd + longitude_md;
-
+        flag1 = 1;
+    }else{
+        flag1 = 0; //GGAセンテンスの情報が欠けている時
+    }
+    
+    //For GPVTG================================================================
+    char c1, c2,c3;
+    double f1, f2, f3, f4;
+    if(sscanf(gpvtg_data, "GPVTG, %lf, %c, %lf, %c, %lf, %c, %lf", &f1, &c1, &f2, &c2, &f3, &c3, &f4)>1){
+        direction = f1;
+        speed = f4;
+        flag2 = 1;
+    }else{
+        flag2 = 0;
+    }
+    //return
+    if (flag1*flag2 ==1){
         return true;
-    } else
-        return false; //GGAセンテンスの情報が欠けている時
+    }else{
+        return false;
+    }
+    
+    
 }