GPS module (GYSFDMAXB) 57600 bps
Dependents: HAPS_GPS_Test_0001
GYSFDMAXB GPSセンサーGYSFDMAXBのライブラリ 57600 bps
手順 [1] シリアルピンを設定 GYSFDMAXB gps(tx_pin, rx_pin); [2] 零点を設定する(NED座標系における零点) gps.Initialize(); [3] 自動的にデータを受信しては更新していくので、適宜メンバ変数を読み込んで使う
GYSFDMAXB.hpp@1:0d9b4ba850d8, 2021-04-08 (annotated)
- Committer:
- cocorlow
- Date:
- Thu Apr 08 08:08:53 2021 +0000
- Revision:
- 1:0d9b4ba850d8
- Parent:
- 0:8114a6b113f4
- Child:
- 2:9b567c8f5429
serial;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 0:8114a6b113f4 | 1 | #ifndef __GYSFDMAXB_HPP__ |
cocorlow | 0:8114a6b113f4 | 2 | #define __GYSFDMAXB_HPP__ |
cocorlow | 0:8114a6b113f4 | 3 | |
cocorlow | 0:8114a6b113f4 | 4 | #include "mbed.h" |
cocorlow | 0:8114a6b113f4 | 5 | #include "Vector3.hpp" |
cocorlow | 0:8114a6b113f4 | 6 | |
cocorlow | 0:8114a6b113f4 | 7 | /* |
cocorlow | 0:8114a6b113f4 | 8 | $GPZDA,030049.971,06,04,2021,,*54 |
cocorlow | 0:8114a6b113f4 | 9 | $GPGGA,030050.971,,,,,0,0,,,M,,M,,*41 |
cocorlow | 0:8114a6b113f4 | 10 | $GPGLL,,,,,030050.971,V,N*73 |
cocorlow | 0:8114a6b113f4 | 11 | $GPGSA,A,1,,,,,,,,,,,,,,,*1E |
cocorlow | 0:8114a6b113f4 | 12 | $GPGSV,1,1,00*79 |
cocorlow | 0:8114a6b113f4 | 13 | $GPRMC,030050.971,V,,,,,0.00,0.00,060421,,,N*45 |
cocorlow | 0:8114a6b113f4 | 14 | $GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32 |
cocorlow | 0:8114a6b113f4 | 15 | $GPZDA,030050.971,06,04,2021,,*5C |
cocorlow | 0:8114a6b113f4 | 16 | $GPGGA,030051.971,,,,,0,0,,,M,,M,,*40 |
cocorlow | 0:8114a6b113f4 | 17 | $GPGLL,,,,,030051.971,V,N*72 |
cocorlow | 0:8114a6b113f4 | 18 | $GPGSA,A,1,,,,,,,,,,,,,,,*1E |
cocorlow | 0:8114a6b113f4 | 19 | $GPGSV,1,1,00*79 |
cocorlow | 0:8114a6b113f4 | 20 | $GPRMC,030051.971,V,,,,,0.00,0.00,060421,,,N*44 |
cocorlow | 0:8114a6b113f4 | 21 | $GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32 |
cocorlow | 0:8114a6b113f4 | 22 | $GPZDA,030051.971,06,04,2021,,*5D |
cocorlow | 0:8114a6b113f4 | 23 | */ |
cocorlow | 0:8114a6b113f4 | 24 | |
cocorlow | 0:8114a6b113f4 | 25 | |
cocorlow | 0:8114a6b113f4 | 26 | class GYSFDMAXB |
cocorlow | 0:8114a6b113f4 | 27 | { |
cocorlow | 0:8114a6b113f4 | 28 | private: |
cocorlow | 0:8114a6b113f4 | 29 | float height; |
cocorlow | 0:8114a6b113f4 | 30 | Serial serial; |
cocorlow | 0:8114a6b113f4 | 31 | bool receive_flag; |
cocorlow | 0:8114a6b113f4 | 32 | int start_index; |
cocorlow | 0:8114a6b113f4 | 33 | const int start_size = 16; |
cocorlow | 0:8114a6b113f4 | 34 | char* uart_start[start_size]; |
cocorlow | 0:8114a6b113f4 | 35 | int uart_index; |
cocorlow | 0:8114a6b113f4 | 36 | const int uart_size = 1024; |
cocorlow | 0:8114a6b113f4 | 37 | char uart_buffer[uart_size]; |
cocorlow | 0:8114a6b113f4 | 38 | |
cocorlow | 0:8114a6b113f4 | 39 | static const float Radius = 6378136.6; |
cocorlow | 0:8114a6b113f4 | 40 | |
cocorlow | 0:8114a6b113f4 | 41 | public: |
cocorlow | 0:8114a6b113f4 | 42 | // GPGGA |
cocorlow | 0:8114a6b113f4 | 43 | int Quality; |
cocorlow | 0:8114a6b113f4 | 44 | int Satellites; |
cocorlow | 0:8114a6b113f4 | 45 | float HDOP; |
cocorlow | 0:8114a6b113f4 | 46 | float Elevation; |
cocorlow | 0:8114a6b113f4 | 47 | char UnitElevation; |
cocorlow | 0:8114a6b113f4 | 48 | float GeoidElevation; |
cocorlow | 0:8114a6b113f4 | 49 | char UnitGeoidElevation; |
cocorlow | 0:8114a6b113f4 | 50 | |
cocorlow | 0:8114a6b113f4 | 51 | // GPRMC |
cocorlow | 0:8114a6b113f4 | 52 | int Hours; |
cocorlow | 0:8114a6b113f4 | 53 | int Minutes; |
cocorlow | 0:8114a6b113f4 | 54 | int Seconds; |
cocorlow | 0:8114a6b113f4 | 55 | int Milliseconds; |
cocorlow | 0:8114a6b113f4 | 56 | char Status; |
cocorlow | 0:8114a6b113f4 | 57 | float Latitude; |
cocorlow | 0:8114a6b113f4 | 58 | char N_S; |
cocorlow | 0:8114a6b113f4 | 59 | float Longitude; |
cocorlow | 0:8114a6b113f4 | 60 | char E_W; |
cocorlow | 0:8114a6b113f4 | 61 | float Speed; |
cocorlow | 0:8114a6b113f4 | 62 | float Direction; |
cocorlow | 0:8114a6b113f4 | 63 | int Day; |
cocorlow | 0:8114a6b113f4 | 64 | int Month; |
cocorlow | 0:8114a6b113f4 | 65 | int Year; |
cocorlow | 0:8114a6b113f4 | 66 | float GeomagneticDeclination ; |
cocorlow | 0:8114a6b113f4 | 67 | char GeomagneticE_W; |
cocorlow | 0:8114a6b113f4 | 68 | char Mode; |
cocorlow | 0:8114a6b113f4 | 69 | |
cocorlow | 0:8114a6b113f4 | 70 | Vector3 UniversalZeroPosition; |
cocorlow | 1:0d9b4ba850d8 | 71 | Vector3 UniversalZeroUnitN; |
cocorlow | 1:0d9b4ba850d8 | 72 | Vector3 UniversalZeroUnitE; |
cocorlow | 1:0d9b4ba850d8 | 73 | Vector3 UniversalZeroUnitD; |
cocorlow | 0:8114a6b113f4 | 74 | Vector3 UniversalPosition; |
cocorlow | 0:8114a6b113f4 | 75 | Vector3 Position; |
cocorlow | 0:8114a6b113f4 | 76 | |
cocorlow | 0:8114a6b113f4 | 77 | GYSFDMAXB(PinName tx, PinName rx); |
cocorlow | 0:8114a6b113f4 | 78 | void Receive(); |
cocorlow | 0:8114a6b113f4 | 79 | void Update(); |
cocorlow | 0:8114a6b113f4 | 80 | Vector3 ToUniversal(); |
cocorlow | 0:8114a6b113f4 | 81 | void CalcurateUnit(); |
cocorlow | 0:8114a6b113f4 | 82 | void Calcurate(); |
cocorlow | 0:8114a6b113f4 | 83 | Vector3 Calcurate(Vector3 position); |
cocorlow | 0:8114a6b113f4 | 84 | }; |
cocorlow | 0:8114a6b113f4 | 85 | |
cocorlow | 0:8114a6b113f4 | 86 | extern Serial pc; |
cocorlow | 0:8114a6b113f4 | 87 | |
cocorlow | 0:8114a6b113f4 | 88 | #endif |