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.cpp@0:8114a6b113f4, 2021-04-06 (annotated)
- Committer:
- cocorlow
- Date:
- Tue Apr 06 08:16:08 2021 +0000
- Revision:
- 0:8114a6b113f4
- Child:
- 1:0d9b4ba850d8
gps library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 0:8114a6b113f4 | 1 | #include "mbed.h" |
cocorlow | 0:8114a6b113f4 | 2 | #include "GYSFDMAXB.hpp" |
cocorlow | 0:8114a6b113f4 | 3 | #include <string.h> |
cocorlow | 0:8114a6b113f4 | 4 | #include <stdlib.h> |
cocorlow | 0:8114a6b113f4 | 5 | #include "Vector3.hpp" |
cocorlow | 0:8114a6b113f4 | 6 | #include <cmath> |
cocorlow | 0:8114a6b113f4 | 7 | #define M_PI 3.14159265358979 |
cocorlow | 0:8114a6b113f4 | 8 | |
cocorlow | 0:8114a6b113f4 | 9 | GYSFDMAXB::GYSFDMAXB(PinName tx, PinName rx) |
cocorlow | 0:8114a6b113f4 | 10 | :serial(tx, rx), receive_flag(false), uart_index(0) |
cocorlow | 0:8114a6b113f4 | 11 | { |
cocorlow | 0:8114a6b113f4 | 12 | for (int i = 0; i < uart_size; i++) |
cocorlow | 0:8114a6b113f4 | 13 | { |
cocorlow | 0:8114a6b113f4 | 14 | uart_buffer[i] = 0; |
cocorlow | 0:8114a6b113f4 | 15 | } |
cocorlow | 0:8114a6b113f4 | 16 | for (int i = 0; i < start_size; i++) |
cocorlow | 0:8114a6b113f4 | 17 | { |
cocorlow | 0:8114a6b113f4 | 18 | uart_start[i] = NULL; |
cocorlow | 0:8114a6b113f4 | 19 | } |
cocorlow | 0:8114a6b113f4 | 20 | serial.baud(57600); |
cocorlow | 0:8114a6b113f4 | 21 | serial.attach(this, &GYSFDMAXB::Receive, Serial::RxIrq); |
cocorlow | 0:8114a6b113f4 | 22 | } |
cocorlow | 0:8114a6b113f4 | 23 | |
cocorlow | 0:8114a6b113f4 | 24 | void GYSFDMAXB::Receive() |
cocorlow | 0:8114a6b113f4 | 25 | { |
cocorlow | 0:8114a6b113f4 | 26 | while (serial.readable()) |
cocorlow | 0:8114a6b113f4 | 27 | { |
cocorlow | 0:8114a6b113f4 | 28 | char c; |
cocorlow | 0:8114a6b113f4 | 29 | c = serial.getc(); |
cocorlow | 0:8114a6b113f4 | 30 | if (c == '$') |
cocorlow | 0:8114a6b113f4 | 31 | { |
cocorlow | 0:8114a6b113f4 | 32 | uart_buffer[uart_index] = c; |
cocorlow | 0:8114a6b113f4 | 33 | uart_start[start_index] = &(uart_buffer[uart_index]); |
cocorlow | 0:8114a6b113f4 | 34 | uart_index++; |
cocorlow | 0:8114a6b113f4 | 35 | } |
cocorlow | 0:8114a6b113f4 | 36 | else if (c == '\r') |
cocorlow | 0:8114a6b113f4 | 37 | { |
cocorlow | 0:8114a6b113f4 | 38 | } |
cocorlow | 0:8114a6b113f4 | 39 | else if (c == '\n') |
cocorlow | 0:8114a6b113f4 | 40 | { |
cocorlow | 0:8114a6b113f4 | 41 | start_index = (start_index + 1) % start_size; |
cocorlow | 0:8114a6b113f4 | 42 | uart_buffer[uart_index] = '\0'; |
cocorlow | 0:8114a6b113f4 | 43 | receive_flag = true; |
cocorlow | 0:8114a6b113f4 | 44 | uart_index++; |
cocorlow | 0:8114a6b113f4 | 45 | } |
cocorlow | 0:8114a6b113f4 | 46 | else |
cocorlow | 0:8114a6b113f4 | 47 | { |
cocorlow | 0:8114a6b113f4 | 48 | uart_buffer[uart_index] = c; |
cocorlow | 0:8114a6b113f4 | 49 | uart_index++; |
cocorlow | 0:8114a6b113f4 | 50 | } |
cocorlow | 0:8114a6b113f4 | 51 | } |
cocorlow | 0:8114a6b113f4 | 52 | } |
cocorlow | 0:8114a6b113f4 | 53 | |
cocorlow | 0:8114a6b113f4 | 54 | void GYSFDMAXB::Update() |
cocorlow | 0:8114a6b113f4 | 55 | { |
cocorlow | 0:8114a6b113f4 | 56 | if (receive_flag) |
cocorlow | 0:8114a6b113f4 | 57 | { |
cocorlow | 0:8114a6b113f4 | 58 | for (int i = 0; i < start_size; i++) |
cocorlow | 0:8114a6b113f4 | 59 | { |
cocorlow | 0:8114a6b113f4 | 60 | if (uart_start[i] != NULL) |
cocorlow | 0:8114a6b113f4 | 61 | { |
cocorlow | 0:8114a6b113f4 | 62 | char str[256]; |
cocorlow | 0:8114a6b113f4 | 63 | char* p[16]; |
cocorlow | 0:8114a6b113f4 | 64 | int p_index = 0; |
cocorlow | 0:8114a6b113f4 | 65 | for (int j = 0; j < 16; j++) |
cocorlow | 0:8114a6b113f4 | 66 | { |
cocorlow | 0:8114a6b113f4 | 67 | p[j] = NULL; |
cocorlow | 0:8114a6b113f4 | 68 | } |
cocorlow | 0:8114a6b113f4 | 69 | strcpy(str, uart_start[i]); |
cocorlow | 0:8114a6b113f4 | 70 | |
cocorlow | 0:8114a6b113f4 | 71 | |
cocorlow | 0:8114a6b113f4 | 72 | char checksum = 0; |
cocorlow | 0:8114a6b113f4 | 73 | int c_i = 1; |
cocorlow | 0:8114a6b113f4 | 74 | while (str[c_i] !='*') |
cocorlow | 0:8114a6b113f4 | 75 | { |
cocorlow | 0:8114a6b113f4 | 76 | checksum ^= str[c_i]; |
cocorlow | 0:8114a6b113f4 | 77 | c_i++; |
cocorlow | 0:8114a6b113f4 | 78 | } |
cocorlow | 0:8114a6b113f4 | 79 | char data_checksum = 0; |
cocorlow | 0:8114a6b113f4 | 80 | char cc; |
cocorlow | 0:8114a6b113f4 | 81 | cc = str[c_i+1]; |
cocorlow | 0:8114a6b113f4 | 82 | if ('0' <= cc && cc <= '9') |
cocorlow | 0:8114a6b113f4 | 83 | data_checksum += (cc-'0')*16; |
cocorlow | 0:8114a6b113f4 | 84 | else |
cocorlow | 0:8114a6b113f4 | 85 | data_checksum += ((cc-'A')+10)*16; |
cocorlow | 0:8114a6b113f4 | 86 | cc = str[c_i+2]; |
cocorlow | 0:8114a6b113f4 | 87 | if ('0' <= cc && cc <= '9') |
cocorlow | 0:8114a6b113f4 | 88 | data_checksum += (cc-'0'); |
cocorlow | 0:8114a6b113f4 | 89 | else |
cocorlow | 0:8114a6b113f4 | 90 | data_checksum += ((cc-'A')+10); |
cocorlow | 0:8114a6b113f4 | 91 | if (data_checksum != checksum) |
cocorlow | 0:8114a6b113f4 | 92 | { |
cocorlow | 0:8114a6b113f4 | 93 | continue; |
cocorlow | 0:8114a6b113f4 | 94 | } |
cocorlow | 0:8114a6b113f4 | 95 | |
cocorlow | 0:8114a6b113f4 | 96 | |
cocorlow | 0:8114a6b113f4 | 97 | int j = 0; |
cocorlow | 0:8114a6b113f4 | 98 | p[p_index] = str; |
cocorlow | 0:8114a6b113f4 | 99 | p_index++; |
cocorlow | 0:8114a6b113f4 | 100 | while (1) |
cocorlow | 0:8114a6b113f4 | 101 | { |
cocorlow | 0:8114a6b113f4 | 102 | if (str[j] == ',') |
cocorlow | 0:8114a6b113f4 | 103 | { |
cocorlow | 0:8114a6b113f4 | 104 | p[p_index] = &(str[j + 1]); |
cocorlow | 0:8114a6b113f4 | 105 | p_index++; |
cocorlow | 0:8114a6b113f4 | 106 | str[j] = '\0'; |
cocorlow | 0:8114a6b113f4 | 107 | } |
cocorlow | 0:8114a6b113f4 | 108 | else if (str[j] == '\0') |
cocorlow | 0:8114a6b113f4 | 109 | { |
cocorlow | 0:8114a6b113f4 | 110 | break; |
cocorlow | 0:8114a6b113f4 | 111 | } |
cocorlow | 0:8114a6b113f4 | 112 | j++; |
cocorlow | 0:8114a6b113f4 | 113 | } |
cocorlow | 0:8114a6b113f4 | 114 | /* |
cocorlow | 0:8114a6b113f4 | 115 | for (int k = 0; k < p_index; k++) |
cocorlow | 0:8114a6b113f4 | 116 | { |
cocorlow | 0:8114a6b113f4 | 117 | pc.printf("%s ~ ", p[k]); |
cocorlow | 0:8114a6b113f4 | 118 | } |
cocorlow | 0:8114a6b113f4 | 119 | pc.printf("\r\n"); |
cocorlow | 0:8114a6b113f4 | 120 | */ |
cocorlow | 0:8114a6b113f4 | 121 | |
cocorlow | 0:8114a6b113f4 | 122 | |
cocorlow | 0:8114a6b113f4 | 123 | |
cocorlow | 0:8114a6b113f4 | 124 | if (strcmp(p[0], "$GPGGA") == 0) |
cocorlow | 0:8114a6b113f4 | 125 | { |
cocorlow | 0:8114a6b113f4 | 126 | if (p[6][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 127 | Quality = atoi(p[6]); |
cocorlow | 0:8114a6b113f4 | 128 | if (p[7][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 129 | Satellites = atoi(p[7]); |
cocorlow | 0:8114a6b113f4 | 130 | if (p[8][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 131 | HDOP = atof(p[8]); |
cocorlow | 0:8114a6b113f4 | 132 | if (p[9][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 133 | Elevation = atof(p[9]); |
cocorlow | 0:8114a6b113f4 | 134 | UnitElevation = p[10][0]; |
cocorlow | 0:8114a6b113f4 | 135 | if (p[11][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 136 | GeoidElevation = atof(p[11]); |
cocorlow | 0:8114a6b113f4 | 137 | UnitGeoidElevation = p[10][0]; |
cocorlow | 0:8114a6b113f4 | 138 | } |
cocorlow | 0:8114a6b113f4 | 139 | else if (strcmp(p[0], "$GPGLL") == 0) |
cocorlow | 0:8114a6b113f4 | 140 | { |
cocorlow | 0:8114a6b113f4 | 141 | } |
cocorlow | 0:8114a6b113f4 | 142 | else if (strcmp(p[0], "$GPGSA") == 0) |
cocorlow | 0:8114a6b113f4 | 143 | { |
cocorlow | 0:8114a6b113f4 | 144 | } |
cocorlow | 0:8114a6b113f4 | 145 | else if (strcmp(p[0], "$GPGSV") == 0) |
cocorlow | 0:8114a6b113f4 | 146 | { |
cocorlow | 0:8114a6b113f4 | 147 | } |
cocorlow | 0:8114a6b113f4 | 148 | else if (strcmp(p[0], "$GPRMC") == 0) |
cocorlow | 0:8114a6b113f4 | 149 | { |
cocorlow | 0:8114a6b113f4 | 150 | Hours = (p[1][0]-'0')*10+(p[1][1]-'0'); |
cocorlow | 0:8114a6b113f4 | 151 | Minutes = (p[1][2]-'0')*10+(p[1][3]-'0'); |
cocorlow | 0:8114a6b113f4 | 152 | Seconds = (p[1][4]-'0')*10+(p[1][5]-'0'); |
cocorlow | 0:8114a6b113f4 | 153 | Milliseconds = (p[1][7]-'0')*100+(p[1][8]-'0')*10+(p[1][9]-'0'); |
cocorlow | 0:8114a6b113f4 | 154 | Status = p[2][0]; |
cocorlow | 0:8114a6b113f4 | 155 | Latitude = atof(p[3]); |
cocorlow | 0:8114a6b113f4 | 156 | N_S = p[4][0]; |
cocorlow | 0:8114a6b113f4 | 157 | if (p[5][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 158 | Longitude = atof(p[5]); |
cocorlow | 0:8114a6b113f4 | 159 | E_W = p[6][0]; |
cocorlow | 0:8114a6b113f4 | 160 | if (p[7][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 161 | Speed = atof(p[7]); |
cocorlow | 0:8114a6b113f4 | 162 | if (p[8][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 163 | Direction = atof(p[8]); |
cocorlow | 0:8114a6b113f4 | 164 | Day = (p[9][0]-'0')*10+(p[9][1]-'0'); |
cocorlow | 0:8114a6b113f4 | 165 | Month = (p[9][2]-'0')*10+(p[9][3]-'0'); |
cocorlow | 0:8114a6b113f4 | 166 | Year = (p[9][4]-'0')*10+(p[9][5]-'0'); |
cocorlow | 0:8114a6b113f4 | 167 | if (p[10][0] != '\0') |
cocorlow | 0:8114a6b113f4 | 168 | GeomagneticDeclination = atof(p[10]); |
cocorlow | 0:8114a6b113f4 | 169 | GeomagneticE_W = p[11][0]; |
cocorlow | 0:8114a6b113f4 | 170 | Mode = p[12][0]; |
cocorlow | 0:8114a6b113f4 | 171 | } |
cocorlow | 0:8114a6b113f4 | 172 | else if (strcmp(p[0], "$GPVTG") == 0) |
cocorlow | 0:8114a6b113f4 | 173 | { |
cocorlow | 0:8114a6b113f4 | 174 | } |
cocorlow | 0:8114a6b113f4 | 175 | else if (strcmp(p[0], "$GPZDA") == 0) |
cocorlow | 0:8114a6b113f4 | 176 | { |
cocorlow | 0:8114a6b113f4 | 177 | uart_index = 0; |
cocorlow | 0:8114a6b113f4 | 178 | } |
cocorlow | 0:8114a6b113f4 | 179 | |
cocorlow | 0:8114a6b113f4 | 180 | uart_start[i] = NULL; |
cocorlow | 0:8114a6b113f4 | 181 | } |
cocorlow | 0:8114a6b113f4 | 182 | } |
cocorlow | 0:8114a6b113f4 | 183 | receive_flag = false; |
cocorlow | 0:8114a6b113f4 | 184 | } |
cocorlow | 0:8114a6b113f4 | 185 | } |
cocorlow | 0:8114a6b113f4 | 186 | |
cocorlow | 0:8114a6b113f4 | 187 | |
cocorlow | 0:8114a6b113f4 | 188 | Vector3 GYSFDMAXB::ToUniversal() |
cocorlow | 0:8114a6b113f4 | 189 | { |
cocorlow | 0:8114a6b113f4 | 190 | float theta = (90.0 + Latitude * ((N_S == 'N') ? -1 : 1)) * M_PI / 180.0; |
cocorlow | 0:8114a6b113f4 | 191 | float phi = (Longitude * ((E_W == 'E') ? 1 : -1)) * M_PI / 180.0; |
cocorlow | 0:8114a6b113f4 | 192 | float r = Radius + Elevation; |
cocorlow | 0:8114a6b113f4 | 193 | float x = r * sin(theta) * cos(phi); |
cocorlow | 0:8114a6b113f4 | 194 | float y = r * sin(theta) * sin(phi); |
cocorlow | 0:8114a6b113f4 | 195 | float z = r * cos(theta); |
cocorlow | 0:8114a6b113f4 | 196 | Vector3 v(x, y, z); |
cocorlow | 0:8114a6b113f4 | 197 | return v; |
cocorlow | 0:8114a6b113f4 | 198 | } |
cocorlow | 0:8114a6b113f4 | 199 | |
cocorlow | 0:8114a6b113f4 | 200 | void GYSFDMAXB::CalcurateUnit() |
cocorlow | 0:8114a6b113f4 | 201 | { |
cocorlow | 0:8114a6b113f4 | 202 | float theta = (90.0 + Latitude * ((N_S == 'N') ? -1 : 1)) * M_PI / 180.0; |
cocorlow | 0:8114a6b113f4 | 203 | float phi = (Longitude * ((E_W == 'E') ? 1 : -1)) * M_PI / 180.0; |
cocorlow | 0:8114a6b113f4 | 204 | Vector3 _z(sin(theta)*cos(phi), sin(theta)*sin(phi), cos(theta)); |
cocorlow | 0:8114a6b113f4 | 205 | Vector3 _y(-cos(theta)*cos(phi), -cos(theta)*sin(phi), sin(theta)); |
cocorlow | 0:8114a6b113f4 | 206 | |
cocorlow | 0:8114a6b113f4 | 207 | UniversalZeroPosition = (Radius+Elevation)*_z; |
cocorlow | 0:8114a6b113f4 | 208 | UniversalZeroUnitY = _y; |
cocorlow | 0:8114a6b113f4 | 209 | UniversalZeroUnitZ = _z; |
cocorlow | 0:8114a6b113f4 | 210 | UniversalZeroUnitX = _y * _z; |
cocorlow | 0:8114a6b113f4 | 211 | } |
cocorlow | 0:8114a6b113f4 | 212 | |
cocorlow | 0:8114a6b113f4 | 213 | void GYSFDMAXB::Calcurate() |
cocorlow | 0:8114a6b113f4 | 214 | { |
cocorlow | 0:8114a6b113f4 | 215 | UniversalPosition = ToUniversal(); |
cocorlow | 0:8114a6b113f4 | 216 | Vector3 relative = UniversalPosition - UniversalZeroPosition; |
cocorlow | 0:8114a6b113f4 | 217 | Vector3 _position(relative % UniversalZeroUnitX, relative % UniversalZeroUnitY, relative % UniversalZeroUnitZ); |
cocorlow | 0:8114a6b113f4 | 218 | Position = _position; |
cocorlow | 0:8114a6b113f4 | 219 | } |
cocorlow | 0:8114a6b113f4 | 220 | |
cocorlow | 0:8114a6b113f4 | 221 | Vector3 GYSFDMAXB::Calcurate(Vector3 position) |
cocorlow | 0:8114a6b113f4 | 222 | { |
cocorlow | 0:8114a6b113f4 | 223 | UniversalPosition = ToUniversal(); |
cocorlow | 0:8114a6b113f4 | 224 | Vector3 relative = position - UniversalZeroPosition; |
cocorlow | 0:8114a6b113f4 | 225 | Vector3 _position(relative % UniversalZeroUnitX, relative % UniversalZeroUnitY, relative % UniversalZeroUnitZ); |
cocorlow | 0:8114a6b113f4 | 226 | return _position; |
cocorlow | 0:8114a6b113f4 | 227 | } |