GPS to Pulga
gps.txt@25:ecdee9ef9939, 2020-10-23 (annotated)
- Committer:
- pancotinho
- Date:
- Fri Oct 23 14:42:31 2020 +0000
- Revision:
- 25:ecdee9ef9939
- Child:
- 26:1e1776201716
Pulga com GPS;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pancotinho | 25:ecdee9ef9939 | 1 | |
pancotinho | 25:ecdee9ef9939 | 2 | #define SYNC1 0xB5 |
pancotinho | 25:ecdee9ef9939 | 3 | #define SYNC2 0x62 |
pancotinho | 25:ecdee9ef9939 | 4 | |
pancotinho | 25:ecdee9ef9939 | 5 | //GPS DEclaration |
pancotinho | 25:ecdee9ef9939 | 6 | SPI spi_2(P0_5, P0_7, P0_11); // mosi, miso, sclk |
pancotinho | 25:ecdee9ef9939 | 7 | DigitalOut cs(P0_30); |
pancotinho | 25:ecdee9ef9939 | 8 | DigitalOut gps_reset(P1_2); |
pancotinho | 25:ecdee9ef9939 | 9 | DigitalOut gps_int (P0_23); |
pancotinho | 25:ecdee9ef9939 | 10 | DigitalOut gps_DSEL (P0_27); |
pancotinho | 25:ecdee9ef9939 | 11 | |
pancotinho | 25:ecdee9ef9939 | 12 | |
pancotinho | 25:ecdee9ef9939 | 13 | |
pancotinho | 25:ecdee9ef9939 | 14 | |
pancotinho | 25:ecdee9ef9939 | 15 | |
pancotinho | 25:ecdee9ef9939 | 16 | typedef struct |
pancotinho | 25:ecdee9ef9939 | 17 | { |
pancotinho | 25:ecdee9ef9939 | 18 | uint8_t cls; |
pancotinho | 25:ecdee9ef9939 | 19 | uint8_t id; |
pancotinho | 25:ecdee9ef9939 | 20 | uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes |
pancotinho | 25:ecdee9ef9939 | 21 | uint8_t *payload; |
pancotinho | 25:ecdee9ef9939 | 22 | uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums. |
pancotinho | 25:ecdee9ef9939 | 23 | uint8_t checksumB; |
pancotinho | 25:ecdee9ef9939 | 24 | } gps_ubxPacket; |
pancotinho | 25:ecdee9ef9939 | 25 | |
pancotinho | 25:ecdee9ef9939 | 26 | typedef struct |
pancotinho | 25:ecdee9ef9939 | 27 | { |
pancotinho | 25:ecdee9ef9939 | 28 | uint32_t iTOW=0; |
pancotinho | 25:ecdee9ef9939 | 29 | uint16_t year=0; |
pancotinho | 25:ecdee9ef9939 | 30 | uint8_t month=0; |
pancotinho | 25:ecdee9ef9939 | 31 | uint8_t day=0; |
pancotinho | 25:ecdee9ef9939 | 32 | uint8_t hour=0; |
pancotinho | 25:ecdee9ef9939 | 33 | uint8_t min=0; |
pancotinho | 25:ecdee9ef9939 | 34 | uint8_t sec=0; |
pancotinho | 25:ecdee9ef9939 | 35 | int8_t valid=0; |
pancotinho | 25:ecdee9ef9939 | 36 | uint32_t tAcc=0; |
pancotinho | 25:ecdee9ef9939 | 37 | int32_t nano=0; |
pancotinho | 25:ecdee9ef9939 | 38 | uint8_t fixtype=0; |
pancotinho | 25:ecdee9ef9939 | 39 | int8_t flags=0; |
pancotinho | 25:ecdee9ef9939 | 40 | int8_t flags2=0; |
pancotinho | 25:ecdee9ef9939 | 41 | uint8_t numSV=0; |
pancotinho | 25:ecdee9ef9939 | 42 | int32_t lon=0; |
pancotinho | 25:ecdee9ef9939 | 43 | int32_t lat=0; |
pancotinho | 25:ecdee9ef9939 | 44 | int32_t height=0; |
pancotinho | 25:ecdee9ef9939 | 45 | int32_t hMSL=0; |
pancotinho | 25:ecdee9ef9939 | 46 | uint32_t hAcc=0; |
pancotinho | 25:ecdee9ef9939 | 47 | uint32_t vAcc=0; |
pancotinho | 25:ecdee9ef9939 | 48 | int32_t velN=0; |
pancotinho | 25:ecdee9ef9939 | 49 | int32_t velE=0; |
pancotinho | 25:ecdee9ef9939 | 50 | int32_t velD=0; |
pancotinho | 25:ecdee9ef9939 | 51 | int32_t gSpeed=0; |
pancotinho | 25:ecdee9ef9939 | 52 | int32_t headMot=0; |
pancotinho | 25:ecdee9ef9939 | 53 | uint32_t sAcc=0; |
pancotinho | 25:ecdee9ef9939 | 54 | uint32_t headAcc=0; |
pancotinho | 25:ecdee9ef9939 | 55 | uint16_t pDOP=0; |
pancotinho | 25:ecdee9ef9939 | 56 | int32_t headVeh; |
pancotinho | 25:ecdee9ef9939 | 57 | int16_t magDec; |
pancotinho | 25:ecdee9ef9939 | 58 | uint16_t magAcc; |
pancotinho | 25:ecdee9ef9939 | 59 | |
pancotinho | 25:ecdee9ef9939 | 60 | |
pancotinho | 25:ecdee9ef9939 | 61 | } gps_navPVT; |
pancotinho | 25:ecdee9ef9939 | 62 | |
pancotinho | 25:ecdee9ef9939 | 63 | |
pancotinho | 25:ecdee9ef9939 | 64 | void gps_leBootMsg(){ |
pancotinho | 25:ecdee9ef9939 | 65 | |
pancotinho | 25:ecdee9ef9939 | 66 | #define MAXIMUM_PACKET_SIZE 60 |
pancotinho | 25:ecdee9ef9939 | 67 | int packet_size; |
pancotinho | 25:ecdee9ef9939 | 68 | uint8_t packet[MAXIMUM_PACKET_SIZE]; |
pancotinho | 25:ecdee9ef9939 | 69 | uint8_t value; |
pancotinho | 25:ecdee9ef9939 | 70 | int cont; |
pancotinho | 25:ecdee9ef9939 | 71 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 72 | |
pancotinho | 25:ecdee9ef9939 | 73 | while (value != '$' ){ //wait start boot msg |
pancotinho | 25:ecdee9ef9939 | 74 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 75 | wait_ms(5); |
pancotinho | 25:ecdee9ef9939 | 76 | cont++; |
pancotinho | 25:ecdee9ef9939 | 77 | if (cont > 100){ |
pancotinho | 25:ecdee9ef9939 | 78 | printf("\n no response \n"); |
pancotinho | 25:ecdee9ef9939 | 79 | return; |
pancotinho | 25:ecdee9ef9939 | 80 | } |
pancotinho | 25:ecdee9ef9939 | 81 | } |
pancotinho | 25:ecdee9ef9939 | 82 | packet[0] = value; |
pancotinho | 25:ecdee9ef9939 | 83 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 84 | for (packet_size = 1 ; packet_size <= MAXIMUM_PACKET_SIZE ;packet_size++) { |
pancotinho | 25:ecdee9ef9939 | 85 | if (value != '\n' ){ |
pancotinho | 25:ecdee9ef9939 | 86 | packet [packet_size]= value; |
pancotinho | 25:ecdee9ef9939 | 87 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 88 | } |
pancotinho | 25:ecdee9ef9939 | 89 | else { |
pancotinho | 25:ecdee9ef9939 | 90 | //lora_send_packet (packet , (uint8_t) packet_size+1); // manda atraves do lora a mensagem de boot do gps |
pancotinho | 25:ecdee9ef9939 | 91 | printf("Boot msg: %s \n", packet); |
pancotinho | 25:ecdee9ef9939 | 92 | return; |
pancotinho | 25:ecdee9ef9939 | 93 | } |
pancotinho | 25:ecdee9ef9939 | 94 | |
pancotinho | 25:ecdee9ef9939 | 95 | } |
pancotinho | 25:ecdee9ef9939 | 96 | |
pancotinho | 25:ecdee9ef9939 | 97 | } |
pancotinho | 25:ecdee9ef9939 | 98 | |
pancotinho | 25:ecdee9ef9939 | 99 | void gps_le_envia_linha(){ |
pancotinho | 25:ecdee9ef9939 | 100 | |
pancotinho | 25:ecdee9ef9939 | 101 | uint8_t packet[150]; |
pancotinho | 25:ecdee9ef9939 | 102 | uint8_t value; |
pancotinho | 25:ecdee9ef9939 | 103 | |
pancotinho | 25:ecdee9ef9939 | 104 | for (int i=0;i < 149; i++){ |
pancotinho | 25:ecdee9ef9939 | 105 | if (value == '\n'){ |
pancotinho | 25:ecdee9ef9939 | 106 | //lora_send_packet (packet , (uint8_t) i); |
pancotinho | 25:ecdee9ef9939 | 107 | return; |
pancotinho | 25:ecdee9ef9939 | 108 | } |
pancotinho | 25:ecdee9ef9939 | 109 | else packet [i] =value; |
pancotinho | 25:ecdee9ef9939 | 110 | } |
pancotinho | 25:ecdee9ef9939 | 111 | //lora_send_packet (packet , (uint8_t) 99); |
pancotinho | 25:ecdee9ef9939 | 112 | |
pancotinho | 25:ecdee9ef9939 | 113 | } |
pancotinho | 25:ecdee9ef9939 | 114 | |
pancotinho | 25:ecdee9ef9939 | 115 | |
pancotinho | 25:ecdee9ef9939 | 116 | gps_ubxPacket gps_calcula_check(gps_ubxPacket Packet) { |
pancotinho | 25:ecdee9ef9939 | 117 | |
pancotinho | 25:ecdee9ef9939 | 118 | uint8_t Buffer[Packet.len + 4]; |
pancotinho | 25:ecdee9ef9939 | 119 | uint8_t CK_A=0; |
pancotinho | 25:ecdee9ef9939 | 120 | uint8_t CK_B=0; |
pancotinho | 25:ecdee9ef9939 | 121 | |
pancotinho | 25:ecdee9ef9939 | 122 | Buffer[0]= Packet.cls; |
pancotinho | 25:ecdee9ef9939 | 123 | Buffer[1]= Packet.id; |
pancotinho | 25:ecdee9ef9939 | 124 | Buffer[2]= Packet.len & 0xFF; |
pancotinho | 25:ecdee9ef9939 | 125 | Buffer[3]= (Packet.len >> 8)& 0xFF;; |
pancotinho | 25:ecdee9ef9939 | 126 | |
pancotinho | 25:ecdee9ef9939 | 127 | //send_packet (Buffer, (uint8_t) 4 ); |
pancotinho | 25:ecdee9ef9939 | 128 | |
pancotinho | 25:ecdee9ef9939 | 129 | for (uint16_t i = 0; i < Packet.len; i++) { |
pancotinho | 25:ecdee9ef9939 | 130 | Buffer [i+4] = Packet.payload[i] ; |
pancotinho | 25:ecdee9ef9939 | 131 | } |
pancotinho | 25:ecdee9ef9939 | 132 | |
pancotinho | 25:ecdee9ef9939 | 133 | //send_packet (Buffer, (uint8_t) Packet.len + 4 ); |
pancotinho | 25:ecdee9ef9939 | 134 | |
pancotinho | 25:ecdee9ef9939 | 135 | for(int i=0 ; i < Packet.len + 4 ; i++) { |
pancotinho | 25:ecdee9ef9939 | 136 | CK_A = CK_A + Buffer[i]; |
pancotinho | 25:ecdee9ef9939 | 137 | CK_B = CK_B + CK_A; |
pancotinho | 25:ecdee9ef9939 | 138 | CK_A = CK_A & 0xFF; |
pancotinho | 25:ecdee9ef9939 | 139 | CK_B = CK_B & 0xFF; |
pancotinho | 25:ecdee9ef9939 | 140 | //uint8_t packet_check[5] ={Buffer[i],(uint8_t) (i+1),CK_A,CK_B,'#'}; |
pancotinho | 25:ecdee9ef9939 | 141 | // send_packet (packet_check , (uint8_t) 5); |
pancotinho | 25:ecdee9ef9939 | 142 | } |
pancotinho | 25:ecdee9ef9939 | 143 | |
pancotinho | 25:ecdee9ef9939 | 144 | |
pancotinho | 25:ecdee9ef9939 | 145 | // uint8_t packet_check[2] ={CK_A, CK_B}; |
pancotinho | 25:ecdee9ef9939 | 146 | // send_packet (packet_check , (uint8_t) 2); |
pancotinho | 25:ecdee9ef9939 | 147 | |
pancotinho | 25:ecdee9ef9939 | 148 | Packet.checksumA = CK_A; |
pancotinho | 25:ecdee9ef9939 | 149 | Packet.checksumB = CK_B; |
pancotinho | 25:ecdee9ef9939 | 150 | |
pancotinho | 25:ecdee9ef9939 | 151 | return Packet; |
pancotinho | 25:ecdee9ef9939 | 152 | |
pancotinho | 25:ecdee9ef9939 | 153 | } |
pancotinho | 25:ecdee9ef9939 | 154 | |
pancotinho | 25:ecdee9ef9939 | 155 | void send_gps_packet(gps_ubxPacket packet){ |
pancotinho | 25:ecdee9ef9939 | 156 | |
pancotinho | 25:ecdee9ef9939 | 157 | spi_2.write(SYNC1); |
pancotinho | 25:ecdee9ef9939 | 158 | spi_2.write(SYNC2); |
pancotinho | 25:ecdee9ef9939 | 159 | spi_2.write(packet.cls); |
pancotinho | 25:ecdee9ef9939 | 160 | spi_2.write(packet.id); |
pancotinho | 25:ecdee9ef9939 | 161 | spi_2.write(packet.len & 0xFF); |
pancotinho | 25:ecdee9ef9939 | 162 | spi_2.write((packet.len >> 8)& 0xFF); |
pancotinho | 25:ecdee9ef9939 | 163 | |
pancotinho | 25:ecdee9ef9939 | 164 | for (uint16_t i = 0; i < packet.len; i++) { |
pancotinho | 25:ecdee9ef9939 | 165 | spi_2.write(packet.payload[i]); |
pancotinho | 25:ecdee9ef9939 | 166 | } |
pancotinho | 25:ecdee9ef9939 | 167 | spi_2.write(packet.checksumA); |
pancotinho | 25:ecdee9ef9939 | 168 | spi_2.write(packet.checksumB); |
pancotinho | 25:ecdee9ef9939 | 169 | |
pancotinho | 25:ecdee9ef9939 | 170 | //=============imprime resposta |
pancotinho | 25:ecdee9ef9939 | 171 | wait_ms(50); |
pancotinho | 25:ecdee9ef9939 | 172 | gps_le_envia_linha(); |
pancotinho | 25:ecdee9ef9939 | 173 | gps_le_envia_linha(); |
pancotinho | 25:ecdee9ef9939 | 174 | |
pancotinho | 25:ecdee9ef9939 | 175 | } |
pancotinho | 25:ecdee9ef9939 | 176 | |
pancotinho | 25:ecdee9ef9939 | 177 | gps_navPVT le_nav_pvt () { |
pancotinho | 25:ecdee9ef9939 | 178 | |
pancotinho | 25:ecdee9ef9939 | 179 | gps_navPVT Pac; |
pancotinho | 25:ecdee9ef9939 | 180 | |
pancotinho | 25:ecdee9ef9939 | 181 | char state = 0; |
pancotinho | 25:ecdee9ef9939 | 182 | int cont =0; |
pancotinho | 25:ecdee9ef9939 | 183 | int numb=0; |
pancotinho | 25:ecdee9ef9939 | 184 | |
pancotinho | 25:ecdee9ef9939 | 185 | while (1){ //começou mensagem |
pancotinho | 25:ecdee9ef9939 | 186 | if (cont > 100) { |
pancotinho | 25:ecdee9ef9939 | 187 | // BMX160_read_acc(); |
pancotinho | 25:ecdee9ef9939 | 188 | return Pac; |
pancotinho | 25:ecdee9ef9939 | 189 | } |
pancotinho | 25:ecdee9ef9939 | 190 | if (state == 0 ){ |
pancotinho | 25:ecdee9ef9939 | 191 | |
pancotinho | 25:ecdee9ef9939 | 192 | if ( spi_2.write(0x00) == 0xB5){ |
pancotinho | 25:ecdee9ef9939 | 193 | state =1; |
pancotinho | 25:ecdee9ef9939 | 194 | } |
pancotinho | 25:ecdee9ef9939 | 195 | else { |
pancotinho | 25:ecdee9ef9939 | 196 | cont++; |
pancotinho | 25:ecdee9ef9939 | 197 | wait_ms(40); |
pancotinho | 25:ecdee9ef9939 | 198 | } |
pancotinho | 25:ecdee9ef9939 | 199 | |
pancotinho | 25:ecdee9ef9939 | 200 | } |
pancotinho | 25:ecdee9ef9939 | 201 | else if (state == 1){ // read 0xb5 |
pancotinho | 25:ecdee9ef9939 | 202 | if (spi_2.write(0x00) == 0x62){ |
pancotinho | 25:ecdee9ef9939 | 203 | state =2; |
pancotinho | 25:ecdee9ef9939 | 204 | //wait_ms(30); |
pancotinho | 25:ecdee9ef9939 | 205 | } |
pancotinho | 25:ecdee9ef9939 | 206 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 207 | } |
pancotinho | 25:ecdee9ef9939 | 208 | else if (state == 2) {// read 0xb5 0x62 |
pancotinho | 25:ecdee9ef9939 | 209 | if (spi_2.write(0x00) == 0x01){ |
pancotinho | 25:ecdee9ef9939 | 210 | printf("le_nav_pvt going to state 3"); |
pancotinho | 25:ecdee9ef9939 | 211 | state =3; |
pancotinho | 25:ecdee9ef9939 | 212 | //wait_ms(30); |
pancotinho | 25:ecdee9ef9939 | 213 | } |
pancotinho | 25:ecdee9ef9939 | 214 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 215 | } |
pancotinho | 25:ecdee9ef9939 | 216 | else if (state == 3) {// read 0xb5 0x62 0x01 |
pancotinho | 25:ecdee9ef9939 | 217 | if (spi_2.write(0x00) == 0x07){ |
pancotinho | 25:ecdee9ef9939 | 218 | state =4; |
pancotinho | 25:ecdee9ef9939 | 219 | printf("le_nav_pvt going to state 4"); |
pancotinho | 25:ecdee9ef9939 | 220 | //wait_ms(30); |
pancotinho | 25:ecdee9ef9939 | 221 | } |
pancotinho | 25:ecdee9ef9939 | 222 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 223 | } |
pancotinho | 25:ecdee9ef9939 | 224 | else if (state == 4) {// read 0xb5 0x62 0x01 0x07 |
pancotinho | 25:ecdee9ef9939 | 225 | if (spi_2.write(0x00) == 0x5c){ |
pancotinho | 25:ecdee9ef9939 | 226 | state =5; |
pancotinho | 25:ecdee9ef9939 | 227 | printf("le_nav_pvt going to state 5"); |
pancotinho | 25:ecdee9ef9939 | 228 | //wait_ms(30); |
pancotinho | 25:ecdee9ef9939 | 229 | } |
pancotinho | 25:ecdee9ef9939 | 230 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 231 | } |
pancotinho | 25:ecdee9ef9939 | 232 | else if (state == 5) {// read 0xb5 0x62 0x01 0x07 0x5c |
pancotinho | 25:ecdee9ef9939 | 233 | if (spi_2.write(0x00) == 0x00){ |
pancotinho | 25:ecdee9ef9939 | 234 | state =6; |
pancotinho | 25:ecdee9ef9939 | 235 | printf("le_nav_pvt going to state 6"); |
pancotinho | 25:ecdee9ef9939 | 236 | //wait_ms(30); |
pancotinho | 25:ecdee9ef9939 | 237 | } |
pancotinho | 25:ecdee9ef9939 | 238 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 239 | } |
pancotinho | 25:ecdee9ef9939 | 240 | else if (state == 6){ // read 0xb5 0x62 0x01 0x07 0x5c 0x00 |
pancotinho | 25:ecdee9ef9939 | 241 | uint8_t value1,value2,value3,value4; |
pancotinho | 25:ecdee9ef9939 | 242 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 243 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 244 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 245 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 246 | Pac.iTOW = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 247 | |
pancotinho | 25:ecdee9ef9939 | 248 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 249 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 250 | Pac.year = (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 251 | |
pancotinho | 25:ecdee9ef9939 | 252 | Pac.month = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 253 | Pac.day = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 254 | Pac.hour = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 255 | Pac.min = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 256 | Pac.sec = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 257 | Pac.valid = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 258 | |
pancotinho | 25:ecdee9ef9939 | 259 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 260 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 261 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 262 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 263 | Pac.tAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 264 | |
pancotinho | 25:ecdee9ef9939 | 265 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 266 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 267 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 268 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 269 | Pac.nano = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 270 | |
pancotinho | 25:ecdee9ef9939 | 271 | Pac.fixtype = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 272 | Pac.flags = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 273 | Pac.flags2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 274 | Pac.numSV = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 275 | |
pancotinho | 25:ecdee9ef9939 | 276 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 277 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 278 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 279 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 280 | Pac.lon = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 281 | lon= (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 282 | printf("Long Data %d \n ", lon); |
pancotinho | 25:ecdee9ef9939 | 283 | |
pancotinho | 25:ecdee9ef9939 | 284 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 285 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 286 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 287 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 288 | Pac.lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 289 | lat = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 290 | printf("Lat Data %d", lat); |
pancotinho | 25:ecdee9ef9939 | 291 | |
pancotinho | 25:ecdee9ef9939 | 292 | |
pancotinho | 25:ecdee9ef9939 | 293 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 294 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 295 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 296 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 297 | Pac.height = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 298 | |
pancotinho | 25:ecdee9ef9939 | 299 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 300 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 301 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 302 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 303 | Pac.hMSL = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 304 | |
pancotinho | 25:ecdee9ef9939 | 305 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 306 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 307 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 308 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 309 | Pac.hAcc = (value4 << 24) + (value3 <<16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 310 | |
pancotinho | 25:ecdee9ef9939 | 311 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 312 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 313 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 314 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 315 | Pac.vAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 316 | |
pancotinho | 25:ecdee9ef9939 | 317 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 318 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 319 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 320 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 321 | Pac.velN = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 322 | |
pancotinho | 25:ecdee9ef9939 | 323 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 324 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 325 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 326 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 327 | Pac.velE = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 328 | |
pancotinho | 25:ecdee9ef9939 | 329 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 330 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 331 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 332 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 333 | Pac.velD = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 334 | |
pancotinho | 25:ecdee9ef9939 | 335 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 336 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 337 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 338 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 339 | Pac.gSpeed = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 340 | |
pancotinho | 25:ecdee9ef9939 | 341 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 342 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 343 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 344 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 345 | Pac.headMot = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 346 | |
pancotinho | 25:ecdee9ef9939 | 347 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 348 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 349 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 350 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 351 | Pac.sAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 352 | |
pancotinho | 25:ecdee9ef9939 | 353 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 354 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 355 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 356 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 357 | Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 358 | |
pancotinho | 25:ecdee9ef9939 | 359 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 360 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 361 | Pac.pDOP = (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 362 | |
pancotinho | 25:ecdee9ef9939 | 363 | for (int i=0; i < 6; i++)spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 364 | |
pancotinho | 25:ecdee9ef9939 | 365 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 366 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 367 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 368 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 369 | Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 370 | |
pancotinho | 25:ecdee9ef9939 | 371 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 372 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 373 | value3 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 374 | value4 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 375 | Pac.headAcc = (value4 << 24) + (value3 << 16) + (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 376 | |
pancotinho | 25:ecdee9ef9939 | 377 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 378 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 379 | Pac.magDec = (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 380 | |
pancotinho | 25:ecdee9ef9939 | 381 | value1 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 382 | value2 = 0xff & spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 383 | Pac.magAcc = (value2 << 8) + value1; |
pancotinho | 25:ecdee9ef9939 | 384 | |
pancotinho | 25:ecdee9ef9939 | 385 | |
pancotinho | 25:ecdee9ef9939 | 386 | return Pac; |
pancotinho | 25:ecdee9ef9939 | 387 | } |
pancotinho | 25:ecdee9ef9939 | 388 | } |
pancotinho | 25:ecdee9ef9939 | 389 | wait_ms(100); |
pancotinho | 25:ecdee9ef9939 | 390 | } |
pancotinho | 25:ecdee9ef9939 | 391 | |
pancotinho | 25:ecdee9ef9939 | 392 | void send_nav_pvt (){ |
pancotinho | 25:ecdee9ef9939 | 393 | uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19}; |
pancotinho | 25:ecdee9ef9939 | 394 | |
pancotinho | 25:ecdee9ef9939 | 395 | //=============envia pacote nav pvt |
pancotinho | 25:ecdee9ef9939 | 396 | for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){ |
pancotinho | 25:ecdee9ef9939 | 397 | spi_2.write(packet_nav_pvt[i]); |
pancotinho | 25:ecdee9ef9939 | 398 | wait_ms(5); |
pancotinho | 25:ecdee9ef9939 | 399 | } |
pancotinho | 25:ecdee9ef9939 | 400 | |
pancotinho | 25:ecdee9ef9939 | 401 | gps_navPVT Data = le_nav_pvt(); |
pancotinho | 25:ecdee9ef9939 | 402 | |
pancotinho | 25:ecdee9ef9939 | 403 | uint8_t packet [100]; |
pancotinho | 25:ecdee9ef9939 | 404 | |
pancotinho | 25:ecdee9ef9939 | 405 | packet [0]= (Data.lon >> 24)& 0xff; |
pancotinho | 25:ecdee9ef9939 | 406 | packet [1]= (Data.lon >> 16) & 0xff ; |
pancotinho | 25:ecdee9ef9939 | 407 | packet [2]= (Data.lon >> 8) & 0xff; |
pancotinho | 25:ecdee9ef9939 | 408 | packet [3]= Data.lon & 0xff; |
pancotinho | 25:ecdee9ef9939 | 409 | packet [4]= (Data.lat >> 24)& 0xff; |
pancotinho | 25:ecdee9ef9939 | 410 | packet [5]= (Data.lat >> 16) & 0xff ; |
pancotinho | 25:ecdee9ef9939 | 411 | packet [6]= (Data.lat >> 8) & 0xff; |
pancotinho | 25:ecdee9ef9939 | 412 | packet [7]= Data.lat & 0xff; |
pancotinho | 25:ecdee9ef9939 | 413 | packet [8]= (Data.hMSL >> 24)& 0xff; |
pancotinho | 25:ecdee9ef9939 | 414 | packet [9]= (Data.hMSL >> 16) & 0xff ; |
pancotinho | 25:ecdee9ef9939 | 415 | packet [10]= (Data.hMSL >> 8) & 0xff; |
pancotinho | 25:ecdee9ef9939 | 416 | packet [11]= Data.hMSL & 0xff; |
pancotinho | 25:ecdee9ef9939 | 417 | |
pancotinho | 25:ecdee9ef9939 | 418 | if (Data.lon !=0 || Data.lat !=0 ){ |
pancotinho | 25:ecdee9ef9939 | 419 | //lora_send_packet (packet , (uint8_t) 12); |
pancotinho | 25:ecdee9ef9939 | 420 | } |
pancotinho | 25:ecdee9ef9939 | 421 | } |
pancotinho | 25:ecdee9ef9939 | 422 | |
pancotinho | 25:ecdee9ef9939 | 423 | void send_gps_data(uint8_t *packet, uint8_t size){ |
pancotinho | 25:ecdee9ef9939 | 424 | uint8_t packet_rec[size]; |
pancotinho | 25:ecdee9ef9939 | 425 | for ( int i=0; i< size ; i++){ |
pancotinho | 25:ecdee9ef9939 | 426 | spi_2.write(packet[i]); |
pancotinho | 25:ecdee9ef9939 | 427 | |
pancotinho | 25:ecdee9ef9939 | 428 | //wait_ms(5); |
pancotinho | 25:ecdee9ef9939 | 429 | } |
pancotinho | 25:ecdee9ef9939 | 430 | //send_packet (packet_rec ,size); |
pancotinho | 25:ecdee9ef9939 | 431 | } |
pancotinho | 25:ecdee9ef9939 | 432 | |
pancotinho | 25:ecdee9ef9939 | 433 | /* |
pancotinho | 25:ecdee9ef9939 | 434 | void wait_packet (uint8_t *header) { |
pancotinho | 25:ecdee9ef9939 | 435 | |
pancotinho | 25:ecdee9ef9939 | 436 | char state = 0; |
pancotinho | 25:ecdee9ef9939 | 437 | int cont =0; |
pancotinho | 25:ecdee9ef9939 | 438 | |
pancotinho | 25:ecdee9ef9939 | 439 | while (1){ //começou mensagem |
pancotinho | 25:ecdee9ef9939 | 440 | if (cont > 250) { |
pancotinho | 25:ecdee9ef9939 | 441 | //led2=!led2; |
pancotinho | 25:ecdee9ef9939 | 442 | return; |
pancotinho | 25:ecdee9ef9939 | 443 | } |
pancotinho | 25:ecdee9ef9939 | 444 | if (state == 0 ){ |
pancotinho | 25:ecdee9ef9939 | 445 | if (spi_2.write(0x00) == header[0]) |
pancotinho | 25:ecdee9ef9939 | 446 | state =1; |
pancotinho | 25:ecdee9ef9939 | 447 | else { |
pancotinho | 25:ecdee9ef9939 | 448 | cont++; |
pancotinho | 25:ecdee9ef9939 | 449 | wait_ms(10); |
pancotinho | 25:ecdee9ef9939 | 450 | } |
pancotinho | 25:ecdee9ef9939 | 451 | |
pancotinho | 25:ecdee9ef9939 | 452 | |
pancotinho | 25:ecdee9ef9939 | 453 | } |
pancotinho | 25:ecdee9ef9939 | 454 | else if (state == 1){ // read 0xb5 |
pancotinho | 25:ecdee9ef9939 | 455 | if (spi_2.write(0x00) == header[1]){ |
pancotinho | 25:ecdee9ef9939 | 456 | state =2; |
pancotinho | 25:ecdee9ef9939 | 457 | } |
pancotinho | 25:ecdee9ef9939 | 458 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 459 | } |
pancotinho | 25:ecdee9ef9939 | 460 | else if (state == 2) {// read 0xb5 0x62 |
pancotinho | 25:ecdee9ef9939 | 461 | if (spi_2.write(0x00) == header[2]){ |
pancotinho | 25:ecdee9ef9939 | 462 | state =3; |
pancotinho | 25:ecdee9ef9939 | 463 | } |
pancotinho | 25:ecdee9ef9939 | 464 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 465 | } |
pancotinho | 25:ecdee9ef9939 | 466 | else if (state == 3) {// read 0xb5 0x62 0x06 |
pancotinho | 25:ecdee9ef9939 | 467 | if (spi_2.write(0x00) == header[3]){ |
pancotinho | 25:ecdee9ef9939 | 468 | state =4; |
pancotinho | 25:ecdee9ef9939 | 469 | } |
pancotinho | 25:ecdee9ef9939 | 470 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 471 | } |
pancotinho | 25:ecdee9ef9939 | 472 | else if (state == 4) {// read 0xb5 0x62 0x06 0x013 |
pancotinho | 25:ecdee9ef9939 | 473 | |
pancotinho | 25:ecdee9ef9939 | 474 | uint8_t packet[100]; |
pancotinho | 25:ecdee9ef9939 | 475 | uint8_t value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 476 | uint8_t packet_size; |
pancotinho | 25:ecdee9ef9939 | 477 | |
pancotinho | 25:ecdee9ef9939 | 478 | for (packet_size = 0 ; packet_size < 100 ;packet_size++) { |
pancotinho | 25:ecdee9ef9939 | 479 | if (value != '\n' ){ |
pancotinho | 25:ecdee9ef9939 | 480 | packet [packet_size]= value; |
pancotinho | 25:ecdee9ef9939 | 481 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 482 | } |
pancotinho | 25:ecdee9ef9939 | 483 | else { |
pancotinho | 25:ecdee9ef9939 | 484 | lora_send_packet (packet , (uint8_t) packet_size+1); |
pancotinho | 25:ecdee9ef9939 | 485 | //packet_size = MAXIMUM_PACKET_SIZE +1; |
pancotinho | 25:ecdee9ef9939 | 486 | return; |
pancotinho | 25:ecdee9ef9939 | 487 | } |
pancotinho | 25:ecdee9ef9939 | 488 | } |
pancotinho | 25:ecdee9ef9939 | 489 | |
pancotinho | 25:ecdee9ef9939 | 490 | } |
pancotinho | 25:ecdee9ef9939 | 491 | } |
pancotinho | 25:ecdee9ef9939 | 492 | }*/ |
pancotinho | 25:ecdee9ef9939 | 493 | |
pancotinho | 25:ecdee9ef9939 | 494 | void wait_packet_byte (uint8_t *header, uint8_t byte) { |
pancotinho | 25:ecdee9ef9939 | 495 | |
pancotinho | 25:ecdee9ef9939 | 496 | char state = 0; |
pancotinho | 25:ecdee9ef9939 | 497 | int cont =0; |
pancotinho | 25:ecdee9ef9939 | 498 | |
pancotinho | 25:ecdee9ef9939 | 499 | while (1){ //começou mensagem |
pancotinho | 25:ecdee9ef9939 | 500 | if (cont > 250) { |
pancotinho | 25:ecdee9ef9939 | 501 | //led2=!led2; |
pancotinho | 25:ecdee9ef9939 | 502 | return; |
pancotinho | 25:ecdee9ef9939 | 503 | } |
pancotinho | 25:ecdee9ef9939 | 504 | if (state == 0 ){ |
pancotinho | 25:ecdee9ef9939 | 505 | if (spi_2.write(0x00) == header[0]) |
pancotinho | 25:ecdee9ef9939 | 506 | state =1; |
pancotinho | 25:ecdee9ef9939 | 507 | else { |
pancotinho | 25:ecdee9ef9939 | 508 | cont++; |
pancotinho | 25:ecdee9ef9939 | 509 | wait_ms(10); |
pancotinho | 25:ecdee9ef9939 | 510 | } |
pancotinho | 25:ecdee9ef9939 | 511 | |
pancotinho | 25:ecdee9ef9939 | 512 | |
pancotinho | 25:ecdee9ef9939 | 513 | } |
pancotinho | 25:ecdee9ef9939 | 514 | else if (state == 1){ // read 0xb5 |
pancotinho | 25:ecdee9ef9939 | 515 | if (spi_2.write(0x00) == header[1]){ |
pancotinho | 25:ecdee9ef9939 | 516 | state =2; |
pancotinho | 25:ecdee9ef9939 | 517 | } |
pancotinho | 25:ecdee9ef9939 | 518 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 519 | } |
pancotinho | 25:ecdee9ef9939 | 520 | else if (state == 2) {// read 0xb5 0x62 |
pancotinho | 25:ecdee9ef9939 | 521 | if (spi_2.write(0x00) == header[2]){ |
pancotinho | 25:ecdee9ef9939 | 522 | state =3; |
pancotinho | 25:ecdee9ef9939 | 523 | } |
pancotinho | 25:ecdee9ef9939 | 524 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 525 | } |
pancotinho | 25:ecdee9ef9939 | 526 | else if (state == 3) {// read 0xb5 0x62 0x06 |
pancotinho | 25:ecdee9ef9939 | 527 | if (spi_2.write(0x00) == header[3]){ |
pancotinho | 25:ecdee9ef9939 | 528 | state =4; |
pancotinho | 25:ecdee9ef9939 | 529 | } |
pancotinho | 25:ecdee9ef9939 | 530 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 531 | } |
pancotinho | 25:ecdee9ef9939 | 532 | else if (state == 4) {// read 0xb5 0x62 0x06 0x013 |
pancotinho | 25:ecdee9ef9939 | 533 | |
pancotinho | 25:ecdee9ef9939 | 534 | if (byte == 0){//mostrar todo o pacote |
pancotinho | 25:ecdee9ef9939 | 535 | uint8_t packet[100]; |
pancotinho | 25:ecdee9ef9939 | 536 | uint8_t value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 537 | uint8_t packet_size; |
pancotinho | 25:ecdee9ef9939 | 538 | |
pancotinho | 25:ecdee9ef9939 | 539 | for (packet_size = 0 ; packet_size < 100 ;packet_size++) { |
pancotinho | 25:ecdee9ef9939 | 540 | if (value != '\n' ){ |
pancotinho | 25:ecdee9ef9939 | 541 | packet [packet_size]= value; |
pancotinho | 25:ecdee9ef9939 | 542 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 543 | } |
pancotinho | 25:ecdee9ef9939 | 544 | else { |
pancotinho | 25:ecdee9ef9939 | 545 | //lora_send_packet (packet , (uint8_t) packet_size+1); |
pancotinho | 25:ecdee9ef9939 | 546 | //packet_size = MAXIMUM_PACKET_SIZE +1; |
pancotinho | 25:ecdee9ef9939 | 547 | return; |
pancotinho | 25:ecdee9ef9939 | 548 | } |
pancotinho | 25:ecdee9ef9939 | 549 | }//fim for |
pancotinho | 25:ecdee9ef9939 | 550 | }//fim if byte |
pancotinho | 25:ecdee9ef9939 | 551 | |
pancotinho | 25:ecdee9ef9939 | 552 | else {//mostrar apenas um byte |
pancotinho | 25:ecdee9ef9939 | 553 | |
pancotinho | 25:ecdee9ef9939 | 554 | |
pancotinho | 25:ecdee9ef9939 | 555 | for (int i = 0 ; i < byte-1 ;i++) |
pancotinho | 25:ecdee9ef9939 | 556 | spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 557 | |
pancotinho | 25:ecdee9ef9939 | 558 | uint8_t packet[]={(uint8_t)99,(uint8_t)spi_2.write(0x00)}; |
pancotinho | 25:ecdee9ef9939 | 559 | //lora_send_packet (packet , (uint8_t) 2); |
pancotinho | 25:ecdee9ef9939 | 560 | |
pancotinho | 25:ecdee9ef9939 | 561 | |
pancotinho | 25:ecdee9ef9939 | 562 | for (int i = 0 ; i < 100 ;i++) |
pancotinho | 25:ecdee9ef9939 | 563 | if (spi_2.write(0x00) == '\n') |
pancotinho | 25:ecdee9ef9939 | 564 | return; |
pancotinho | 25:ecdee9ef9939 | 565 | |
pancotinho | 25:ecdee9ef9939 | 566 | return; |
pancotinho | 25:ecdee9ef9939 | 567 | |
pancotinho | 25:ecdee9ef9939 | 568 | }//fim else byte |
pancotinho | 25:ecdee9ef9939 | 569 | |
pancotinho | 25:ecdee9ef9939 | 570 | } |
pancotinho | 25:ecdee9ef9939 | 571 | |
pancotinho | 25:ecdee9ef9939 | 572 | } |
pancotinho | 25:ecdee9ef9939 | 573 | |
pancotinho | 25:ecdee9ef9939 | 574 | } |
pancotinho | 25:ecdee9ef9939 | 575 | |
pancotinho | 25:ecdee9ef9939 | 576 | |
pancotinho | 25:ecdee9ef9939 | 577 | void gps_wait_same_packet () { |
pancotinho | 25:ecdee9ef9939 | 578 | |
pancotinho | 25:ecdee9ef9939 | 579 | char state = 0; |
pancotinho | 25:ecdee9ef9939 | 580 | int cont =0; |
pancotinho | 25:ecdee9ef9939 | 581 | |
pancotinho | 25:ecdee9ef9939 | 582 | while (1){ //começou mensagem |
pancotinho | 25:ecdee9ef9939 | 583 | if (cont > 250) { |
pancotinho | 25:ecdee9ef9939 | 584 | //led2=!led2; |
pancotinho | 25:ecdee9ef9939 | 585 | return; |
pancotinho | 25:ecdee9ef9939 | 586 | } |
pancotinho | 25:ecdee9ef9939 | 587 | if (state == 0 ){ |
pancotinho | 25:ecdee9ef9939 | 588 | if (spi_2.write(0x00) == 0xb5) |
pancotinho | 25:ecdee9ef9939 | 589 | state =1; |
pancotinho | 25:ecdee9ef9939 | 590 | else { |
pancotinho | 25:ecdee9ef9939 | 591 | cont++; |
pancotinho | 25:ecdee9ef9939 | 592 | wait_ms(10); |
pancotinho | 25:ecdee9ef9939 | 593 | } |
pancotinho | 25:ecdee9ef9939 | 594 | |
pancotinho | 25:ecdee9ef9939 | 595 | |
pancotinho | 25:ecdee9ef9939 | 596 | } |
pancotinho | 25:ecdee9ef9939 | 597 | else if (state == 1){ // read 0xb5 |
pancotinho | 25:ecdee9ef9939 | 598 | if (spi_2.write(0x00) == 0x62){ |
pancotinho | 25:ecdee9ef9939 | 599 | state =2; |
pancotinho | 25:ecdee9ef9939 | 600 | } |
pancotinho | 25:ecdee9ef9939 | 601 | else state =0; |
pancotinho | 25:ecdee9ef9939 | 602 | } |
pancotinho | 25:ecdee9ef9939 | 603 | else if (state == 2){ |
pancotinho | 25:ecdee9ef9939 | 604 | uint8_t packet[200]; |
pancotinho | 25:ecdee9ef9939 | 605 | uint8_t value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 606 | uint8_t packet_size; |
pancotinho | 25:ecdee9ef9939 | 607 | |
pancotinho | 25:ecdee9ef9939 | 608 | for (packet_size = 0 ; packet_size < 200 ;packet_size++) { |
pancotinho | 25:ecdee9ef9939 | 609 | if (value != '\n' ){ |
pancotinho | 25:ecdee9ef9939 | 610 | packet [packet_size]= value; |
pancotinho | 25:ecdee9ef9939 | 611 | value = spi_2.write(0x00); |
pancotinho | 25:ecdee9ef9939 | 612 | } |
pancotinho | 25:ecdee9ef9939 | 613 | else { |
pancotinho | 25:ecdee9ef9939 | 614 | //lora_send_packet (packet , (uint8_t) packet_size+1); |
pancotinho | 25:ecdee9ef9939 | 615 | //packet_size = MAXIMUM_PACKET_SIZE +1; |
pancotinho | 25:ecdee9ef9939 | 616 | return; |
pancotinho | 25:ecdee9ef9939 | 617 | } |
pancotinho | 25:ecdee9ef9939 | 618 | |
pancotinho | 25:ecdee9ef9939 | 619 | }//fim for |
pancotinho | 25:ecdee9ef9939 | 620 | // lora_send_packet (packet , 200); |
pancotinho | 25:ecdee9ef9939 | 621 | } |
pancotinho | 25:ecdee9ef9939 | 622 | } |
pancotinho | 25:ecdee9ef9939 | 623 | } |
pancotinho | 25:ecdee9ef9939 | 624 | |
pancotinho | 25:ecdee9ef9939 | 625 | void gps_config_gnss (){ |
pancotinho | 25:ecdee9ef9939 | 626 | |
pancotinho | 25:ecdee9ef9939 | 627 | uint8_t packet_cfg_gnss[] = { |
pancotinho | 25:ecdee9ef9939 | 628 | 0xB5, 0x62, // Header |
pancotinho | 25:ecdee9ef9939 | 629 | 0x03, 0x3E, // Class ID = CFG, Msg ID = UBX-CFG-GNSS |
pancotinho | 25:ecdee9ef9939 | 630 | 0x3C, 0x00, // Payload Length = 60 bytes |
pancotinho | 25:ecdee9ef9939 | 631 | 0x00, 0x00, 0x20, 0x07, // msgVer=0, numTrkChHw=32, numTrkChUse=32, numConfigBlocks=7 |
pancotinho | 25:ecdee9ef9939 | 632 | 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // gnssId=0 (GPS), resTrkCh=8, maxTrkCh=12, ENABLE |
pancotinho | 25:ecdee9ef9939 | 633 | 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=1 (SBAS), resTrkCh=1, maxTrkCh=2, ENABLE |
pancotinho | 25:ecdee9ef9939 | 634 | 0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=2 (Galileo), resTrkCh=4, maxTrkCh=10, ENABLE |
pancotinho | 25:ecdee9ef9939 | 635 | 0x03, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=3 (BeiDou), resTrkCh=4, maxTrkCh=8, DISABLE |
pancotinho | 25:ecdee9ef9939 | 636 | 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=4 (IMES), resTrkCh=0, maxTrkCh=8, DISABLE |
pancotinho | 25:ecdee9ef9939 | 637 | 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, // gnssId=5 (QZSS), resTrkCh=0, maxTrkCh=3, DISABLE |
pancotinho | 25:ecdee9ef9939 | 638 | 0x06, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x00, // gnssId=6 (GLONASS), resTrkCh=4, maxTrkCh=8, ENABLE |
pancotinho | 25:ecdee9ef9939 | 639 | 0x00, 0x00 //checksums A & B |
pancotinho | 25:ecdee9ef9939 | 640 | }; |
pancotinho | 25:ecdee9ef9939 | 641 | uint8_t pos_ck = sizeof(packet_cfg_gnss)-2; |
pancotinho | 25:ecdee9ef9939 | 642 | printf("gnss config finish"); |
pancotinho | 25:ecdee9ef9939 | 643 | uint8_t ubxi; |
pancotinho | 25:ecdee9ef9939 | 644 | //calcula checksum |
pancotinho | 25:ecdee9ef9939 | 645 | for (ubxi=2; ubxi<pos_ck ; ubxi++) { |
pancotinho | 25:ecdee9ef9939 | 646 | packet_cfg_gnss[pos_ck] = packet_cfg_gnss[pos_ck] + packet_cfg_gnss[ubxi]; |
pancotinho | 25:ecdee9ef9939 | 647 | packet_cfg_gnss[pos_ck+1] = packet_cfg_gnss[pos_ck+1] + packet_cfg_gnss[pos_ck]; |
pancotinho | 25:ecdee9ef9939 | 648 | } |
pancotinho | 25:ecdee9ef9939 | 649 | |
pancotinho | 25:ecdee9ef9939 | 650 | } |
pancotinho | 25:ecdee9ef9939 | 651 | |
pancotinho | 25:ecdee9ef9939 | 652 | |
pancotinho | 25:ecdee9ef9939 | 653 | void gps_print_local (){ |
pancotinho | 25:ecdee9ef9939 | 654 | uint8_t packet_nav_pvt[] = { 0xB5, 0x62, 0x01, 0x07, 0x00, 0x00, 0x08, 0x19}; |
pancotinho | 25:ecdee9ef9939 | 655 | |
pancotinho | 25:ecdee9ef9939 | 656 | //=============envia pacote nav pvt |
pancotinho | 25:ecdee9ef9939 | 657 | for ( int i=0; i< sizeof(packet_nav_pvt) ; i++){ |
pancotinho | 25:ecdee9ef9939 | 658 | spi_2.write(packet_nav_pvt[i]); |
pancotinho | 25:ecdee9ef9939 | 659 | wait_ms(20); |
pancotinho | 25:ecdee9ef9939 | 660 | } |
pancotinho | 25:ecdee9ef9939 | 661 | |
pancotinho | 25:ecdee9ef9939 | 662 | gps_navPVT Data = le_nav_pvt(); |
pancotinho | 25:ecdee9ef9939 | 663 | |
pancotinho | 25:ecdee9ef9939 | 664 | //printf ("gps lat=%d lon=%d \n",Data.lat ,Data.lon ); |
pancotinho | 25:ecdee9ef9939 | 665 | //lat=Data.lat; |
pancotinho | 25:ecdee9ef9939 | 666 | //lon=Data.lon; |
pancotinho | 25:ecdee9ef9939 | 667 | } |
pancotinho | 25:ecdee9ef9939 | 668 | |
pancotinho | 25:ecdee9ef9939 | 669 | void gps_config (){ |
pancotinho | 25:ecdee9ef9939 | 670 | gps_DSEL = 0; |
pancotinho | 25:ecdee9ef9939 | 671 | //spi gps configuration |
pancotinho | 25:ecdee9ef9939 | 672 | spi_2.format(8,0); |
pancotinho | 25:ecdee9ef9939 | 673 | spi_2.frequency(1000000); //1MHz |
pancotinho | 25:ecdee9ef9939 | 674 | cs=1; |
pancotinho | 25:ecdee9ef9939 | 675 | wait(0.1); |
pancotinho | 25:ecdee9ef9939 | 676 | cs=0; |
pancotinho | 25:ecdee9ef9939 | 677 | wait(0.1); |
pancotinho | 25:ecdee9ef9939 | 678 | |
pancotinho | 25:ecdee9ef9939 | 679 | gps_int = 0; |
pancotinho | 25:ecdee9ef9939 | 680 | |
pancotinho | 25:ecdee9ef9939 | 681 | //gps reset |
pancotinho | 25:ecdee9ef9939 | 682 | gps_reset = 1; |
pancotinho | 25:ecdee9ef9939 | 683 | wait_ms(50); |
pancotinho | 25:ecdee9ef9939 | 684 | //gps_reset = 0; |
pancotinho | 25:ecdee9ef9939 | 685 | //wait(1.5); |
pancotinho | 25:ecdee9ef9939 | 686 | } |
pancotinho | 25:ecdee9ef9939 | 687 |