Diff: gps.txt

Revision:

61:65744bc8ab55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.txt	Fri Jan 08 20:16:58 2021 +0000
@@ -0,0 +1,687 @@
+
+#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_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);
+}
+