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@3:f8045f83d7c1, 2021-04-22 (annotated)
- Committer:
- cocorlow
- Date:
- Thu Apr 22 11:51:16 2021 +0000
- Revision:
- 3:f8045f83d7c1
- Parent:
- 2:9b567c8f5429
- Child:
- 4:8d315f7977b3
error
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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cocorlow | 3:f8045f83d7c1 | 1 | //#include "mbed.h" |
cocorlow | 3:f8045f83d7c1 | 2 | //#include "GYSFDMAXB.hpp" |
cocorlow | 3:f8045f83d7c1 | 3 | //#include <string.h> |
cocorlow | 3:f8045f83d7c1 | 4 | //#include <stdlib.h> |
cocorlow | 3:f8045f83d7c1 | 5 | //#include "Vector3.hpp" |
cocorlow | 3:f8045f83d7c1 | 6 | //#include <math.h> |
cocorlow | 3:f8045f83d7c1 | 7 | //#define M_PI 3.14159265358979f |
cocorlow | 3:f8045f83d7c1 | 8 | // |
cocorlow | 3:f8045f83d7c1 | 9 | //GYSFDMAXB::GYSFDMAXB(PinName tx, PinName rx) |
cocorlow | 3:f8045f83d7c1 | 10 | // :serial(tx, rx), receive_flag(false), uart_index(0), start_index(0) |
cocorlow | 3:f8045f83d7c1 | 11 | //{ |
cocorlow | 3:f8045f83d7c1 | 12 | // for (int i = 0; i < uart_size; i++) |
cocorlow | 3:f8045f83d7c1 | 13 | // { |
cocorlow | 3:f8045f83d7c1 | 14 | // uart_buffer[i] = '\0'; |
cocorlow | 3:f8045f83d7c1 | 15 | // for (int j = 0; j < phrase_size; j++) |
cocorlow | 3:f8045f83d7c1 | 16 | // { |
cocorlow | 3:f8045f83d7c1 | 17 | // phrase_buffer[i][j] = '\0'; |
cocorlow | 3:f8045f83d7c1 | 18 | // } |
cocorlow | 3:f8045f83d7c1 | 19 | // } |
cocorlow | 3:f8045f83d7c1 | 20 | // for (int i = 0; i < start_size; i++) |
cocorlow | 3:f8045f83d7c1 | 21 | // { |
cocorlow | 3:f8045f83d7c1 | 22 | // uart_start[i] = NULL; |
cocorlow | 3:f8045f83d7c1 | 23 | // } |
cocorlow | 3:f8045f83d7c1 | 24 | // serial.baud(57600); |
cocorlow | 3:f8045f83d7c1 | 25 | // serial.attach(this, &GYSFDMAXB::Receive, Serial::RxIrq); |
cocorlow | 3:f8045f83d7c1 | 26 | //} |
cocorlow | 3:f8045f83d7c1 | 27 | // |
cocorlow | 3:f8045f83d7c1 | 28 | //void GYSFDMAXB::Receive() |
cocorlow | 3:f8045f83d7c1 | 29 | //{ |
cocorlow | 3:f8045f83d7c1 | 30 | // while (serial.readable()) |
cocorlow | 3:f8045f83d7c1 | 31 | // { |
cocorlow | 3:f8045f83d7c1 | 32 | // char c; |
cocorlow | 3:f8045f83d7c1 | 33 | // c = serial.getc(); |
cocorlow | 3:f8045f83d7c1 | 34 | // if (c == '$') |
cocorlow | 3:f8045f83d7c1 | 35 | // { |
cocorlow | 3:f8045f83d7c1 | 36 | // uart_buffer[uart_index] = c; |
cocorlow | 3:f8045f83d7c1 | 37 | // uart_start[start_index] = &(uart_buffer[uart_index]); |
cocorlow | 3:f8045f83d7c1 | 38 | // uart_index = (uart_index + 1) % uart_size; |
cocorlow | 3:f8045f83d7c1 | 39 | // } |
cocorlow | 3:f8045f83d7c1 | 40 | // else if (c == '\r') |
cocorlow | 3:f8045f83d7c1 | 41 | // { |
cocorlow | 3:f8045f83d7c1 | 42 | // } |
cocorlow | 3:f8045f83d7c1 | 43 | // else if (c == '\n') |
cocorlow | 3:f8045f83d7c1 | 44 | // { |
cocorlow | 3:f8045f83d7c1 | 45 | // start_index = (start_index + 1) % start_size; |
cocorlow | 3:f8045f83d7c1 | 46 | // uart_buffer[uart_index] = '\0'; |
cocorlow | 3:f8045f83d7c1 | 47 | // receive_flag = true; |
cocorlow | 3:f8045f83d7c1 | 48 | // uart_index = (uart_index + 1) % uart_size; |
cocorlow | 3:f8045f83d7c1 | 49 | // } |
cocorlow | 3:f8045f83d7c1 | 50 | // else |
cocorlow | 3:f8045f83d7c1 | 51 | // { |
cocorlow | 3:f8045f83d7c1 | 52 | // uart_buffer[uart_index] = c; |
cocorlow | 3:f8045f83d7c1 | 53 | // uart_index = (uart_index + 1) % uart_size; |
cocorlow | 3:f8045f83d7c1 | 54 | // } |
cocorlow | 3:f8045f83d7c1 | 55 | // } |
cocorlow | 3:f8045f83d7c1 | 56 | //} |
cocorlow | 3:f8045f83d7c1 | 57 | // |
cocorlow | 3:f8045f83d7c1 | 58 | //void GYSFDMAXB::Update() |
cocorlow | 3:f8045f83d7c1 | 59 | //{ |
cocorlow | 3:f8045f83d7c1 | 60 | // for (int i = 0; i < start_size; i++) |
cocorlow | 3:f8045f83d7c1 | 61 | // { |
cocorlow | 3:f8045f83d7c1 | 62 | // if (uart_start[i] != NULL) |
cocorlow | 3:f8045f83d7c1 | 63 | // { |
cocorlow | 3:f8045f83d7c1 | 64 | // strcpy(phrase_buffer[i], uart_start[i]); |
cocorlow | 3:f8045f83d7c1 | 65 | // uart_start[i] = NULL; |
cocorlow | 3:f8045f83d7c1 | 66 | // } |
cocorlow | 3:f8045f83d7c1 | 67 | // } |
cocorlow | 3:f8045f83d7c1 | 68 | // for (int i = 0; i < start_size; i++) |
cocorlow | 3:f8045f83d7c1 | 69 | // { |
cocorlow | 3:f8045f83d7c1 | 70 | // if (phrase_buffer[i][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 71 | // { |
cocorlow | 3:f8045f83d7c1 | 72 | // char str[128]; |
cocorlow | 3:f8045f83d7c1 | 73 | // char* p[16]; |
cocorlow | 3:f8045f83d7c1 | 74 | // int p_index = 0; |
cocorlow | 3:f8045f83d7c1 | 75 | // for (int j = 0; j < 16; j++) |
cocorlow | 3:f8045f83d7c1 | 76 | // { |
cocorlow | 3:f8045f83d7c1 | 77 | // p[j] = NULL; |
cocorlow | 3:f8045f83d7c1 | 78 | // } |
cocorlow | 3:f8045f83d7c1 | 79 | // strcpy(str, phrase_buffer[i]); |
cocorlow | 3:f8045f83d7c1 | 80 | // |
cocorlow | 3:f8045f83d7c1 | 81 | // |
cocorlow | 3:f8045f83d7c1 | 82 | // char checksum = 0; |
cocorlow | 3:f8045f83d7c1 | 83 | // int c_i = 1; |
cocorlow | 3:f8045f83d7c1 | 84 | // while (str[c_i] !='*') |
cocorlow | 3:f8045f83d7c1 | 85 | // { |
cocorlow | 3:f8045f83d7c1 | 86 | // checksum ^= str[c_i]; |
cocorlow | 3:f8045f83d7c1 | 87 | // c_i++; |
cocorlow | 3:f8045f83d7c1 | 88 | // } |
cocorlow | 3:f8045f83d7c1 | 89 | // char data_checksum = 0; |
cocorlow | 3:f8045f83d7c1 | 90 | // char cc; |
cocorlow | 3:f8045f83d7c1 | 91 | // cc = str[c_i+1]; |
cocorlow | 3:f8045f83d7c1 | 92 | // if ('0' <= cc && cc <= '9') |
cocorlow | 3:f8045f83d7c1 | 93 | // data_checksum += (cc-'0')*16; |
cocorlow | 3:f8045f83d7c1 | 94 | // else |
cocorlow | 3:f8045f83d7c1 | 95 | // data_checksum += ((cc-'A')+10)*16; |
cocorlow | 3:f8045f83d7c1 | 96 | // cc = str[c_i+2]; |
cocorlow | 3:f8045f83d7c1 | 97 | // if ('0' <= cc && cc <= '9') |
cocorlow | 3:f8045f83d7c1 | 98 | // data_checksum += (cc-'0'); |
cocorlow | 3:f8045f83d7c1 | 99 | // else |
cocorlow | 3:f8045f83d7c1 | 100 | // data_checksum += ((cc-'A')+10); |
cocorlow | 3:f8045f83d7c1 | 101 | // if (data_checksum != checksum) |
cocorlow | 3:f8045f83d7c1 | 102 | // { |
cocorlow | 3:f8045f83d7c1 | 103 | // continue; |
cocorlow | 3:f8045f83d7c1 | 104 | // } |
cocorlow | 3:f8045f83d7c1 | 105 | // |
cocorlow | 3:f8045f83d7c1 | 106 | // |
cocorlow | 3:f8045f83d7c1 | 107 | // int j = 0; |
cocorlow | 3:f8045f83d7c1 | 108 | // p[p_index] = str; |
cocorlow | 3:f8045f83d7c1 | 109 | // p_index++; |
cocorlow | 3:f8045f83d7c1 | 110 | // while (1) |
cocorlow | 3:f8045f83d7c1 | 111 | // { |
cocorlow | 3:f8045f83d7c1 | 112 | // if (str[j] == ',') |
cocorlow | 3:f8045f83d7c1 | 113 | // { |
cocorlow | 3:f8045f83d7c1 | 114 | // p[p_index] = &(str[j + 1]); |
cocorlow | 3:f8045f83d7c1 | 115 | // p_index++; |
cocorlow | 3:f8045f83d7c1 | 116 | // str[j] = '\0'; |
cocorlow | 3:f8045f83d7c1 | 117 | // } |
cocorlow | 3:f8045f83d7c1 | 118 | // else if (str[j] == '\0') |
cocorlow | 3:f8045f83d7c1 | 119 | // { |
cocorlow | 3:f8045f83d7c1 | 120 | // break; |
cocorlow | 3:f8045f83d7c1 | 121 | // } |
cocorlow | 3:f8045f83d7c1 | 122 | // j++; |
cocorlow | 3:f8045f83d7c1 | 123 | // } |
cocorlow | 3:f8045f83d7c1 | 124 | // |
cocorlow | 3:f8045f83d7c1 | 125 | // |
cocorlow | 3:f8045f83d7c1 | 126 | // if (strcmp(p[0], "$GPGGA") == 0) |
cocorlow | 3:f8045f83d7c1 | 127 | // { |
cocorlow | 3:f8045f83d7c1 | 128 | // strcpy(gpgga, phrase_buffer[i]); |
cocorlow | 3:f8045f83d7c1 | 129 | // for (int i = 0; i < 128; i++) |
cocorlow | 3:f8045f83d7c1 | 130 | // { |
cocorlow | 3:f8045f83d7c1 | 131 | // gpgga[i] = |
cocorlow | 3:f8045f83d7c1 | 132 | // } |
cocorlow | 3:f8045f83d7c1 | 133 | // else if (strcmp(p[0], "$GPGLL") == 0) |
cocorlow | 3:f8045f83d7c1 | 134 | // { |
cocorlow | 3:f8045f83d7c1 | 135 | // } |
cocorlow | 3:f8045f83d7c1 | 136 | // else if (strcmp(p[0], "$GPGSA") == 0) |
cocorlow | 3:f8045f83d7c1 | 137 | // { |
cocorlow | 3:f8045f83d7c1 | 138 | // } |
cocorlow | 3:f8045f83d7c1 | 139 | // else if (strcmp(p[0], "$GPGSV") == 0) |
cocorlow | 3:f8045f83d7c1 | 140 | // { |
cocorlow | 3:f8045f83d7c1 | 141 | // } |
cocorlow | 3:f8045f83d7c1 | 142 | // else if (strcmp(p[0], "$GPRMC") == 0) |
cocorlow | 3:f8045f83d7c1 | 143 | // { |
cocorlow | 3:f8045f83d7c1 | 144 | // float _ms_deg_1; |
cocorlow | 3:f8045f83d7c1 | 145 | // int _ms_deg_2; |
cocorlow | 3:f8045f83d7c1 | 146 | // Hours = (p[1][0]-'0')*10+(p[1][1]-'0'); |
cocorlow | 3:f8045f83d7c1 | 147 | // Minutes = (p[1][2]-'0')*10+(p[1][3]-'0'); |
cocorlow | 3:f8045f83d7c1 | 148 | // Seconds = (p[1][4]-'0')*10+(p[1][5]-'0'); |
cocorlow | 3:f8045f83d7c1 | 149 | // Milliseconds = (p[1][7]-'0')*100+(p[1][8]-'0')*10+(p[1][9]-'0'); |
cocorlow | 3:f8045f83d7c1 | 150 | // Status = p[2][0]; |
cocorlow | 3:f8045f83d7c1 | 151 | // if (p[3][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 152 | // { |
cocorlow | 3:f8045f83d7c1 | 153 | // _ms_deg_1 = atof(p[3]); |
cocorlow | 3:f8045f83d7c1 | 154 | // _ms_deg_2 = (int)_ms_deg_1 / 100; |
cocorlow | 3:f8045f83d7c1 | 155 | // Latitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f; |
cocorlow | 3:f8045f83d7c1 | 156 | // } |
cocorlow | 3:f8045f83d7c1 | 157 | // N_S = p[4][0]; |
cocorlow | 3:f8045f83d7c1 | 158 | // if (p[5][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 159 | // { |
cocorlow | 3:f8045f83d7c1 | 160 | // _ms_deg_1 = atof(p[5]); |
cocorlow | 3:f8045f83d7c1 | 161 | // _ms_deg_2 = (int)_ms_deg_1 / 100; |
cocorlow | 3:f8045f83d7c1 | 162 | // Longitude = _ms_deg_2 + (_ms_deg_1-100.0f*_ms_deg_2)/60.0f; |
cocorlow | 3:f8045f83d7c1 | 163 | // } |
cocorlow | 3:f8045f83d7c1 | 164 | // E_W = p[6][0]; |
cocorlow | 3:f8045f83d7c1 | 165 | // if (p[7][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 166 | // Speed = atof(p[7]); |
cocorlow | 3:f8045f83d7c1 | 167 | // if (p[8][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 168 | // Direction = atof(p[8]); |
cocorlow | 3:f8045f83d7c1 | 169 | // Day = (p[9][0]-'0')*10+(p[9][1]-'0'); |
cocorlow | 3:f8045f83d7c1 | 170 | // Month = (p[9][2]-'0')*10+(p[9][3]-'0'); |
cocorlow | 3:f8045f83d7c1 | 171 | // Year = (p[9][4]-'0')*10+(p[9][5]-'0'); |
cocorlow | 3:f8045f83d7c1 | 172 | // if (p[10][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 173 | // GeomagneticDeclination = atof(p[10]); |
cocorlow | 3:f8045f83d7c1 | 174 | // GeomagneticE_W = p[11][0]; |
cocorlow | 3:f8045f83d7c1 | 175 | // Mode = p[12][0]; |
cocorlow | 3:f8045f83d7c1 | 176 | // } |
cocorlow | 3:f8045f83d7c1 | 177 | // else if (strcmp(p[0], "$GPVTG") == 0) |
cocorlow | 3:f8045f83d7c1 | 178 | // { |
cocorlow | 3:f8045f83d7c1 | 179 | // } |
cocorlow | 3:f8045f83d7c1 | 180 | // else if (strcmp(p[0], "$GPZDA") == 0) |
cocorlow | 3:f8045f83d7c1 | 181 | // { |
cocorlow | 3:f8045f83d7c1 | 182 | // uart_index = 0; |
cocorlow | 3:f8045f83d7c1 | 183 | // |
cocorlow | 3:f8045f83d7c1 | 184 | // if (gpgga[6][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 185 | // Quality = atoi(p[6]); |
cocorlow | 3:f8045f83d7c1 | 186 | // Satellites = 0; |
cocorlow | 3:f8045f83d7c1 | 187 | // if (gpgga[7][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 188 | // Satellites = atoi(p[7]); |
cocorlow | 3:f8045f83d7c1 | 189 | // if (gpgga[8][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 190 | // HDOP = atof(p[8]); |
cocorlow | 3:f8045f83d7c1 | 191 | // if (gpgga[9][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 192 | // Elevation = atof(p[9]); |
cocorlow | 3:f8045f83d7c1 | 193 | // UnitElevation = p[10][0]; |
cocorlow | 3:f8045f83d7c1 | 194 | // if (gpgga[11][0] != '\0') |
cocorlow | 3:f8045f83d7c1 | 195 | // GeoidElevation = atof(gpgga[11]); |
cocorlow | 3:f8045f83d7c1 | 196 | // UnitGeoidElevation = gpgga[10][0]; |
cocorlow | 3:f8045f83d7c1 | 197 | // |
cocorlow | 3:f8045f83d7c1 | 198 | // } |
cocorlow | 3:f8045f83d7c1 | 199 | // |
cocorlow | 3:f8045f83d7c1 | 200 | // strcpy(phrase_buffer[i], ""); |
cocorlow | 3:f8045f83d7c1 | 201 | // } |
cocorlow | 3:f8045f83d7c1 | 202 | // } |
cocorlow | 3:f8045f83d7c1 | 203 | //} |
cocorlow | 3:f8045f83d7c1 | 204 | // |
cocorlow | 3:f8045f83d7c1 | 205 | //void GYSFDMAXB::Initialize() |
cocorlow | 3:f8045f83d7c1 | 206 | //{ |
cocorlow | 3:f8045f83d7c1 | 207 | // Satellites = 0; |
cocorlow | 3:f8045f83d7c1 | 208 | // while (Satellites <= 4 || Latitude == 0.0f || Longitude == 0.0f || Elevation == 0.0f) |
cocorlow | 3:f8045f83d7c1 | 209 | // { |
cocorlow | 3:f8045f83d7c1 | 210 | // Update(); |
cocorlow | 3:f8045f83d7c1 | 211 | // } |
cocorlow | 3:f8045f83d7c1 | 212 | // CalcurateUnit(); |
cocorlow | 3:f8045f83d7c1 | 213 | //} |
cocorlow | 3:f8045f83d7c1 | 214 | // |
cocorlow | 3:f8045f83d7c1 | 215 | //Vector3 GYSFDMAXB::ToUniversalUnit() |
cocorlow | 3:f8045f83d7c1 | 216 | //{ |
cocorlow | 3:f8045f83d7c1 | 217 | // // 東経180度、北緯0度で精度最大 |
cocorlow | 3:f8045f83d7c1 | 218 | // float pi_2_theta = (Latitude * ((N_S == 'N') ? 1.0f : -1.0f)) * M_PI / 180.0f; |
cocorlow | 3:f8045f83d7c1 | 219 | // float pi_phi = ((E_W == 'E') ? Longitude - 180.0f : 180.0f - Longitude) * M_PI / 180.0f; |
cocorlow | 3:f8045f83d7c1 | 220 | // float x = - cosf(pi_2_theta) * cosf(pi_phi); |
cocorlow | 3:f8045f83d7c1 | 221 | // float y = - cosf(pi_2_theta) * sinf(pi_phi); |
cocorlow | 3:f8045f83d7c1 | 222 | // float z = sinf(pi_2_theta); |
cocorlow | 3:f8045f83d7c1 | 223 | // Vector3 v(x, y, z); |
cocorlow | 3:f8045f83d7c1 | 224 | // return v; |
cocorlow | 3:f8045f83d7c1 | 225 | //} |
cocorlow | 3:f8045f83d7c1 | 226 | // |
cocorlow | 3:f8045f83d7c1 | 227 | //Vector3 GYSFDMAXB::ToUniversal() |
cocorlow | 3:f8045f83d7c1 | 228 | //{ |
cocorlow | 3:f8045f83d7c1 | 229 | // Vector3 v = ToUniversalUnit(); |
cocorlow | 3:f8045f83d7c1 | 230 | // return (Radius + Elevation) * v; |
cocorlow | 3:f8045f83d7c1 | 231 | //} |
cocorlow | 3:f8045f83d7c1 | 232 | // |
cocorlow | 3:f8045f83d7c1 | 233 | //void GYSFDMAXB::CalcurateUnit() |
cocorlow | 3:f8045f83d7c1 | 234 | //{ |
cocorlow | 3:f8045f83d7c1 | 235 | // Vector3 _d = -1.0f * ToUniversalUnit(); |
cocorlow | 3:f8045f83d7c1 | 236 | // |
cocorlow | 3:f8045f83d7c1 | 237 | // UniversalZeroPosition = -(Radius+Elevation)*_d; |
cocorlow | 3:f8045f83d7c1 | 238 | // Vector3 _z(0.0f, 0.0f, 1.0f); |
cocorlow | 3:f8045f83d7c1 | 239 | // Vector3 _e = _d * _z; |
cocorlow | 3:f8045f83d7c1 | 240 | // Vector3 _n = _e * _d; |
cocorlow | 3:f8045f83d7c1 | 241 | // UniversalZeroUnitN = _n; |
cocorlow | 3:f8045f83d7c1 | 242 | // UniversalZeroUnitE = _e; |
cocorlow | 3:f8045f83d7c1 | 243 | // UniversalZeroUnitD = _d; |
cocorlow | 3:f8045f83d7c1 | 244 | //} |
cocorlow | 3:f8045f83d7c1 | 245 | // |
cocorlow | 3:f8045f83d7c1 | 246 | //void GYSFDMAXB::Calcurate() |
cocorlow | 3:f8045f83d7c1 | 247 | //{ |
cocorlow | 3:f8045f83d7c1 | 248 | // UniversalPosition = ToUniversal(); |
cocorlow | 3:f8045f83d7c1 | 249 | // Vector3 relative = UniversalPosition - UniversalZeroPosition; |
cocorlow | 3:f8045f83d7c1 | 250 | // Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); |
cocorlow | 3:f8045f83d7c1 | 251 | // Position = _position; |
cocorlow | 3:f8045f83d7c1 | 252 | //} |
cocorlow | 3:f8045f83d7c1 | 253 | // |
cocorlow | 3:f8045f83d7c1 | 254 | //Vector3 GYSFDMAXB::Calcurate(Vector3 position) |
cocorlow | 3:f8045f83d7c1 | 255 | //{ |
cocorlow | 3:f8045f83d7c1 | 256 | // UniversalPosition = ToUniversal(); |
cocorlow | 3:f8045f83d7c1 | 257 | // Vector3 relative = position - UniversalZeroPosition; |
cocorlow | 3:f8045f83d7c1 | 258 | // Vector3 _position(relative % UniversalZeroUnitN, relative % UniversalZeroUnitE, relative % UniversalZeroUnitD); |
cocorlow | 3:f8045f83d7c1 | 259 | // return _position; |
cocorlow | 3:f8045f83d7c1 | 260 | //} |